CN209927084U

CN209927084U - Movable laser coal-coiling device for annular single rail of closed coal yard

Info

Publication number: CN209927084U
Application number: CN201920894662.6U
Authority: CN
Inventors: 李红军; 陈伟; 左丹英; 江维; 李巧敏; 左颖
Original assignee: Wuhan Textile University
Current assignee: Wuhan Textile University
Priority date: 2019-06-14
Filing date: 2019-06-14
Publication date: 2020-01-10
Anticipated expiration: 2029-06-14

Abstract

The utility model relates to a seal portable laser panel coal device of coal yard annular single track belongs to the mechanical equipment field. The closed coal yard annular single-rail movable laser coal-checking device consists of an annular rail, a driving and positioning device, a coal-checking device and a driving control system. The annular single-rail movable laser coal checking device for the closed coal yard adopts the annular single rail, can be laid in a segmented mode according to the actual size and the scanning range of the closed coal yard, realizes the full-coverage scanning coal checking of the coal yard, and increases the universality of the coal checking device; the transmission gear on the closed-loop motor shaft with the stroke encoder is meshed with the transmission rack, so that the driving force can be provided for the coal coiling device, and the automatic feedback positioning of the coal coiling device can be realized, and the difficulty of a control system is greatly simplified; the mode that the load bearing is combined with the guide wheel for bearing and positioning is adopted, effective meshing of the gear and the rack can be guaranteed, and therefore the positioning precision of the coal coiling device can be improved, the scanning data precision can be effectively improved, and the purpose of accurate coal coiling is achieved.

Description

Movable laser coal-coiling device for annular single rail of closed coal yard

Technical Field

The utility model relates to a seal portable laser panel coal device of coal yard annular single track belongs to the mechanical equipment field.

Background

In order to reduce the production cost of power generation of thermal power enterprises, coal in a coal yard must be dynamically monitored, but because the coal consumption of coal fired by a boiler unit cannot be counted, the supply relationship of coal combustion is regulated by adopting the condition of checking the existing coal in the coal yard at present, namely the coal checking is commonly known in the industry. At present, coal caving modes are divided into two modes, one mode is manual coal caving, and the coal caving efficiency and accuracy are low due to high labor intensity, so that the coal caving modes do not meet the requirements of the existing lean production and are basically eliminated; the other method is laser coal inventory, which mainly comprises the steps of scanning a coal yard by using a laser scanner to generate a three-dimensional point cloud image of the surface of coal, processing point cloud data by using upper computer coal inventory software to generate a three-dimensional image of the volume of a coal pile to be measured, calculating the volume of the coal pile to be measured, and finally obtaining a coal inventory result.

Currently, laser coal mining is divided into fixed type and movable type. In the fixed coal inventory mode, Chinese patent CN109029259A, the invention and creation name of which is 'a fixed coal inventory method and system for a closed coal yard', discloses a fixed coal inventory method for a closed coal yard, wherein a plurality of coal inventory scanners with rotary holders are fixedly arranged at preset positions of the closed coal yard, and through scanning in different blocks and data integration, superimposed information and useless information are eliminated, and finally no blind area is achieved in coal inventory. The coal inventory system has the advantages that multiple coal inventory scanners are required to be matched, coal inventory cost is high, data integration difficulty is high, coal inventory errors cannot be controlled after data integration, in addition, fixed-point partition coal inventory cannot be met, the coal inventory system is limited by the size of a closed coal yard, coal inventory universality is not high, and independent customization is required according to the size of the yard.

In the movable coal inventory, the Chinese patent publication CN109110515A, the invention and creation name is 'a closed coal yard movable coal inventory dolly' and the Chinese patent publication CN107402052A, the invention and creation name is 'a self-walking intelligent pile measuring system', both the above two patent applications disclose coal inventory schemes that a wheel type moving device is used for carrying a scanner on a double-track and a travel encoder is used for positioning a walking device, both the two schemes can realize real-time inventory of a stock yard, the automation degree is higher, the defects are that the two schemes both adopt the double-track, so the requirement on track installation is high, and are limited by the scanning range of a laser coal inventory, a plurality of track devices are needed to inventory the coal yard in the same large coal yard, so the coal inventory cost is increased, the difficulty of compiling a coal inventory software system is increased, and the two schemes are only suitable for a square coal yard, the versatility is not sufficient.

Among other movable coal inventory, chinese patent publication CN104071548A, the invention and creation title is "a cantilever bucket wheel stacker-reclaimer and its coal inventory method", the application discloses a way of scanning and obtaining coal inventory in coal yard by mounting a laser scanner on a bucket wheel machine cantilever, which has the disadvantages that the bucket wheel machine belongs to heavy machinery, self-vibration during opening affects scanning data, and self-positioning accuracy of the bucket wheel machine affects data scanned by the laser scanner, thereby greatly increasing coal inventory error. In addition, chinese patent publication CN108596914A, entitled "an unmanned aerial vehicle coal inventory method", discloses an unmanned aerial vehicle coal inventory method, which can inventory coal piles in a semi-closed coal shed, and after collecting image information of the coal piles, can automatically process, model, and generate coal inventory information.

In summary, in the existing laser coal inventory, whether fixed or double-track mobile coal inventory has the problems of poor universality, low positioning accuracy, large coal inventory error and the like all the time, the actual requirements of coal inventory cannot be met, and the pace of realizing automatic and digital material taking in a stock yard of an ignition electric enterprise is restricted.

Disclosure of Invention

To the problem that exists in the present thermoelectricity enterprise dish coal, the utility model aims at providing a can independently fix a position, the portable dish coal device of single track that has good place commonality promotes the precision of dish coal device location, increases the stability and the reliability of dish coal scanning data, and the supply and demand relation of production material can be adjusted in real time according to accurate dish coal result simultaneously, can promote thermoelectricity enterprise control manufacturing cost's ability by a wide margin like this, in order to realize above-mentioned purpose, the utility model discloses following technical scheme has been taken:

the utility model provides a portable laser dish coal device of closed coal yard annular single track which characterized in that: the closed coal yard annular single rail movable laser coal-coiling device consists of an annular rail, a driving positioning device, a coal-coiling device and a driving control system, wherein the annular rail consists of segmented I-steel rails and transmission racks, each segment of I-steel rail is sequentially and annularly closed and hoisted and fixed on a traveling frame of a closed coal yard ceiling along the coal-coiling direction, one end of each transmission rack with teeth is inwards arranged towards the annular central line along the annular rail, each transmission rack is sequentially fastened under the I-steel rail, the driving positioning device consists of a transmission gear, a driving platform, a bearing positioning plate, a reinforcing rib, a load bearing, a guide wheel and a driving motor, the driving platform on the driving positioning device is arranged under the annular rail, two bearing positioning plates are in a group and are symmetrically arranged at two sides of the I-steel rails along the laying direction of the annular rail, and the lower end surfaces of the bearing positioning plates are fixed on, two reinforcing ribs are symmetrically arranged at two sides of the annular track, the bottom surface of each reinforcing rib is sequentially fixed with the upper surface of the driving platform, the side end surface of each reinforcing rib is fixedly connected with the outer side end surface of the bearing positioning plate, two load-bearing bearings are arranged in one group, two load-bearing bearings are respectively arranged at two sides of the annular track in an equal-height symmetrical manner, each load-bearing is sequentially arranged in an equal-height manner along the laying direction of the annular track, the bearing surfaces of the load-bearing bearings are movably arranged on the upper end surface of the I-shaped steel track, a movable pin penetrates through the central hole of the load-bearing and is fixed on the side end surface of the bearing positioning plate, two guide wheels are arranged in one group and are symmetrically arranged at two sides of the annular track, the outer circular surface of each guide wheel is in rolling contact with the side surface of, the transmission gear is fixed on a shaft of a driving motor which penetrates through a through hole on the driving platform, the tooth surface of the transmission gear is meshed with the tooth surface of the transmission rack, the coal coiling device comprises a connecting column, a scanning workbench, a laser scanner, an installation platform and an omnidirectional pan head, the scanning workbench is arranged under the driving platform of the driving positioning device, four connecting columns are in a group and are uniformly distributed on four corners between the scanning workbench and the driving platform, internal threads are arranged at two ends of the connecting column, one group of bolts respectively penetrate through the through hole formed in the upper surface of the driving platform to be fastened with one end of the connecting column, the other group of bolts sequentially penetrate through the through hole formed in the lower surface of the scanning workbench to be fastened with the other end of the connecting column, the lower surface of the driving control system is fixedly arranged above the scanning workbench, the omnidirectional pan head is inversely fixed under the scanning workbench, the installation platform is, two sets of bolts pass through the through-hole that opens on the mounting platform and are connected with the mounting hole fastening of laser scanner and qxcomm technology cloud platform respectively. The driving motor is a closed-loop direct current motor with a stroke encoder. The drive control system comprises a control box, a motion control board card, a wireless communication device, a data storage device, a high-definition camera device and a direct-current power supply, and is used for sending and receiving coal inventory device motion positioning information and laser coal inventory instructions and storing and sending coal inventory information collected by the coal inventory laser scanner.

Since the technical scheme above is adopted, the utility model discloses a portable laser panel coal device of closed coal yard annular single track has following advantage:

(1) the annular monorail is adopted, so that the coal inventory scanning is not limited by coal yard conditions, and the coal inventory scanning device can be paved in a segmented manner according to the actual size and scanning range of a closed coal yard, so that the rail cost is saved, the installation difficulty is reduced, the length of the rail can be adjusted according to the size condition of each stock yard, the universality of the rail is increased, the device can be used for both an annular coal yard and a square coal yard, the full-coverage coal inventory scanning of the coal yard is realized, and the universality of the coal inventory device is increased;

(2) by adopting the flip-chip mounting mode, the scanning visual field of the scanner can be increased, so that the requirement on the scanning range of the scanner is reduced, and the purchase cost of the laser scanner is reduced;

(3) the meshing of the gear racks on the closed-loop motor shaft with the encoder can be used as the driving force of the coal turning device and can also be used for the automatic feedback positioning of the coal turning device, so that the difficulty of a control system is greatly simplified, the anti-interference capability of the system is enhanced, and the stability of the system control is ensured;

(4) the single-rail I-shaped steel is adopted for laying, so that the strength of the coal coiling track is increased, the influence on the steel structure of the ceiling of the closed coal yard can be effectively reduced, and the difficulty in laying and overhauling the track can be reduced;

(5) by utilizing the load bearing and guide wheel bearing positioning mode, the stability of the coal coiling device in the operation process can be effectively improved, the efficiency of ensuring the meshing of the gear and the rack can be improved, and the positioning precision of the coal coiling device can be improved;

description of the drawings:

FIG. 1 is a global view of the utility model discloses a portable laser panel coal device of closed coal yard annular single track

FIG. 2 is a front view of the utility model discloses a portable laser panel coal device of closed coal yard annular single track

The specific implementation mode is as follows:

the technical solution of the present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 and 2.

The utility model provides a portable laser dish coal device of closed coal yard annular single track which characterized in that: the closed coal yard annular single rail movable laser coal coiling device comprises an annular rail, a driving positioning device, a coal coiling device and a driving control system 5, wherein the annular rail comprises a segmented I-steel rail 1 and a transmission rack 10, the length of a straight line section and the turning radius of the annular rail are determined according to the size and the scanning range of the closed coal yard, each segment of the I-steel rail 1 is sequentially and annularly and hermetically hoisted and fixed on a truss of a ceiling of the closed coal yard along the coal coiling direction, one end of the transmission rack 10 with teeth is inwards arranged towards an annular central line along the annular rail, each transmission rack 10 is sequentially fastened under the I-steel rail 1, the driving positioning device comprises a transmission gear 2, a driving platform 3, a bearing positioning plate 11, a reinforcing rib 12, a bearing 13, a guide wheel 14 and a driving motor 15, the driving platform 3 on the driving positioning device is arranged under the annular rail, two bearing positioning plates 11 are in a group and are symmetrically arranged at two sides of an I-shaped steel rail 1 along the laying direction of the annular rail, the lower end surface of each bearing positioning plate 11 is fixed on the upper surface of a driving platform 3, two reinforcing ribs 12 are symmetrically arranged at two sides of the annular rail, the bottom surface of each reinforcing rib 12 is sequentially fixed with the upper surface of the driving platform 3, the side end surfaces of the reinforcing ribs 12 are connected and fixed with the outer end surface of the bearing positioning plate 11, two groups of load bearings 13 are in a group, the two groups of load bearings 13 are mainly used for bearing the whole coal coiling device and simultaneously increasing the running stability of the coal coiling device, the two groups of load bearings 13 are respectively arranged at two sides of the annular rail in an equal-height symmetrical way, each group of load bearings 13 are sequentially arranged at equal height along the laying direction of the annular rail, the bearing surfaces of the load bearings 13 are movably, the coal coiling device is composed of a connecting column 4, a scanning workbench 6, a laser scanner 7, a mounting platform 8 and an omnidirectional tripod head 9, wherein the scanning workbench 6 is arranged under the driving platform 3 of the driving positioning device, four connecting columns 4 are in a group and are uniformly distributed at four corners between the scanning workbench 6 and the driving platform 3, 4 both ends of spliced pole all are provided with the internal thread, a set of bolt passes some through-holes of opening and 4 one end fastenings of spliced pole from 3 upper surfaces of drive platform respectively, another group of bolt passes some through-holes of opening and 4 other end fastenings of spliced pole from 6 lower surfaces of scanning workstation in proper order, drive control system 5's lower fixed surface sets up directly over scanning workstation 6, 9 flip-chip of qxcomm technology platform are fixed under scanning workstation 6, mounting platform 8 sets up between laser scanner 7 and qxcomm technology platform 9, two sets of bolts pass on mounting platform 8 open some through-holes respectively with laser scanner 7 and qxcomm technology platform 9's mounting hole fastening connection. The scanning range of the laser scanner 7 is determined according to the size of a coal yard, the omnidirectional holder 9 can realize 360-degree reciprocating rotation, the scanning visual angle and the scanning range can be enlarged, and the driving motor 15 is a closed-loop direct current motor with a stroke encoder. The drive control system 5 comprises a control box, a motion control board card, a wireless communication device, a data storage device, a high-definition camera device and a direct-current power supply, and is used for sending and receiving coal inventory device motion positioning information and laser coal inventory instructions and storing and sending coal inventory information collected by a coal inventory laser scanner.

The utility model relates to a seal portable laser panel coal device of coal yard annular single track's theory of operation:

when a wireless transmission device of a driving control system 5 receives a coal coiling instruction sent by a control room upper computer, a power supply is connected with a driving motor 15 on the coal coiling device, the driving motor 15 drives the coal coiling device to move by meshing a transmission gear 2 on a shaft with a transmission rack 10, a bearing surface of a load bearing 13 slides on the inner side of an I-shaped steel rail 1 at a constant speed, two symmetrically arranged guide wheels 14 are tightly attached to two sides of the I-shaped steel rail 1 to guide and slide, the number of rotations of an upper shaft of the driving motor 15 with a stroke encoder is converted into the walking distance of the coal coiling device by a fixed formula, and then the walking distance is remotely fed back to the upper computer of the control room in real time through the driving control system 5 to display, meanwhile, a laser scanner 7 scans the whole section of the coal yard stacking condition along an annular rail through a control program set by the driving control system 5, when the stacking cannot be scanned due to, the omnidirectional cloud deck 9 automatically rotates by a certain angle and then drives the laser scanner 7 fixed on the mounting platform 8 to scan the angle and deflect, the rest coal pile of the whole coal pile is scanned around the circular track under the condition of no shielding, the coal coiling device automatically returns to the initial position after receiving a coal coiling ending signal, then a data storage unit on the coal coiling device transmits data to an upper computer of a control system through a wireless network, the data is processed by the upper computer, and a coal coiling result is obtained and displayed. The coal inventory device can realize full-segment scanning and time-sharing segmented scanning through program setting, and realizes the universality and the effectiveness of coal inventory scanning.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a portable laser dish coal device of closed coal yard annular single track which characterized in that: the closed coal yard annular single-rail movable laser coal inventory device comprises an annular rail, a driving positioning device, a coal inventory device and a driving control system (5), wherein the annular rail comprises segmented I-shaped steel rails (1) and transmission racks (10), each segment of I-shaped steel rail (1) is sequentially and annularly and hermetically hoisted and fixed on a parallel frame of a closed coal yard ceiling along a coal inventory direction, one end with teeth of each transmission rack (10) is inwards arranged towards an annular central line along the annular rail, each transmission rack (10) is sequentially fastened under the I-shaped steel rail (1), the driving positioning device comprises a transmission gear (2), a driving platform (3), a bearing positioning plate (11), a reinforcing rib (12), a load bearing (13), a guide wheel (14) and a driving motor (15), the driving platform (3) on the driving positioning device is arranged under the annular rail, and the two positioning plates (11) form a group, the bearing device is symmetrically arranged at two sides of a joist steel track (1) along the laying direction of an annular track, the lower end surface of a bearing positioning plate (11) is fixed on the upper surface of a driving platform (3), two reinforcing ribs (12) are symmetrically arranged at two sides of the annular track, the bottom surface of each reinforcing rib (12) is sequentially fixed with the upper surface of the driving platform (3), the side end surfaces of the reinforcing ribs (12) are fixedly connected with the outer end surface of the bearing positioning plate (11), two groups of load bearings (13) are arranged into one group, two groups of load bearings (13) are respectively arranged at two sides of the annular track in an equal-height symmetrical manner, each group of load bearings (13) are sequentially arranged at equal height along the laying direction of the annular track, the bearing surfaces of the load bearings (13) are movably arranged on the upper end surface of the joist steel track (1), a movable pin penetrates through a central hole of the load bearings (13) and, the coal coiling device is characterized by being symmetrically arranged on two sides of an annular track, the outer circular surface of a guide wheel (14) is in rolling contact with the side surface of an I-shaped steel track (1), a movable pin penetrates through a center hole of the guide wheel (14) and is fastened on the end surface of a bearing positioning plate (11), a driving motor (15) is arranged along the laying direction of the annular track, the driving motor (15) is fixed on the lower surface of one end of a driving platform (3), a transmission gear (2) is fixed on a shaft of the driving motor (15) penetrating through a through hole in the driving platform (3), the tooth surface of the transmission gear (2) is meshed with the tooth surface of a transmission rack (10), the coal coiling device is composed of connecting columns (4), a scanning workbench (6), a laser scanner (7), an installation platform (8) and an omnidirectional pan-tilt (9), the scanning workbench (6) is arranged right below the driving platform (3) of the driving positioning device, four connecting columns (4) are in a group and are uniformly distributed on four, spliced pole (4) both ends all are provided with the internal thread, a set of bolt passes some through-holes of opening and spliced pole (4) one end fastening from drive platform (3) upper surface respectively, another group's bolt passes some through-holes and spliced pole (4) other end fastening from scanning workstation (6) lower surface in proper order, the fixed surface of drive control system (5) sets up directly over scanning workstation (6), omnidirectional cloud platform (9) flip-chip is fixed under scanning workstation (6), mounting platform (8) set up between laser scanner (7) and omnidirectional cloud platform (9), two sets of bolts pass mounting platform (8) go up open some through-holes respectively with laser scanner (7) and omnidirectional cloud platform (9) mounting hole fastening connection.

2. The endless monorail movable laser coal-driling device for the closed coal yard as claimed in claim 1, wherein: the driving motor (15) is a closed-loop direct current motor with a stroke encoder.

3. The endless monorail movable laser coal-driling device for the closed coal yard as claimed in claim 1, wherein: the drive control system (5) comprises a control box, a motion control board card, a wireless communication device, a data storage device, a high-definition camera device and a direct-current power supply, and is used for sending and receiving motion positioning information of the coal inventory device and a laser coal inventory command, and storing and sending coal yard stockpiling information collected by the coal inventory laser scanner.