CN210914108U - Automatic positioning device of comprehensive transport vehicle - Google Patents
Automatic positioning device of comprehensive transport vehicle Download PDFInfo
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- CN210914108U CN210914108U CN201921234098.1U CN201921234098U CN210914108U CN 210914108 U CN210914108 U CN 210914108U CN 201921234098 U CN201921234098 U CN 201921234098U CN 210914108 U CN210914108 U CN 210914108U
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Abstract
The utility model relates to an automatic positioning device of a comprehensive transport vehicle, which comprises a first induction component which is arranged in a static way relative to the ground; the first sensing unit is arranged on the comprehensive transport vehicle and is used for being matched with the first sensing part to form a first sensing signal; the second induction component is arranged in a static way relative to the ground; the second sensing unit is arranged on the comprehensive transport vehicle and is used for being matched with the second sensing part to form a second sensing signal; and the control unit is respectively electrically connected or in communication connection with the first sensing unit, the second sensing unit and the control system of the comprehensive transport vehicle. The device and the method of the utility model can realize the automatic positioning of the comprehensive transport vehicle and the automatic alignment of the station frame, and greatly improve the automation level of the comprehensive transport vehicle.
Description
Technical Field
The utility model relates to a synthesize transport vechicle automatic positioning 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. Therefore, it is very important to realize the automatic positioning of the integrated transportation vehicle at the target position.
SUMMERY OF THE UTILITY MODEL
To prior art not enough, one of the purposes of the utility model is to provide a comprehensive transport vehicle automatic positioning device to realize comprehensive transport vehicle's automatic positioning to the target location.
In order to solve the technical problem, the technical scheme of the utility model as follows:
the automatic positioning device of the comprehensive transport vehicle comprises
The first induction component is arranged in a static way relative to the ground;
the first sensing unit is arranged on the comprehensive transport vehicle and is used for being matched with the first sensing part to form a first sensing signal;
the second induction component is arranged in a static way relative to the ground;
the second sensing unit is arranged on the comprehensive transport vehicle and is used for being matched with the second sensing part to form a second sensing signal; and
the control unit is respectively electrically or communicatively connected with the first sensing unit, the second sensing unit and the control system of the comprehensive transport vehicle, and is used for receiving the first sensing signal and the second sensing signal and sending a braking instruction, a moving instruction or a stop instruction to the comprehensive transport vehicle according to the number and the type of the received sensing signals;
when the comprehensive transport vehicle is positioned at the target position, the first sensing unit and the first sensing part are in a matched state, and the second sensing unit and the second sensing part are in a matched state; at the moment, the control unit receives the first induction signal and the second induction signal at the same time, and the situation that the comprehensive transport vehicle reaches the target position is shown
When the comprehensive transport vehicle is not positioned at the target position, at least one group of sensing units is not matched with the sensing parts; at the moment, the position of the comprehensive transport vehicle deviates from the target position, the sensing unit and the comprehensive transport vehicle are relatively static, and the ground and the sensing component are relatively static, so that the comprehensive transport vehicle can be judged to move forwards or backwards to reach the target position according to the type of the sensing signal (namely the first sensing signal or the second sensing signal) received by the control unit.
Optionally, the sensing unit is a groove-shaped photoelectric sensor or a measuring light curtain; the sensing component is a light barrier. Preferably, the light barrier is arranged parallel to the horizontal plane. When the integrated transport vehicle is matched, the light blocking sheet extends into the sensing unit, part or all of the optical signals are blocked by the light blocking sheet, the sensing unit can obtain the sensing signals, and the control unit can judge and analyze the relative position relation between the integrated transport vehicle and the target position according to the sensing signals.
Optionally, the first sensing unit includes a first signal transmitting end and a first signal receiving end that are sequentially distributed in a vertical direction; the first sensing unit is matched with the first sensing part, and the first sensing unit is matched with the first sensing part;
the second sensing unit comprises a second signal transmitting end and a second signal receiving end which are sequentially distributed in the vertical direction; the second sensing component is a second light blocking piece, and when the second sensing unit is matched with the second sensing component, the second light blocking piece extends into a position between the second signal transmitting end and the second signal receiving end.
Optionally, the first sensing unit and the second sensing unit are arranged on the same side of the comprehensive transport vehicle and are sequentially distributed in the vertical direction, and projections of the first sensing component and the second sensing component on the ground have an overlapping area.
Optionally, the size of the overlapping area in the length direction of the integrated transport vehicle is 5-15 mm.
Generally, the braking distance of the integrated transport vehicle is 5-15 cm. Generally, the size of the integral projection formed by the first sensing component and the second sensing component on the ground in the length direction of the comprehensive transport vehicle exceeds the braking distance of the comprehensive transport vehicle, so that the use requirement can be met.
Optionally, the first sensing component and the second sensing component are both fixed on the ground through a support assembly.
Optionally, the first sensing part and the second sensing part are sequentially distributed along the traveling direction of the first rail.
The automatic positioning method of the comprehensive transport vehicle is carried out by utilizing the positioning device of the comprehensive transport vehicle, and comprises the following steps:
s1, the comprehensive transport vehicle moves towards a target position, and when the comprehensive transport vehicle moves to a primary matching position of a certain induction unit and a corresponding induction component, a corresponding induction signal is formed in the induction unit and transmitted to the control unit;
s2, the control unit receives the sensing signal in S1, sends a braking instruction to the comprehensive transport vehicle, and the comprehensive transport vehicle executes the braking instruction and finally stops;
s3, when the comprehensive transport vehicle is in a stop state,
when the control unit only receives the first induction signal, the control unit sends a moving instruction to the comprehensive transport vehicle, wherein the moving instruction moves towards the direction of the matching position of the second induction unit and the second induction part until the control unit receives the first induction signal and the second induction signal simultaneously;
when the control unit only receives the second induction signal, the control unit sends a moving instruction to the comprehensive transport vehicle, wherein the moving instruction moves towards the direction of the matching position of the first induction unit and the first induction unit until the control unit receives the first induction signal and the second induction signal simultaneously;
when the control unit receives the first sensing signal and the second sensing signal simultaneously, the control unit sends a stop instruction holding option to the comprehensive transport vehicle, and the movement instruction is a jog movement instruction.
Compared with the prior art, the utility model has the advantages of as follows:
(1) through the utility model discloses an automatic positioning device can realize the automatic alignment location to synthesizing the transport vechicle, alleviates operating personnel's the operation degree of difficulty.
(2) The automation level of the comprehensive transport vehicle is greatly improved, and the intelligent manufacturing of a factory is further optimized.
(3) Mainly increase the supporting component on 2 cell type photoelectricity correlation sensors and ground, can accomplish and reform transform or realize that the cost is lower.
(4) And the field installation and debugging are convenient.
Drawings
Fig. 1 is a relative position relationship diagram (plan view) of a comprehensive transport vehicle and a station frame according to a first embodiment of the present invention.
Fig. 2 is a mounting position view (plan view) of the automatic alignment device according to the first 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 view of the support assembly according to the first embodiment of the present invention along the width direction of the integrated vehicle (only the first sensing unit is engaged with the first sensing member).
Fig. 5 is a schematic structural view of the support assembly according to the first embodiment of the present invention along the width direction of the integrated transportation vehicle (the first sensing unit is engaged with the first sensing part, and the second sensing unit is engaged with the second sensing part).
Fig. 6 is a schematic structural view of the support assembly according to the first embodiment of the present invention along the width direction of the integrated vehicle (only the second sensing unit is engaged with the second sensing member).
Fig. 7 is a control schematic diagram of the first 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 positioning device for the 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 first induction component 6 is arranged relative to the ground in a stationary mode;
the first sensing unit 4 is arranged on the comprehensive transport vehicle and is used for being matched with the first sensing part 6 to form a first sensing signal;
the second induction part 11 is arranged relative to the ground in a static mode;
the second sensing unit 10 is arranged on the comprehensive transport vehicle and is used for being matched with the second sensing component 11 to form a second sensing signal; and
the control unit is respectively electrically or communicatively connected with the first sensing unit 4, the second sensing unit 10 and the control system of the comprehensive transport vehicle, and is used for receiving the first sensing signal and the second sensing signal and sending a braking instruction, a moving instruction or a stop instruction to the comprehensive transport vehicle according to the number and the type of the received sensing signals;
when the comprehensive transport vehicle is positioned at the target position, the first sensing unit 4 and the first sensing part 6 are in a matching state, and the second sensing unit 10 and the second sensing part 11 are in a matching state;
when the comprehensive transport vehicle is not positioned at the target position, at least one group of sensing units and sensing parts are not in a matching state.
The induction unit is a groove-shaped photoelectric sensor; the sensing component is a light barrier.
Optionally, the control unit is a PLC.
The first sensing unit 4 comprises a first signal transmitting end 41 and a first signal receiving end 42 which are sequentially distributed in the vertical direction; the first sensing component 6 is a first light barrier, and when the first sensing unit 4 is matched with the first sensing component 6, the first light barrier extends between the first signal transmitting end 41 and the first signal receiving end 42;
the second sensing unit 10 comprises a second signal transmitting end 101 and a second signal receiving end 102 which are sequentially distributed in the vertical direction; the second sensing element 11 is a second light blocking plate, and when the second sensing unit 10 is matched with the second sensing element 11, the second light blocking plate extends between the second signal transmitting terminal 101 and the second signal receiving terminal 102.
The first sensing unit 4 and the second sensing unit 10 are arranged on the same side of the comprehensive transport vehicle and are sequentially distributed in the vertical direction, and the projections of the first sensing part 6 and the second sensing part 11 on the ground have an overlapping area.
The size of the overlapping area in the length direction of the comprehensive transport vehicle is 10 mm.
The first sensing part 6 and the second sensing part 11 are fixed on the ground through the supporting component 3. The light barrier is parallel to the horizontal plane.
Referring to fig. 1 and 2, in the case that a plurality of work stands are disposed on one side of the first rail 7, as shown in fig. 1 and 2, a plurality of sets of first work stands 2 and second work stands 8 are sequentially disposed along the first rail 7, and a first support assembly 3A, a second support assembly 3B and a corresponding sensing component may be disposed at corresponding positions of the first work stands 2 and the second work stands 8, respectively, so as to facilitate positioning and alignment of the integrated transport cart with the respective work stands.
The automatic positioning method of the comprehensive transport vehicle is carried out by utilizing the positioning device of the comprehensive transport vehicle, and comprises the following steps:
s1, the comprehensive transport vehicle moves towards a target position, and when the comprehensive transport vehicle moves to a primary matching position of a certain induction unit and a corresponding induction component, a corresponding induction signal is formed in the induction unit and transmitted to the control unit;
s2, the control unit receives the sensing signal in S1, sends a braking instruction to the comprehensive transport vehicle, and the comprehensive transport vehicle executes the braking instruction and finally stops; in the process, the control system of the comprehensive transport vehicle receives a braking instruction and controls the braking system to brake;
s3, when the comprehensive transport vehicle is in a stop state,
when the control unit only receives the first induction signal, the control unit sends a moving instruction to the comprehensive transport vehicle, wherein the moving instruction moves in the direction of the matching position of the second induction unit 10 and the second induction part 11, until the control unit receives the first induction signal and the second induction signal at the same time;
when the control unit only receives the second induction signal, the control unit sends a moving instruction moving towards the direction of the matching position of the first induction unit 4 and the first induction unit 6 to the comprehensive transport vehicle until the control unit receives the first induction signal and the second induction signal simultaneously;
when the control unit receives the first induction signal and the second induction signal simultaneously, the control unit sends a stop keeping instruction to the comprehensive transport vehicle to complete positioning.
When the comprehensive transport vehicle moves, the control system of the comprehensive transport vehicle can receive the moving instruction and control the driving system to work to drive the comprehensive transport vehicle to move.
Therefore, after the comprehensive transport vehicle is stopped stably, the control unit automatically judges the deviation direction from the target position according to the shielding condition of the groove type photoelectric sensor; and according to the deviation direction, the control unit controls the comprehensive transport vehicle to walk towards the target direction to generate a small displacement, gradually approaches towards the target position, and automatically walks towards the opposite direction to generate a small displacement until the target position is reached if the comprehensive transport vehicle exceeds the target position. Alternatively, the control unit may be integrated with the control system of the integrated transport vehicle.
The movement instruction is a jog movement instruction.
The applicant tries the automatic positioning device in a PC component production workshop, can realize the automatic positioning of the comprehensive transport vehicle, 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.
Through the utility model discloses an automatic positioning device can realize synthesizing third track and the orbital automatic alignment of second on the station frame on the transport vechicle to practice thrift the manpower, improve production efficiency, improve equipment's degree of automation.
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 (7)
1. The automatic positioning device of the comprehensive transport vehicle is characterized by comprising
A first induction part (6) which is arranged to be stationary relative to the ground;
the first sensing unit (4) is arranged on the comprehensive transport vehicle and is used for being matched with the first sensing component (6) to form a first sensing signal;
a second induction part (11) which is arranged relative to the ground;
the second sensing unit (10) is arranged on the comprehensive transport vehicle and is used for being matched with the second sensing component (11) to form a second sensing signal; and
the control unit is respectively electrically or communicatively connected with the first sensing unit (4), the second sensing unit (10) and the control system of the comprehensive transport vehicle, and is used for receiving the first sensing signal and the second sensing signal and sending a braking instruction, a moving instruction or a stop instruction to the comprehensive transport vehicle according to the number and the type of the received sensing signals;
when the comprehensive transport vehicle is positioned at the target position, the first sensing unit (4) and the first sensing part (6) are in a matching state, and the second sensing unit (10) and the second sensing part (11) are in a matching state;
when the comprehensive transport vehicle is not positioned at the target position, at least one group of sensing units and sensing parts are not in a matching state.
2. The automatic positioning device of the integrated transport vehicle as claimed in claim 1, wherein the sensing unit is a groove-shaped photoelectric sensor or a measuring light curtain; the sensing component is a light barrier.
3. The automatic positioning device of the integrated transport vehicle according to claim 1, characterized in that the first sensing unit (4) comprises a first signal transmitting terminal (41) and a first signal receiving terminal (42) which are distributed in sequence in the vertical direction; the first sensing component (6) is a first light barrier, and when the first sensing unit (4) is matched with the first sensing component (6), the first light barrier extends into a position between the first signal transmitting end (41) and the first signal receiving end (42);
the second sensing unit (10) comprises a second signal transmitting end (101) and a second signal receiving end (102) which are sequentially distributed in the vertical direction; the second sensing component (11) is a second light barrier, and when the second sensing unit (10) is matched with the second sensing component (11), the second light barrier extends into a space between the second signal transmitting end (101) and the second signal receiving end (102).
4. The automatic positioning device of the comprehensive transport vehicle according to claim 2 or 3, wherein the first sensing unit (4) and the second sensing unit (10) are arranged on the same side of the comprehensive transport vehicle and are distributed in sequence in the vertical direction, and the projections of the first sensing part (6) and the second sensing part (11) on the ground have an overlapping area.
5. The integrated transport vehicle automatic positioning device according to claim 4, wherein the size of the overlapping area in the length direction of the integrated transport vehicle is 5-15 mm.
6. The integrated transportation vehicle automatic positioning device according to any one of claims 1-3, 5, characterized in that the first induction component (6) and the second induction component (11) are fixed on the ground through a support assembly (3).
7. The integrated transport vehicle automatic positioning device according to claim 6, characterized in that the first induction member (6) and the second induction member (11) are distributed in sequence along the travel direction of the first track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921234098.1U CN210914108U (en) | 2019-08-01 | 2019-08-01 | Automatic positioning device of comprehensive transport vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921234098.1U CN210914108U (en) | 2019-08-01 | 2019-08-01 | Automatic positioning device of comprehensive transport vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294276A (en) * | 2019-08-01 | 2019-10-01 | 湘潭远大住宅工业有限公司 | Multi-transportation vehicle automatic positioning equipment and localization method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294276A (en) * | 2019-08-01 | 2019-10-01 | 湘潭远大住宅工业有限公司 | Multi-transportation vehicle automatic positioning equipment and localization method |
| CN110294276B (en) * | 2019-08-01 | 2024-04-09 | 湘潭远大住宅工业有限公司 | Automatic positioning device and positioning method for comprehensive transport vehicle |
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