CN207986532U - One kind being suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle - Google Patents
One kind being suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle Download PDFInfo
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- CN207986532U CN207986532U CN201820283946.7U CN201820283946U CN207986532U CN 207986532 U CN207986532 U CN 207986532U CN 201820283946 U CN201820283946 U CN 201820283946U CN 207986532 U CN207986532 U CN 207986532U
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Abstract
One kind being suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle, it includes driving system, ground system and remote operating system, and the driving system includes driving crane span structure, and driving crane span structure is equipped with cart track；It is the cart equipped with cart idler wheel on cart track, the first code reader is equipped on cart, trolley track is equipped with above cart, for equipped with trolley on trolley track, it is equipped with optical yardstick on cart track, trolley track, cargo motor is equipped on cart, vehicle motor, reel motor, cable drum are equipped on trolley, grab bucket is connected by steel wire rope and reel motor, cable drum, further includes controller；The technical issues of the utility model can solve the existing long-term driving for medium-and-large-sized materials of environment such as handling warehouse, workshop, stock grounds, need to be operated in driver's cabin by professional operator, and the degree of automation of operating mechanism rests on reduced levels.
Description
Technical field
The utility model belongs to advanced manufacture and automatic field, and in particular to one kind of the industries such as building materials, metallurgy is applicable in
In joint storage cavern material transfer automatic Pilot driving.
Background technology
Driving for the large-scale material in the environment such as handling warehouse, workshop, stock ground, is being driven for a long time by professional operator
Operating system is controlled in room, the degree of automation of operating mechanism rests on always lower level.Turn again due to using
The shortcomings of kind of drive that substring rheostatic speed regulation, friction brakes etc. fall behind, there are control accuracies poor, high energy consumption, big noise.
At the beginning of 21 century, the continuous extension of the application field of driving, including the unapproachable Gao Fu of the mankind is penetrated, high pollution environment
In；On the other hand, as the rise of factory of the future and automated warehouse, efficient theory, driving and its similar products become certainly
Indispensable equipment in dynamic metaplasia producing line.Traditional driving efficiency is low, high energy consumption, and noise is big, system complex, the degree of automation
Low, positional accuracy is completely dependent on the qualification of driver.It is this under upcoming overall background of industrial 4.0 epoch
The performance of crane has obviously been unable to meet production and safety requirements, especially in the complicated unordered process environments of joint storage cavern
In, the development of unpiloted automationization driving is even more imperative.
Invention content
The purpose of this utility model is to overcome the deficiencies in the prior art, and the one kind provided is suitable for joint storage cavern object
Material transhipment automatic Pilot driving, it can solve the existing long-term row for medium-and-large-sized materials of environment such as handling warehouse, workshop, stock grounds
Vehicle needs to be operated in driver's cabin by professional operator, and the degree of automation of operating mechanism rests on reduced levels
Technical problem.
Technical solution used by the utility model is：
One kind be suitable for joint storage cavern material transfer automatic Pilot drive a vehicle, it include driving system, ground system and remotely
Operating system, driving system include driving crane span structure, and driving crane span structure is equipped with cart track；For equipped with cart idler wheel on cart track
Cart, on cart be equipped with the first code reader, above cart be equipped with trolley track, on trolley track be equipped with trolley,
Trolley is equipped with the second code reader and third code reader, optical yardstick is equipped on cart track, trolley track, on cart
Equipped with cargo motor, vehicle motor, reel motor, cable drum are equipped on trolley, grab bucket passes through steel wire rope and reel electricity
Machine, cable drum are connected, including controller, and the input terminal of controller and the first code reader, the second code reader, third are read
Code device connection, the output end of controller connect with the controlled end of cargo motor, vehicle motor, reel motor, third code reader and
Coding disk is connected, and coding disk is arranged on cable drum；
Ground system includes feed bin, storage cavern, and material-level detecting device is arranged on feed bin, and 3D scanning modelings are equipped on storage cavern
Device；
The control terminal of remote operating system and the controlled end of controller connect.
Above-mentioned feed bin is at least arranged 1,1 material pond is at least arranged in storage cavern, driving system crane span structure is above storage cavern.
Material position of the above-mentioned material-level detecting device for monitoring feed bin in real time.
Above-mentioned material-level detecting device is radar scanner.
It is equipped with and builds a wall between above-mentioned material pond and material pond, the 3D scanning modelings device is arranged above storage cavern, for material
It is scanned inside pond.
Above controller is PLC controller.
Above-mentioned remote operating system is DCS control systems.
Using the above structure, the utility model provides a set of unpiloted automation driving scheme, can improve warehouse,
The degree of automation in workshop, stock ground breaks away from the constraint to driver's qualification, improves driving efficiency, reduces artificial
Cost.
Description of the drawings
Fig. 1 is the utility model automatic Pilot driving front view；
Fig. 2 is the utility model automatic Pilot driving left view；
Fig. 3 is the utility model grab bucket schematic diagram；
Fig. 4 is the utility model storage cavern miscellaneous arrangement plan；
Fig. 5 is the utility model storage cavern structural schematic diagram；
Fig. 6 is the utility model laser scanning profile diagram；
Fig. 7 is the structural schematic diagram of feed bin in the utility model.
Specific implementation mode
As shown in Fig. 1 to 7, one kind be suitable for joint storage cavern material transfer automatic Pilot driving, it include driving system,
Plane system and remote operating system, the driving system include driving crane span structure 1, and driving crane span structure 1 is equipped with cart track 11；Cart
It is the cart 2 equipped with cart idler wheel 21 on track 11, the first code reader 22 is equipped on cart 2, trolley is equipped with above cart
Track 31 is equipped with trolley 3 on trolley track, the second code reader 32 and third code reader 43 is equipped on trolley 3, in cart
It is equipped with optical yardstick on track 11, trolley track 31, cargo motor 23 is equipped on cart 2, vehicle motor is equipped on trolley 3
33, reel motor 41, cable drum 4, grab bucket 44 are connected by steel wire rope and reel motor 41, cable drum 4, packet
Controller is included, the input terminal of controller is connect with the first code reader 22, the second code reader 32, third code reader 43, controller
Output end is connect with the controlled end of cargo motor 23, vehicle motor 33, reel motor 41, and third code reader 43 is matched with coding disk 42
Connection is closed, coding disk 42 is arranged on cable drum 4.
Optionally, the optional KM773350G01 of the model of the above code reader, the model CH40-2200W10S of motor.
Wherein, the first code reader 22 can realize that the position of cart positions with optical yardstick, controller cooperation；Optical yardstick is divided into
One optical yardstick 111 and the second optical yardstick 311, the first optical yardstick 111 are arranged on cart track, and the setting of the second optical yardstick 311 exists
On trolley track, the second code reader 32 and the second optical yardstick 311, controller cooperation can realize that the position of trolley positions.
Well by third code reader 43 and coding disk 42, controller, reel motor 41, the cooperation of cable drum 4 energy
Know the state of grab bucket 44, and grab bucket 44 is controlled.
Specifically, cargo motor 23, vehicle motor 33, reel motor 41 are variable-frequency motor, the preferred PLC controls of controller
Device, such controller can preferably with variable-frequency motor cooperating, optionally, the model FX1S-10MR- of PLC controller
001。
It sets cart track and trolley track to orthogonal structure, x, y, z tri- can be realized by three code readers
Positioning on a direction.
Ground system includes feed bin 5, storage cavern 6, and material-level detecting device 51 is arranged on feed bin 5, is swept equipped with 3D on storage cavern 6
Retouch model building device 62；
Wherein, material-level detecting device is connect with controller, and material-level detecting device can monitor material in feed bin 5 well
Amount, 3D scanning modelings device 62 are used to carry out 3D scanning modelings to the material in storage cavern 6, and controller collects 3D scanning modeling numbers
According to, and remote operating system is transferred data to, right instructions are issued to driving system convenient for remote operating system, such as：From one
A target location（Big truck position, small truck position, height of materials）It grabs material and goes to next target location（Material kind according to demand
And the material laser scanning profile peak）.
Laser scanning device may be selected in 3D scanning modelings device 62.
The control terminal of remote operating system and the controlled end of controller connect.
The feed bin 5 is at least arranged 1,1 material pond 61 is at least arranged in storage cavern 6, driving system crane span structure is on storage cavern 6
Side.
Material position of the material-level detecting device 51 for monitoring feed bin 5 in real time.
The material-level detecting device 51 is radar scanner.
It is equipped with and builds a wall between the material pond 61 and material pond, the 3D scanning modelings device is arranged storage cavern 6 above, is used for pair
It is scanned inside material pond 61.
When continuous production carries out feeding, haul and blowing, using following steps：
1）Signal is transmitted to by the material position that feed bin 5 is monitored by material-level detecting device 51 when feed bin reaches low restraining position
Remote operating system；
2）The position for the data and reservoir area driving that remote operating system is detected according to 3D scanning modeling devices is artificially set
Region is set, job instruction is sent out to driving；
3）Cart 2, trolley 3 are moved according to the job instruction in step 2, are moved near storage cavern 6 and are referred in cart 2, trolley 3
Positioning postpones, and controller control grab bucket 44 carries out the crawl of material in target material pond 61；
4）After material captures, cart 2, trolley 3 are moved according to the job instruction in step 2, and will 44 movement of grab bucket
To specified feed bin 5, then grab bucket 44 carries out blowing operation；
5）Above step is repeated, until 5 radar level gauge 51 of feed bin monitoring feed bin reaches high restraining position；Signal is given to
Central Control Room DCS monitoring centers, total management system send out job instruction to travelling facility, and driving grab bucket 44 moves to specific bit
It sets, stops feeding.
The remote operating system is DCS control systems, and HS-DCS-1000 may be selected in model.
Discontinuous manufacture or it is other in special circumstances, by staff either manually or by remote operating system send operation refer to
Enable control driving action.
Using this structure, when continuous production, 5 radar level gauge 51 of feed bin monitors bin-level, and feed bin reaches lower bound position
When position, signal is given to Central Control Room DCS control systems；Central Control Room DCS control systems send job instruction to long-range behaviour automatically
Make total management system；Total management system according to joint storage cavern laser scanner 64 detecting system data and reservoir area row
The position of vehicle or artificial setting area, job instruction is sent out to driving（Such as：From a target location（Big truck position, small parking stall
It sets, height of materials）It grabs material and goes to next target location（Material kind and the material laser scanning profile highest according to demand
Point））；Driving runs to first aim position according to the automatic race cart 2 of instruction, trolley 3（Cart, trolley automatic running in place,
Grab bucket is in safety stop position）, system is by the region of each material in 2 optical yardstick respective segments position of cart examination material kind
Class（Silica, iron powder, sandstone）, after cart 2,3 mechanism of trolley walk in place, 44 automatic declines of grabbing bucket are opened and closed the progress materials that struggle against and grab
It takes；Grab bucket rises to safe altitude, cart 2,3 automatic running of trolley to next target location automatically after crawl material（Hopper
Top）；Grab bucket drops to proper security height and carries out blowing.After the completion of automatic shutter bucket blowing, grab bucket rises to safety automatically
Highly；Above step is repeated, until 5 radar level gauge 51 of feed bin monitoring feed bin reaches high restraining position；Signal is given to middle control
Room DCS control systems, total management system send out job instruction to travelling facility, and driving grab bucket 44 moves to designated position, stops
Only feeding.Any link of above procedure breaks down or other abnormal conditions, total management system send out work to travelling facility
Industry instructs, and driving grab bucket 44 moves to designated position, stops feeding.Discontinuous manufacture or it is other in special circumstances, by Central Control Room
DCS control systems send job instruction to total management system control driving action manually.
Claims (7)
- It drives a vehicle 1. one kind being suitable for joint storage cavern material transfer automatic Pilot, it includes driving system, ground system and long-range behaviour Make system, the driving system includes driving crane span structure（1）, crane span structure of driving a vehicle（1）It is equipped with cart track（11）；Cart track（11） Upper is equipped with cart idler wheel（21）Cart（2）, in cart（2）It is equipped with the first code reader（22）, it is equipped with above cart small Track road（31）, trolley is equipped on trolley track（3）, in trolley（3）It is equipped with the second code reader（32）And third reading code Device（43）, in cart track（11）, trolley track（31）On be equipped with optical yardstick, in cart（2）It is equipped with cargo motor（23）, In trolley（3）It is equipped with vehicle motor（33）, reel motor（41）, cable drum（4）, grab bucket（44）Pass through steel wire rope and volume Cylinder motor（41）, cable drum（4）It is connected, it is characterised in that：Including controller, the input terminal of controller and first is read Code device（22）, the second code reader（32）, third code reader（43）Connection, the output end and cargo motor of controller（23）, trolley Motor（33）, reel motor（41）Controlled end connection, third code reader（43）With coding disk（42）It is connected, coding disk （42）It is arranged in cable drum（4）On；Ground system includes feed bin（5）, storage cavern（6）, in feed bin（5）Upper setting material-level detecting device（51）, in storage cavern（6）On set There are 3D scanning modeling devices（62）；The control terminal of remote operating system and the controlled end of controller connect.
- 2. the joint storage cavern material transfer automatic Pilot according to claim 1 that is suitable for is driven a vehicle, it is characterised in that：The material Storehouse（5）At least it is arranged 1, storage cavern（6）In 1 material pond is at least set（61）, driving system crane span structure is in storage cavern（6）Top.
- 3. the joint storage cavern material transfer automatic Pilot according to claim 2 that is suitable for is driven a vehicle, it is characterised in that：The material Level detecting apparatus（51）For monitoring feed bin in real time（5）Material position.
- 4. the joint storage cavern material transfer automatic Pilot according to claim 3 that is suitable for is driven a vehicle, it is characterised in that：The material Level detecting apparatus（51）For radar scanner.
- 5. the joint storage cavern material transfer automatic Pilot according to claim 2 that is suitable for is driven a vehicle, it is characterised in that：The material Pond（61）It is equipped with and builds a wall between material pond, the 3D scanning modelings device is arranged in storage cavern（6）Top, for material pond（61）It is interior Portion is scanned.
- 6. the joint storage cavern material transfer automatic Pilot according to claim 1 or 2 that is suitable for is driven a vehicle, it is characterised in that：Institute It is PLC controller to state controller.
- 7. the joint storage cavern material transfer automatic Pilot according to claim 1 or 2 that is suitable for is driven a vehicle, it is characterised in that：Institute It is DCS control systems to state remote operating system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820283946.7U CN207986532U (en) | 2018-02-28 | 2018-02-28 | One kind being suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820283946.7U CN207986532U (en) | 2018-02-28 | 2018-02-28 | One kind being suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN207986532U true CN207986532U (en) | 2018-10-19 |
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| CN201820283946.7U Active CN207986532U (en) | 2018-02-28 | 2018-02-28 | One kind being suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108203054A (en) * | 2018-02-28 | 2018-06-26 | 中国葛洲坝集团水泥有限公司 | One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
| CN110862014A (en) * | 2019-10-14 | 2020-03-06 | 武汉港迪智能技术有限公司 | Automatic operation system and method for warehouse materials |
-
2018
- 2018-02-28 CN CN201820283946.7U patent/CN207986532U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108203054A (en) * | 2018-02-28 | 2018-06-26 | 中国葛洲坝集团水泥有限公司 | One kind is suitable for joint storage cavern material transfer automatic Pilot and drives a vehicle |
| CN110862014A (en) * | 2019-10-14 | 2020-03-06 | 武汉港迪智能技术有限公司 | Automatic operation system and method for warehouse materials |
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