CN210480161U - Intelligent steel rail conveyer - Google Patents
Intelligent steel rail conveyer Download PDFInfo
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- CN210480161U CN210480161U CN201921525598.0U CN201921525598U CN210480161U CN 210480161 U CN210480161 U CN 210480161U CN 201921525598 U CN201921525598 U CN 201921525598U CN 210480161 U CN210480161 U CN 210480161U
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- clamping jaw
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Abstract
The utility model belongs to the technical field of rail transport loading and unloading, especially, relate to an intelligence rail transport machine, its characterized in that is including being and putting the platform, the setting is two supporting mechanism of putting the platform avris here, the lateral shifting mechanism of setting on every supporting system, along every lateral shifting mechanism lateral shifting's vertical elevating system, the unsteady guiding mechanism of setting in this vertical elevating system lower part, the clamping jaw mechanism of setting adjustment mechanism lower part floats here, respectively with lateral shifting mechanism, the control system that vertical elevating system and clamping jaw mechanism are connected, the vision capture system that is connected with this control system. The utility model discloses collect automatic identification, snatch, adjust in an organic whole, adopt from taking visual system analysis rail model and position, snatch the work piece by the clamping jaw is automatic to remove the assigned position with the work piece by the clamping jaw, whole process is automatic operation, and the action is fast, can save a large amount of operating time, improves work efficiency, reduces danger and the error that manual operation brought.
Description
Technical Field
The utility model belongs to the technical field of rail transport loading and unloading, especially, relate to an intelligence rail conveyer.
Background
In the steel rail detection process, the steel rail on the cooling bed needs to be conveyed to the conveying track, and after verification and detection are carried out, the steel rail is taken back and conveyed to the cooling bed again. At present, domestic current steel rail hoisting and carrying is mostly a manually operation structure, and in the steel rail detection process, the steel rail is hoisted through an electric hoist, and the steel rail is moved to a designated position, and the in-process needs the manual work to open the lifting hook at the steel rail hoisting and putting down, and the steel rail model is distinguished manually, and the in-process needs the manual work to stimulate the steel rail, and is dangerous big, and the steel rail is easy beat after putting down, leads to the steel rail not to adjust well with cold bed or track. With the progress of society and the development of railway construction, the use of the steel rail is gradually improved, but the problems of difficult and dangerous loading and unloading of the steel rail, manual operation of most of the steel rail, low working efficiency and the like are urgently needed to be solved.
Disclosure of Invention
The utility model aims at providing a high efficiency, safety collect automatic identification, snatch and adjust in intelligent rail cargo airplane of an organic whole.
The purpose of the utility model is realized by the following technical scheme:
the utility model discloses an intelligent steel rail conveyor, which is characterized by comprising a placing platform, two supporting mechanisms arranged at the side of the placing platform, a transverse moving mechanism arranged on each supporting system, a longitudinal lifting mechanism transversely moving along each transverse moving mechanism, a floating adjusting mechanism arranged at the lower part of the longitudinal lifting mechanism, a clamping jaw mechanism arranged at the lower part of the floating adjusting mechanism, a control system respectively connected with the transverse moving mechanism, the longitudinal lifting mechanism and the clamping jaw mechanism, and a vision capturing system connected with the control system,
the transverse moving mechanism comprises two transverse moving slide rails which are arranged on the supporting mechanism in parallel, a transverse moving rack which is arranged between the two transverse moving slide rails, a transverse moving flat plate which is connected with the two transverse moving slide rails in a sliding way through two groups of transverse moving slide blocks, a servo motor I which is arranged on the transverse moving flat plate, a transverse moving gear which is connected with the output end of the servo motor I, and the transverse moving gear is meshed with the transverse moving rack,
the longitudinal lifting mechanism comprises two groups of lifting slide blocks longitudinally arranged on the transverse moving flat plate, a screw nut I arranged on the transverse moving flat plate, a lifting vertical plate which is connected with the two groups of lifting slide blocks in a sliding way through two lifting slide rails, a servo motor II arranged on the lifting vertical plate, and a screw I connected with the output end of the servo motor II, wherein the screw I penetrates through the screw nut I and is meshed with the screw nut I, the screw I is fixed on the lifting vertical plate through bearing supports arranged at two ends of the screw I,
the floating adjusting mechanism comprises a floating flat plate, two floating slide rails arranged on the upper surface of the floating flat plate, a T-shaped connecting piece connected with the two floating slide rails in a sliding way through two groups of floating slide blocks, a rotating shaft arranged on the lower surface of the floating flat plate, an upper bracket of a trunnion connected with the lower part of the rotating shaft, a lower bracket of the trunnion hinged with the upper bracket of the trunnion through a horizontal hinge rotating shaft, and the T-shaped connecting piece is fixedly connected with the lifting vertical plate,
the clamping jaw mechanism comprises a clamping jaw flat plate fixedly connected with the trunnion lower support, two clamping jaw sliding rails arranged on the lower surface of the clamping jaw flat plate, a servo motor III arranged on the clamping jaw flat plate, a screw II connected with the output end of the servo motor III, and two sets of sliding modules which are arranged on the screw II and have opposite moving directions, wherein each set of sliding module comprises a screw nut II, two clamping jaw sliding blocks respectively arranged on two sides of the screw nut II, and clamping jaw clamping pieces fixedly connected with the two clamping jaw sliding blocks, the two clamping jaw sliding blocks are respectively in sliding connection with the corresponding clamping jaw sliding rails, and the rotating directions of the two screw nuts II of the two sets of sliding modules are opposite,
the vision capture system comprises a shell arranged on the side face of the clamping jaw plate, laser emitters arranged in the shell in a line row, industrial cameras arranged on two sides of the laser emitters, the industrial cameras are connected with the laser emitters, and the optical axes of the industrial cameras on two sides and the projection light plane of the laser emitters form an included angle of 30 degrees.
The supporting mechanism comprises an upright post fixedly arranged on the ground on one side of the platform, a cross beam vertically connected with one side edge of the upright post, and a diagonal draw bar connected with the upright post and the cross beam, wherein the two transverse sliding rails are arranged on the side surface of the cross beam in parallel.
In the two groups of transverse sliding blocks, each group of transverse sliding blocks is connected with one corresponding transverse sliding rail in a sliding mode, and each group of transverse sliding blocks comprises two transverse sliding blocks.
In the two groups of lifting slide blocks, each group of lifting slide blocks is connected with each other in a sliding manner along a corresponding lifting slide rail, and each group of lifting slide blocks comprises two lifting slide blocks.
In the two groups of floating sliding blocks, each group of floating sliding blocks is connected in a sliding mode along a corresponding floating sliding rail, and each group of floating sliding blocks comprises two floating sliding blocks.
The utility model has the advantages that:
the utility model discloses an intelligence rail conveyer, collect automatic identification, snatch, adjust in an organic whole, adopt from taking visual system analysis rail model and position, snatch the work piece by the clamping jaw is automatic, and remove the assigned position with the work piece by the clamping jaw, this in-process can be according to setting for parameter automatic adjustment rail position, discernment in the operation, snatch, the adjustment process all can accomplish automatically, reduce danger and the error that manual operation brought, whole process is automatic operation, the action is fast, can save a large amount of operating time, and work efficiency is improved.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the supporting mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the lateral moving mechanism of the present invention.
Fig. 4 is a schematic view of the connection mechanism between the longitudinal mechanism and the lateral movement mechanism of the present invention.
Fig. 5 is a schematic structural diagram of the vertical mechanism of the present invention.
Fig. 6 is a schematic structural diagram of the floating adjustment mechanism of the present invention.
Fig. 7 is a schematic structural view of the clamping jaw mechanism of the present invention.
Fig. 8 is a schematic structural diagram of the vision capturing system of the present invention.
Fig. 9 is a schematic diagram of the operation of the vision capturing system of the present invention.
Fig. 10 is a diagram illustrating the grabbing process of the steel rail and rail deflection condition according to the present invention.
Fig. 11 is the utility model discloses the process of snatching of the high not identical condition of lifting around the rail promotes back rail.
Fig. 12 is a diagram of the grabbing process of the steel rail in the skew condition on the track according to the present invention.
Fig. 13 is a schematic view of the rail of the present invention adjusted to the correct position.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
As shown in FIGS. 1-9, the intelligent rail transporter of the present invention comprises a platform, two supporting mechanisms disposed at the side of the platform, a lateral moving mechanism disposed on each supporting system, a vertical lifting mechanism moving laterally along each lateral moving mechanism, a floating adjusting mechanism disposed at the lower part of the vertical lifting mechanism, a clamping jaw mechanism disposed at the lower part of the floating adjusting mechanism, a control system connected to the lateral moving mechanism, the vertical lifting mechanism and the clamping jaw mechanism, respectively, and a vision capturing system connected to the control system,
the transverse moving mechanism comprises two transverse moving slide rails 4 arranged on the supporting mechanism in parallel, a transverse moving rack 5 arranged between the two transverse moving slide rails 4, a transverse moving flat plate 6 connected with the two transverse moving slide rails 4 in a sliding way through two groups of transverse moving slide blocks 9, a servo motor I7 arranged on the transverse moving flat plate 6, a transverse moving gear 8 connected with the output end of the servo motor I7, and a transverse moving gear 8 meshed with the transverse moving rack 5,
the longitudinal lifting mechanism comprises two groups of lifting slide blocks 10 longitudinally arranged on the transverse moving flat plate 6, a screw nut I11 arranged on the transverse moving flat plate 6, a lifting vertical plate 13 connected with the two groups of lifting slide blocks 10 in a sliding way through two lifting slide rails 12, a servo motor II 14 arranged on the lifting vertical plate 13, and a screw I15 connected with the output end of the servo motor II 14, wherein the screw I15 penetrates through the screw nut I11 and is meshed with the screw nut I11, the screw I15 is fixed on the lifting vertical plate 13 through bearing supports 16 arranged at two ends of the screw I15,
the floating adjusting mechanism comprises a floating flat plate 17, two floating slide rails 18 arranged on the upper surface of the floating flat plate, a T-shaped connecting piece 20 connected with the two floating slide rails 18 in a sliding way through two groups of floating slide blocks 19, a rotating shaft 21 arranged on the lower surface of the floating flat plate 17, an upper trunnion support 22 connected with the lower part of the rotating shaft 21, a lower trunnion support 24 hinged with the upper trunnion support 22 through a horizontal hinge rotating shaft 23, and the T-shaped connecting piece 20 is fixedly connected with the lifting upright plate 13,
the clamping jaw mechanism comprises a clamping jaw flat plate 25 fixedly connected with the trunnion lower support 24, two clamping jaw sliding rails arranged on the lower surface of the clamping jaw flat plate 25, a servo motor III 26 arranged on the clamping jaw flat plate 25, a screw II 27 connected with the output end of the servo motor III 26, and two sets of sliding modules which are arranged on the screw II 27 and have opposite moving directions, wherein each set of sliding module comprises a screw nut II 28, two clamping jaw sliding blocks 29 respectively arranged on two sides of the screw nut II 28, and clamping jaw clamping pieces 30 fixedly connected with the two clamping jaw sliding blocks 29, the two clamping jaw sliding blocks 29 are respectively in sliding connection with the corresponding clamping jaw sliding rails, the rotating directions of the two screw nuts II 28 of the two sets of sliding modules are opposite,
the vision capture system comprises a shell 31 arranged on the side surface of the clamping jaw flat plate 25, laser emitters 32 arranged in the shell 31 in a row according to a word line, industrial cameras 33 arranged on two sides of the laser emitters 32, an industrial camera 33 connected with the laser emitters 32, and an included angle of 30 degrees formed between the optical axis of the industrial cameras 33 on two sides and the projection light plane of the laser emitters 32.
The supporting mechanism comprises a stand column 1 fixedly arranged on the ground on one side of the platform, a cross beam 2 vertically connected with one side edge of the stand column 1, and a diagonal draw bar 3 connected with the stand column 1 and the cross beam 2, wherein the two transverse sliding rails 4 are arranged on the side surface of the cross beam 2 in parallel.
In the two groups of sideslip sliders 9, each group of sideslip sliders 9 is connected with one corresponding sideslip slide rail 4 in a sliding manner, and each group of sideslip sliders 9 comprises two sideslip sliders 9.
In the two groups of lifting slide blocks 10, each group of lifting slide blocks 10 is connected in a sliding manner along a corresponding lifting slide rail 12, and each group of lifting slide blocks 10 comprises two lifting slide blocks 10.
In the two groups of floating sliding blocks 19, each group of floating sliding blocks 19 is connected in a sliding manner along a corresponding floating sliding rail 18, and each group of floating sliding blocks 19 comprises two floating sliding blocks 19.
The utility model discloses an intelligence rail transport vechicle has wholly constituteed reliable and stable location and has snatched transport mechanism. The grabbing mechanisms arranged on the two supporting mechanisms work in a matched mode, the front end and the rear end of the steel rail are grabbed simultaneously, synchronous lifting and transverse carrying functions can be achieved accurately through the control system, and the steel rail is guaranteed to be in a horizontal state all the time. The utility model discloses compare with traditional electric hoist crane, utilize the sideslip of rigidity and elevation structure to replace traditional wire rope and hung the lift structure for terminal clamping jaw can be according to the accurate location of location data to the rail position that will carry, and through the gesture of adjustment revolving axle 21 and location clamping jaw, accurate centre gripping is at the waist of rail. If the steel rail is not in a completely horizontal state in the process of grabbing and placing the steel rail, the floating adjusting mechanism can compensate non-horizontal steel rail carrying.
Example (b):
as can be seen from FIGS. 10-13, the whole system of the present invention realizes the grabbing and transportation of the steel rail by two sets of grabbing mechanisms arranged on the two supporting systems. Open through vertical elevating system control servo motor II 14 and open and stop, thereby drive lead screw nut I11 along lead screw I15 production or rise or the removal that will, open and stop through the opening of lateral shifting mechanism control servo motor I7, thereby drive sideslip gear 8 along the removal of sideslip rack 5 at the horizontal direction, make entire system can freely move on vertical and horizontal direction, realize the accurate counterpoint of clamping jaw mechanism and rail, make the terminal clamping jaw can arrive the rail position that will carry according to the accurate location of location data, and through the revolving axle 21 on the adjustment mechanism of floating and fix a position the gesture of clamping jaw, accurate centre gripping is at the waist of rail, control clamping jaw mechanism, realize snatching of rail. And the grabbed steel rail is transported to a designated position through the lifting of the longitudinal lifting mechanism, the translation of the transverse moving mechanism and the compensation of the floating adjusting mechanism.
In the whole process, a vision capture system connected with the control system is used for controlling and guiding the clamping jaws of the conveyor to position and grab the steel rail. The vision capture system is mounted on the side of the jaw plate 25 frame structure of the jaw mechanism. The active laser emitter 32 is arranged in the laser emitter 32, the laser emitter 32 can emit laser lines to the hoisted steel rail, the industrial camera 33 is arranged in the laser emitter 32, the shapes of line sections formed by the laser lines of the laser emitter 32 projected on objects with different shapes are changed, and the shape changes of the line sections are calculated by using the industrial camera 33, so that the section outline shape of the object to be measured on a laser plane can be obtained. Through the comparison of the profile shapes, the model and the placing position of a product can be further determined, the shape of the steel rail projected by laser can be judged in real time, and then the steel rail to be hoisted is judged to be in which position and posture, so that the clamping jaw of the conveyor can be guided to position and grab the steel rail. The positioning data of the clamping jaw is generated and comprises transverse sliding shaft positioning data, up-down lifting shaft data and vertical rotating shaft data. The vision capture system can guide the clamping jaw to be positioned to the rail clamping position, and the rail to be hoisted is clamped through the control of the servo motor III 26.
In the clamping process, as shown in fig. 10, it can be seen that the steel rail is obviously deviated from the rail (the steel rail is produced in the transportation, loading and unloading processes), at this time, the vision capture system firstly scans, the hoisting mechanism automatically adjusts after analyzing data, firstly moves the two clamping jaws to corresponding positions through the transverse moving mechanism, then the revolving shaft 21 of the floating adjusting mechanism connected with the two clamping jaw mechanisms rotates to adjust the angles of the clamping jaws, the opening direction is ensured to be parallel to the steel rail, then the servo motor II 14 controls the clamping jaws to integrally descend to clamp the steel rail, and then the servo motor II 14 simultaneously starts to lift the steel rail.
Fig. 11 shows that the steel rail is lifted to different heights (when the conveying mechanism is not horizontal) before and after the steel rail is lifted, the servo motor II 14 on the lower side is continuously lifted to lift the two sides to the same height, and the angle generated by the front and back uneven height of the workpiece is automatically compensated by the trunnion upper support 22 and the trunnion lower support 23 which are hinged with each other of the floating adjusting mechanism.
Fig. 12 shows the effect after lifting, when the rail is still not parallel to the resting position (the workpiece is tilted on the rail), the servomotor i 7 is activated to level the workpiece, as in the position of fig. 13.
The utility model discloses an intelligence rail conveyer, collect automatic identification, snatch, adjust in an organic whole, adopt from taking visual system analysis rail model and position, snatch the work piece by the clamping jaw is automatic, and remove the assigned position with the work piece by the clamping jaw, this in-process can be according to setting for parameter automatic adjustment rail position, discernment in the operation, snatch, the adjustment process all can accomplish automatically, reduce danger and the error that manual operation brought, whole process is automatic operation, the action is fast, can save a large amount of operating time, and work efficiency is improved.
Claims (5)
1. An intelligent steel rail conveyor is characterized by comprising a placing platform, two supporting mechanisms arranged at the side of the placing platform, a transverse moving mechanism arranged on each supporting system, a longitudinal lifting mechanism transversely moving along each transverse moving mechanism, a floating adjusting mechanism arranged at the lower part of the longitudinal lifting mechanism, a clamping jaw mechanism arranged at the lower part of the floating adjusting mechanism, a control system respectively connected with the transverse moving mechanism, the longitudinal lifting mechanism and the clamping jaw mechanism, and a vision capturing system connected with the control system,
the transverse moving mechanism comprises two transverse moving slide rails which are arranged on the supporting mechanism in parallel, a transverse moving rack which is arranged between the two transverse moving slide rails, a transverse moving flat plate which is connected with the two transverse moving slide rails in a sliding way through two groups of transverse moving slide blocks, a servo motor I which is arranged on the transverse moving flat plate, a transverse moving gear which is connected with the output end of the servo motor I, and the transverse moving gear is meshed with the transverse moving rack,
the longitudinal lifting mechanism comprises two groups of lifting slide blocks longitudinally arranged on the transverse moving flat plate, a screw nut I arranged on the transverse moving flat plate, a lifting vertical plate which is connected with the two groups of lifting slide blocks in a sliding way through two lifting slide rails, a servo motor II arranged on the lifting vertical plate, and a screw I connected with the output end of the servo motor II, wherein the screw I penetrates through the screw nut I and is meshed with the screw nut I, the screw I is fixed on the lifting vertical plate through bearing supports arranged at two ends of the screw I,
the floating adjusting mechanism comprises a floating flat plate, two floating slide rails arranged on the upper surface of the floating flat plate, a T-shaped connecting piece connected with the two floating slide rails in a sliding way through two groups of floating slide blocks, a rotating shaft arranged on the lower surface of the floating flat plate, an upper bracket of a trunnion connected with the lower part of the rotating shaft, a lower bracket of the trunnion hinged with the upper bracket of the trunnion through a horizontal hinge rotating shaft, and the T-shaped connecting piece is fixedly connected with the lifting vertical plate,
the clamping jaw mechanism comprises a clamping jaw flat plate fixedly connected with the trunnion lower support, two clamping jaw sliding rails arranged on the lower surface of the clamping jaw flat plate, a servo motor III arranged on the clamping jaw flat plate, a screw II connected with the output end of the servo motor III, and two sets of sliding modules which are arranged on the screw II and have opposite moving directions, wherein each set of sliding module comprises a screw nut II, two clamping jaw sliding blocks respectively arranged on two sides of the screw nut II, and clamping jaw clamping pieces fixedly connected with the two clamping jaw sliding blocks, the two clamping jaw sliding blocks are respectively in sliding connection with the corresponding clamping jaw sliding rails, and the rotating directions of the two screw nuts II of the two sets of sliding modules are opposite,
the vision capture system comprises a shell arranged on the side face of the clamping jaw plate, laser emitters arranged in the shell in a line row, industrial cameras arranged on two sides of the laser emitters, the industrial cameras are connected with the laser emitters, and the optical axes of the industrial cameras on two sides and the projection light plane of the laser emitters form an included angle of 30 degrees.
2. An intelligent rail conveyer as claimed in claim 1, wherein said supporting mechanism includes a vertical post fixedly mounted on the ground on one side of said platform, a cross beam perpendicularly connected to one side of said vertical post, and a diagonal brace connecting said vertical post and said cross beam, said two lateral slide rails being disposed in parallel on the side of said cross beam.
3. An intelligent rail transport vehicle as claimed in claim 1, wherein each set of traverse slides is slidably connected along a corresponding one of the traverse rails, and each set of traverse slides comprises two traverse slides.
4. An intelligent rail transport vehicle as claimed in claim 1, wherein each of the two sets of lifting blocks is slidably connected along a corresponding lifting rail, and each set of lifting blocks comprises two lifting blocks.
5. The intelligent rail transport vehicle of claim 1, wherein each of the two sets of floating blocks is slidably coupled along a corresponding one of the floating rails, and each set of floating blocks includes two floating blocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921525598.0U CN210480161U (en) | 2019-09-16 | 2019-09-16 | Intelligent steel rail conveyer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921525598.0U CN210480161U (en) | 2019-09-16 | 2019-09-16 | Intelligent steel rail conveyer |
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| CN210480161U true CN210480161U (en) | 2020-05-08 |
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| CN201921525598.0U Active CN210480161U (en) | 2019-09-16 | 2019-09-16 | Intelligent steel rail conveyer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111842710A (en) * | 2020-07-31 | 2020-10-30 | 中冶建工集团有限公司 | Stirrup front clamping mechanism of bend welding integrated machine |
| CN113844885A (en) * | 2021-09-29 | 2021-12-28 | 无锡艾克来智能设备有限公司 | Flat steel automatic feeding device |
| CN115837544A (en) * | 2022-12-01 | 2023-03-24 | 湖南华菱智能钢构有限公司 | Automatic contact position regulating and controlling system of web pressing plate of assembling machine |
| CN117465973A (en) * | 2023-12-27 | 2024-01-30 | 常州长盛机械有限公司 | Conveying equipment for cutting and forming metal cross beam for excavator |
-
2019
- 2019-09-16 CN CN201921525598.0U patent/CN210480161U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111842710A (en) * | 2020-07-31 | 2020-10-30 | 中冶建工集团有限公司 | Stirrup front clamping mechanism of bend welding integrated machine |
| CN111842710B (en) * | 2020-07-31 | 2022-05-17 | 中冶建工集团有限公司 | Stirrup front clamping mechanism of bend welding integrated machine |
| CN113844885A (en) * | 2021-09-29 | 2021-12-28 | 无锡艾克来智能设备有限公司 | Flat steel automatic feeding device |
| CN115837544A (en) * | 2022-12-01 | 2023-03-24 | 湖南华菱智能钢构有限公司 | Automatic contact position regulating and controlling system of web pressing plate of assembling machine |
| CN115837544B (en) * | 2022-12-01 | 2023-07-28 | 湖南华菱智能钢构有限公司 | Automatic contact position regulating and controlling system for assembling machine abdomen pressing plate |
| CN117465973A (en) * | 2023-12-27 | 2024-01-30 | 常州长盛机械有限公司 | Conveying equipment for cutting and forming metal cross beam for excavator |
| CN117465973B (en) * | 2023-12-27 | 2024-03-15 | 常州长盛机械有限公司 | Conveying equipment for cutting and forming metal cross beam for excavator |
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