CN113800460A - Automatic loading control method and control device for loading crane pipe - Google Patents
Automatic loading control method and control device for loading crane pipe Download PDFInfo
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- CN113800460A CN113800460A CN202111148451.6A CN202111148451A CN113800460A CN 113800460 A CN113800460 A CN 113800460A CN 202111148451 A CN202111148451 A CN 202111148451A CN 113800460 A CN113800460 A CN 113800460A
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- loading arm
- tank opening
- moving
- loading
- oil filling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/02—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring liquids other than fuel or lubricants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
- B67D7/08—Arrangements of devices for controlling, indicating, metering or registering quantity or price of liquid transferred
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
- B67D7/42—Filling nozzles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an automatic loading control method and a control device for a loading arm, which comprises the steps of obtaining a tank opening position and an initial loading arm position of a tank car in a tank car parking area, and planning a moving path of the loading arm moving to the tank opening according to the tank opening position and the initial loading arm position; inputting filling amount information and sending a filling pipe moving instruction, wherein the filling pipe moves to a position right above the tank opening along the moving path; acquiring the end position of the loading arm after the movement of the loading arm is stopped; if the position of the oil filling riser end is consistent with the position of the tank opening, sending an oil filling riser downward moving instruction, and enabling the oil filling riser to move downward and be in butt joint with the tank opening; if the oil filling riser is in butt joint with the tank opening, a butt joint completion signal is sent; acquiring a docking completion signal, stopping a loading arm moving-down command according to the docking completion signal and sending a filling command; and detecting a flow accumulation signal in real time, and if the flow accumulation signal meets the requirement of the filling amount information, sending a filling stop signal, and stopping filling. The invention has the effect of high safety.
Description
Technical Field
The invention relates to the technical field of dangerous chemical loading arm loading, in particular to an automatic loading arm loading control method.
Background
At present, a loading technology of a loading arm is commonly adopted for loading dangerous chemicals, the loading arm is a core device in loading and unloading facilities of railways and highways, and because the dangerous chemicals are filled, how to improve the safety during filling is particularly critical in a filling site of the loading arm.
The existing oil filling riser loading technology mostly adopts manual work or pneumatic motor motors and the like to control the oil filling riser to move and stretch through remote manual handle and operating rod operation, so that the oil filling riser is butted with a tank opening of a tank car, and the semi-automatic operation of the oil filling riser loading field is realized.
With respect to the related art among the above, the inventors consider that the following drawbacks exist: the site can not completely leave no operators, and potential safety hazards exist, so that the improvement space is provided.
Disclosure of Invention
The invention provides an automatic loading control method for a loading arm, aiming at improving the safety of a filling site.
The invention provides an automatic loading control method for a loading arm, which adopts the following technical scheme:
an automatic loading control method for loading arms comprises the following steps:
acquiring a tank opening position and an oil filling riser initial position of a tank car in a tank car parking area, and planning a moving path of an oil filling riser to move to the tank opening according to the tank opening position and the oil filling riser initial position;
inputting filling amount information and sending a filling pipe moving instruction, and moving a filling pipe to a position right above the tank opening according to the moving path;
acquiring the end position of the loading arm after the movement of the loading arm is stopped;
if the position of the oil filling riser end is consistent with the position of the tank opening, sending an oil filling riser downward moving instruction, and enabling the oil filling riser to move downward and be in butt joint with the tank opening;
if the oil filling riser is in butt joint with the tank opening, a butt joint completion signal is sent;
acquiring a docking completion signal, stopping a loading arm moving-down command according to the docking completion signal and sending a filling command;
and detecting a flow accumulation signal in real time, and if the flow accumulation signal meets the requirement of the filling amount information, sending a filling stop signal, and stopping filling.
By adopting the technical scheme, after the tank car is parked in the tank car parking area, the distance between the tank car and the oil filling riser can be calculated by acquiring the tank opening position information of the tank car and the initial position information of the oil filling riser, so that the movement path most suitable for the movement of the oil filling riser can be conveniently planned, and the loading efficiency can be improved; the filling amount information of filling dangerous chemicals is remotely input to serve as a set value of filling dangerous chemicals, then a filling pipe moving command is sent, the filling pipe moves to the position right above the position of the tank opening according to a movement path planned in advance, then filling pipe end position information and tank opening position information are compared, and when the filling pipe end position information is consistent with the tank opening position information, a filling pipe downward moving instruction is sent to ensure that the filling pipe can be aligned with the tank opening, and the butt joint success rate of the tank opening and the filling pipe is improved; after the butt joint is successful, a signal for finishing the butt joint of the tank opening and the oil filling riser is obtained, so that a command for stopping the downward movement of the oil filling riser is timely sent, the situation that the oil filling riser excessively moves and collides with the tank opening is avoided, the command for stopping the downward movement of the oil filling riser is also sent at the same time, a flow accumulated signal is detected in real time in the dangerous chemicals filling process, the filling is timely stopped when the flow accumulated signal meets the information requirement of the filling amount, the phenomenon of excessive filling is avoided, in the whole filling process, the operation of an operator on site is not needed, the safety of the filling process is favorably improved, and the filling efficiency of the dangerous chemicals is also improved through full-automatic operation.
Preferably, a filling end signal is obtained, a vertical reset command is sent according to the filling end signal, and the loading arm moves upwards for resetting;
when the loading arm finishes moving up and resetting, a vertical movement stop signal is sent;
and acquiring a vertical movement stop signal of the loading arm, stopping the vertical reset command according to the vertical movement stop signal and sending a horizontal reset command, and horizontally moving the loading arm to the initial position of the loading arm.
By adopting the technical scheme, after the filling work is finished, the filling stop signal is obtained, the loading arm moving-up command is generated, so that the loading arm is smoothly separated from the tank opening, when the loading arm is finished moving-up and resetting, the vertical movement stop signal is correspondingly and timely sent, the movement is stopped in time, and the collision phenomenon is reduced; through removing the oil filling riser to initial external, be favorable to accomodating the oil filling riser, the tank wagon approach of being convenient for.
Preferably, when the oil filling riser moves to the oil filling riser initial position, a horizontal movement stopping signal is sent;
and acquiring a horizontal movement stopping signal, and stopping the horizontal reset command according to the horizontal movement stopping signal to stop the movement of the loading arm.
Through adopting above-mentioned technical scheme, accomplish horizontal reset when the oil filling riser, in time send horizontal migration stop signal, and then in time stop moving, bump the phenomenon when reducing the oil filling riser playback.
Preferably, in the crane pipe moving process, the crane pipe real-time position parameters are obtained, and the crane pipe moving path is re-planned according to the crane pipe real-time position and the position of the tank opening.
Through adopting above-mentioned technical scheme, the oil filling riser constantly acquires oil filling riser real-time position at the removal in-process to correct the removal route of oil filling riser, be convenient for the oil filling riser to remove to jar mouthful position department fast accurately.
Preferably, the moving path comprises a first uniform speed section and a first deceleration section, the starting end of the first uniform speed section coincides with the initial position of the loading arm, the tail end of the first uniform speed section coincides with the starting end of the first deceleration section, and the tail end of the first deceleration section coincides with the position of the tank opening; the loading arm does uniform motion in the first uniform velocity section and does deceleration motion in the first deceleration section.
Through adopting above-mentioned technical scheme, make the oil filling riser at the uniform velocity motion earlier, then remove to jar mouthful position through the speed reduction, be favorable to the oil filling riser to remove to jar mouthful position department accurately, be convenient for the accurate butt joint of oil filling riser and jar mouth.
Preferably, before the crane pipe downward moving command is sent, an error correction value is calculated according to the crane pipe end position and the tank opening position, the error correction value is obtained, and the crane pipe end position is corrected to be consistent with the tank opening position according to the error correction value.
By adopting the technical scheme, the position of the loading arm can be corrected by calculating the error correction value between the end position of the loading arm and the position of the tank opening, and the error correction value is recorded at the same time, so that the situation that the deviation is increased after the loading arm is used for a period of time is prevented by correcting the deviation.
Preferably, before a horizontal reset command occurs, a regression path is planned according to the end position of the oil filling riser and the initial position of the oil filling riser, and the regression path is a straight line; the starting end of the regression path coincides with the end position of the loading arm, and the tail end of the regression path coincides with the initial position.
By adopting the technical scheme, the return route is set, and the return route is set to be a straight line, so that the return speed of the loading arm is improved.
Preferably, the regression path comprises a second uniform speed section and a second deceleration section, the starting end of the second uniform speed section coincides with the position of the tank opening, the tail end of the second uniform speed section coincides with the starting end of the second deceleration section, and the tail end of the second deceleration section coincides with the initial position of the loading arm; the loading arm does uniform motion in the second uniform velocity section and does deceleration motion in the second deceleration section.
Through adopting above-mentioned technical scheme, make the loading arm when the playback also install earlier at the uniform velocity after the mode that slows down and move the fortune, be favorable to the loading arm to accurately remove to initial position, avoid colliding the phenomenon and take place.
An automatic change oil filling riser loading controlling means includes:
the truss is horizontally arranged right above the tank car parking area;
the transverse sliding rail longitudinally slides along the length direction of the truss;
the moving seat transversely slides along the length direction of the transverse sliding rail;
the crane tube comprises an outer tube and an inner tube, the inner tube is vertically and slidably connected with the outer tube, and the crane tube is vertically and slidably connected with the movable seat;
the camera is arranged on the movable seat and is used for shooting the position of the tank opening;
the Y-axis linear module is used for driving the transverse sliding rail to move longitudinally;
the X-axis linear module is used for driving the moving seat to move transversely;
the Z-axis pneumatic actuator is used for driving the inner tube to vertically move;
and the loading controller is used for controlling the work of the Y-axis linear module, the X-axis linear module and the Z-axis pneumatic actuator.
Through adopting above-mentioned technical scheme, acquire jar mouth position through the camera, and the camera can follow the oil filling riser and remove, is convenient for come the accurate position of calculating with jar mouth according to oil filling riser actual position, is favorable to the accurate butt joint of oil filling riser and jar mouth.
Drawings
Fig. 1 is a flowchart of an automated loading arm loading control method according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an automatic loading arm loading control device according to an embodiment of the present application.
Description of reference numerals: 1. a truss; 2. a transverse slide rail; 3. a Y-axis linear module; 4. an X-axis linear module; 5. a movable seat; 6. a loading arm; 61. an outer tube; 62. an inner tube; 7. a camera is provided.
Detailed Description
The present invention is described in further detail below with reference to FIGS. 1-2.
The embodiment of the invention discloses an automatic loading control method for a loading arm 6. Referring to fig. 1 and 2, an automatic loading control method for loading crane pipe 6 includes:
s100: and acquiring the tank opening position of the tank car and the initial position of the oil filling riser 6 in the parking area of the tank car, and planning the moving path of the oil filling riser 6 to the tank opening according to the tank opening position and the initial position of the oil filling riser 6.
In this embodiment, one area of the construction site is used as a tank car parking area, and an automatic loading control device for the loading crane pipe 6 is installed above the tank car parking area, so as to complete the steps of moving and precisely butting the loading crane pipe 6.
The control device comprises a truss 1, a transverse slide rail 2, a movable seat 5 and a crane pipe 6. The truss 1 extends longitudinally, the transverse sliding rails 2 extend transversely, the truss 1 is horizontally arranged right above a tank car parking area, the transverse sliding rails 2 are connected to the truss 1 longitudinally in a sliding mode, and the moving seat 5 is connected to the transverse sliding rails 2 in a sliding mode transversely. In addition, different from traditional oil filling riser 6, the oil filling riser 6 of this embodiment is for carrying out vertical flexible, and oil filling riser 6 includes outer tube 61 and inner tube 62, and outer tube 61 is vertical sets up and with remove seat 5 fixed connection, the vertical sliding connection of inner tube 62 in outer tube 61, outer tube 61 with be used for carrying the hose connection of dangerization article, the hose is connected with the pump, the dangerization article can let in oil filling riser 6 behind the hose under the suction of pump.
The control device further comprises a Y-axis linear module 3, an X-axis linear module 4 and a loading controller, the Y-axis linear module 3 and the X-axis linear module 4 are of existing screw transmission structures, and the two groups of Y-axis linear modules 3 are respectively arranged on two sides of the truss 1 and used for driving the transverse sliding rails 2 to longitudinally move; the X-axis linear module 4 is mounted on the transverse slide rail 2 and used for driving the movable seat 5 to transversely move. The touch screen, the PLC module, the power supply, the safety barrier and the relay are arranged in the loading controller, the loading controller can control the start and stop of the Y-axis linear module 3 and the X-axis linear module 4, so that the loading arm 6 can transversely move and longitudinally move in a tank car parking area, and the loading arm 6 can move to any point of an area covered by the truss 1.
The control device also comprises a camera 7 fixed on the outer side of the outer tube 61 of the crane tube 6, and the opening and closing of the camera 7 are controlled by the loading controller. The tank opening position of the tank car and the initial position of the oil filling riser 6 are both obtained by a camera 7 arranged at the lower end of the oil filling riser 6, and the shooting range of the camera 7 covers the whole tank car parking area. Before dangerous chemicals are filled, the tank car is firstly parked in the leftmost side of a tank car parking area, the oil filling riser 6 is positioned at the rightmost side of the tank car parking area, and the position of the oil filling riser 6 is used as the initial position of the oil filling riser 6.
The loading controller is in communication connection with the background, and the camera 7 is in communication connection with the loading controller. When obtaining jar mouth position, the backstage is assigned work order to loading controller, loading controller assigns the instruction of shooing to camera 7, camera 7 is bowing to shoot to the information transfer that will shoot is to loading controller analysis processes, loading controller corresponds jar mouth that camera 7 was shot with the pixel point of picture, and converts into the coordinate point, this coordinate uses 6 initial position of oil filling riser as zero point, then is according to jar mouth position and 6 initial position of oil filling riser planning oil filling riser 6 removal to the removal route of jar mouth department.
S200: inputting filling amount information and sending a filling pipe 6 moving instruction, and moving the filling pipe 6 to the position right above the tank opening according to a moving path.
In this embodiment, the lateral movement of the loading arm 6 is driven by an X-axis servo motor of the X-axis linear module 4, the longitudinal movement of the loading arm 6 is driven by a Y-axis servo motor of the Y-axis linear module 3, and the X-axis servo motor and the Y-axis servo motor are respectively driven by two motor servo drivers. The X-axis servo motor is in communication connection with the corresponding motor servo driver, the Y-axis servo motor is in communication connection with the corresponding motor servo driver, and the loading controller is in communication connection with the two motor servo drivers. When the loading arm 6 is controlled to move, the filling amount of dangerous chemicals is input in a background, then a loading controller is issued with a loading arm 6 moving instruction, meanwhile, the filling amount information is transmitted to the loading controller, the loading controller drives two motor servo drivers to work through the loading controller, and the two motor servo drivers respectively control a Y-axis servo motor and an X-axis servo motor, so that the horizontal movement of the loading arm 6 is realized.
In the moving process of the oil filling riser 6, the position of the tank opening is continuously shot by the camera 7, the picture information is transmitted to the loading controller, and the loading controller receives signals acquired by the camera 7 in real time. And the loading controller analyzes and processes the newly received picture so as to obtain the real-time position of the loading arm 6, and replans the moving path according to the real-time position and the position of the tank opening, so as to play a role in correcting deviation.
In the present embodiment, the planned movement path of the loading arm 6 is a straight line, and when the loading arm 6 moves to a position directly above the position of the opening of the tank, the position of the loading arm 6 at this time is defined as the end position of the loading arm 6. In addition, the moving path comprises a first uniform speed section and a first deceleration section, the starting end of the first uniform speed section is coincided with the initial position of the loading arm 6, the tail end of the first uniform speed section is coincided with the starting end of the first deceleration section, and the tail end of the first deceleration section is coincided with the position of the tank opening. An area which takes the position of the tank opening as the center and has the side length of 1m is taken as a first deceleration area, and the first deceleration section falls into the first deceleration area.
Additionally, the ratio of the moving speed of the loading arm 6 in the X-axis direction to the moving speed in the Y-axis direction is equal to the ratio of the X-axis value to the Y-axis value at any point of the moving path, so that the loading arm 6 performs a constant motion in the first constant speed section. Similarly, the ratio of the acceleration of the loading arm 6 in the X-axis direction to the acceleration in the Y-axis direction is equal to the ratio of the X-axis value to the Y-axis value at any point of the moving path, so that the loading arm 6 performs a deceleration motion in the first deceleration stage.
Specifically, when the position of the crane pipe 6 obtained by the camera 7 in real time falls into a deceleration area, the loading controller sends signals to two motor servo drivers, the two motor servo drivers transmit deceleration signals to the X-axis servo motor and the Y-axis servo motor respectively after receiving the signals, and the X-axis servo motor and the Y-axis servo motor perform deceleration movement after receiving the deceleration signals, so that the crane pipe 6 slowly reaches the position right above a tank opening, and the crane pipe 6 is accurately controlled in the deceleration process.
S300: acquiring the end position of the loading arm 6 after the loading arm 6 stops moving; if the end position of the oil filling riser 6 is inconsistent with the position of the tank opening, calculating an error correction value according to the end position of the oil filling riser 6 and the position of the tank opening, acquiring the error correction value, and correcting the oil filling riser 6 to be consistent with the position of the tank opening according to the error correction value.
If the end position of the oil filling riser 6 is consistent with the position of the tank opening, a downward moving instruction of the oil filling riser 6 is sent, and the oil filling riser 6 moves downward and is in butt joint with the tank opening.
In the embodiment, the loading controller acquires the end position of the oil filling riser 6 through the camera 7, compares the end position of the oil filling riser 6 with the position of the tank opening, records an error correction value, and corrects the position of the oil filling riser 6 according to the error correction value until the end position of the oil filling riser 6 is consistent with the position of the tank opening.
The control device also comprises a Z-axis pneumatic actuator,
in addition, the vertical telescopic function of the oil filling riser 6 is executed by a Z-axis pneumatic actuator, the Z-axis pneumatic actuator is controlled by a pneumatic servo controller, and the pneumatic servo controller is controlled by a loading controller. The Z-axis pneumatic actuator is in communication connection with the pneumatic servo controller, and the pneumatic servo controller is in communication connection with the loading controller. The Z-axis pneumatic actuator is specifically a cylinder.
Specifically, when the loading controller acquires that the end position of the oil filling riser 6 is consistent with the position of the tank opening through the camera 7, the loading controller sends a downward moving command to the pneumatic servo controller, the pneumatic servo controller sends an extension signal to the cylinder after receiving the downward moving command of the oil filling riser 6, the cylinder vertically extends downwards after receiving the extension signal, and the tank opening is in butt joint with the oil filling riser 6.
S400: if the oil filling riser 6 is in butt joint with the tank opening, a butt joint completion signal is sent; acquiring a docking completion signal, stopping the crane pipe 6 moving down command according to the docking completion signal and sending a filling command; and detecting a flow accumulation signal in real time, and if the flow accumulation signal meets the requirement of the filling amount information, sending a filling stop signal, and stopping filling.
In this embodiment, loading valve and flowmeter are installed to oil filling riser 6, and loading valve and flowmeter all are connected with the controller communication. The lower end of the oil filling riser 6 is provided with an inductive switch which is in communication connection with the controller.
Specifically, when the butt joint of jar mouth and oil filling riser 6 is accomplished, inductive switch and jar mouth contact to send the butt joint to the loading controller and accomplish the signal, the loading controller sends the command that stops to pneumatic servo controller after receiving the butt joint and accomplish the signal, pneumatic servo controller is after receiving the command that stops, stops to give the cylinder that oil filling riser 6 moves down the order, and the cylinder stops the extension, accomplishes automatic oil filling riser 6 and counterpoints and tank car butt joint work. The situation that the crane pipe 6 collides with the tank opening is avoided.
The loading controller sends a stop command and simultaneously sends a loading command to the valve and the pump, the valve and the pump are opened after receiving the loading command, hazardous chemical substances enter the oil filling pipe 6 under the driving of the pump and are introduced into the tank car through the tank opening, the flow meter monitors a flow accumulated signal in real time and feeds the flow accumulated signal back to the loading controller in real time, when the accumulated flow of the hazardous chemical substances meets the requirement of the loading amount, the loading controller sends the loading stop signal to the pump and the valve, and the valve and the pump are closed after receiving the loading stop signal, so that the quantitative loading work of the hazardous chemical substances is completed.
S500: acquiring a filling stop signal, sending a vertical reset command according to the filling stop signal, and moving the loading arm 6 upwards for resetting; when the loading arm 6 finishes moving up and resetting, a vertical movement stop signal is sent; and acquiring a vertical movement stop signal, stopping a vertical reset command according to the vertical movement stop signal, sending a horizontal reset command, and horizontally moving the oil filling riser 6 to the initial position of the oil filling riser 6.
In this embodiment, the loading arm 6 is mounted with a vertical limit switch.
Specifically, after the valve and the pump are closed, a filling stop signal is fed back to a loading controller, and after the loading controller receives the filling stop signal, a return path of the loading arm 6 is planned according to the end position of the loading arm 6 and the initial position of the loading arm 6, and a vertical reset command is sent to the pneumatic servo controller; the pneumatic servo controller sends a retraction signal to the cylinder after receiving a vertical reset command, the cylinder moves upwards to reset after receiving the retraction signal, and the loading arm 6 is separated from the tank opening at the moment. The loading arm 6 triggers a horizontal limit switch when retracting to a limit state, the horizontal limit switch sends a vertical movement stop signal to a loading controller, the loading controller sends a horizontal reset command to two motor servo drivers after receiving the vertical movement stop signal, the two motor servo drivers respectively send commands to an X-axis servo motor and a Y-axis servo motor after receiving the horizontal reset command, and the loading arm 6 is driven by the X-axis servo motor and the Y-axis servo motor to horizontally move and reset.
In addition, the regression path is a straight line; the starting end of the regression path coincides with the end position of the loading arm 6, and the tail end of the regression path coincides with the initial position. The regression path comprises a second uniform speed section and a second deceleration section, the starting end of the second uniform speed section is overlapped with the position of the tank opening, the tail end of the second uniform speed section is overlapped with the starting end of the second deceleration section, and the tail end of the second deceleration section is overlapped with the initial position of the loading arm 6; the loading arm 6 does uniform motion in the second uniform velocity section and does deceleration motion in the second deceleration section.
In this embodiment, an area with the initial position of the loading arm 6 as the center and a side length of 1m is used as a second deceleration area, the second deceleration section falls into the second deceleration area, and the truss 1 is provided with a horizontal limit switch, and the horizontal limit switch is located at the initial position of the loading arm 6.
After the loading arm 6 enters the second deceleration area and slowly moves to the initial position of the loading arm 6, the horizontal limit switch is triggered, the horizontal limit switch sends a horizontal movement stop signal to the loading controller, the loading controller sends a stop signal to the two motor servo drivers after receiving the horizontal movement stop signal, the two motor servo drivers stop sending a horizontal reset command after receiving the stop signal, the loading arm 6 stops moving, the return work of the loading arm 6 is completed, and the controller enters a standby state to wait for the next process to be started. In the whole filling process, an operator is not required to operate on site, the safety of the filling process is improved, and the filling efficiency of hazardous chemicals is improved through full-automatic operation.
The above are all preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (9)
1. An automatic loading control method for loading crane pipes is characterized in that: the method comprises the following steps:
acquiring a tank opening position and an oil filling riser initial position of a tank car in a tank car parking area, and planning a moving path of an oil filling riser to move to the tank opening according to the tank opening position and the oil filling riser initial position;
inputting filling amount information and sending a filling pipe moving instruction, and moving a filling pipe to a position right above the tank opening according to the moving path;
acquiring the end position of the loading arm after the movement of the loading arm is stopped;
if the position of the oil filling riser end is consistent with the position of the tank opening, sending an oil filling riser downward moving instruction, and enabling the oil filling riser to move downward and be in butt joint with the tank opening;
if the oil filling riser is in butt joint with the tank opening, a butt joint completion signal is sent;
acquiring a docking completion signal, stopping a loading arm moving-down command according to the docking completion signal and sending a filling command;
and detecting a flow accumulation signal in real time, and if the flow accumulation signal meets the requirement of the filling amount information, sending a filling stop signal, and stopping filling.
2. The automatic loading arm control method according to claim 1, characterized in that:
acquiring a filling end signal, sending a vertical reset command according to the filling end signal, and moving up the loading arm for resetting;
when the loading arm finishes moving up and resetting, a vertical movement stop signal is sent;
and acquiring the vertical movement stop signal, stopping the vertical reset command according to the vertical movement stop signal and sending a horizontal reset command, and horizontally moving the loading arm to the initial position of the loading arm.
3. The automatic loading arm control method according to claim 2, characterized in that:
when the loading arm moves to the initial position of the loading arm, sending a horizontal movement stop signal;
and acquiring a horizontal movement stopping signal, and stopping the horizontal reset command according to the horizontal movement stopping signal to stop the movement of the loading arm.
4. The automatic loading arm control method according to claim 1, characterized in that: and in the crane pipe moving process, acquiring crane pipe real-time position parameters, and re-planning the crane pipe moving path according to the crane pipe real-time position and the tank opening position.
5. The automatic loading arm control method according to claim 1, characterized in that: the moving path comprises a first uniform speed section and a first deceleration section, the starting end of the first uniform speed section is overlapped with the initial position of the loading arm, the tail end of the first uniform speed section is overlapped with the starting end of the first deceleration section, and the tail end of the first deceleration section is overlapped with the position of the tank opening; the loading arm does uniform motion in the first uniform velocity section and does deceleration motion in the first deceleration section.
6. The automatic loading arm control method according to claim 2, characterized in that: before a loading arm downward moving command is sent, an error correction value is calculated according to the loading arm end position and the tank opening position, the error correction value is obtained, and the loading arm end position is corrected to be consistent with the tank opening position according to the error correction value.
7. The automatic loading arm control method according to claim 2, characterized in that: before a horizontal reset command occurs, planning a regression path according to the end position of a loading arm and the initial position of the loading arm, wherein the regression path is a straight line; the starting end of the regression path coincides with the end position of the loading arm, and the tail end of the regression path coincides with the initial position.
8. The automatic loading arm control method according to claim 2, characterized in that: the regression path comprises a second uniform speed section and a second deceleration section, the starting end of the second uniform speed section is overlapped with the position of the tank opening, the tail end of the second uniform speed section is overlapped with the starting end of the second deceleration section, and the tail end of the second deceleration section is overlapped with the initial position of the loading arm; the loading arm does uniform motion in the second uniform velocity section and does deceleration motion in the second deceleration section.
9. The utility model provides an automatic change oil filling riser loading controlling means which characterized in that: the method comprises the following steps:
the truss (1), the said truss (1) is set up over the parking area of tank wagon horizontally;
the transverse sliding rail (2) slides longitudinally along the length direction of the truss (1);
the moving seat (5) slides transversely along the length direction of the transverse sliding rail (2);
the crane tube (6), the crane tube (6) comprises an outer tube (61) and an inner tube (62), the inner tube (62) is vertically and slidably connected with the outer tube (61), and the crane tube (6) is vertically and slidably connected with the movable seat (5);
the camera (7), the camera (7) is installed on the outer tube (61), and the camera (7) is used for shooting the position of the tank opening;
the Y-axis linear module (3) is used for driving the transverse slide rail (2) to move longitudinally;
the X-axis linear module (4) is used for driving the moving seat (5) to move transversely;
the air cylinder is used for driving the inner pipe (62) to vertically move;
and the loading controller is used for controlling the start and stop of the Y-axis linear module (3), the X-axis linear module (4), the air cylinder and the camera (7).
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| CN202111148451.6A CN113800460A (en) | 2021-09-27 | 2021-09-27 | Automatic loading control method and control device for loading crane pipe |
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