CN201673403U - BPS travelling automatic location system - Google Patents
BPS travelling automatic location system Download PDFInfo
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- CN201673403U CN201673403U CN2010202280682U CN201020228068U CN201673403U CN 201673403 U CN201673403 U CN 201673403U CN 2010202280682 U CN2010202280682 U CN 2010202280682U CN 201020228068 U CN201020228068 U CN 201020228068U CN 201673403 U CN201673403 U CN 201673403U
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- bps
- bar code
- frequency converter
- car
- lifting mechanism
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Control And Safety Of Cranes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to a travelling operation location system, in particular to a BPS travelling automatic location system which comprises a linking platform, a programmable logic controller (PLC), a frequency converter and a large car mechanism running along the longitudinal direction, a camber line or a slope track, wherein the upper end of the large car mechanism is transversely fixed with a horizontal cross beam provided with a guide rail; the guide rail of the horizontal cross beam is provided with a small car mechanism in a matching way, and the small car mechanism is provided with a lifting mechanism; the large car mechanism, the small car mechanism and the lifting mechanism are respectively stuck with a BPS bar code belt on the side of a travelling track; and the large car mechanism, the small car mechanism and the lifting mechanism are respectively fixed with a BPS bar code belt reader at the positions corresponding to the BPS bar code belts. The BPS travelling automatic location system is accurate in measurement, safe and reliable, has the bar code belts which are made of special materials and have corrosion resistor, and has the cost lower than that of a laser distance measuring instrument.
Description
One, technical field:
The utility model relates to a kind of driving running location system, particularly a kind of BPS driving automatic station-keeping system.
Two, background technology:
At present, the driving location adopts laser positioning to control the running status of driving.For example the aperture that setting keeps at a certain distance away on laser instrument and the track in its operation is being installed in the driving, is being judged the distance of driving operation and the position that needs stop according to little hole number of laser measurement or aperture distribution situation; And for example before or after the driving orbit, laser instrument is installed, is adopted laser measurement driving range ability size to determine the speed of driving and the position that need stop.Yet higher by laser instrument range finding cost, and its precision is subjected to such environmental effects easily less than the precision of BPS bar code when telemeasurement; Adopt laser instrument to the driving location, because the device metering system is simple, so can not there be more control model.In addition, adopt laser ranging to be difficult to the driving of camber line or slope change motion is positioned.
Three, utility model content:
This practicality newly is to overcome the deficiency that prior art exists, and designs and produce a kind of BPS driving automatic station-keeping system.
Technical scheme:
A kind of BPS driving automatic station-keeping system, comprise joint action table, Programmable Logic Controller PLC, frequency converter, the big mechanism of car of orbital motion longitudinally, trolley body in the cross track motion of big mechanism of car upper edge, lifting mechanism at trolley body upper edge vertical motion, (big mechanism of car, trolley body and lifting mechanism are respectively along mutually perpendicular X-axis, Y-axis, the orbital motion of Z-direction, also can be) with arbitrary mechanism wherein along camber line or slope orbital motion, at big mechanism of car, be pasted with BPS bar code band on the Crane Rail side of trolley body and lifting mechanism respectively, and respectively at big mechanism of car, be fixed with bar code band reader on trolley body and the lifting mechanism with on the BPS bar code band correspondence position, reader is connected with programmable controller PLC signal input part by fieldbus Profibus, joint action table and/or touch-screen are connected with programmable controller PLC control end by fieldbus Profibus, with big mechanism of car, the frequency converter that trolley body is connected with the corresponding motor of lifting mechanism is connected to the output terminal of programmable controller PLC respectively by fieldbus Profibus.
On each frequency converter, also be connected with scrambler respectively.
Also be provided with holding circuit on each frequency converter, this holding circuit is for to be connected with reactor in each frequency converter end of incoming cables.
Described programmable controller PLC is connected with expansion module IM153, and each frequency converter and touch-screen are connected on the module IM 153.
The beneficial effects of the utility model:
1, has very high measuring accuracy with respect to rotary encoder; Can on curve and slope, position; Can separate the bar code band flexibly, only need at measured position installation bar code band.
2, safe and reliable, from 4 bar codes, read one at every turn and calculate.
3, the BPS parameter is provided with table a plurality of configurations can be set, and for example built-in configuration of " SEW movi drive " when induction system adopts the SEW gearing, can load basic programming support automatically, need not extra configuration; Can realize built-in speed controlling function.
4, top speed reaches the control of 7m/s tape speed; Maximum measuring distance reaches 10000m.
5, special material bar code band has very high anticorrosive function; Cost is lower than laser range finder; By " self study " reference zero is set, need not accurate joint strip sign indicating number band.
Four, description of drawings:
Fig. 1 is that big mechanism of car, trolley body and lifting mechanism adopt BPS driving location structure synoptic diagram respectively;
Fig. 2 is the circuit diagram of the BPS driving automatic station-keeping system of Fig. 1.
Five, embodiment:
Embodiment one: referring to Fig. 1, Fig. 2, a kind of BPS driving automatic station-keeping system comprises big mechanism of car 1, trolley body 2 and lifting mechanism 3, the frequency converter of joint action table 13, Programmable Logic Controller (PLC) 12, touch-screen 14, correspondence etc.Wherein big mechanism of car 1 is (X-axis) orbital motion longitudinally, the horizontal gird 11 that the band guide rail is arranged in big mechanism of car upper end crosswise fixed, trolley body 2 along laterally (Y-axis) operation, is provided with lifting mechanism 3 along vertical (Z axle) operation on trolley body 2 on the guide rail of big mechanism of car 1 upper horizontal crossbeam.On the Crane Rail side of big mechanism of car 1, trolley body 2 and lifting mechanism 3, be pasted with BPS bar code band 4a, 4b, 4c respectively, and be fixed with bar code band reader 5a, 5b, 5c on big mechanism of car 1, trolley body 2 and the lifting mechanism 3 with on the BPS bar code band correspondence position respectively.Each reader is connected with programmable controller PLC signal input part by fieldbus Profibus respectively, joint action table 12 is connected with programmable controller PLC control end by fieldbus Profibus with touch-screen 14, frequency converter 7a, the 7b that is connected with big mechanism of car 1, trolley body 2 and lifting mechanism 3 corresponding motor 6a, 6b, 6c, 7c is connected to programmable controller PLC respectively by fieldbus Profibus output terminal.Number in the figure 15 is the guide supporting platform, and 16 are the thing of slinging.
On each frequency converter 7a, 7b, 7c, also be connected with scrambler 8a, 8b, 8c respectively.Also be provided with holding circuit on each frequency converter, this holding circuit is for to be connected with reactor 9a, 9b, 9c in each frequency converter end of incoming cables.Described programmable controller PLC is connected with expansion module IM153, and each frequency converter and touch-screen are connected on the module IM 153.
The BPS driving automatic station-keeping system of present embodiment is exported to PLC by demoder and is detected the driving current position information when operation, is transferred to each mechanism's frequency converter by fieldbus Profibus again, thereby realizes the three-dimensional localization of driving.This establishes four distinct area to system in the present embodiment, a reference velocity is established in each zone, actual speed and the reference velocity of basic programming support by driving be to control rate recently, and when positive and negative error, thereby BPS sends to instruct to PLC and reaches accurate location.This device has adopted the easy BPS location technology of German labor, the bearing accuracy height (± 2mm), and response speed fast (8ms), corrosion resistivity is strong.
The reader of basic programming support is that German labor is easily surveyed high-tech product.Its principle of work is the same with common bar-code reader, and just BPS converts the bar code information of reading to range information by embedded software and is delivered among the PLC.
The decoding speed of BPS is 500 times/second, is 90～170mm from reader to the space mounting scope the bar code band.Therefore have the installation buffer area of 80mm can ignore walking greatly, dolly is the problem of double swerve in orbit.BPS is with big, and the maximum speed of travel of dolly can reach 10m/s, and this moment, the repeatable accuracy of BPS was ± 2mm that the response time is 16ms.When the speed of travel when 10m/s is following, the repeatable accuracy of BPS can reach ± 1mm, the response time contracts to 8ms.
Basic programming support has Profibus and two kinds of industrial bus modes of SSI, and optional in addition RS232 and RS485 interface mode are fit to most induction system.
The BPS reader can scan 4 bar codes simultaneously, gets a bar code information then from these 4 bar codes and determines the current band of position, and the calculating of final BPS by embedded software is accurate to the millimeter level with this positional information and outputs among the PLC.Therefore the distance accuracy of BPS can reach ± 1mm.Owing in 4 bar codes, get 1 reading, therefore avoided big, the laser rays that dolly causes owing to the vibration on the vertical direction takes off the error that sign indicating number brings.
What the bar code band (BCB) of basic programming support adopted is the special material that posts the mylar protective seam, and it has the corrosive power of extraordinary uvioresistant, anti-chemical solvent and industrial cleaning agent.The bonding agent of BCB has superpower adhesive power, can be under 40 ℃ to+120 ℃ environment temperature operate as normal.BPS reaches a myriametre most, satisfies existing industry range finding requirement substantially.BCB bar code band does not need very accurately to be attached on the track usually, and built-in " self study " function of read head can arbitrarily be provided with reference zero according to field condition, has reduced the complexity of installing.
BPS is divided into 4 distinct area with tested scope in ranging process, each zone can be provided with a reference velocity.Basic programming support is then by big, the actual speed of travel of dolly and reference velocity to control rate recently, when actual speed surpassed reference velocity, BPS sends instruction to PLC to be reduced greatly, carriage walking speed, otherwise then opposite.This also is the sharpest edges place of basic programming support and conventional alignment systems.Greatly, among the PLC that dolly is located automatically, 16 deceleration programs are set, make greatly, dolly can accurately be located.
In the present embodiment, the BPS driving is in the fully automatic working state: establish an automatic and semi-automatic selector switch on the joint action table, when selecting switch to be rotated in automatic catch, operating personnel are by touch-screen-AV, reader-PBS can detect this current accurate position of driving a vehicle automatically after setting X-axis position, Y-axis position, Z shaft position, Profibus is transferred to PLC by fieldbus, PLC by computing after, can control each mechanism accurately and arrive appointed positions.
Embodiment two: meaning and embodiment one are basic identical, something in common goes out not repeat, different is, the BPS driving is in the semi-automatic work state: driving is before using, to locate quantity, distance according to the field, highly (X, Y, Z-direction) operation is once, after reader is read the current numerical information of each position location, deposit the reference data of locating as driving among the PLC in.When workman's operations linkage platform+40-S40 makes the driving operation, joint action table transfer instruction signal is given PLC, PLC is according to operating instruction, export to frequency converter (U100-U300-U400) by fieldbus Profibus, frequency converter (the instruction that U100-U300-U400) sends according to reader and PLC again, quicken or deceleration when being the driving walking, finally reach accurately location of driving.Touch-screen can accurately show the driving running orbit.Other mechanical work principles are identical.
Claims (4)
1. BPS driving automatic station-keeping system, comprise joint action table, Programmable Logic Controller PLC, frequency converter, the big mechanism of car of orbital motion longitudinally, trolley body in the cross track motion of big mechanism of car upper edge, lifting mechanism at trolley body upper edge vertical motion, it is characterized in that: at big mechanism of car, be pasted with BPS bar code band on the Crane Rail side of trolley body and lifting mechanism respectively, and respectively at big mechanism of car, be fixed with bar code band reader on trolley body and the lifting mechanism with on the BPS bar code band correspondence position, each reader is connected with programmable controller PLC signal input part by fieldbus respectively, joint action table and/or touch-screen are connected with programmable controller PLC control end by fieldbus, with big mechanism of car, the frequency converter that trolley body is connected with the corresponding motor of lifting mechanism is connected to the output terminal of programmable controller PLC respectively by fieldbus.
2. BPS driving automatic station-keeping system according to claim 1 is characterized in that: also be connected with scrambler respectively on each frequency converter.
3. BPS driving automatic station-keeping system according to claim 1, it is characterized in that: also be provided with holding circuit on each frequency converter, this holding circuit is for to be connected with reactor in each frequency converter end of incoming cables.
4. BPS driving automatic station-keeping system according to claim 1, it is characterized in that: described programmable controller PLC is connected with expansion module IM153, and each frequency converter and touch-screen are connected on the module IM 153.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202280682U CN201673403U (en) | 2010-06-18 | 2010-06-18 | BPS travelling automatic location system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202280682U CN201673403U (en) | 2010-06-18 | 2010-06-18 | BPS travelling automatic location system |
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| Publication Number | Publication Date |
|---|---|
| CN201673403U true CN201673403U (en) | 2010-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010202280682U Expired - Fee Related CN201673403U (en) | 2010-06-18 | 2010-06-18 | BPS travelling automatic location system |
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| CN (1) | CN201673403U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211739A (en) * | 2011-05-26 | 2011-10-12 | 河南省郑起起重设备有限公司 | Basic programming system (BPS) automatic deflection correction method and system for crane cart |
| CN102902990A (en) * | 2011-07-29 | 2013-01-30 | 宝山钢铁股份有限公司 | Driving positioning device and driving positioning method based on radio frequency identification technology |
| CN104495628A (en) * | 2014-12-17 | 2015-04-08 | 嘉兴瑞恩重工科技有限公司 | Automatic lifting truck loading system and control method thereof |
| CN111028533A (en) * | 2019-12-27 | 2020-04-17 | 上海多路信息技术有限公司 | Control method for accurate box parking of RTG (real time railway) cart |
-
2010
- 2010-06-18 CN CN2010202280682U patent/CN201673403U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211739A (en) * | 2011-05-26 | 2011-10-12 | 河南省郑起起重设备有限公司 | Basic programming system (BPS) automatic deflection correction method and system for crane cart |
| CN102902990A (en) * | 2011-07-29 | 2013-01-30 | 宝山钢铁股份有限公司 | Driving positioning device and driving positioning method based on radio frequency identification technology |
| CN104495628A (en) * | 2014-12-17 | 2015-04-08 | 嘉兴瑞恩重工科技有限公司 | Automatic lifting truck loading system and control method thereof |
| CN111028533A (en) * | 2019-12-27 | 2020-04-17 | 上海多路信息技术有限公司 | Control method for accurate box parking of RTG (real time railway) cart |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: ZHENGQI HEAVY INDUSTRY CO., LTD. Free format text: FORMER NAME: HENAN ZHENGQI HOISTING EQUIPMENT CO.,LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 450066 No. 158 Chemical Road, Henan, Zhengzhou (Ring Road and Chemical Road intersection) Patentee after: Zheng Heavy Industry Co., Ltd. Address before: 450066 No. 158 Chemical Road, Henan, Zhengzhou (Ring Road and Chemical Road intersection) Patentee before: Henan Zhengqi Hoisting Equipment Co.,Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101215 Termination date: 20150618 |
|
| EXPY | Termination of patent right or utility model |