CN114873314A - Positioning car segmentation positioning method of car dumper - Google Patents
Positioning car segmentation positioning method of car dumper Download PDFInfo
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- CN114873314A CN114873314A CN202210524571.XA CN202210524571A CN114873314A CN 114873314 A CN114873314 A CN 114873314A CN 202210524571 A CN202210524571 A CN 202210524571A CN 114873314 A CN114873314 A CN 114873314A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000011218 segmentation Effects 0.000 title description 6
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 230000007306 turnover Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 3
- 239000013590 bulk material Substances 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000004939 coking Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
- B65G67/32—Unloading land vehicles using fixed tipping installations
- B65G67/48—Vehicle tipplers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/006—Centring or aligning a vehicle at a loading station using means not being part of the vehicle
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a positioning car subsection positioning method of a car dumper, which comprises the following specific steps: the control system detects the walking position of the positioning vehicle and the dumping position of the tippler; the main arm of the positioning vehicle is stretched and locked; positioning the cart to a dumping position; unlocking and withdrawing the main arm of the positioning vehicle, and clamping by a wheel clamping device; the car dumper is controlled by a control system to carry out sectional dumping, and displacement generated by inertia is offset by setting different deceleration positions and stop positions; simultaneously, the positioning vehicle returns to the main arm extending position; and (5) extending out the main arm of the positioning vehicle to perform next turnover operation cycle. The invention reduces the fault frequency of inaccurate positioning of the positioning vehicle. The failure frequency is reduced to 0.35 percent (calculated according to 35 cycles of each train) from 5.83 percent, and the average failure frequency of each train is reduced from 2.04 to 0.12.
Description
Technical Field
The invention relates to the technical field of a tippler unloading system, in particular to a positioning car segmentation positioning method of a tippler.
Background
The unloading system of the tippler is a special device for large-scale unloading operation, is used for dumping bulk cargo loaded by a railway gondola car, and is widely applied to ports, thermal power plants, coal coking and the like. The tippler unloading system mainly comprises a positioning car, a tippler, a car pusher, a hopper, a wheel clamping device, a car pressing device and accessory equipment, and the general operation process is as follows: the positioning vehicle traction arm falls to the arm, the positioning vehicle pulls the vehicle to the designated position of the tipper platform, the car of the vehicle is well fixed by the car presser and the car leaning plate, and the tipper drives the car to tip over 160 degrees until the bulk material in the car tips over into the hopper, so that the tipping of the bulk material is completed.
At present, the Hebei Hua electric Caochiedian storage and transportation Limited company has two sets of tipper systems, 3 sections of heavy cars can be tipped and unloaded in each cycle, and the tipping rated capacity is 7200 t/h. The operation efficiency of the tippler system directly affects the unloading efficiency of the company.
At the initial stage of the company tippler, because the positioning of the positioning car is inaccurate, the failure that the photoelectric tubes at the inlet and the outlet of the tippler are not conducted often occurs, and then the tippler cannot automatically tip over, and the unloading efficiency is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a positioning car subsection positioning method of a tippler.
The purpose of the invention is realized by the following technical scheme:
a positioning car subsection positioning method of a tippler comprises the following specific steps:
s1: the control system detects the walking position of the positioning vehicle and the dumping position of the tippler;
s2: receiving a signal indicating that the positioning vehicle travels to a preset range, and sending a command to the positioning vehicle when the positioning vehicle travels to the preset range, wherein a main arm of the positioning vehicle stretches out and is locked;
s3: receiving a signal indicating that the positioning vehicle travels to a preset range, and sending a command to the positioning vehicle when the positioning vehicle travels to the preset range, so that the positioning vehicle pushes the positioning vehicle to a turning position;
s4: receiving a signal indicating that the positioning vehicle travels to a preset range, and sending a command to the positioning vehicle when the positioning vehicle travels to the preset range, so that a main arm of the positioning vehicle is unlocked and retracted, and a wheel clamping device clamps the positioning vehicle;
s5: the car dumper is controlled by a control system to carry out sectional dumping, and displacement generated by inertia is offset by setting different deceleration positions and stop positions; simultaneously, the positioning vehicle returns to the main arm extending position;
s6: and (5) extending out the main arm of the positioning vehicle to perform next turnover operation cycle.
The sectional dumping body comprises a plurality of sections of heavy trucks dumped by the dumper in a cycle, and each section is respectively provided with a speed reduction position and a stop position.
The locking of the extending arm of the positioning vehicle means that the traction arm of the positioning vehicle can move in a retracting manner, and the traction arm of the positioning vehicle cannot move in an extending manner.
The unlocking of the extending arm of the positioning vehicle means that the traction arm of the positioning vehicle can perform arm retracting movement and arm extending movement.
The control system comprises a first detection device, a second detection device and a PLC main control box, wherein the first detection device and the second detection device are respectively connected with the PLC main control box.
The first detection device is a first encoder, and the first encoder is installed on a travelling mechanism of the positioning vehicle.
The second detection device is a second encoder, and the second encoder is installed on the tippler.
The invention has the beneficial effects that:
the invention reduces the fault frequency of inaccurate positioning of the positioning vehicle. The failure frequency is reduced to 0.35 percent (calculated according to 35 cycles of each train) from 5.83 percent, and the average failure frequency of each train is reduced from 2.04 to 0.12.
The time consumed by each fault is calculated to be 3 minutes, the operating time of each train of the modified tippler is saved by about 5.76 minutes, and the electric quantity can be saved by 1354752 kW.h per one operating line per year by calculating that each tippler is connected and disconnected with 150 trains again per month.
The unloading efficiency of the invention is improved from 4500t/h to 4760 t/h. When the market compares the prosperity, the saved time can be about 9.6 rows of heavy trucks each month, and the loading and unloading amount can be increased by 967680t each year.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a block flow diagram of the present invention;
FIG. 2 is a segmented control logic diagram of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should be considered to be absent and not within the protection scope of the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As shown in fig. 1, a positioning car subsection positioning method of a car dumper comprises the following specific steps:
s1: the control system detects the walking position of the positioning vehicle and the dumping position of the tippler;
s2: receiving a signal indicating that the positioning vehicle travels to a preset range, and sending a command to the positioning vehicle when the positioning vehicle travels to the preset range, wherein a main arm of the positioning vehicle stretches out and is locked;
s3: receiving a signal indicating that the positioning vehicle travels to a preset range, and sending a command to the positioning vehicle when the positioning vehicle travels to the preset range, so that the positioning vehicle pushes the positioning vehicle to a vehicle turning position;
s4: receiving a signal indicating that the positioning vehicle travels to a preset range, and sending a command to the positioning vehicle when the positioning vehicle travels to the preset range, so that a main arm of the positioning vehicle is unlocked and retracted, and a wheel clamping device clamps the positioning vehicle;
s5: the car dumper is controlled by a control system to carry out sectional dumping, and displacement generated by inertia is offset by setting different deceleration positions and stop positions; simultaneously, the positioning vehicle returns to the main arm extending position;
s6: and (5) extending out the main arm of the positioning vehicle to perform next turnover operation cycle.
The sectional dumping body comprises a plurality of sections of heavy trucks dumped by the dumper in a cycle, and each section is respectively provided with a speed reduction position and a stop position.
The locking of the extending arm of the positioning vehicle means that the traction arm of the positioning vehicle can move in a retracting manner, and the traction arm of the positioning vehicle cannot move in an extending manner.
The unlocking of the extending arm of the positioning vehicle means that the traction arm of the positioning vehicle can perform arm retracting movement and arm extending movement.
The control system comprises a first detection device, a second detection device and a PLC main control box, wherein the first detection device and the second detection device are respectively connected with the PLC main control box.
The first detection device is a first encoder, and the first encoder is installed on a travelling mechanism of the positioning vehicle.
The second detection device is a second encoder, and the second encoder is installed on the tippler.
The tippler system is a cycle of 3-section heavy vehicle. The automatic operation flow of the tippler is as follows: 1. extending out of the main arm of the positioning vehicle; 2. positioning the cart to a dumping position; 3. the main arm of the positioning vehicle is retracted, and the wheel clamping device is clamped; 3. then the tipper overturns and returns, and the positioning vehicle returns to the main arm extending position.
After the positioning cart is pushed to the dumping position and before the wheel clamping devices are clamped, the heavy truck on the dumping machine can generate forward displacement due to the inertia problem of the train. However, the number of the heavy vehicle sections is changed along with the continuous dumping of the heavy vehicle, so the generated displacement is also changed continuously.
The transformation is based on the principle of sectional positioning, the displacement generated by inertia is offset by setting different deceleration positions and stop positions in each section of trolley operation through the sectional positioning, so that the braking time and the braking position of the positioning trolley are changed in each sectional interval, and the heavy trolley in each cycle can be controlled to be positioned at the automatic dumping position.
Each row of heavy vehicles unloaded by the tippler is 105 sections, each 3 sections is a cycle, and the position of the positioning vehicle pushed to the tippler position is 115680mm, which is a fixed value specified in a PLC program.
The original segmentation method comprises the following steps: 0-30-45-60-tail cycle:
0-30 vehicle: the deceleration position is 110170mm, and the stop position is 115450 mm;
30-45 vehicles: the deceleration position is 110370mm, and the stop position is 115520 mm;
45-60 vehicles: the deceleration position is 110550mm, and the stop position is 115550 mm;
60-tail circulation: the deceleration position is 110620mm, the stop position is 115580mm
In the segmentation range of 0 to 30 vehicles (the deceleration position is 110170mm, the stop position is 115450mm), the faults of 0 to 18 vehicles are frequent, and the overturning position is 115710mm at the moment. The deceleration position of 0 to 30 cars is then adjusted to 110070mm and the stop position to 115510 mm. As shown in table 1, after the adjustment, the number of failures of 0 to 18 cars was reduced, and the rollover position was 115680 mm. However, the failure was concentrated on 21 to 30 cars.
TABLE 1
| Counting time | Number of unloads | Location of failure | Number of failures | |
| Before adjustment | 12 days in 7 months to 25 days in 7 months | 63 columns of | 0-18 vehicle | 23 times of |
| After adjustment | 1/8 | 30 rows of | 21-30 vehicle | 10 times of |
Therefore, it is judged that the same deceleration position and stop position are not suitable for use in the range of 0 to 30 cars, and the range should be subdivided into two ranges, and different deceleration positions and stop positions should be used. As shown in Table 2, according to data analysis, the pre-alignment fault and post-alignment fault occurred before and after 18 cars, thus yielding 18 cars as new segment nodes, the deceleration bit of 0 to 18 cars is 110070mm, and the stop bit is 115510 mm.
TABLE 2
After the range of the original 0 to 30 cars is adjusted to 0 to 18 cars, the next range becomes 18 to 45 cars (the deceleration position is 110370mm, and the stop position is 115520 mm). By adopting the data analysis method, the faults before adjustment are concentrated on the 42 and 45 vehicles in the range from 18 vehicles to 45 vehicles, and the turnover position is 115620mm when the 42 and 45 vehicles work. The deceleration position of 18-45 vehicles is adjusted to 110550mm, faults are concentrated on 21-39 vehicles after the stop position is adjusted to 115510mm, and the turnover position is 115650 mm. So 39 vehicles are found to be new segment nodes.
As shown in fig. 2, the new segmentation method: 0-18-39-45-60-tail cycle:
0-18 vehicle: the deceleration position is 110070mm, and the stop position is 115510 mm;
18-39 vehicle: the deceleration position is 110370mm, and the stop position is 115520 mm;
39-45 vehicle: the deceleration position is 110550mm, and the stop position is 115510 mm;
45-60 vehicles: the deceleration position is 110620mm, and the stop position is 115505 mm;
60-tail circulation: the deceleration position is 110700mm, and the stop position is 115580 mm.
The invention reduces the fault frequency of inaccurate positioning of the positioning vehicle. The failure frequency is reduced to 0.35 percent (calculated according to 35 cycles of each train) from 5.83 percent, and the average failure frequency of each train is reduced from 2.04 to 0.12.
The time consumed by each fault is calculated to be 3 minutes, the operating time of each train of the modified tippler is saved by about 5.76 minutes, and the electric quantity can be saved by 1354752 kW.h per one operating line per year by calculating that each tippler is connected and disconnected with 150 trains again per month.
The unloading efficiency of the invention is improved from 4500t/h to 4760 t/h. When the market compares the prosperity, the saved time can be about 9.6 rows of heavy trucks each month, and the loading and unloading amount can be increased by 967680t each year.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The method for positioning the positioning car of the car dumper in a segmented mode is characterized by comprising the following specific steps of:
s1: the control system detects the walking position of the positioning vehicle and the dumping position of the tippler;
s2: receiving a signal indicating that the positioning vehicle travels to a preset range, and sending a command to the positioning vehicle when the positioning vehicle travels to the preset range, wherein a main arm of the positioning vehicle stretches out and is locked;
s3: receiving a signal indicating that the positioning vehicle travels to a preset range, and sending a command to the positioning vehicle when the positioning vehicle travels to the preset range, so that the positioning vehicle pushes the positioning vehicle to a turning position;
s4: receiving a signal indicating that the positioning vehicle travels to a preset range, and sending a command to the positioning vehicle when the positioning vehicle travels to the preset range, so that a main arm of the positioning vehicle is unlocked and retracted, and a wheel clamping device clamps the positioning vehicle;
s5: the car dumper is controlled by a control system to carry out sectional dumping, and displacement generated by inertia is counteracted by setting different deceleration positions and stop positions; simultaneously, the positioning vehicle returns to the main arm extending position;
s6: and (5) extending out the main arm of the positioning vehicle to perform next turnover operation cycle.
2. The method as claimed in claim 1, wherein the step-by-step dumping includes dividing the dumping heavy vehicle into a plurality of steps and a cycle, each step having a deceleration position and a stop position.
3. The positioning method for the positioning car of the tippler according to claim 1, wherein the positioning car extension arm locking means that the traction arm of the positioning car can move in a retracting manner, and the traction arm of the positioning car cannot move in an extending manner.
4. The positioning method for the positioning car of the car dumper as claimed in claim 1, wherein the unlocking of the extending arm of the positioning car means that the traction arm of the positioning car can perform arm retracting movement and arm extending movement.
5. The positioning method for the positioning car of the car dumper as claimed in claim 1, wherein the control system comprises a first detection device, a second detection device and a PLC main control box, and the first detection device and the second detection device are respectively connected with the PLC main control box.
6. The positioning method for the positioning car of the car dumper as claimed in claim 5, wherein the first detecting device is a first encoder, and the first encoder is mounted on a traveling mechanism of the positioning car.
7. The positioning method for positioning car dumper positioning cars of claim 5, characterized in that the second detection device is a second encoder, and the second encoder is installed on the car dumper.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210524571.XA CN114873314B (en) | 2022-05-13 | 2022-05-13 | Sectional positioning method for positioning vehicle of dumper |
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| CN202210524571.XA CN114873314B (en) | 2022-05-13 | 2022-05-13 | Sectional positioning method for positioning vehicle of dumper |
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| CN212798772U (en) * | 2020-05-29 | 2021-03-26 | 中国电建集团河北省电力勘测设计研究院有限公司 | Novel car receiving system of car dumper |
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| GB190909498A (en) * | 1909-04-21 | 1910-04-21 | Alfred Julius Boult | Improvements in or relating to Wagon Tipping Plants. |
| JP2003252448A (en) * | 2001-12-26 | 2003-09-10 | Mitsubishi Heavy Ind Ltd | Cargo handling system and control method for cargo handling system |
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