CN210365612U - Shuttle positioning system - Google Patents
Shuttle positioning system Download PDFInfo
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- CN210365612U CN210365612U CN201921191830.1U CN201921191830U CN210365612U CN 210365612 U CN210365612 U CN 210365612U CN 201921191830 U CN201921191830 U CN 201921191830U CN 210365612 U CN210365612 U CN 210365612U
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Abstract
The utility model discloses a shuttle positioning system, which comprises a transverse operation double track, a coding track and a shuttle, wherein the coding track is parallel to the transverse operation double track, at least one positioning device is arranged in the inner side area of the transverse operation double track along the track direction, and an angle encoder and a position proximity switch are arranged at the bottom of one side of the shuttle; the angle encoder is matched with the encoding track to calculate the running position of the shuttle; the position proximity switch is matched with the positioning device to position the shuttle to the designated station. The utility model discloses can realize the automatic positioning function of shuttle, be particularly useful for reciprocating motion, the motion dolly that needs accurate location. By carrying out automatic calibration and calibration operation on the encoder, the accumulated error is eliminated, and inaccurate positioning caused by the accumulated error is prevented. The utility model discloses increase standard position indicating device, no longer single reliance relies on the encoder as position indication mechanism, carries out redundancy protection to the shuttle location, prevents the damage that the dislocation leads to.
Description
Technical Field
The utility model relates to an industrial control technical field, concretely relates to shuttle positioning system.
Background
The shuttle car is a high-speed conveying device, and can enable materials to be switched at different stations. The shuttle car is provided with a conveying belt, and when the shuttle car is fixed, the shuttle car has the same function as a common belt conveyor and can convey materials forwards along the production line direction.
Different from a common belt conveyor, the shuttle car is provided with a transverse motor which can move in a direction vertical to the production line of the shuttle car, so that materials are moved out of the original production line at a special working section and are processed at a special station.
The shuttle motion requirements of the shuttle vehicle mainly include:
(1) when the shuttle car does the switching movement, the starting and stopping of the shuttle car at each station are ensured to be stable while the shuttle car moves at a high speed.
(2) When the shuttle vehicle reaches the designated position, the shuttle vehicle needs to be accurately positioned, and the shuttle vehicle is ensured not to exceed or not reach the designated position.
In actual production in a workshop, the following problems generally occur in the shuttle positioning system:
(1) the shuttle car uses the angle encoder to carry out position calculation, and there is the error in angle encoder itself when calculating the position, and under the fixed condition of coordinate system, the error can be along with using constantly the accumulation. After a period of production, inaccurate position calculation often occurs, which leads to inaccurate positioning.
(2) Due to the problems of looseness of the encoding track and the like, errors occur when the encoder recalculates the position, and the errors are accumulated, so that inaccurate positioning is caused.
(3) Taking a production workshop of a cigarette factory as an example, after the positioning is inaccurate, the cigarette packet can not reach a designated station, so that the unpacking action of the cigarette packet can not be normally finished. Because the KUKA robot for unpacking reaches a specified position in a positioning mode to work, the KUKA robot can sometimes collide with a tobacco bale to cause damage to the robot and serious equipment loss.
Therefore, it is of great practical significance to develop an accurate shuttle positioning system.
SUMMERY OF THE UTILITY MODEL
For solving because the production that the location is inaccurate to bring and the weak point that equipment loss and field exist, the utility model provides a shuttle positioning system to real-time accurate location eliminates accumulative error, ensures the safe normal clear of production.
The technical route of the utility model is as follows:
(1) the encoder is automatically calibrated and calibrated, so that the accumulated error is eliminated, and inaccurate positioning caused by the accumulated error is prevented.
(2) And a standard position indicating device is added, so that the shuttle vehicle is not singly dependent on an encoder as a position indicating mechanism, redundant protection is carried out on the positioning of the shuttle vehicle, and the damage caused by dislocation is prevented.
A shuttle positioning system comprises a transverse running double rail, a coding rail and a shuttle, wherein the coding rail is parallel to the transverse running double rail, the inner side area of the transverse running double rail is provided with at least one positioning device along the rail direction, and the bottom of one side of the shuttle is provided with an angle encoder and a position proximity switch; the angle encoder is matched with the encoding track to calculate the running position of the shuttle; the position proximity switch is matched with the positioning device to position the shuttle to a designated station.
Preferably, when the shuttle car does transverse motion, the car body is driven by the variable frequency motor and controlled by the frequency converter, so that the car body can be started and stopped stably according to a certain speed slope.
And when the shuttle car performs the transverse shuttling action each time, the angle encoder on the shuttle car records the travel distance of the shuttle car, and the shuttle car stops after the set value is reached. Meanwhile, the position of the shuttle vehicle is further positioned by the position proximity switch on the shuttle vehicle, so that the shuttle vehicle is prevented from being accurately stopped at a specified station position due to error or serious error of the encoder.
Preferably, the inner side area of the transverse operation double track is provided with a limiting device, the bottom of one side of the shuttle car is provided with a limiting switch, and the limiting switch is matched with the limiting device to determine the limit position of the shuttle car in operation. When the shuttle car exceeds the normal travel range and triggers the limit switch, the shuttle car is stopped emergently.
Preferably, the number of the limit switches is at least 2.
Preferably, the angle encoder, the position proximity switch and the limit switch are arranged on the same side of the shuttle car.
Preferably, the coding track is arranged at the inner area of the transverse running double track.
Preferably, the number of the positioning devices is at least 3.
Further preferably, an original point positioning device, a box grabbing position positioning device and a belt cutting position positioning device are sequentially arranged in the inner area of the transverse running double rail along the rail direction and are used for matching with process requirements.
Preferably, the number of the position proximity switches is at least 2.
Preferably, the two ends of the transverse running double rail are respectively provided with a mechanical stop block for assisting the shuttle vehicle in limiting.
The operation mode of the shuttle positioning system comprises the following steps:
(1) and at the initial position, after the position proximity switch is matched with the original point positioning device to detect in place, the counting of the angle encoder is cleared.
(2) The shuttle body is driven by a variable frequency motor to realize high-speed movement and ensure stable starting and stopping of the shuttle at each station.
(3) The position proximity switch is used for redundantly confirming that the shuttle car really arrives at each station; when the shuttle car exceeds the normal travel range and the limit switch is triggered by the limit device, the shuttle car is stopped emergently.
(4) And a PLC (programmable logic controller) is used, and programs are written in LAD (language extension) language, so that the smooth running and redundancy protection functions of the trolley are realized.
Compared with the prior art, the utility model, main advantage includes:
(1) the utility model discloses can realize the automatic positioning function of shuttle, be particularly useful for reciprocating motion, the motion dolly that needs accurate location.
(2) The encoder is automatically calibrated and calibrated, so that the accumulated error is eliminated, and inaccurate positioning caused by the accumulated error is prevented.
(3) And a standard position indicating device is added, so that the shuttle vehicle is not singly dependent on an encoder as a position indicating mechanism, redundant protection is carried out on the positioning of the shuttle vehicle, and the damage caused by dislocation is prevented.
Drawings
FIG. 1 is a schematic structural diagram of a shuttle positioning system of an embodiment;
in the figure: 1-shuttle vehicle; 2, transversely running a double track; 3-encoding a track; 4-an angle encoder; 5-position proximity switch; 6-limit switch; 7-origin positioning means; 8-a box grabbing position positioning device; 9-cutting the belt position positioning device; 10-a limiting device; 11-mechanical stop.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. The following examples are conducted under conditions not specified, usually according to conventional conditions, or according to conditions recommended by the manufacturer.
In this embodiment, a Ningbo cigarette factory production workshop is taken as an example, three production lines are provided, and at the unpacking station of the cigarette packet, the cigarette packet needs to be removed from the production line by using a shuttle vehicle, so that the KUKA robot can perform operations such as cutting the belt and unpacking, and after the operation is finished, the cigarette packet is transported back to the production line by using the shuttle vehicle. Meanwhile, because of the process requirements, part of the production lines are provided with parallel auxiliary production lines, and the tobacco packets need to be switched among different production lines by using a shuttle vehicle.
The shuttle positioning system designed according to the method is shown in fig. 1 and comprises a transverse running double rail 2, a coding track 3 and a shuttle 1.
The coding track 3 is arranged in the inner area of the transverse running double track 2 and is parallel to the transverse running double track 2.
The inner area of the transverse moving double track 2 is provided with 3 positioning devices and 1 limiting device 10 in sequence along the track direction. The 3 positioning devices are an original point positioning device 7, a box grabbing position positioning device 8 and a belt cutting position positioning device 9 in sequence and are used for matching with process requirements.
The bottom of one side of the shuttle car 1 is provided with 1 angular encoder 4, 2 position proximity switches 5 and 2 limit switches 6.
The angle encoder 4 is matched with the encoding track 3, records the travel distance of the shuttle car 1, calculates the running position of the shuttle car 1, and stops when the running position reaches a set value.
The position proximity switch 5 is matched with the original point positioning device 7, the box grabbing position positioning device 8 and the belt cutting position positioning device 9 to position the shuttle car 1 to a specified station, so that the shuttle car 1 is prevented from being accurately stopped at the position of the specified station due to error or serious error of the angle encoder 4.
The limit switch 6 is matched with the limit device 10 to determine the limit position of the shuttle 1 in operation. When the shuttle 1 exceeds the normal travel range and the limit switch 6 is triggered by the limit device 10, the shuttle 1 is stopped emergently.
Two ends of the transverse moving double track 2 are respectively provided with a mechanical stop dog 11 for assisting the shuttle 1 to limit, and avoiding equipment damage.
When the shuttle car 1 transversely moves along the transversely moving double rails 2, the car body is driven by the variable frequency motor and controlled by the frequency converter, so that the car body can be stably started and stopped according to a certain speed slope.
By using the shuttle car positioning system, the tobacco bale enters the belt of the feeding shuttle car 1, the photoelectric tube detects that the tobacco bale is in place, the shuttle car 1 drives the motor to operate through the frequency converter, the specific positioning is positioned by the angle encoder 4, after the angle encoder 4 reaches the program set value, whether the position proximity switch 5 has signal input or not needs to be confirmed in the program, and only when the two conditions are met simultaneously, the next action is continued. The original position station, the box grabbing station and the belt cutting station all adopt the positioning control mode.
When the trolley returns to the original position and the position proximity switch 5 has an input signal, the numerical value of the angle encoder 4 returns to zero, so that the generation of accumulated errors caused by the back-and-forth running of the shuttle car 1 is avoided.
Once the overshoot phenomenon occurs, the limit switch 6 is forced to be powered off and stopped, and a mechanical stop 11 is used for limiting.
Above-mentioned shuttle positioning system can let 4 automatic calibration of angle encoder return to zero through initial point department position proximity switch 5, avoids accumulative error, and need not reconfiguration configuration after changing angle encoder 4, and convenient maintenance resumes production rapidly, lets shuttle 1 operation more stable, reliable.
Furthermore, it should be understood that various changes and modifications of the present invention may be made by those skilled in the art after reading the above description of the present invention, and such equivalents also fall within the scope of the appended claims.
Claims (10)
1. A shuttle positioning system comprises a transverse running double rail, a coding rail and a shuttle, and is characterized in that the coding rail is parallel to the transverse running double rail, at least one positioning device is arranged in the area inside the transverse running double rail along the rail direction, and an angle encoder and a position proximity switch are arranged at the bottom of one side of the shuttle;
the angle encoder is matched with the encoding track to calculate the running position of the shuttle;
the position proximity switch is matched with the positioning device to position the shuttle to a designated station.
2. The shuttle positioning system of claim 1 wherein lateral movement of the shuttle is driven by a variable frequency motor.
3. The shuttle positioning system of claim 1 wherein the inside area of the transverse running double track is provided with a limit device, the bottom of one side of the shuttle is provided with a limit switch, and the limit switch is matched with the limit device to determine the limit position of the shuttle running.
4. The shuttle positioning system of claim 3 wherein the number of limit switches is at least 2.
5. A shuttle positioning system as claimed in claim 3 or claim 4 wherein the angular encoder, position proximity switch and limit switch are located on the same side of the shuttle.
6. The shuttle positioning system of claim 1 wherein the encoded track is disposed in an area inboard of the laterally traveling double track.
7. The shuttle positioning system of claim 1 wherein the number of positioning devices is at least 3.
8. The shuttle positioning system of claim 7 wherein the inside area of the transverse running double track is provided with an origin positioning device, a box grabbing position positioning device and a belt cutting position positioning device in sequence along the track direction.
9. The shuttle positioning system of claim 1 wherein the number of position proximity switches is at least 2.
10. The shuttle positioning system of claim 1 wherein the two ends of the transverse travel rails are each provided with a mechanical stop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921191830.1U CN210365612U (en) | 2019-07-26 | 2019-07-26 | Shuttle positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921191830.1U CN210365612U (en) | 2019-07-26 | 2019-07-26 | Shuttle positioning system |
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| CN210365612U true CN210365612U (en) | 2020-04-21 |
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| CN201921191830.1U Active CN210365612U (en) | 2019-07-26 | 2019-07-26 | Shuttle positioning system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111573152A (en) * | 2020-04-24 | 2020-08-25 | 武汉市陆刻科技有限公司 | Flower exhibition model placing system and placing method thereof |
| CN112047175A (en) * | 2020-07-27 | 2020-12-08 | 长园装备制造有限公司 | Stopping point calibration method for cloth paving machine and cloth paving machine |
| CN112549275A (en) * | 2020-12-02 | 2021-03-26 | 德州海天机电科技有限公司 | Control system of pre-stressed long-line-platform concrete prefabricated part distributing machine |
| CN113320915A (en) * | 2021-07-16 | 2021-08-31 | 江西中烟工业有限责任公司 | Buffer lifting type feeding and discharging shuttle vehicle for automatic bale breaker of tobacco shred production line |
| CN113494886A (en) * | 2021-08-05 | 2021-10-12 | 唐山市宝凯科技有限公司 | Coke oven cart positioning system and method based on visual camera and rotary encoder |
| CN114147381A (en) * | 2021-12-14 | 2022-03-08 | 安徽开乐专用车辆股份有限公司 | Board push-and-pull positioning device of jointed board welding machine |
| CN114178689A (en) * | 2021-12-14 | 2022-03-15 | 安徽开乐专用车辆股份有限公司 | Plate centering mechanism and centering system of jointed board welding machine |
-
2019
- 2019-07-26 CN CN201921191830.1U patent/CN210365612U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111573152A (en) * | 2020-04-24 | 2020-08-25 | 武汉市陆刻科技有限公司 | Flower exhibition model placing system and placing method thereof |
| CN111573152B (en) * | 2020-04-24 | 2021-10-12 | 武汉市陆刻科技有限公司 | Flower exhibition model placing system and placing method thereof |
| CN112047175A (en) * | 2020-07-27 | 2020-12-08 | 长园装备制造有限公司 | Stopping point calibration method for cloth paving machine and cloth paving machine |
| CN112549275A (en) * | 2020-12-02 | 2021-03-26 | 德州海天机电科技有限公司 | Control system of pre-stressed long-line-platform concrete prefabricated part distributing machine |
| CN113320915A (en) * | 2021-07-16 | 2021-08-31 | 江西中烟工业有限责任公司 | Buffer lifting type feeding and discharging shuttle vehicle for automatic bale breaker of tobacco shred production line |
| CN113320915B (en) * | 2021-07-16 | 2022-06-24 | 江西中烟工业有限责任公司 | Buffer lifting type feeding and discharging shuttle vehicle for automatic bale breaker of tobacco shred production line |
| CN113494886A (en) * | 2021-08-05 | 2021-10-12 | 唐山市宝凯科技有限公司 | Coke oven cart positioning system and method based on visual camera and rotary encoder |
| CN114147381A (en) * | 2021-12-14 | 2022-03-08 | 安徽开乐专用车辆股份有限公司 | Board push-and-pull positioning device of jointed board welding machine |
| CN114178689A (en) * | 2021-12-14 | 2022-03-15 | 安徽开乐专用车辆股份有限公司 | Plate centering mechanism and centering system of jointed board welding machine |
| CN114147381B (en) * | 2021-12-14 | 2023-03-10 | 安徽开乐专用车辆股份有限公司 | Board push-and-pull positioning device of jointed board welding machine |
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