CN210285725U - Automatic aligning device of comprehensive transport vehicle - Google Patents
Automatic aligning device of comprehensive transport vehicle Download PDFInfo
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- CN210285725U CN210285725U CN201921233716.0U CN201921233716U CN210285725U CN 210285725 U CN210285725 U CN 210285725U CN 201921233716 U CN201921233716 U CN 201921233716U CN 210285725 U CN210285725 U CN 210285725U
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Abstract
The utility model relates to an automatic aligning device of a comprehensive transport vehicle, which comprises an induction component and a station frame, wherein the induction component is arranged in a static way relative to the station frame; the measuring light curtain is arranged on the comprehensive transport vehicle and is used for being matched with the sensing component to form a sensing signal so as to determine the position of the comprehensive transport vehicle; and the control unit is respectively electrically connected or in communication connection with the measuring light curtain and the control system of the comprehensive transport vehicle, and is used for receiving the sensing signal, calculating and analyzing the relative position relation between the comprehensive transport vehicle and the target station frame, and further sending a braking instruction or a moving instruction to the comprehensive transport vehicle. Through the utility model discloses an aligning device and method can realize the third track on the comprehensive transport vechicle and the orbital automatic alignment of second on the target station frame, and fix a position comparatively accurately to practice thrift the manpower, improve production efficiency, improve equipment's degree of automation.
Description
Technical Field
The utility model relates to a synthesize transport vechicle automatic alignment device.
Background
Currently, in the field of prefabricated construction, a comprehensive transport vehicle (transportation of wall boards and floor slabs) is widely used for transporting the hoisted PC components from a demolding area to a storage area. The integral transportation frame is placed on the comprehensive station frame with the track. The comprehensive transport vehicle advances along the ground track, and the PC component can be transported only after the trolley track of the comprehensive transport vehicle is aligned with the track on the station frame, namely the PC component moves to the upper part of the track of the station frame together with the trolley from the trolley track. The dead weight of the comprehensive transport vehicle is large, and the braking distances of the comprehensive transport vehicle during no-load and different loads are different, so that the tracks are difficult to align by means of manual operation, and the problem that the equipment is difficult to operate is caused. If the deviation of the rail alignment is large, the trolley can cause large damage during the traversing process. Due to the problem, the comprehensive transport vehicle of many factories is not used even when being left empty, so that great waste is caused.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model aims at providing an automatic aligning device of a comprehensive transport vehicle; to achieve automatic alignment of the integrated transport vehicle.
In order to solve the technical problem, the technical scheme of the utility model as follows:
the comprehensive transport vehicle automatic alignment device is positioned on the first rail and can move along the first rail, a plurality of station frames matched with the comprehensive transport vehicle are arranged on the side surface of the first rail, a plurality of second rails perpendicular to the first rail are arranged on the station frames, a plurality of third rails perpendicular to the first rail are arranged on the comprehensive transport vehicle, and when the comprehensive transport vehicle is aligned with the target station frame, the third rails on the comprehensive transport vehicle correspond to the second rails on the target station frame one by one; comprises that
The induction component is arranged in a static way relative to the station frame;
the measuring light curtain is arranged on the comprehensive transport vehicle and is used for being matched with the sensing component to form a sensing signal so as to determine the position of the comprehensive transport vehicle;
and the control unit is respectively electrically connected or in communication connection with the measuring light curtain and the control system of the comprehensive transport vehicle, and is used for receiving the sensing signal, calculating and analyzing the relative position relation between the comprehensive transport vehicle and the target station frame, and further sending a braking instruction or a moving instruction to the comprehensive transport vehicle.
Optionally, the length direction of the measuring light curtain is parallel to the length direction of the integrated transport vehicle.
Optionally, the measuring light curtain comprises a light beam emitting end and a light beam receiving end which are distributed up and down; the sensing component is a light-tight baffle, and when the measuring light curtain is matched with the sensing component, the baffle extends between the light beam emitting end and the light beam receiving end.
Optionally, the measuring light curtain is arranged on one side of the comprehensive transport vehicle close to the station frame.
Optionally, the sensing component is fixed on the ground by a support assembly.
The automatic alignment method of the comprehensive transport vehicle is carried out by using the alignment device of the comprehensive transport vehicle, and comprises the following steps:
s1, when the comprehensive transport vehicle moves to the initial matching position of the measuring light curtain and the sensing component, a first sensing signal is formed in the measuring light curtain and transmitted to the control unit;
s2, the control unit receives the first sensing signal, sends a braking instruction to the comprehensive transport vehicle, and the comprehensive transport vehicle executes the braking instruction and finally stops;
s3, the measuring light curtain is matched with the sensing component, a second sensing signal is formed in the measuring light curtain and transmitted to the control unit;
s4, the control unit receives the second sensing signal and judges whether the comprehensive transport vehicle is aligned with the target station frame;
s5, if the judgment result is that the comprehensive transport vehicle and the target station frame are not aligned, the control unit sends a moving instruction to the comprehensive transport vehicle according to the relative position relation of the comprehensive transport vehicle and the target station frame, and after the comprehensive transport vehicle executes the moving instruction and stops, the S3 and the S4 are repeated to judge whether the comprehensive transport vehicle and the target station frame are aligned or not; if not, repeating the step S5 until the judgment result is alignment;
and if the judgment result is alignment, the comprehensive transport vehicle and the target station frame are aligned.
Optionally, in S4, the control unit receives the second sensing signal, calculates and analyzes a relative position relationship between the integrated transport vehicle and the target station in the length direction of the first rail, and completes alignment when a position deviation between the integrated transport vehicle and the target station in the length direction of the first rail is within a preset range; and when the position deviation of the comprehensive transport vehicle and the target station in the length direction of the first track is not within a preset range, the control unit sends a moving instruction to the comprehensive transport vehicle according to the deviation condition.
Optionally, the movement instruction is a jog movement instruction.
Through the utility model discloses an aligning device and method can realize the third track on the comprehensive transport vechicle and the orbital automatic alignment of second on the target station frame, and fix a position comparatively accurately to practice thrift the manpower, improve production efficiency, improve equipment's degree of automation.
Drawings
Fig. 1 is a relative position relationship diagram (plan view) of a comprehensive transport vehicle and a station frame according to an embodiment of the present invention.
Fig. 2 is a mounting position view (plan view) of an automatic alignment device according to an embodiment of the present invention.
Fig. 3 is a partially enlarged view (top view) of the second carriage in fig. 2.
Fig. 4 is a schematic structural diagram of a support assembly according to an embodiment of the present invention.
Fig. 5 is a schematic view of a measuring light curtain.
Fig. 6 is a top view of an inductive component.
Fig. 7 is a control schematic diagram of an embodiment of the present invention.
Fig. 8 is one of the flow charts of the alignment process of the present invention.
Detailed Description
The following description describes alternative embodiments of the present invention to teach one of ordinary skill in the art how to make and reproduce the invention. For the purpose of teaching the present invention, some conventional aspects have been simplified or omitted. Those skilled in the art will appreciate that variations or substitutions from these embodiments will fall within the scope of the invention. Those skilled in the art will appreciate that the features described below can be combined in various ways to form multiple variations of the invention. Accordingly, the present invention is not limited to the following alternative embodiments, but is only limited by the claims and their equivalents. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.
As shown in fig. 1 to 8, in the automatic alignment device for a comprehensive transport vehicle, the comprehensive transport vehicle 1 is located on a first rail 7 and can move along the first rail 7, a plurality of station frames matched with the comprehensive transport vehicle are arranged on the side surface of the first rail, a plurality of second rails 9 perpendicular to the first rail are arranged on the station frames, a plurality of third rails 5 perpendicular to the first rail are arranged on the comprehensive transport vehicle, and when the comprehensive transport vehicle is aligned with a target station frame, the third rails 5 on the comprehensive transport vehicle correspond to the second rails 9 on the target station frame one by one; comprises that
The induction component 6 is arranged in a static way relative to the station frame;
the measuring light curtain 4 is arranged on the comprehensive transport vehicle and is used for being matched with the induction component 6 to form an induction signal so as to determine the position of the comprehensive transport vehicle;
and the control unit is respectively electrically connected or in communication connection with the measuring light curtain 4 and the control system of the comprehensive transport vehicle, and is used for receiving the sensing signal, calculating and analyzing the relative position relation between the comprehensive transport vehicle and the target station frame, and further sending a braking instruction or a moving instruction to the comprehensive transport vehicle.
The comprehensive transport vehicle and the target station frame are of single-layer structures, the third track is arranged at the top of the comprehensive transport vehicle, and the second track is arranged at the top of the station frame; optionally, the integrated transport vehicle and the target station frame are of a multi-layer structure, and each layer is provided with a corresponding track.
The length direction of the measuring light curtain 4 is parallel to the length direction of the comprehensive transport vehicle.
The measuring light curtain 4 comprises a light beam emitting end 401 and a light beam receiving end 402 which are distributed up and down; the sensing component 6 is a light-tight baffle, and when the measuring light curtain 4 is matched with the sensing component 6, the baffle extends between the light beam emitting end 401 and the light beam receiving end 402. Preferably, the flap is parallel to the horizontal plane. The dimension of the flap in the longitudinal direction of the first track can be set as desired, in general, the smaller the dimension, the higher the alignment accuracy, but it should be controlled within the sensitive sensing range of the measuring light curtain 4.
The measuring light curtain 4 is arranged on one side of the comprehensive transport vehicle close to the station frame.
The sensing part 6 is fixed on the ground through the supporting component 3.
Optionally, referring to fig. 1 and 2, the number of the station racks may be 2, and the station racks are sequentially arranged along the direction of the first rail, for example, a first station rack 2 and a second station rack 8 are arranged, a plurality of groups are arranged on the side surface of the first rail, a first support assembly 3A is arranged between the first station rack and the first rail, and a sensing component is arranged on the first support assembly 3A, and correspondingly, a second support assembly 3B is arranged between the second station rack and the first rail, and a sensing component is arranged on the second support assembly, so as to facilitate the alignment of the integrated transport vehicle and each station rack.
The automatic alignment method of the comprehensive transport vehicle is carried out by using the alignment device of the comprehensive transport vehicle, and comprises the following steps:
s1, when the comprehensive transport vehicle moves to the initial matching position of the measuring light curtain 4 and the sensing component 6, a first sensing signal is formed in the measuring light curtain 4 and transmitted to the control unit;
s2, the control unit receives the first sensing signal, sends a braking instruction to the comprehensive transport vehicle, and the comprehensive transport vehicle executes the braking instruction and finally stops;
s3, the measuring light curtain 4 is matched with the sensing component 6, a second sensing signal is formed in the measuring light curtain 4, and the second sensing signal is transmitted to the control unit;
s4, the control unit receives the second sensing signal and judges whether the comprehensive transport vehicle is aligned with the target station frame;
s5, if the judgment result is that the comprehensive transport vehicle and the target station frame are not aligned, the control unit sends a moving instruction to the comprehensive transport vehicle according to the relative position relation of the comprehensive transport vehicle and the target station frame, and after the comprehensive transport vehicle executes the moving instruction and stops, the S3 and the S4 are repeated to judge whether the comprehensive transport vehicle and the target station frame are aligned or not; if not, repeating the step S5 until the judgment result is alignment;
and if the judgment result is alignment, the comprehensive transport vehicle and the target station frame are aligned.
Generally, the braking distance of the comprehensive transport vehicle is 5-15cm, and the alignment requirement can be met by a conventional measuring light curtain. The comprehensive transport vehicle moves towards the target station frame, when one end of the measuring light curtain crosses the blocking piece, the measuring light curtain and the blocking piece are matched, the measuring light curtain forms a first sensing signal, and after receiving the first sensing signal, the control unit immediately sends a braking instruction to a control system of the comprehensive transport vehicle to brake; after the comprehensive transport vehicle stops, the relative position change of the light curtain and the blocking piece is measured and matched at a new position to form a second sensing signal, and the control unit can calculate and analyze the relative position relation between the comprehensive transport vehicle and the target station frame through the second sensing signal and make corresponding judgment.
The measuring light curtain can judge the relative position relation between the comprehensive transport vehicle and the sensing component according to the quantity and the position of the shielded light, and the relative position relation can actually represent the relative position relation between the comprehensive transport vehicle and the station frame due to the relative stillness of the sensing component and the station frame, so that the deviation size and the deviation direction of the current position of the comprehensive transport vehicle and the alignment position of the target station frame can be judged (such as positive deviation: the stop position of the comprehensive transport vehicle exceeds the alignment position; negative deviation: the stop position of the comprehensive transport vehicle does not exceed the alignment position).
In S4, the control unit receives the second sensing signal, calculates and analyzes a relative positional relationship between the integrated transport vehicle and the target station in the length direction of the first rail 7, and completes alignment when a positional deviation between the integrated transport vehicle and the target station in the length direction of the first rail 7 is within a preset range; when the position deviation of the comprehensive transport vehicle and the target station in the length direction of the first track 7 is not within the preset range, the control unit sends a moving instruction to the comprehensive transport vehicle according to the deviation condition.
The moving instruction is a inching moving instruction, so that the comprehensive transport vehicle is controlled to walk by a small displacement and gradually approaches to the alignment position of the target station frame until the target station frame is aligned.
The applicant tries the automatic alignment device in a PC component production workshop, can realize the automatic alignment of the track of the comprehensive transport vehicle and the target station frame, can effectively reduce the operation difficulty of operators, greatly improves the automation level of the comprehensive transport vehicle, and can further optimize the intelligent manufacture of a factory.
The above-mentioned embodiments are illustrative and should not be construed as limiting the scope of the invention, which is defined by the appended claims, and all modifications of the equivalent forms of the present invention which are obvious to those skilled in the art after reading the present invention.
Claims (5)
1. The comprehensive transport vehicle automatic alignment device is characterized in that the comprehensive transport vehicle (1) is positioned on a first rail (7) and can move along the first rail (7), a plurality of station frames matched with the comprehensive transport vehicle are arranged on the side surface of the first rail, a plurality of second rails (9) perpendicular to the first rails are arranged on the station frames, a plurality of third rails (5) perpendicular to the first rails are arranged on the comprehensive transport vehicle, and when the comprehensive transport vehicle is aligned with a target station frame, the third rails (5) on the comprehensive transport vehicle correspond to the second rails (9) on the target station frame one by one;
which is characterized by comprising
The induction component (6) is arranged in a static way relative to the station frame;
the measuring light curtain (4) is arranged on the comprehensive transport vehicle and is used for being matched with the induction component (6) to form an induction signal so as to determine the position of the comprehensive transport vehicle;
and the control unit is respectively electrically connected or in communication connection with the measuring light curtain (4) and the control system of the comprehensive transport vehicle, and is used for receiving the sensing signal, calculating and analyzing the relative position relation between the comprehensive transport vehicle and the target station frame, and further sending a braking instruction or a moving instruction to the comprehensive transport vehicle.
2. The integrated transport vehicle automatic alignment device according to claim 1, wherein the length direction of the measuring light curtain (4) is parallel to the length direction of the integrated transport vehicle.
3. The integrated transport vehicle automatic alignment device according to claim 1, wherein the measuring light curtain (4) comprises a light beam emitting end (401) and a light beam receiving end (402) which are distributed up and down; the sensing component (6) is a light-tight baffle, and when the measuring light curtain (4) is matched with the sensing component (6), the baffle extends between the light beam emitting end (401) and the light beam receiving end (402).
4. The integrated transport vehicle automatic alignment device according to any of claims 1 to 3, wherein the measuring light curtain (4) is provided on a side of the integrated transport vehicle close to the station rack.
5. The integrated transportation vehicle automatic alignment device according to any one of claims 1 to 3, wherein the sensing member (6) is fixed to the ground by a support assembly (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921233716.0U CN210285725U (en) | 2019-08-01 | 2019-08-01 | Automatic aligning device of comprehensive transport vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921233716.0U CN210285725U (en) | 2019-08-01 | 2019-08-01 | Automatic aligning device of comprehensive transport vehicle |
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| CN210285725U true CN210285725U (en) | 2020-04-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255106A (en) * | 2019-08-01 | 2019-09-20 | 长沙远大住宅工业安徽有限公司 | Multi-transportation vehicle automatic alignment apparatus and alignment methods |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255106A (en) * | 2019-08-01 | 2019-09-20 | 长沙远大住宅工业安徽有限公司 | Multi-transportation vehicle automatic alignment apparatus and alignment methods |
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