CN115557270A - A Gravity Inclined Rapid Diversion Unloading Equipment Control System Applied to Containers - Google Patents

Abstract

The invention discloses a gravity tilting type rapid diversion and unloading equipment control system applied to containers, including a central control system, a hydraulic system for an unloading inclined platform, a layered unloading system, a cargo pushing system and a diversion system; an inclination sensor is used to measure the unloading inclination in real time Platform inclination angle, by controlling the inclination angle of the unloading inclined platform, the goods can be dumped out of the container under the action of gravity. The camera device and laser range finder are used to measure the height of the cargo, the height difference and distance between the cargo and the unloading lifting door and the pushing system, and further control the height of the unloading lifting door and the distance between the pushing system and the cargo to realize layered unloading and pushing. goods operation. The pressure sensor is used to measure the weight of the goods. When the weight of the goods is detected, the diversion conveyor belt rotates to transfer the goods to the next operation process. The control of this system is simple, without any modification to the container, which can effectively improve the economy and efficiency of the container unloading operation.

Description

A Gravity Inclined Rapid Diversion and Unloading Equipment Control System Applied to Containers

technical field

The invention relates to the field of container control, in particular to a gravity tilting type rapid diversion and unloading equipment control system applied to containers.

Background technique

Affected by the limited range of container openings and the complex arrangement of goods, in order to prevent damage to goods during transshipment, the existing container unloading operation method is mainly manual, and has not yet involved intelligent control methods. The workload of personnel is large and the unloading efficiency Low. For a certain constant working situation, a small number of unloading methods adopt assembly line unloading operations. This method reduces the labor intensity of personnel to a certain extent, but the application scenario is too single and has high requirements for the placement of goods. Moreover, the applied control strategy has poor robustness and cannot cope with cargo jamming. Each subsystem works independently, and is generally not integrated into the central system to achieve integrated control.

Contents of the invention

According to the problems existing in the prior art, the present invention discloses a gravity tilting type rapid diversion and unloading equipment control system applied to containers, including: layered unloading system, cargo pushing system, diversion system, unloading inclined platform hydraulic system and central control system;

The layered unloading system includes a plurality of unloading lifting doors driving lifting slides, monitoring cameras, limit switches, laser rangefinders, first-level unloading lifting doors, second-level unloading lifting doors, and slide table driving lifting motors. The camera and the laser range finder are installed on the first-level unloading lifting door to detect the height information of the goods. The limit switches are installed at both ends of the lifting slide driven by the unloading lifting door. When the unloading lifting door is at the upper and lower poles, the The sliding table drives the lifting motor to stop working, and the central control system controls the work of the unloading lifting door driving the lifting sliding table;

The cargo pushing system includes two multi-stage hydraulic cylinders, two lifting slides, a first laser range finder and a cargo push plate, and the first laser range finder is installed on the multi-stage hydraulic cylinder to measure the cargo The distance information between the push plate and the goods. The goods push plate is installed at the front end of the multi-stage hydraulic cylinder for pushing the goods. The central control system controls the multi-stage hydraulic cylinder and the lifting slide in real time;

The diversion system includes a lifting conveyor belt, a diversion conveyor belt, a conveyor belt rotation drive motor, and a pressure sensor. The lifting conveyor belt and the diversion conveyor belt transport and divert the goods, and the pressure sensor is installed on the diversion conveyor belt to detect whether the goods are present or not. information;

The hydraulic system of the unloading inclined platform includes a plurality of hydraulic cylinder telescopic circuits, a container support platform and an inclination sensor. The central control system regulates the level, tilt and shaking of the unloading inclined platform by controlling the multiple hydraulic cylinder telescopic circuits. The inclination sensor detects the angle information of the unloading inclined platform;

The central control system uses a wireless control method to control the work of the sliding table driving lifting motor and the multi-stage hydraulic cylinder.

The central control system includes a main control chip, a wireless remote control unit and a component control unit. The wireless remote control unit controls the lifting slide table driven by the unloading lift door, the lift motor driven by the slide table, and the multi-stage hydraulic cylinder. The component control unit The inclination angle of the unloading inclined platform is controlled by the built-in circuit.

In the initial stage of unloading, the first-level unloading lifting door and the second-level unloading lifting door are raised to the highest position. After the container is tilted at a certain angle and stabilized, the first-level lifting door cooperates with the second-level lifting door to drive the lifting slide at the unloading lifting door. Driven by the table, the unloading lifting door moves downward in stages, so that only a single layer of cargo is dumped each time.

When the cargo freezes or jams, the central control system first adjusts the height of the multi-stage hydraulic cylinder by controlling the lifting slide, then controls the expansion and contraction of the multi-stage hydraulic cylinder and pushes the cargo through the cargo push plate; the central control system controls The hydraulic cylinder of the unloading inclined platform hydraulic system expands and contracts, and then shakes the container support platform to dump the cargo.

After the goods are dumped in layers through the layered unloading system, they are conveyed to the diversion conveyor belt through the lifting conveyor belt.

After the cargo inside the container is unloaded, the central control system controls the expansion and contraction of the hydraulic cylinder of the unloading inclined platform hydraulic system, so that the container support platform is in a horizontal state, and the container is hoisted away from the system.

Due to the adoption of the above-mentioned technical scheme, the present invention provides a gravity-inclined rapid-distribution unloading equipment control system applied to containers. In this system, an inclination sensor is used to measure the inclination angle of the unloading inclined platform in real time, and the cargo can be moved by controlling the inclination angle of the unloading inclining platform. The container is dumped under the action of gravity, and the camera and laser rangefinder are used to measure the height of the cargo, the height difference and distance information between the cargo and the unloading lifting door, and the pushing system, and then control the height of the unloading lifting door and the distance between the pushing system and the cargo , can realize layered unloading and pushing operations; and the pressure sensor is used to measure the weight of the cargo. When the weight of the cargo is detected, the diversion conveyor belt rotates to transfer the cargo to the next operation process; the system is simple to control, without any modification to the container, and can be Effectively improve the economy and efficiency of container unloading operations.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in this application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the structure schematic diagram of the system of the present invention;

Fig. 2 is the working principle diagram of the system of the present invention;

Fig. 3 is a height control logic diagram of the layered unloading system and the pushing system in the present invention.

detailed description

In order to make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

As shown in Fig. 1 and Fig. 2, a gravity inclined type rapid diversion and unloading equipment control system applied to containers includes a central control system, a hydraulic system for an unloading inclined platform, a layered unloading system, a push system and a diversion system. The control system controls the hydraulic system of the unloading inclined platform so that the container can be leveled, tilted and shaken. The wireless remote control method is used to control the four slides in the layered unloading system. , and then realize layered unloading operations. The wireless remote control method is used to control the telescopic movement of the multi-stage hydraulic cylinder and the lifting movement of the two lifting slides in the cargo pushing system, and then push the frozen and jammed goods. The method of wireless remote control is used to control the rotation of the conveyor belt in the distribution system to drive the motor to rotate, thereby making the conveyor belt rotate.

Further, the central control system includes a power supply, a main control chip, a wireless remote control unit and a component control unit, the power supply is electrically connected to the main control chip, the wireless remote control unit is connected to the main control chip, and the wireless The remote control unit can control four sliding table drive lifting motors and multi-stage hydraulic cylinders. Through the control of the central control system, the hydraulic system of the unloading inclined platform, the layered unloading system and the cargo pushing system can be controlled.

Further, the hydraulic system of the unloading tilting platform includes a No. 1 hydraulic cylinder telescopic circuit, a No. 2 hydraulic cylinder telescopic circuit, a No. 3 hydraulic cylinder telescopic circuit, a No. 4 hydraulic cylinder telescopic circuit, a container support platform and an inclination sensor. The central control system realizes the horizontal, tilting and shaking actions of the unloading tilting platform by controlling the No. 1 hydraulic cylinder telescopic circuit, the No. 2 hydraulic cylinder telescopic circuit, the No. 3 hydraulic cylinder telescopic circuit, and the No. 4 hydraulic cylinder telescopic circuit. The inclination sensor is installed above the container support platform for measuring the inclination angle of the container support platform.

Further, the layered unloading system includes four unloading lifting doors driving lifting slides and their wireless control transmission modules, monitoring cameras, limit switches, laser rangefinders, first-level unloading lifting doors, second-level unloading lifting doors and The unloading lifting door drives the power supply of the lifting slide table, and the slide table drives the lifting motor. The wireless control transmission module is connected with the wireless remote control unit of the central control system, and the monitoring camera and the laser range finder are located above the first-level lifting door for monitoring and measuring the height of the goods. The limit switch is installed at both ends of the lifting slide table driven by the unloading lifting door. When the unloading lifting door is located at the upper and lower poles, the sliding table drives the lifting motor to stop. The central control system can complete the real-time control of the four unloading lift doors to drive the lift slides.

The cargo pushing system includes two multi-stage hydraulic cylinders and their wireless control transmission modules, two lifting slides and their wireless control transmission modules, a laser range finder and a cargo pushing plate. The wireless control transmission module is connected with the wireless remote control unit of the central control system, and the laser rangefinder is installed on the multi-stage hydraulic cylinder to measure the distance between the cargo push plate and the cargo. The cargo pushing plate is installed on the front end of the multi-stage hydraulic cylinder for pushing the cargo. The central control system can complete real-time control of multi-stage hydraulic cylinders and lifting slides.

The distribution system includes a lifting conveyor belt, a distribution conveyor belt, a conveyor belt rotation drive motor and its wireless control transmission module, and a pressure sensor. The wireless control transmission module is connected with the wireless remote control unit of the central control system. The pressure sensor is installed above the diverting conveyor belt for detecting goods.

Further, during the initial operation, the inclined unloading platform is in a horizontal position. After the container is placed on the unloading inclined platform and fixed, the central control system controls the expansion and contraction of the hydraulic cylinder, thereby tilting the container at a certain angle.

Furthermore, when the goods are frozen or jammed, there are three solutions as follows:

1) Push the goods through the push system so that the goods can be dumped. The specific method is that the central control system controls the lifting slide table to adjust the height of the multi-stage hydraulic cylinder, further controls the expansion and contraction of the multi-stage hydraulic cylinder, and pushes the goods through the cargo push plate.

2) Control the expansion and contraction of the four hydraulic cylinders of the hydraulic system of the unloading tilting platform through the central control system, and then shake the container support platform to dump the cargo.

3) When the goods are seriously jammed, plan 1 and plan 2 are combined, and the cargo pushing system is used to push the goods while shaking the container support platform, so that the goods can be dumped.

Further, after the goods are dumped in layers through the layered unloading system, they are conveyed to the diversion conveyor belt through the lifting conveyor belt, and the lifting conveyor belt is hinged with the first-level unloading lift door, and moves up and down with the first-level unloading lift door.

Furthermore, when the pressure sensor detects the weight of the goods, the central control system controls the rotation of the conveyor belt to drive the motor to rotate, and transmits the goods to the next operation process.

Furthermore, when the cargo inside the container is dumped, the central control system controls the expansion and contraction of the four hydraulic cylinders of the hydraulic system of the unloading tilting platform, so that the container support platform is in a horizontal state, and the container is further hoisted away from the container for rapid diversion and unloading by lifting equipment. Equipment, installation of the next container, to achieve continuous unloading operations.

Further, a control system is built with the main control chip as the main controller, and the main controller controls the action of the hydraulic cylinder through the hydraulic circuit to realize the tilting of the unloading tilting platform. The main controller controls the slide table to drive the lifting motor to rotate through the wireless control module, and then controls the position of the slider on the unloading lift door to drive the lift slide table to realize the lifting action of the unloading lift door. The main controller controls the position of the slider on the lifting slide table through the wireless control module, and changes the height of the cargo push plate. The main controller realizes telescopic control of the multi-stage hydraulic cylinder through the wireless control module, and changes the horizontal position of the cargo push plate. Through the analog input of the monitoring camera, the main controller can monitor the position between the cargo and the unloading lift door, the cargo push plate and the unloading operation process in real time, and adjust the height of the unloading lift door and the cargo push plate in time through the central control system. Through the analog input of the laser rangefinder, the main controller can accurately obtain the position difference between the cargo, the unloading lifting door, and the cargo push plate, and further adjust the positions of the two through the main controller. The main controller monitors the inclination angle of the unloading inclined platform in real time through the analog input of the inclination sensor, and further realizes the inclination angle control of the unloading inclined platform. The main controller monitors the weight of the goods in real time through the analog input of the pressure sensor. When the weight of the goods is detected, the main controller controls the rotation of the diverting conveyor belt to transport the goods to the next operation process.

Furthermore, the working principle of the hydraulic system of the unloading inclined platform is as follows: the central control system presets the inclination angle of the unloading inclined platform, controls the expansion and contraction of the hydraulic cylinder, and then changes the actual angle of the unloading inclined platform. The inclination angle of the unloading inclined platform is detected in real time by the inclination sensor, which is used as an input to the central control system. The difference between the given amount and the detected feedback amount is used as the input of the controller to correct the angle of the unloading inclined platform. When the detected value of the angle of the unloading inclined platform is consistent with the given value, the angle control of the unloading inclined platform ends.

Further, as shown in Figure 3, the height control principle of the layered unloading system and the pushing system is as follows:

The upper and lower limits of the height difference between the cargo and the unloading lifting door and the upper and lower limits of the height difference between the cargo and the cargo pushing system are preset at the central control system.

Read the current cargo height through the laser range finder and surveillance camera.

Read the current height of the unloading lifting door and the pushing system through the laser range finder and the monitoring camera.

Input the reading result to the central control system and compare it with the preset value to obtain the position difference. When the position difference is within the set range, the height of the unloading lifting door or the pushing system does not need to be adjusted. When the position difference is outside the set range, the central control system adjusts the height of the unloading lift gate or the cargo pushing system, and when the difference is within the preset range, the control process ends.

Furthermore, the unloading and shunting process of a gravity tilting type rapid diversion unloading equipment control system applied to containers is as follows:

S1: When the unloading inclined platform is horizontal, open the container door and put it on the unloading inclined platform, and further fix the container.

S2: The unloading inclined platform is inclined at a certain angle, and the goods in the container slide down to the layered unloading device due to its own gravity.

S3: The unloading lifting door is closed at the initial moment, and the cargo cannot be dumped. When the inclination angle of the container is stable, the unloading lifting door is opened to make the goods fall in layers.

S4: When the goods are stuck or frozen, use the unloading inclined platform to cooperate with the push system to push the goods to make the goods slide down.

S5: The goods are transported to the diverting conveyor belt through the lifting conveyor belt, and are evenly arranged on the diverting conveyor belt before being transported to the next operation process.

The invention discloses a gravity tilting type rapid diversion and unloading equipment control system applied to containers. The system adopts a cargo pushing system to cope with the working condition that the cargo cannot be dumped, which further improves the feasibility of the scheme. The method of gravity dumping can be used. Realize large-scale unloading operations. The system is safe to operate and does not need to use manual unloading operations. In addition, the system can divert the unloaded goods to improve the degree of equipment integration.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (6)

1. A gravity inclined type rapid shunting unloading equipment control system applied to a container is characterized by comprising: the system comprises a layered unloading system, a pushing system, a shunting system, an unloading inclined platform hydraulic system and a central control system;

the layered unloading system comprises a plurality of unloading lifting door driving lifting sliding tables, a monitoring camera, a limit switch, a laser range finder, a primary unloading lifting door, a secondary unloading lifting door and a sliding table driving lifting motor, wherein the monitoring camera and the laser range finder are arranged on the primary unloading lifting door and used for detecting height information of cargos;

the goods pushing system comprises two multi-stage hydraulic cylinders, two lifting sliding tables, a first laser range finder and a goods push plate, wherein the first laser range finder is arranged on the multi-stage hydraulic cylinders and used for measuring distance information between the goods push plate and goods;

the distribution system comprises a lifting conveyor belt, a distribution conveyor belt, a conveyor belt rotation driving motor and a pressure sensor, wherein the lifting conveyor belt and the distribution conveyor belt convey and distribute goods, and the pressure sensor is arranged on the distribution conveyor belt and used for detecting information of the goods;

the unloading inclined platform hydraulic system comprises a plurality of hydraulic cylinder telescopic loops, a container supporting platform and an inclination angle sensor, the central control system controls the horizontal, inclined and shaking actions of the unloading inclined platform by controlling the plurality of hydraulic cylinder telescopic loops, and the inclination angle sensor detects angle information of the unloading inclined platform;

and the central control system controls the work of the sliding table driving lifting motor and the multistage hydraulic cylinder in a wireless control mode.

2. The system of claim 1, wherein: the central control system comprises a main control chip, a wireless remote control unit and an element control unit, wherein the wireless remote control unit controls the unloading lifting door driving lifting sliding table, the sliding table driving lifting motor and the multi-stage hydraulic cylinder, and the element control unit controls the inclination angle of the unloading inclined platform through a built-in line.

3. The system of claim 1, wherein: in the initial stage of unloading, the first-stage unloading lifting door and the second-stage unloading lifting door are lifted to the highest positions, when the container is inclined for a certain angle and is stable, the first-stage lifting door is matched with the second-stage lifting door, and the unloading lifting doors move downwards in a grading manner under the driving of the lifting sliding table driven by the unloading lifting doors, so that only single-layer goods are controlled to be poured out at each time.

4. The system of claim 1, wherein: when the goods are frozen and blocked, the central control system firstly adjusts the height of the multi-stage hydraulic cylinder by controlling the lifting sliding table, then controls the expansion amount of the multi-stage hydraulic cylinder and pushes the goods by the goods push plate; and the central control system controls the telescopic amount of a hydraulic cylinder of the unloading inclined platform hydraulic system, and then the container supporting platform is rocked to incline the goods.

5. The system of claim 1, wherein: after the goods are dumped in a layered mode through the layered unloading system, the goods are conveyed to the diversion conveyor belt through the lifting conveyor belt, and the lifting conveyor belt is hinged with the first-level unloading lifting door and can lift along with the first-level unloading lifting door.

6. The system of claim 1, wherein: after the goods in the container are unloaded, the central control system controls the telescopic amount of a hydraulic cylinder of the unloading inclined platform hydraulic system, so that the container supporting platform is in a horizontal state, and the container is lifted away from the system.

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