CN114537246A - Control system and method for conveyor belt self-unloading transport vehicle - Google Patents
Control system and method for conveyor belt self-unloading transport vehicle Download PDFInfo
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- CN114537246A CN114537246A CN202210289202.7A CN202210289202A CN114537246A CN 114537246 A CN114537246 A CN 114537246A CN 202210289202 A CN202210289202 A CN 202210289202A CN 114537246 A CN114537246 A CN 114537246A
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- 229910000831 Steel Inorganic materials 0.000 claims description 22
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- 230000008569 process Effects 0.000 claims description 14
- 239000010720 hydraulic oil Substances 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/36—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using endless chains or belts thereon
- B60P1/365—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using endless chains or belts thereon the chains or belts being fixed to a rigid pusher plate
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Abstract
The control system of the conveyor belt self-discharging transport vehicle comprises a carriage part, a self-discharging part, an oil way part and an electric control part, wherein a front-end magnetic switch is arranged on the side wall of the front end of the carriage, and a front-end travel switch is arranged at the bottom of the front end of the carriage; the side wall at the rear end of the carriage is provided with a rear-end magnetic switch, the side wall at the rear end of the carriage is provided with a rear door opening travel switch, and the side wall at the rear end of the carriage is provided with a rear door opening travel switch. The automatic discharging method comprises the following steps: a) opening the top cover; b) opening the rear door; c) automatically discharging; d) judging the unloading completion; e) returning the push plate; f) judging in place of the return stroke; g) door closing control; h) obstacle or person judgment; i) judging whether the rear door is closed in place; j) the top cover is closed. The control system and the method of the invention realize reasonable, safe and stable unloading control of automatic unloading of the existing 'conveyor belt + push plate' dumper.
Description
Technical Field
The present invention relates to a control system and method for a conveyor self-discharging transporter, and more particularly, to a control system and method for a conveyor self-discharging transporter.
Background
In the goods transportation industry, especially for the transportation process of bulk goods such as grains, sand and stone materials and the like, the rollover or the rear rollover vehicles are easy to overturn when in unloading, so that the rollover or the rear rollover unloading mode vehicles have the tendency of being gradually eliminated. The dump truck with the buckle rubber plate forming the annular conveying belt can finish unloading after the conveying belt rotates for a plurality of circles, and the unloading efficiency is relatively low; and the self-discharging mode of conveyer belt + push pedal adopts the placing of conveyer belt and push pedal combination unloading, will set up the push pedal straightening rear end in carriage front end by the conveyer belt and unload, can realize once unloading, and the efficiency of unloading is higher relatively.
In the actual unloading control process, for the dumper adopting the mode of 'conveyor belt + push plate', if a limit signal at the rear end of a carriage fails in the process that an unloading hydraulic motor pulls the push plate to move from front to back through the conveyor belt, the conveyor belt pulls the push plate out of the carriage, and the damage is caused; similarly, after the push plate finishes unloading, in the process of returning from the rear end to the front end of the carriage, if the limit signal fails, the push plate is easily pulled out from the front end of the carriage or the return steel wire rope is broken, so that the limit signal needs to be added to ensure the limit of the push plate in the process of moving back and forth.
Because the self-discharging carriage is provided with the discharging hydraulic motor to drive the conveyor belt and the push plate to move, and the carriage is also provided with the top cover and the rear door, the actions of opening the top cover, opening the rear door and moving the push plate from front to back are strictly and sequentially executed in the discharging process, so that the discharging can be finished; after the unloading is finished, the door closing action after the unloading can be finished only by strictly and sequentially executing the actions of moving the push plate from back to front, closing the rear door and closing the top cover. In addition, in the process of closing the door, the safety of the person is ensured in consideration of whether the person stands under the door. Therefore, it is necessary to develop a control system and method for a conveyor dumper truck to ensure that the produced conveyor dumper truck has good safety.
Disclosure of Invention
The present invention provides a control system and method for a conveyor self-discharging transporter, which overcomes the disadvantages of the above technical problems.
The invention relates to a control system of a conveyor belt self-discharging transport vehicle, which comprises a carriage part, a self-discharging part, an oil way part and an electric control part, wherein the carriage part comprises a frame, a carriage, a suspension, wheels, a top cover and a rear door; the front end of the carriage is provided with a top cover oil cylinder for driving a top cover to open and close, and the rear part of the carriage is provided with a rear door oil cylinder for driving a rear door to open and close; the self-unloading part comprises a push plate, a conveyor belt and an interlacing device, the interlacing device is arranged at the rear part of the carriage, the interlacing device comprises a discharging motor and a roller, the push plate is arranged in an inner cavity of the carriage, the conveyor belt is laid at the bottom of the carriage, two ends of the conveyor belt are respectively connected with the push plate and the roller, and the discharging motor is used for driving the roller to rotate; the discharging motor drives the roller to rotate to wind the conveying belt, and the conveying belt pulls the push plate to move forwards and backwards in the carriage right to realize discharging; the method is characterized in that: a front-end magnetic switch for detecting whether the push plate reaches the front end of the carriage is arranged on the side wall of the front end of the carriage, and a front-end travel switch for detecting whether the push plate reaches the front end of the carriage is arranged at the bottom of the front end of the carriage; the side wall of the rear end of the carriage is provided with a rear-end magnetic switch for detecting whether the push plate reaches the rear end of the carriage, the side wall of the rear end of the carriage is provided with a rear door opening travel switch for detecting whether the rear door is opened in place, and the side wall of the rear end of the carriage is provided with a rear door closing travel switch for detecting whether the rear door is closed in place.
According to the control system of the conveyor belt self-unloading transport vehicle, the rear door oil cylinder is fixed on the side wall of the carriage in a manner that the telescopic rod faces upwards, and the telescopic rod of the rear door oil cylinder drives the rear door to open through the rear door driving mechanism; the front end travel switch, the rear door opening travel switch and the rear door opening travel switch are all provided with contact rods, the rear door opening travel switch is fixed on a carriage in front of the rear door oil cylinder in a mode that the contact rods face backwards, and the rear door oil cylinder is in top contact with the contact rods of the rear door opening travel switch when the rear door is completely opened; the rear door closing travel switch is fixed below the rear door driving mechanism in a mode that the contact rod faces upwards, and the rear door driving mechanism is abutted to the contact rod of the rear door closing travel switch when the rear door is completely closed.
According to the control system of the conveyor belt self-unloading transport vehicle, the number of the front-end magnetic switches is two, and the two front-end magnetic switches are respectively arranged on the two side walls of the front end of the carriage; the number of the rear-end magnetic switches is two, and the two rear-end magnetic switches are respectively arranged on two side walls of the rear end of the carriage.
According to the control system of the conveyor belt self-unloading transport vehicle, the lower edge of the rear door is provided with the safe touch edge for detecting whether people or objects touch the safe touch edge.
The control system of the conveyor belt self-unloading transport vehicle comprises an electric control part, a remote controller, a remote control receiver and a power supply wiring harness, wherein a PLC (programmable logic controller) with the model of XC3-24R-E is arranged in the remote control box, the remote controller is in wireless communication with the remote control receiver, the remote control receiver is provided with a signal receiving wiring harness connected with the PLC, and the power supply wiring harness is connected with the anode and the cathode of a locomotive power supply to supply power to the remote control box; the remote control box is provided with a cover opening and closing knob, a door opening and closing knob, an emergency stop button, a discharging return knob and a power supply button;
the cover opening and closing knob is connected between the input ends X0 and X1 of the PLC and the COM end, the door opening and closing knob is connected between the input ends X2 and X3 of the PLC and the COM end, the unloading return knob is connected between the input ends X4 and X5 of the PLC and the COM end, and the emergency stop button is connected between the input end X6 and the COM end of the PLC; the signal receiving wiring harness of the remote control receiver is connected with input ends X0, X1, X2, X3, X4 and X5 of the PLC;
the outputs of the front-end travel switch and the front-end magnetic switch are connected in parallel and then connected between an input end X10 and a COM end of the PLC controller, the output of the rear-end magnetic switch is connected between an input end X11 and the COM end of the PLC controller, the output of the rear-door opening travel switch is connected between an input end X12 and the COM end of the PLC controller, and the output of the rear-door closing travel switch is connected between an input end X13 and the COM end of the PLC controller;
the output ends Y0, Y1, Y2 and Y3 of the PLC are respectively connected with the coils of the relay devices KA1, KA2, KA3 and KA4, and then connected with the end C0 of the PLC through a 24V power supply; the output ends Y4, Y5 and Y7 of the PLC are firstly connected with coils of relay devices KA5, KA6 and KA7 respectively, and then are connected with the end C1 of the PLC through a 24V power supply; normally open points of the relays KA1, KA2, KA3, KA4, KA5, KA6, KA7 form a hydraulic valve block control harness.
The control system of the conveyor belt self-unloading transport vehicle comprises an oil path part, a hydraulic oil tank and a control valve group, wherein the oil path part comprises a vehicle head plunger pump, the hydraulic oil tank and the control valve group; the control valve group comprises a first electromagnetic valve, a second electromagnetic valve and a third electromagnetic valve which are two-position four-way electromagnetic valves; the hydraulic oil tank respectively supplies oil to the top cover oil cylinder, the rear door oil cylinder and the discharging motor through a first electromagnetic valve, a second electromagnetic valve and a third electromagnetic valve;
the hydraulic valve group controls the wiring: normally open points of the relays KA1 and KA2 are respectively connected with two coil terminals of the first electromagnetic valve, normally open points of the relays KA3 and KA4 are respectively connected with two coil terminals of the second electromagnetic valve, and normally open points of the relays KA5 and KA6 are respectively connected with two coil terminals of the third electromagnetic valve.
According to the control system of the conveyor belt self-unloading transport vehicle, when the push plate moves to the rear end of the carriage to realize unloading, the push plate returns by the overturning of the unloading motor or the rotation of the return motor; when the return stroke of the discharging motor is adopted: a steel wire rope groove is formed in the roller, a steel wire rope is arranged in the steel wire rope groove, one end of the steel wire rope is fixed in the steel wire rope groove, and the other end of the steel wire rope is connected with the push plate after bypassing a fixed pulley arranged at the front end of the carriage; when the return motor is adopted, the return motor is connected with the push plate through the steel wire rope.
The automatic unloading method of the control system of the conveyor belt self-unloading transport vehicle is realized by the following steps:
a) the top cover is opened, when the transport vehicle transports the materials to the destination, a remote controller or a remote control box is used for sending a top cover opening instruction, and the top cover is driven to be opened by a top cover oil cylinder;
b) the back door is opened, after observing that the top cover is opened, an operator sends a back door opening instruction, and the back door is opened by a back door oil cylinder; judging whether the rear door is opened or not through an output signal of the rear door opening travel switch, if the rear door cannot be opened within a certain time, indicating that the top cover is not opened, returning to the step a) to open the top cover; if the rear door opening travel switch outputs an effective signal, the rear door is completely opened, and the unloading action can be executed only after the rear door is completely opened;
c) the automatic unloading is realized by sending an automatic unloading instruction by using a remote controller or a remote control box, driving an unloading motor to drive a roller to rotate so as to interlace a conveying belt, and pulling a push plate to move from the front end to the rear end of a carriage by the interlaced conveying belt so as to realize the automatic unloading of materials from the rear door of the carriage;
d) judging whether the push plate moves to the rear end of the carriage or not according to an output signal of the rear-end magnetic switch, if so, indicating that the unloading is finished, and executing the step e); if the position of the rear end of the carriage indicates that the unloading is not finished, the unloading motor is continuously driven to rotate;
e) returning the push plate, after unloading, sending a push plate return instruction by using a remote controller or a remote control box, and driving the push plate to move from the rear end of the carriage to the front end by using the overturning of an unloading motor or the rotation of a return motor;
f) judging in-place return, namely judging whether the push plate moves to the front end of the carriage or not according to output signals of the front-end magnetic switch and the front-end travel switch, if the push plate moves to the front end of the carriage, returning in-place surface, and executing the step g); if the push plate does not move to the front end position of the carriage, indicating that the return stroke is not finished, continuously driving the discharging motor to overturn or the return stroke motor to rotate;
g) door closing control, namely, after the return stroke of the push plate is in place, a rear door closing instruction is sent by using a remote controller or a remote control box to drive a telescopic rod of a rear door oil cylinder to retract so as to close the rear door;
h) judging whether a person or an obstacle stands at the rear end of the rear door and the rear end of the carriage or not through a safe touch edge in the process of closing the rear door, and stopping the movement of a rear door oil cylinder to stop the action of closing the rear door if the person or the obstacle exists; if no person or obstacle is present, performing step i);
i) judging whether the rear door is closed in place or not according to an output signal of a rear door closing travel switch, and executing the step j) if the rear door is closed in place; if the rear door is not closed in place, the telescopic rod of the rear door oil cylinder is driven to retract continuously to close the rear door;
j) and closing the top cover, sending a top cover closing instruction by using a remote controller or a remote control box, and closing the top cover by using the top cover oil cylinder.
The invention has the beneficial effects that: according to the control system and method for the conveyor belt self-unloading transport vehicle, the front end travel switch and the two front end magnetic switches are arranged at the front end of the carriage to limit the push plate to move to the front end of the carriage; the rear end of the carriage is provided with the two rear end magnetic switches to limit the push plate to move to the rear end of the carriage, so that when the unloading motor pulls the push plate to move to the rear end of the carriage for unloading through the conveyor belt, and one of the two rear end magnetic switches detects that the push plate is in place, the rotation of the unloading motor is driven, namely the movement of the thrust plate is stopped, and even if one rear end magnetic switch fails, the limit of the rear end of the push plate can be ensured, the push plate is effectively prevented from being pulled out, and the safety in the unloading process is ensured; similarly, when the push plate moves from the rear end of the carriage to the front end in a return stroke process, the push plate stops the return stroke after one of the two front-end magnetic switches or the front-end travel switch detects the push plate, the push plate is effectively prevented from being pulled out, and the safety of the push plate in the return stroke process is ensured.
Furthermore, by arranging an electric control part consisting of a PLC controller, a remote control receiver and a plurality of relays and an oil circuit part consisting of a hydraulic oil tank and a control valve group, the control of the oil circuit part by the electric control part can effectively realize the process control of top cover opening, back door opening, automatic discharging, discharging completion judgment, push plate return stroke, return stroke in-place judgment, door closing control, obstacle or personnel judgment, back door closing in-place judgment and top cover closing, and realize the reasonable, safe and stable discharging control of the automatic discharging dumper of the prior 'conveyor belt plus push plate'.
Drawings
Fig. 1 is a schematic structural view of a conveyor self-discharging transporter according to the present invention;
FIG. 2 is an enlarged view of a portion of the front end of FIG. 1;
FIG. 3 is an enlarged view of a portion of the rear end of FIG. 1;
FIG. 4 is a schematic view of the interlacing device of the self-unloading conveyor transport vehicle according to the present invention;
FIG. 5 is a schematic structural diagram of an electric control part in the present invention;
FIG. 6 is a schematic structural view of an oil path portion according to the present invention;
FIG. 7 is a schematic view of the structure of the remote control box according to the present invention;
FIG. 8 is a schematic view of the discharge motor connected to the drum according to the present invention;
FIG. 9 is a schematic diagram of an oil path portion of the present invention;
fig. 10 is a schematic diagram of an electric control part in the present invention.
In the figure: 1 vehicle frame, 2 carriages, 3 suspensions and wheels, 4 top covers, 5 back doors, 6 push plates, 7 interlacing devices, 8 discharging motors, 9 rollers, 10 conveyor belts, 11 top cover oil cylinders, 12 top cover driving mechanisms, 13 front magnetic switches, 14 front travel switches, 15 back door oil cylinders, 16 back door driving mechanisms, 17 back door opening travel switches, 18 back door closing travel switches, 19 back door magnetic switches, 20 safety contact edges, 21 travel limit control wiring harnesses, 22 remote control boxes, 23 power wiring harnesses, 24 remote control receivers, 25 hydraulic valve group control wiring harnesses, 26 locomotive plunger pumps, 27 hydraulic oil tanks, 28 control valve groups, 29 tensioning cylinders, 30 speed reducers, 31 steel wire rope grooves, 32 PLC controllers, 33 contact rods, 34 first electromagnetic valves, 35 second electromagnetic valves, 36 third electromagnetic valves, 37 return motors and 38 fourth electromagnetic valves.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1, a schematic structural diagram of the conveyor belt self-unloading transport vehicle of the present invention is shown, fig. 2 and 3 are partial enlarged views of the front end and the rear end of fig. 1, respectively, fig. 4 is a schematic structural diagram of an interlacing device in the conveyor belt self-unloading transport vehicle of the present invention, the illustrated compartment part is composed of a frame 1, a compartment 2, a suspension, wheels 3, a top cover 4 and a rear door 5, the frame 1 plays a role in fixing and supporting, the compartment 2 is fixed above the frame 1, and the interior of the compartment 2 is a cavity for storing goods; the suspension and the wheels 3 are arranged below the frame 1, the traction seat is arranged below the front end of the frame 1, and the frame 1 is connected with a traction vehicle head through the traction seat so as to drive the frame 1 to transport goods under the action of the traction vehicle head.
The inside of carriage 2 is the cavity of storage goods, and the self-discharging part comprises push pedal 6, conveyer belt 10 and interlacing device 7, and push pedal 6 sets up in the inside cavity of carriage 2, and interlacing device 7 comprises discharge motor 8 and cylinder 9, and discharge motor 8 adopts hydraulic motor, and as shown in figure 8, discharge motor 8 drives cylinder 9 through reduction gear 30 and rotates, and the one end of conveyer belt 10 is fixed in on cylinder 9, and the other end is fixed in on push pedal 6. Thus, when the discharging motor 8 drives the roller 9 to rotate to wind the conveyor belt 10, the push plate 6 in the carriage 2 can be pulled to move from the front end to the rear end, so that the discharging operation is realized. If the return stroke of the push plate 6 from the rear end of the carriage 2 to the front end is realized by the unloading motor 8, a steel wire rope groove 31 needs to be formed in the roller 9, a steel wire rope is arranged in the steel wire rope groove 31, one end of the steel wire rope is fixed in the steel wire rope groove 31, and the other end of the steel wire rope is fixedly connected with the push plate 6 after bypassing a fixed pulley fixed at the front end of the frame 1, so that when the unloading motor 8 is turned, the push plate 6 can be pulled to move from the rear end of the carriage 1 to the front end to realize the return stroke.
The top cover 4 is arranged at the upper end of the carriage 2, the top cover oil cylinder 11 is arranged at the front end of the carriage 2, and the top cover oil cylinder 11 drives the top cover 4 to rotate through the top cover driving mechanism 12 so as to realize the opening and closing of the top cover 4. The rear door 5 is arranged at the rear end of the carriage 2, the upper part of the rear door 5 is hinged to the upper end of the rear part of the carriage 2 through a rear door driving mechanism 16, a rear door oil cylinder 15 is fixed at the rear end of the carriage 2 in a mode that a telescopic rod faces upwards, and the rear door oil cylinder 15 drives the rear door 5 to open and close through the rear door driving mechanism 16.
The bottom of the front end of the cavity in the carriage 2 is provided with a front end travel switch 14, two side walls of the front end of the vehicle 2 are provided with front end magnetic switches 13, two sides of the push plate 6 are provided with magnets at positions corresponding to the front end magnetic switches, and when the push plate 6 moves to a position set at the front end of the carriage 2, the two front end magnetic switches 13 and the front end travel switch 14 are triggered to stop return stroke movement at the same time. Because two front-end magnetic switches 13 and a front-end travel switch 14 are arranged, the push plate can be stopped from moving forwards continuously as long as one of the three switches detects that the push plate 6 reaches the front end, and the situation that the push plate 6 is pulled out is effectively avoided.
All be provided with rear end magnetic switch 19 on the both sides wall of carriage 2 rear end shown, the magnet highly uniform of both ends magnetic switch 19 and push pedal 6 both sides, when the in-process of unloading is carried out in the backward shift of push pedal 6 through conveyer belt 10 pulling to motor 8 of unloading, when push pedal 6 moves to the position that triggers two rear end magnetic switch 19 actions, will stop the motion of motor 8 of unloading, unload and stop, effectively avoided the emergence of the in-process push pedal 6 of unloading from the carriage 2 rear end situation of being pulled out. Because two rear-end magnetic switches 19 are arranged, the push plate 6 can be ensured to stop as long as one rear-end magnetic switch 19 outputs an effective signal.
In order to detect the fully opened state of the rear door 5, a rear door opening travel switch 17 is provided on the side wall of the illustrated vehicle compartment 2, a contact rod 33 on the rear door opening travel switch 17 is horizontally arranged toward the rear door cylinder 15, and when the rear door 5 is fully opened, the rear door cylinder 15 just touches the contact rod 33, so that the rear door opening travel switch 17 is actuated. In order to detect the fully closed state of the rear door 5, a rear door closing travel switch 18 is fixed below the rear door driving mechanism 16, the rear door closing travel switch 18 is arranged in a manner that a contact rod 33 faces the rear door driving mechanism 16, and when the rear door 5 is fully closed, the rear door driving mechanism 16 falls and just touches the contact rod 33 of the rear door closing travel switch 18, so that the output signal of the rear door opening travel switch 17 is changed (for example, the rear door opening travel switch is changed from a normally open point to a normally closed state).
In the process of closing the rear door 5, a person for cleaning materials at the tail part of the carriage 2 may stand below the rear door 5, and if an operator cannot see the person below the rear door 5 to execute a rear door closing instruction, the operator can touch the person below the rear door 5, so that unnecessary injury is caused; in order to avoid this situation, a safety contact edge 20 is provided at the lower edge of the rear door 5, and when the safety contact edge 20 comes into contact with a person or an obstacle, the closing of the rear door is stopped to avoid injury to the person.
The signal output lines of the front magnetic switch 13, the front travel switch 14, the rear magnetic switch 19, the rear door opening travel switch 17 and the rear door closing travel switch 18 are shown as a travel limit control harness 21 to be input to the electronic control section.
As shown in fig. 5, a schematic structural diagram of the electric control part of the present invention is given, the electric control part is composed of a remote control box 22, a remote controller, a remote control receiver 24 and a power harness 23, the remote control receiver 24 is connected with the remote control box 22 through a signal receiving harness, one end of the power harness 23 is connected with the positive and negative poles of the locomotive power supply, and the other end is connected with the remote control box 22, so as to supply power to the remote control receiver 24 through the locomotive power supply. The travel limit control harness 21 is shown connected to a remote control receiver 24, and the control lines output by the remote control receiver 24 form a hydraulic valve block control harness 25 to control the hydraulic valve block. As shown in fig. 7, a schematic diagram of the structural principle of the remote control box of the present invention is shown, and the remote control box 22 is provided with a cover opening and closing knob 40, a door opening and closing knob 41, an emergency stop button 42, a discharging return knob 43 and a power button 44 to realize the control of the corresponding functions.
As shown in fig. 10, which shows a schematic diagram of an electric control part of the present invention, a PLC controller 32 is disposed in a remote control box 22, the model of the PLC controller 32 is XC3-24R-E, and a cover opening and closing knob 40 is connected between input ends X0, X1 and COM ends of the PLC controller, so that when the cover opening and closing knob 40 is rotated to an opening position, the X0 end of the PLC controller 32 is communicated with the COM end, and at this time, the LC controller 32 outputs a signal for controlling the relay KA1 to operate through a Y0 port, thereby driving a top cover cylinder 11 to operate to open the cover; accordingly, the closing action is the same. The door opening and closing knob 41 is connected between the input ends X2 and X3 of the PLC and the COM end, the unloading return knob 43 is connected between the input ends X4 and X5 of the PLC and the COM end, and the emergency stop button 42 is connected between the input end X6 of the PLC and the COM end; the back door can be opened, closed, unloaded, returned (push plate 6 return stroke) and scram can be executed by rotating the knob to the corresponding position.
The remote control receiver 24 is used for receiving remote control signals, and output signals of the remote control receiver 24 form a signal receiving wire harness and are connected with input ends X0, X1, X2, X3, X4 and X5 of the PLC 32, so that when the opening, closing, discharging, returning and emergency stop keys on the remote controller are pressed, the signals can be detected by corresponding ports of the PLC 32.
The outputs of the front-end travel switch 14 and the front-end magnetic switch 13 are connected in parallel and then connected between the input end X10 of the PLC controller 32 and the COM end, and the output of the rear-end magnetic switch 19 is connected between the input end X11 of the PLC controller 32 and the COM end, so that when the push plate 5 moves to the limit position of the front end or the rear end, the push plate can be detected by the PLC controller 32. The output of the back door opening travel switch 17 is connected between the input terminal X12 of the PLC controller 32 and the COM terminal, and the output of the back door closing travel switch 18 is connected between the input terminal X13 of the PLC controller 32 and the COM terminal, so that the back door can be detected by the PLC controller 32 even when the back door is completely opened or completely closed.
The output ends Y0, Y1, Y2 and Y3 of the PLC 32 are respectively connected with the coils of the relay devices KA1, KA2, KA3 and KA4, and then connected with the end C0 of the PLC 32 through a 24V power supply; the output ends Y4, Y5 and Y7 of the PLC 32 are firstly connected with the coils of the relays KA5, KA6 and KA7 respectively, and then are connected with the end C1 of the PLC through a 24V power supply; the normally open points of the relays KA1, KA2, KA3, KA4, KA5, KA6, KA7 form the hydraulic valve block control harness 25.
As shown in fig. 6, a schematic structural diagram of the oil path portion of the present invention is shown, the oil path portion shown is composed of a headstock plunger pump 26, a hydraulic oil tank 27 and a control valve group 28, the headstock plunger pump 26 takes power from a power output shaft on the headstock through a mechanical mechanism, the headstock plunger pump 26 is connected with the hydraulic oil tank 27 through an oil path, and the hydraulic oil tank 27 supplies oil to the discharging motor 8, the back door oil cylinder 15 and the top cover oil cylinder 11 through the control valve group 28.
As shown in fig. 9, which shows a schematic diagram of an oil path portion of the present invention, the control valve group 28 includes a first solenoid valve 34, a second solenoid valve 35, and a third solenoid valve 36, which are two-position four-way solenoid valves; the hydraulic oil tank supplies oil to the head cover oil cylinder 11, the rear door oil cylinder 15 and the discharge motor 8 through a first electromagnetic valve 34, a second electromagnetic valve 35 and a third electromagnetic valve 36, respectively. If the return stroke of the push plate 6 employs a return motor 37, a fourth solenoid valve 38 for controlling the return motor should also be provided.
Hydraulic valve group control harness 25: normally open points of the relays KA1 and KA2 are connected to two coil terminals of the first electromagnetic valve 34, normally open points of the relays KA3 and KA4 are connected to two coil terminals of the second electromagnetic valve 35, and normally open points of the relays KA5 and KA6 are connected to two coil terminals of the third electromagnetic valve 36. Thus, the relays KA1 and KA2 can control the top cover oil cylinder 11 through the first electromagnetic valve 34 to perform the actions of opening and closing the top cover 4; the relays KA3 and KA4 can control the rear door oil cylinder 15 through the second electromagnetic valve 35 to perform the action of opening and closing the rear door 5; the relays KA5, KA6 can control the discharging motor 8 through the third electromagnetic valve 36 to execute discharging and returning operations.
The automatic unloading method of the control system of the conveyor belt self-unloading transport vehicle is realized by the following steps:
a) the top cover is opened, when the transport vehicle transports the materials to the destination, a remote controller or a remote control box is used for sending a top cover opening instruction, and the top cover is driven to be opened by a top cover oil cylinder;
b) the back door is opened, after observing that the top cover is opened, an operator sends a back door opening instruction, and the back door is opened by a back door oil cylinder; judging whether the rear door is opened or not through an output signal of the rear door opening travel switch, if the rear door cannot be opened within a certain time, indicating that the top cover is not opened, returning to the step a) to open the top cover; if the rear door opening travel switch outputs an effective signal, the rear door is completely opened, and the unloading action can be executed only after the rear door is completely opened;
c) the automatic unloading is realized by sending an automatic unloading instruction by using a remote controller or a remote control box, driving an unloading motor to drive a roller to rotate so as to interlace a conveying belt, and pulling a push plate to move from the front end to the rear end of a carriage by the interlaced conveying belt so as to realize the automatic unloading of materials from the rear door of the carriage;
d) judging whether the push plate moves to the rear end of the carriage or not through an output signal of the rear-end magnetic switch, and if the push plate moves to the rear end of the carriage, indicating that the unloading is finished, and executing the step e); if the position of the rear end of the carriage indicates that the unloading is not finished, the unloading motor is continuously driven to rotate;
e) returning the push plate, after unloading, sending a push plate return instruction by using a remote controller or a remote control box, and driving the push plate to move from the rear end of the carriage to the front end by using the overturning of an unloading motor or the rotation of a return motor;
f) judging in-place return, namely judging whether the push plate moves to the front end of the carriage or not according to output signals of the front-end magnetic switch and the front-end travel switch, if the push plate moves to the front end of the carriage, returning in-place surface, and executing the step g); if the push plate does not move to the front end position of the carriage, indicating that the return stroke is not finished, continuously driving the discharging motor to overturn or the return stroke motor to rotate;
g) door closing control, namely, after the return stroke of the push plate is in place, a rear door closing instruction is sent by using a remote controller or a remote control box to drive a telescopic rod of a rear door oil cylinder to retract so as to close the rear door;
h) judging whether a person or an obstacle stands at the rear end of the back door and the carriage or not through a safe touch edge in the process of closing the back door, and stopping the movement of a back door oil cylinder to stop the action of closing the back door if the person or the obstacle exists; if no person or obstacle is present, performing step i);
i) judging whether the rear door is closed in place or not according to an output signal of a rear door closing travel switch, and executing the step j) if the rear door is closed in place; if the rear door is not closed in place, the telescopic rod of the rear door oil cylinder is driven to retract continuously to close the rear door;
j) and closing the top cover, sending a top cover closing instruction by using a remote controller or a remote control box, and closing the top cover by using the top cover oil cylinder.
Claims (8)
1. A control system of a conveyor belt self-discharging transport vehicle comprises a carriage part, a self-discharging part, an oil way part and an electric control part, wherein the carriage part consists of a frame (1), a carriage (2), a suspension, wheels (3), a top cover (4) and a rear door (5), the carriage is arranged on the frame, a cavity for loading goods is formed in the carriage, the suspension and the wheels are arranged below the frame, and the top cover and the rear door are respectively arranged at the top and the rear part of the carriage; a top cover oil cylinder (11) for driving the top cover to open and close is arranged at the front end of the carriage, and a rear door oil cylinder (15) for driving the rear door to open and close is arranged at the rear part of the carriage; the self-unloading part comprises a push plate (6), a conveyor belt (10) and an interlacing device (7), the interlacing device is arranged at the rear part of the carriage, the interlacing device comprises a discharging motor (8) and a roller (9), the push plate is arranged in an inner cavity of the carriage, the conveyor belt is laid at the bottom of the carriage, two ends of the conveyor belt are respectively connected with the push plate and the roller, and the discharging motor is used for driving the roller to rotate; the discharging motor drives the roller to rotate to wind the conveying belt, and the conveying belt pulls the push plate to move forwards and backwards in the carriage right to realize discharging; the method is characterized in that: a front-end magnetic switch (13) for detecting whether the push plate (6) reaches the front end of the carriage is arranged on the side wall of the front end of the carriage (2), and a front-end travel switch (14) for detecting whether the push plate reaches the front end of the carriage is arranged at the bottom of the front end of the carriage; the side wall of the rear end of the carriage is provided with a rear-end magnetic switch (19) for detecting whether the push plate reaches the rear end of the carriage, the side wall of the rear end of the carriage is provided with a rear door opening travel switch (17) for detecting whether the rear door (5) is opened in place, and the side wall of the rear end of the carriage is provided with a rear door closing travel switch (18) for detecting whether the rear door is closed in place.
2. The control system for a conveyor self-discharging transporter according to claim 1, wherein: the rear door oil cylinder (15) is fixed on the side wall of the carriage (2) in a manner that the telescopic rod faces upwards, and the telescopic rod of the rear door oil cylinder drives the rear door (5) to open through the rear door driving mechanism (16); the front end travel switch (14), the rear door opening travel switch (17) and the rear door opening travel switch (18) are all provided with a contact rod (33), the rear door opening travel switch (17) is fixed on a carriage in front of the rear door oil cylinder (15) in a mode that the contact rod (33) faces backwards, and the rear door oil cylinder (15) is in top contact with the contact rod of the rear door opening travel switch when the rear door is completely opened; the rear door closing travel switch (18) is fixed below the rear door driving mechanism (16) in a mode that the contact rod (33) faces upwards, and when the rear door (5) is completely closed, the rear door driving mechanism (16) is in contact with the contact rod of the rear door closing travel switch (18).
3. The control system for the conveyor self-unloading transporter according to claim 1 or 2, wherein: the number of the front-end magnetic switches (13) is two, and the two front-end magnetic switches are respectively arranged on two side walls of the front end of the carriage (2); the number of the rear-end magnetic switches (19) is two, and the two rear-end magnetic switches are respectively arranged on two side walls of the rear end of the carriage (2).
4. The control system for a conveyor self-discharging transporter according to claim 3, wherein: and a safety touch edge (20) for detecting whether a person or an object is touched is arranged on the lower edge of the rear door (5).
5. The control system of the conveyor self-unloading transporter of claim 4, wherein: the electric control part consists of a remote control box (22), a remote controller, a remote control receiver (24) and a power supply wire harness (23), wherein a PLC (programmable logic controller) with the model of XC3-24R-E (XC 3-24R-E) is arranged in the remote control box, the remote controller is in wireless communication with the remote control receiver, the remote control receiver (24) is provided with a signal receiving wire harness (39) connected with the PLC, and the power supply wire harness is connected with the anode and the cathode of a locomotive power supply to supply power to the remote control box; the remote control box is provided with a cover opening and closing knob (40), a door opening and closing knob (41), an emergency stop button (42), a discharging return knob (43) and a power supply button (44);
the cover opening and closing knob (40) is connected between the input ends X0 and X1 of the PLC and the COM end, the door opening and closing knob (41) is connected between the input ends X2 and X3 of the PLC and the COM end, the discharging return knob (43) is connected between the input ends X4 and X5 of the PLC and the COM end, and the emergency stop button (42) is connected between the input end X6 and the COM end of the PLC; a signal receiving wire harness (39) of the remote control receiver (24) is connected with input ends X0, X1, X2, X3, X4 and X5 of the PLC;
the outputs of the front-end travel switch (14) and the front-end magnetic switch (13) are connected in parallel and then connected between the input end X10 and the COM end of the PLC controller, the output of the rear-end magnetic switch (19) is connected between the input end X11 and the COM end of the PLC controller, the output of the rear-door opening travel switch (17) is connected between the input end X12 and the COM end of the PLC controller, and the output of the rear-door closing travel switch (18) is connected between the input end X13 and the COM end of the PLC controller;
the output ends Y0, Y1, Y2 and Y3 of the PLC (32) are respectively connected with coils of relay devices KA1, KA2, KA3 and KA4, and then connected with the end C0 of the PLC through a 24V power supply; the output ends Y4, Y5 and Y7 of the PLC (32) are firstly connected with coils of relays KA5, KA6 and KA7 respectively and then connected with a C1 end of the PLC through a 24V power supply; normally open points of the relays KA1, KA2, KA3, KA4, KA5, KA6, KA7 form a hydraulic valve block control harness (25).
6. The control system of the conveyor self-unloading transporter of claim 5, wherein: the oil circuit part consists of a head plunger pump (26), a hydraulic oil tank (27) and a control valve group (28), the head plunger pump (26) takes power from a power output shaft on the head through a mechanical mechanism, the head plunger pump (26) is connected with the hydraulic oil tank (27) through an oil circuit, and the hydraulic oil tank (27) supplies oil to the discharge motor (8), the rear door oil cylinder (15) and the top cover oil cylinder (11) through the control valve group (28); the control valve group (28) comprises a first electromagnetic valve (34), a second electromagnetic valve (35) and a third electromagnetic valve (36) which are two-position four-way electromagnetic valves; the hydraulic oil tank respectively supplies oil to the top cover oil cylinder (11), the rear door oil cylinder (15) and the discharging motor (8) through a first electromagnetic valve (34), a second electromagnetic valve (35) and a third electromagnetic valve (36);
in a hydraulic valve group control harness (25): normally open points of the relays KA1 and KA2 are respectively connected with two coil terminals of the first electromagnetic valve, normally open points of the relays KA3 and KA4 are respectively connected with two coil terminals of the second electromagnetic valve, and normally open points of the relays KA5 and KA6 are respectively connected with two coil terminals of the third electromagnetic valve.
7. The control system for a conveyor self-discharging transporter according to claim 6, wherein: when the push plate (6) moves to the rear end of the carriage (2) to realize unloading, the push plate (6) returns by the overturning of the unloading motor (8) or the rotation of the return motor (37); when the return stroke of the discharging motor (8) is adopted: a steel wire rope groove (31) is formed in the roller (9), a steel wire rope is arranged in the steel wire rope groove (31), one end of the steel wire rope is fixed in the steel wire rope groove, and the other end of the steel wire rope is connected with the push plate (6) after bypassing a fixed pulley arranged at the front end of the carriage (2); when the return motor (37) is adopted, the return motor is connected with the push plate (6) through a steel wire rope.
8. An automatic discharging method based on the control system for the conveyor self-discharging transport vehicle according to claim 7, characterized by comprising:
a) the top cover is opened, when the transport vehicle transports the materials to the destination, a remote controller or a remote control box is used for sending a top cover opening instruction, and the top cover is driven to be opened by a top cover oil cylinder;
b) the back door is opened, after observing that the top cover is opened, an operator sends a back door opening instruction, and the back door is opened by a back door oil cylinder; judging whether the rear door is opened or not through an output signal of the rear door opening travel switch, if the rear door cannot be opened within a certain time, indicating that the top cover is not opened, returning to the step a) to open the top cover; if the rear door opening travel switch outputs an effective signal, the rear door is completely opened, and the unloading action can be executed only after the rear door is completely opened;
c) the automatic unloading is realized by sending an automatic unloading instruction by using a remote controller or a remote control box, driving an unloading motor to drive a roller to rotate so as to interlace a conveying belt, and pulling a push plate to move from the front end to the rear end of a carriage by the interlaced conveying belt so as to realize the automatic unloading of materials from the rear door of the carriage;
d) judging whether the push plate moves to the rear end of the carriage or not according to an output signal of the rear-end magnetic switch, if so, indicating that the unloading is finished, and executing the step e); if the position of the rear end of the carriage indicates that the unloading is not finished, the unloading motor is continuously driven to rotate;
e) returning the push plate, after unloading, sending a push plate return instruction by using a remote controller or a remote control box, and driving the push plate to move from the rear end of the carriage to the front end by using the overturning of an unloading motor or the rotation of a return motor;
f) judging in place the return stroke, judging whether the push plate moves to the front end of the carriage or not through output signals of the front end magnetic switch and the front end travel switch, if the push plate moves to the front end of the carriage, judging in place the return stroke of the surface, and executing the step g); if the push plate does not move to the front end position of the carriage, indicating that the return stroke is not completed, continuously driving the discharging motor to overturn or the return stroke motor to rotate;
g) door closing control, namely, after the return stroke of the push plate is in place, a rear door closing instruction is sent by using a remote controller or a remote control box to drive a telescopic rod of a rear door oil cylinder to retract so as to close the rear door;
h) judging whether a person or an obstacle stands at the rear end of the rear door and the rear end of the carriage or not through a safe touch edge in the process of closing the rear door, and stopping the movement of a rear door oil cylinder to stop the action of closing the rear door if the person or the obstacle exists; if no person or obstacle is present, performing step i);
i) judging whether the rear door is closed in place or not according to an output signal of a rear door closing travel switch, and executing the step j) if the rear door is closed in place; if the rear door is not closed in place, the telescopic rod of the rear door oil cylinder is driven to retract continuously to close the rear door;
j) and closing the top cover, sending a top cover closing instruction by using a remote controller or a remote control box, and closing the top cover by using the top cover oil cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210289202.7A CN114537246A (en) | 2022-03-23 | 2022-03-23 | Control system and method for conveyor belt self-unloading transport vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210289202.7A CN114537246A (en) | 2022-03-23 | 2022-03-23 | Control system and method for conveyor belt self-unloading transport vehicle |
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| CN114537246A true CN114537246A (en) | 2022-05-27 |
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| CN215042349U (en) * | 2021-08-12 | 2021-12-07 | 山东畅达专用车有限公司 | Dumper back door with anti-pinch function |
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| CN203358495U (en) * | 2013-06-08 | 2013-12-25 | 中国重汽集团青岛重工有限公司 | Secondary unloading electric control system |
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