CN114873314B - Sectional positioning method for positioning vehicle of dumper - Google Patents
Sectional positioning method for positioning vehicle of dumper Download PDFInfo
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- CN114873314B CN114873314B CN202210524571.XA CN202210524571A CN114873314B CN 114873314 B CN114873314 B CN 114873314B CN 202210524571 A CN202210524571 A CN 202210524571A CN 114873314 B CN114873314 B CN 114873314B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 2
- 230000011218 segmentation 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
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a sectional positioning method of a positioning vehicle of a car dumper, which comprises the following specific steps: the control system detects a walking position of the positioning car and a dumping position of the dumper; the main arm of the positioning vehicle stretches out and locks; positioning the cart to a cart turning position; the main arm of the positioning vehicle is unlocked and retracted, and the wheel clamping device is clamped; the dumper is controlled by a control system to perform sectional dumping, and displacement generated by inertia is counteracted by setting different deceleration positions and stop positions; simultaneously, the positioning vehicle returns to the position extending the main arm; the main arm of the positioning vehicle extends out to carry out the next wheel of turning operation cycle. The invention reduces the fault frequency of inaccurate positioning of the positioning vehicle. The failure frequency was reduced to 0.35% at 5.83% (calculated as 35 cycles per train), and the average number of failures per train was reduced from 2.04 to 0.12.
Description
Technical Field
The invention relates to the technical field of dumper unloading systems, in particular to a segmented positioning method for a dumper positioning vehicle.
Background
The dumper unloading system is special equipment for large unloading operation, is used for dumping bulk materials loaded by railway open cars, and is widely applied to ports, thermal power plants, coal coking and the like. The dumper unloading system mainly comprises a positioning dumper, a car pusher, a hopper, a wheel clamping device, a car pressing device and auxiliary equipment, wherein the general operation process is as follows: the positioning car pulls the arm that falls, and the positioning car pulls the vehicle to the specified position of tipper platform, presses car ware and lean on the carriage that the car board fixed the vehicle, and the tipper drives the carriage and tumbles 160, until the bulk cargo in the carriage tumbles to the funnel in, just so accomplish the dumping of bulk cargo.
Hebei Hua electric Cao Feidian storage and transportation limited company currently has two sets of dumper systems, 3 weight-saving dumpers can be dumped in each cycle, and the dumping capacity is 7200t/h. The operating efficiency of the dumper system directly affects the unloading efficiency of the company.
In the initial production stage of the car dumper, because of inaccurate positioning of the positioning car, the fault that the entrance and the exit of the car dumper are not conducted often occurs, so that the car dumper cannot be overturned automatically, and the unloading efficiency is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a segmented positioning method for a positioning vehicle of a car dumper.
The aim of the invention is realized by the following technical scheme:
a sectional positioning method for a positioning vehicle of a dumper comprises the following specific steps:
s1: the control system detects a walking position of the positioning car and a dumping position of the dumper;
s2: receiving a signal indicating that the positioning vehicle walks within a preset range, and sending a command to the positioning vehicle when the positioning vehicle walks within the preset range, wherein a main arm of the positioning vehicle extends out and is locked;
s3: receiving a signal indicating that the positioning vehicle walks to a preset range, and sending a command to the positioning vehicle when the positioning vehicle walks to the preset range, wherein the positioning vehicle is pushed to a turning position;
s4: receiving a signal indicating that the positioning vehicle walks within a preset range, and sending a command to the positioning vehicle when the positioning vehicle walks within the preset range, unlocking and retracting a main arm of the positioning vehicle, and clamping by a wheel clamping device;
s5: the dumper is controlled by a control system to perform sectional dumping, and displacement generated by inertia is counteracted by setting different deceleration positions and stop positions; simultaneously, the positioning vehicle returns to the position extending the main arm;
s6: the main arm of the positioning vehicle extends out to carry out the next wheel of turning operation cycle.
The sectional type dumping specifically comprises the steps of dividing a dumper dumped heavy truck into a plurality of sections of one cycle, and setting a deceleration position and a stop position on each section respectively.
The positioning vehicle arm extending locking means that the traction arm of the positioning vehicle can perform arm retracting movement, and the traction arm of the positioning vehicle cannot perform arm extending movement.
The positioning vehicle arm extending unlocking 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 arranged on a travelling mechanism of the positioning vehicle.
The second detection device is a second encoder, and the second encoder is arranged on the car dumper.
The invention has the beneficial effects that:
the invention reduces the fault frequency of inaccurate positioning of the positioning vehicle. The failure frequency was reduced to 0.35% at 5.83% (calculated as 35 cycles per train), and the average number of failures per train was reduced from 2.04 to 0.12.
The time for each failure is 3 minutes, the operation time of each train of the improved car dumper is saved by about 5.76 minutes, 150 trains of heavy cars are unloaded each month according to each car dumper, and the electric quantity 1354752 kW.h can be saved by one operation line each year.
The unloading efficiency of the invention is improved from 4500t/h to 4760t/h. When comparing scenic spots in the market, the time saved can be about 9.6 rows of heavy vehicles per month, and the receiving and unloading amount 967680t can be increased 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 that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of the present invention;
fig. 2 is a segment control logic diagram of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the technical solutions should be considered that the combination does not exist and is not within the scope of protection claimed by the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" 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 are used herein for illustrative purposes only and are not meant to be the only embodiment.
As shown in fig. 1, a sectional positioning method for a positioning vehicle of a dumper comprises the following specific steps:
s1: the control system detects a walking position of the positioning car and a dumping position of the dumper;
s2: receiving a signal indicating that the positioning vehicle walks within a preset range, and sending a command to the positioning vehicle when the positioning vehicle walks within the preset range, wherein a main arm of the positioning vehicle extends out and is locked;
s3: receiving a signal indicating that the positioning vehicle walks to a preset range, and sending a command to the positioning vehicle when the positioning vehicle walks to the preset range, wherein the positioning vehicle is pushed to a turning position;
s4: receiving a signal indicating that the positioning vehicle walks within a preset range, and sending a command to the positioning vehicle when the positioning vehicle walks within the preset range, unlocking and retracting a main arm of the positioning vehicle, and clamping by a wheel clamping device;
s5: the dumper is controlled by a control system to perform sectional dumping, and displacement generated by inertia is counteracted by setting different deceleration positions and stop positions; simultaneously, the positioning vehicle returns to the position extending the main arm;
s6: the main arm of the positioning vehicle extends out to carry out the next wheel of turning operation cycle.
The sectional type dumping specifically comprises the steps of dividing a dumper dumped heavy truck into a plurality of sections of one cycle, and setting a deceleration position and a stop position on each section respectively.
The positioning vehicle arm extending locking means that the traction arm of the positioning vehicle can perform arm retracting movement, and the traction arm of the positioning vehicle cannot perform arm extending movement.
The positioning vehicle arm extending unlocking 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 arranged on a travelling mechanism of the positioning vehicle.
The second detection device is a second encoder, and the second encoder is arranged on the car dumper.
The dumper system is one cycle for a 3-section dumper. The automatic operation flow of the car dumper is as follows: 1. positioning the main arm of the vehicle to extend out; 2. positioning the cart to a cart turning position; 3. the main arm of the positioning vehicle is retracted, and the wheel clamping device is clamped; 3. then the car dumper turns over and returns, and the positioning car returns to the position extending the main arm.
After the cart is positioned to the rollover position, the heavy cart on the dumper can generate forward displacement due to the inertia problem of the train before the wheel clamping device clamps. However, with the continuous dumping of the heavy truck, the number of the heavy truck nodes is changed continuously, and the generated displacement is also changed continuously.
The transformation is based on the principle of sectional positioning, namely, displacement generated by inertia is counteracted by setting different deceleration positions and stop positions in each section of trolley operation, so that the braking time and the braking position of the positioning trolley are changed in each section interval, and the heavy trolley of each cycle can be controlled to be positioned at an automatic overturning position.
The dumper dumped each row of heavy vehicles is 105 sections, each 3 sections are circulated, the positioning vehicle is pushed to a dumper position of 115680mm, and the value is a fixed value specified in a PLC program.
Original segmentation method: 0-30-45-60-tail cycle:
0-30 cars: the speed reduction position is 110170mm, and the stop position is 115450mm;
30-45 cars: the speed reduction position is 110370mm, and the stop position is 115520mm;
45-60 cars: the speed reduction position is 110550mm, and the stop position is 115550mm;
60-tail cycle: the speed reduction position is 110620mm, and the stop position is 115580mm
In the range of 0 to 30 cars (110170 mm for deceleration and 115450mm for stopping), the 0 to 18 cars fail more frequently, and the rollover position is 115710mm. The 0 to 30 car deceleration position was then adjusted to 110070mm and the stop position was adjusted to 115510mm. As shown in table 1, after the adjustment, the number of malfunctions of 0 to 18 cars was reduced, and the roll-over position was 115680mm. However, the failure is concentrated in 21 to 30 cars.
TABLE 1
| Counting time | Number of unloaded vehicles | Fault location | Number of failures | |
| Before adjustment | 7 months 12 days-7 months 25 days | 63 columns | 0-18 vehicle | 23 times |
| After adjustment | 8 months 1-8 months 8 days | 30 columns | 21-30 vehicle | 10 times |
Therefore, it is judged that the same deceleration position and stop position are not suitable for the range of 0 to 30 vehicles, and the two ranges should be divided again, and different deceleration positions and stop positions are used. As shown in table 2, according to the data analysis, the fault before and after adjustment occurred before and after 18 cars, and thus, it was found that 18 cars were new segment nodes, the deceleration position of 0 to 18 cars was 110070mm, and the stop position was 115510mm.
TABLE 2
After the segment range of the original 0 to 30 cars is adjusted to 0 to 18 cars, the next segment range is 18 to 45 cars (the deceleration position is 110370mm, and the stop position is 115520 mm). By adopting the data analysis method, the faults are concentrated in 42 and 45 vehicles before adjustment within the range of 18 to 45 vehicles, and the rollover position is 115620mm when the 42 and 45 vehicles operate. The 18 to 45-car deceleration position is adjusted to 110550mm, the stop position is adjusted to 115510mm, the faults are concentrated on 21 to 39 cars, and the turning position is 115650mm. The 39 cars are derived as new segment nodes.
As shown in fig. 2, the new segmentation method: 0-18-39-45-60-tail cycle:
0-18 car: the speed reduction position is 110070mm, and the stop position is 115510mm;
18-39 car: the speed reduction position is 110370mm, and the stop position is 115520mm;
39-45 car: the speed reduction position is 110550mm, and the stop position is 115510mm;
45-60 cars: the speed reduction position is 110620mm, and the stop position is 115505mm;
60-tail cycle: the deceleration position is 110700mm, and the stop position is 115580mm.
The invention reduces the fault frequency of inaccurate positioning of the positioning vehicle. The failure frequency was reduced to 0.35% at 5.83% (calculated as 35 cycles per train), and the average number of failures per train was reduced from 2.04 to 0.12.
The time for each failure is 3 minutes, the operation time of each train of the improved car dumper is saved by about 5.76 minutes, 150 trains of heavy cars are unloaded each month according to each car dumper, and the electric quantity 1354752 kW.h can be saved by one operation line each year.
The unloading efficiency of the invention is improved from 4500t/h to 4760t/h. When comparing scenic spots in the market, the time saved can be about 9.6 rows of heavy vehicles per month, and the receiving and unloading amount 967680t can be increased each year.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (3)
1. The sectional positioning method for the positioning vehicle of the dumper is characterized by comprising the following specific steps of:
s1: the control system detects a walking position of the positioning car and a dumping position of the dumper;
s2: receiving a signal indicating that the positioning vehicle walks within a preset range, and sending a command to the positioning vehicle when the positioning vehicle walks within the preset range, wherein a main arm of the positioning vehicle extends out and is locked;
s3: receiving a signal indicating that the positioning vehicle walks to a preset range, and sending a command to the positioning vehicle when the positioning vehicle walks to the preset range, wherein the positioning vehicle is pushed to a turning position;
s4: receiving a signal indicating that the positioning vehicle walks within a preset range, and sending a command to the positioning vehicle when the positioning vehicle walks within the preset range, unlocking and retracting a main arm of the positioning vehicle, and clamping by a wheel clamping device;
s5: the dumper is controlled by a control system to perform sectional dumping, and displacement generated by inertia is counteracted by setting different deceleration positions and stop positions; simultaneously, the positioning vehicle returns to the position extending the main arm;
s6: the main arm of the positioning vehicle extends out to perform the next wheel of turning operation cycle;
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 arranged on a travelling mechanism of the positioning vehicle;
the second detection device is a second encoder, and the second encoder is arranged on the car dumper;
the sectional type dumping specifically comprises the steps of dividing a dumper dumped heavy truck into a plurality of sections of one cycle, and setting a deceleration position and a stop position on each section respectively;
based on the principle of sectional positioning, displacement generated by inertia is counteracted by setting different deceleration positions and stop positions in each section of trolley operation, so that the braking time and the braking position of the positioning trolley are changed in each section interval, and the heavy trolley in each cycle is controlled to be positioned at an automatic overturning position;
the dumper dumped each row of heavy vehicles is 105 sections, each 3 sections of heavy vehicles are circulated, the positioning vehicle is pushed to a dumper position of 115680mm, and the dumper position value is a fixed value specified in a PLC main control box program.
2. The method for positioning a positioning vehicle of a dumper according to claim 1, wherein the positioning vehicle arm stretching locking means that a traction arm of the positioning vehicle can perform arm shrinking movement, and the traction arm of the positioning vehicle cannot perform arm stretching movement.
3. The method for sectionally positioning a positioning vehicle of a dumper according to claim 1, wherein the unlocking of the arm extension of the positioning vehicle means that the traction arm of the positioning vehicle can perform arm retraction movement and arm extension movement.
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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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| Application Number | Priority Date | Filing Date | Title |
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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. |
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| CN114873314A (en) | 2022-08-09 |
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