CN113640828A

CN113640828A - Laser bumper for large plate trailer of shipyard

Info

Publication number: CN113640828A
Application number: CN202110973593.XA
Authority: CN
Inventors: 彭松璧; 卢焘; 肖桓章; 麦景彪; 朱家才
Original assignee: Guangzhou Xiweike Intelligent Technology Co ltd
Current assignee: Guangzhou Xiweike Intelligent Technology Co ltd
Priority date: 2021-08-24
Filing date: 2021-08-24
Publication date: 2021-11-12

Abstract

The invention discloses a laser bumper for a large plate trailer in a shipyard, which comprises a controller, and a reversing module, a lifting module, a steering module and a laser scanner which are electrically connected with the controller, wherein the lifting module is arranged on the reversing module; the laser anti-collision devices for the large-sized plate cars of the shipyard are arranged on the front side and the rear side of the plate cars, so that obstacles around the plate cars can be accurately identified, and obstacle information is timely fed back to drivers of the plate cars, so that the drivers can timely find the obstacles and avoid collision between the plate cars and the obstacles, and the laser anti-collision devices for the large-sized plate cars of the shipyard are linked with a plate car control computer, so that the plate cars can stop running before collision; this large-scale automobile-used laser bumper of factory can effectively avoid the plate car striking to damage the instrument and meter of hull bottom on the portal frame, avoids hull bottom to damage, avoids because the improper economic loss who causes of plate car driving.

Description

Laser bumper for large plate trailer of shipyard

Technical Field

The invention relates to assistant driving, in particular to a laser bumper for a large plate trailer in a shipyard.

Background

A large plate trailer is often used in a shipyard to carry a ship body erected on a portal frame; during the transport, the wooden handcart generally needs to move to the portal frame and the below of hull and carries the hull, and the hull bottom is equipped with a great deal of instrument and various pipeline, and these instruments and meters often can be less than the crossbeam height of portal frame, and the field of vision of wooden handcart is less, can't see clearly its front and back and the barrier of top completely, leads to the wooden handcart often can strike instrument or part together that damages the hull bottom, causes huge economic loss.

Disclosure of Invention

In view of the above problems, the present invention provides a laser bumper for a large-sized plate trailer in a shipyard, which can detect obstacles on the front and rear sides of the plate trailer and above the plate trailer, so as to solve the problem that the plate trailer easily collides with instruments and parts at the bottom of a ship body.

In order to achieve the above purpose, the following scheme is provided: a laser bumper for a large plate trailer in a shipyard comprises a controller, a reversing module, a lifting module, a steering module and a laser scanner, wherein the reversing module, the lifting module, the steering module and the laser scanner are electrically connected with the controller, the lifting module is arranged on the reversing module, the steering module is arranged on the lifting module, the laser scanner is arranged on the steering module, the reversing module comprises a base, a reversing motor, a worm wheel and a transmission shaft, the reversing motor is arranged in the base, the output shaft of the reversing motor is provided with the worm, the worm wheel is meshed with the worm wheel, the worm wheel is rotatably arranged in the base through one end of the transmission shaft, the other end of the transmission shaft is fixedly connected with the lifting module, the lifting module comprises a machine body, a lifting motor, a gear, a guide rail, a sliding block and a rack, the machine body is fixedly connected with the transmission shaft, the lifting motor is arranged in the machine body, the output shaft of the lifting motor is connected with the gear through a key, and the gear is meshed with the rack, the rack is installed on the slider, and slider and guide rail sliding connection and guide rail are installed in the organism, and the one end of slider is equipped with the module that turns to.

Further, turn to the module including turning to motor and connecting axle, turn to the motor and be connected with the one end of connecting axle, the other end of connecting axle is equipped with laser scanner.

Further, the switching-over module still includes response mechanism, response mechanism includes the sleeve pipe, triggers piece, first photoelectric sensor and second photoelectric sensor, the sleeve pipe cover is established on the transmission shaft and sleeve pipe and transmission shaft fixed connection, is equipped with two on the sleeve pipe and triggers the piece and two and use the transmission shaft to be ninety degrees as the center and set up the distribution, the mounted position of first photoelectric sensor and second photoelectric sensor and the two cooperation adaptations of the position that set up that trigger the piece.

Further, a third photoelectric sensor and a fourth photoelectric sensor are arranged in the machine body of the lifting module, the installation position of the third photoelectric sensor is matched with the setting position of the gear, and the installation position of the fourth photoelectric sensor is matched with the setting position of the rack.

Furthermore, a folding sheath is sleeved at the rack and the sliding block.

Further, still include protection module, protection module includes protective housing, spacing post, mount pad and fixed hook, the protective housing is installed at base surface and protective housing and laser scanner adaptation, and the one end that laser scanner was kept away from to the slider is equipped with spacing post, and spacing post and fixed hook adaptation and spacing post are located the fixed hook, and the fixed hook is installed in mount pad department with rotating.

The working principle and the advantages of the invention are as follows: the laser anti-collision devices for the large-sized plate cars of the shipyard are arranged on the front side and the rear side of the plate car, so that obstacles on the front side and the rear side of the plate car, above the plate car and above the front side and the rear side of the plate car can be accurately identified, and obstacle information is timely fed back to a driver of the plate car, so that the driver can timely find the obstacles and avoid collision between the plate car and the obstacles, and the laser anti-collision devices for the large-sized plate cars of the shipyard are linked with a plate car control computer, so that the plate car can stop running before collision; this large-scale automobile-used laser bumper of factory can effectively avoid the plate car striking to damage the instrument and meter of hull bottom on the portal frame, avoids hull bottom to damage, avoids because the improper economic loss who causes of plate car driving.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is an internal structure of the present invention;

FIG. 4 is a block diagram of a commutation module of the present invention;

FIG. 5 is a block diagram of the lift module of the present invention;

fig. 6 is a structural diagram of a protection module of the present invention.

Reference numerals in the drawings of the specification include:

1. the automatic steering device comprises a steering module, 11, a base, 12, a steering motor, 13, a worm, 14, a worm wheel, 15, a transmission shaft, 16, a sleeve, 17, a trigger block, 18, a first photoelectric sensor, 19, a second photoelectric sensor, 2, a lifting module, 21, a machine body, 22, a lifting motor, 23, a gear, 24, a guide rail, 25, a sliding block, 26, a rack, 27, a third photoelectric sensor, 28, a fourth photoelectric sensor, 29, a folding sheath, 3, a steering module, 31, a steering motor, 32, a connecting shaft, 4, a laser scanner, 5, a protection module, 51, a protection shell, 52, a limiting column, 53, a mounting seat and 54 a fixing hook.

Detailed Description

The following is further detailed by the specific embodiments:

as shown in fig. 1 to 6, a laser bumper for a large plate trailer in a shipyard comprises a controller, and a reversing module 1, a lifting module 2, a steering module 3 and a laser scanner 4 electrically connected with the controller, wherein the lifting module 2 is installed on the reversing module 1, the steering module 3 is arranged at the lifting module 2, the laser scanner 4 is installed at the steering module 3, the reversing module 1 comprises a base 11, a reversing motor 12, a worm 13, a worm wheel 14 and a transmission shaft 15, the reversing motor 12 is installed in the base 11, the worm 13 is arranged at an output shaft of the reversing motor 12, the worm 13 is meshed with the worm wheel 14, the worm wheel 14 is rotatably installed in the base 11 through one end of the transmission shaft 15, the other end of the transmission shaft 15 is fixedly connected with the lifting module 2, the lifting module 2 comprises a body 21, a lifting motor 22, a gear 23, a guide rail 24, a slider 25 and a rack 26, the machine body 21 is fixedly connected with the transmission shaft 15, the lifting motor 22 is arranged in the machine body 21, an output shaft of the lifting motor 22 is connected with the gear 23 through a key, the gear 23 is meshed with the rack 26, the rack 26 is installed on the sliding block 25, the sliding block 25 is connected with the guide rail 24 in a sliding mode, the guide rail 24 is installed in the machine body 21, and the steering module 3 is arranged at one end of the sliding block 25.

The controller is a PLC (programmable logic controller) or other control modules with similar functions, the reversing module 1 is used for driving the lifting module 2, the steering module 3 and the laser scanner 4 to integrally rotate ninety degrees, the lifting module 2 is used for driving the steering module 3 and the laser scanner 4 to ascend and descend vertically, the special module is used for driving the laser scanner 4 to rotate, the laser scanner 4 is the existing mature technology, and the laser scanner 4 can adopt a TIM561-2050101 type; the base 11 of the reversing module 1 is arranged at the front end part and the rear end part of the plate trailer, the base 11 is used for protecting and installing a reversing motor 12 and providing installation support for other modules, the reversing motor 12 is used for driving a worm 13 to rotate, the worm 13 and a worm wheel 14 need to rotate in a coordinated manner, the worm wheel 14 drives a transmission shaft 15 to rotate, and the transmission shaft 15 drives the lifting module 2 to rotate; the organism 21 of lifting module 2 is lifting module 2's main part supporting member, organism 21 and transmission shaft 15 fixed connection for transmission shaft 15 can drive organism 21 and rotate, and elevator motor 22 is used for driving gear 23 and rotates, and gear 23 rotates with the meshing of rack 26, and then drives and turns to module 3 and laser scanner 4 oscilaltion, and guide rail 24 and slider 25 are used for strengthening rack 26's intensity and to its guide effect of rack 26.

As shown in fig. 3 and 5, the steering module 3 includes a steering motor 3 and a connecting shaft 32, the steering motor 31 is connected to one end of the connecting shaft 32, and the other end of the connecting shaft 32 is provided with the laser scanner 4.

Wherein, the steering motor 31 and the connecting shaft 32 drive the laser scanner 4 to rotate, so that the laser scanner 4 can rotate at multiple angles.

As shown in fig. 3 and 4, the reversing module 1 further includes an induction mechanism, the induction mechanism includes a sleeve 16, a trigger block 17, a first photoelectric sensor 18 and a second photoelectric sensor 19, the sleeve 16 is sleeved on the transmission shaft 15 and the sleeve 16 is fixedly connected with the transmission shaft 15, the sleeve 16 is provided with two trigger blocks 17, the two trigger blocks 17 are distributed in a ninety-degree arrangement by taking the transmission shaft 15 as a center, and the installation positions of the first photoelectric sensor 18 and the second photoelectric sensor 19 are matched with the arrangement positions of the two trigger blocks 17.

Wherein, be equipped with two on the sleeve pipe 16 and use sleeve pipe 16 as the center and be ninety trigger block 17 that degree distributes, trigger block 17 and first photoelectric sensor 18, the adaptation of second photoelectric sensor 19 for whether discernment transmission shaft 15 and lift module 2 rotate and rotate ninety degrees, specific identification process is: the initial position of the first trigger block 17 is located in the identification area of the first photoelectric sensor 18, after the transmission shaft 15 rotates ninety degrees, the first trigger block 17 enters the identification range of the second photoelectric sensor 19, the second trigger block 17 enters the identification range of the first photoelectric sensor 18, and then the transmission shaft 15 is precisely controlled to rotate ninety degrees by a dual identification method, the first photoelectric sensor 18 and the second photoelectric sensor 19 are both existing mature technologies, and are not described herein again, and other trigger devices with similar functions can also be used for replacement.

As shown in fig. 1, 2, 3 and 5, a third photoelectric sensor 27 and a fourth photoelectric sensor 28 are disposed in the body 21 of the lifting module 2, an installation position of the third photoelectric sensor 27 is adapted to an installation position of the gear 23, and an installation position of the fourth photoelectric sensor 28 is adapted to an installation position of the rack 26.

Wherein, third photoelectric sensor 27 and fourth photoelectric sensor 28 are used for detecting the motion parameter of gear 23 and rack 26 respectively, use dual detection, detect the lift height of lifting module 2 for the lift height control of laser scanner 4 is more accurate, and third photoelectric sensor 27 and fourth photoelectric sensor 28 are present ripe product, select to purchase according to the in-service use demand can, no longer describe here, also can use other detection device that have the same function to replace.

As shown in fig. 1, a folding sheath 29 is sleeved on the rack 26 and the slider 25.

Wherein the folding sheath 29 is used for protecting the rack 26 and the slider 25 from dirt contaminating the rack 26 and the slider 25.

As shown in fig. 1 and 6, the protection module 5 further includes a protection module 5, the protection module 5 includes a protection shell 51, a limiting column 52, a mounting seat 53 and a fixing hook 54, the protection shell 51 is installed on the surface of the base 11, the protection shell 51 is adapted to the laser scanner 4, the limiting column 52 is arranged at one end of the slider 25 far away from the laser scanner 4, the limiting column 52 is adapted to the fixing hook 54, the limiting column 52 is located in the fixing hook 54, and the fixing hook 54 is rotatably installed at the mounting seat 53.

Wherein, protecting sheathing is used for protecting laser scanner 4, and mount pad 53 installs on the trigger, and fixed hook 54 articulates in mount pad 53 department, and spacing post 52 is installed at the end of slider 25 and rack 26, and spacing post 52 uses with the fixed hook 54 cooperation for the relative position of fixed rack 26 and slider 25 avoids rack 26 and slider 25 to receive external force to influence and take place to warp.

The specific implementation process is as follows:

the laser anti-collision devices for large-sized plate cars of the ship factory are arranged at the front end and the rear end of the plate car, and the controller is connected with a vehicle-mounted computer control system of the plate car; when the laser anti-collision device for large-sized plate vehicles in the shipyard is used, firstly, the protective shell is opened, the fixed hook 54 is separated from the limit column 52, the reversing module 1 is started, the reversing motor 12 of the reversing module 1 is started, the reversing motor 12 drives the transmission shaft 15 to rotate through the worm 13 and the worm wheel 14, the transmission shaft 15 drives the lifting module 2 and the sleeve 16 to move, the sleeve 16 drives the two trigger blocks 17 to move, the initial position of the first trigger block 17 is positioned in the identification area of the first photoelectric sensor 18, and after the transmission shaft 15 rotates ninety degrees, the first trigger block 17 comes within the recognition range of the second photosensor 19, the second trigger block 17 comes within the recognition range of the first photosensor 18, furthermore, through a double recognition method, the transmission shaft 15 is precisely controlled to rotate ninety degrees, and when the transmission shaft 15 rotates ninety degrees, the lifting module 2, the special module and the laser scanner 4 also swing for ninety degrees by taking the transmission shaft 15 as a circle center; then the lifting module 2 is started, the lifting motor 22 drives the rack 26 to move upwards through the gear 23, the guide rail 24 and the slider 25 play a role in guiding the movement of the rack 26, the rack 26 lifts the steering module 3 and the laser scanner 4 upwards, two groups of laser anti-collision devices in front of and behind the plate trailer work simultaneously to scan whether obstacles exist in the front and back of the plate trailer, above the plate trailer and above the form track, if the obstacles exist, the laser scanner 4 transmits related information back to the controller, and the controller feeds the information back to a plate trailer vehicle-mounted system to remind a driver and avoid the plate trailer from colliding with the obstacles; if the trigger continues to move after the alarm is given, when the trigger is at a certain distance from the obstacle (the secondary distance can be set independently), the controller transmits a signal back to the vehicle-mounted system of the trigger, and the vehicle-mounted system of the trigger controls the trigger to stop moving. If laser scanner needs turned angle, when scanning other position, turn to motor 31 and start, turn to motor 31 and drive connecting axle 32 and rotate, connecting axle 32 drives laser scanner 4 and rotates together, can change laser scanner's scanning position.

When not using this laser bumper, this laser bumper resets for laser scanner 4 reenters to the protective housing 51 in, with fixed hook 54 collude spacing post 52 again can.

The laser anti-collision devices for the large-sized plate cars of the shipyard are arranged on the front side and the rear side of the plate car, so that obstacles on the front side and the rear side of the plate car, above the plate car and above the front side and the rear side of the plate car can be accurately identified, and obstacle information is timely fed back to a driver of the plate car, so that the driver can timely find the obstacles and avoid collision between the plate car and the obstacles, and the laser anti-collision devices for the large-sized plate cars of the shipyard are linked with a plate car control computer, so that the plate car can stop running before collision; this large-scale automobile-used laser bumper of factory can effectively avoid the plate car striking to damage the instrument and meter of hull bottom on the portal frame, avoids hull bottom to damage, avoids because the improper economic loss who causes of plate car driving.

The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics of the embodiments is not described herein in any greater extent than that known to persons of ordinary skill in the art at the filing date or before the priority date of the present invention, so that all of the prior art in this field can be known and can be applied with the ability of conventional experimental means before this date. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the applicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The utility model provides a large-scale board of shipyard is laser bumper for car which characterized in that: the automatic lifting device comprises a controller, and a reversing module, a lifting module, a steering module and a laser scanner which are electrically connected with the controller, wherein the lifting module is arranged on the reversing module, the steering module is arranged at the position of the lifting module, the laser scanner is arranged at the position of the steering module, the reversing module comprises a base, a reversing motor, a worm wheel and a transmission shaft, the reversing motor is arranged in the base, the worm is arranged at the position of an output shaft of the reversing motor and meshed with the worm wheel, the worm wheel is rotatably arranged in the base through one end of the transmission shaft, the other end of the transmission shaft is fixedly connected with the lifting module, the lifting module comprises a machine body, a lifting motor, a gear, a guide rail, a sliding block and a rack, the machine body is fixedly connected with the transmission shaft, the lifting motor is arranged in the machine body, the output shaft of the lifting motor is in key connection with the gear, the gear is meshed with the rack, and the rack is arranged on the sliding block, the slider is connected with the guide rail in a sliding mode, the guide rail is installed in the machine body, and a steering module is arranged at one end of the slider.

2. The laser bumper for large plate cars of shipyards according to claim 1, characterized in that: the steering module comprises a steering motor and a connecting shaft, the steering motor is connected with one end of the connecting shaft, and a laser scanner is arranged at the other end of the connecting shaft.

3. The laser bumper for large plate cars of shipyards according to claim 1, characterized in that: the reversing module further comprises an induction mechanism, the induction mechanism comprises a sleeve, a triggering block, a first photoelectric sensor and a second photoelectric sensor, the sleeve is sleeved on the transmission shaft, the sleeve is fixedly connected with the transmission shaft, the sleeve is provided with two triggering blocks, the two triggering blocks are distributed by being arranged at ninety degrees by taking the transmission shaft as the center, and the installation positions of the first photoelectric sensor and the second photoelectric sensor are matched with the arrangement positions of the two triggering blocks.

4. The laser bumper for large plate cars of shipyards according to claim 1, characterized in that: the lifting module is characterized in that a third photoelectric sensor and a fourth photoelectric sensor are arranged in the lifting module, the mounting position of the third photoelectric sensor is matched with the setting position of the gear, and the mounting position of the fourth photoelectric sensor is matched with the setting position of the rack.

5. The laser bumper for large plate cars of shipyards according to claim 1, characterized in that: and the rack and the sliding block are sleeved with a folding sheath.

6. The laser bumper for large plate cars of shipyards according to claim 1, characterized in that: still include protection module, protection module includes protective housing, spacing post, mount pad and fixed hook, the protective housing is installed at base surface and protective housing and laser scanner adaptation, and the one end that laser scanner was kept away from to the slider is equipped with spacing post, and spacing post is located the fixed hook with fixed hook adaptation and spacing post, and the fixed hook is installed in mount pad department with rotating.