CN212740472U

CN212740472U - Driving system

Info

Publication number: CN212740472U
Application number: CN202021204595.XU
Authority: CN
Inventors: 吴坪; 李骏; 刘传昆; 何伟; 董伟
Original assignee: Nanjing Iron and Steel Co Ltd
Current assignee: Nanjing Iron and Steel Co Ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2021-03-19
Anticipated expiration: 2030-06-24

Abstract

The utility model discloses a driving system, this driving system pass through the three-dimensional image of 3D scanner scanning formation material storehouse and form the coordinate system, and the operator can directly confirm the coordinate point of target hoist and transport thing through the industrial computer to give driving drive locating component through industrial computer output control signal, drive the driving to target coordinate point hoist and transport material through driving drive locating component. The traveling system can ensure that the traveling vehicle is automatically controlled in an unmanned state, liberates an operator to realize automatic operation, and effectively improves the material taking efficiency.

Description

Driving system

Technical Field

The utility model relates to a hoisting machinery, concretely relates to driving system.

Background

The metallurgical industry generally adopts the driving as the main instrument of handling material in the workshop, and the driving mainly has two kinds of control mode at present, and firstly the driver's cabin direct control, another kind adopts remote controller control in the below, and these two kinds of modes are all by driving driver manual operation, get the material inefficiency and have the potential safety hazard. For example, in the steel-making process, scrap steel is taken, and due to the complex stacking environment of the scrap steel in a workshop, personal injury is likely to be caused by overhead work or improper standing position during operation, the production progress of the whole steel-making process is influenced by manual work, and the cost of human resources is high.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: in order to overcome the defects of the prior art, the utility model provides a driving system, this driving system can carry out automatic control under unmanned state.

The technical scheme is as follows: the utility model discloses a driving system, including the driving body, the driving body includes cart, cart track, dolly track and sets up the handling head on the dolly, still includes industrial computer, 3D scanner, signal transceiver and driving drive positioning assembly; the industrial personal computer is connected with the 3D scanner, the 3D scanner scans the moving space range of the lifting head to form a three-dimensional image, a coordinate system is established on the three-dimensional image, and image data are transmitted to the industrial personal computer; the signal receiving and transmitting device is connected between the industrial personal computer and the driving positioning assembly for signal interaction; the industrial personal computer outputs a control signal to the driving positioning assembly according to the input coordinate point, and the driving positioning assembly drives the driving vehicle to move to the coordinate point to perform operation according to the control signal.

The driving and positioning assembly comprises a power device, and the power device comprises a cart driving device, a trolley driving device and a lifting head driving device.

The cart driving device is arranged on the cart and used for driving the cart to run on the cart track; the trolley driving device is arranged on the trolley and used for driving the trolley to run on the trolley track; the lifting head driving device is arranged on the trolley and used for driving the lifting head to ascend and descend.

The driving positioning assembly further comprises a first Gray bus positioning device, and the first Gray bus positioning device is arranged on the cart and used for detecting the position of the cart on a cart track.

The driving and positioning assembly further comprises a second Gray bus positioning device, and the second Gray bus positioning device is arranged on the trolley and used for detecting the position of the trolley on a trolley track.

The travelling crane driving positioning assembly further comprises a height encoder; the height encoder is arranged on the trolley and used for detecting and controlling the height of the lifting head.

The crane driving and positioning assembly comprises a weighing device, and the weighing device is arranged on the lifting head and used for detecting the lifting weight of the lifting head.

The automatic control process of the traveling system comprises the following steps:

(1) scanning a three-dimensional space of the whole movable area of the lifting head by adopting a 3D scanner to form a three-dimensional image, establishing a coordinate system in the three-dimensional image by taking a point in the three-dimensional space as an origin of the coordinate system, and transmitting data to an industrial personal computer;

(2) determining coordinate points of objects in the stereo image through image data received by the industrial personal computer;

(3) inputting a coordinate point of a target hoisted object, and transmitting a control signal to the driving drive positioning assembly by the industrial personal computer through the signal receiving and transmitting device;

(4) the travelling crane driving positioning assembly moves the cart through the cart driving device and the first Gray bus positioning device, moves the trolley through the trolley driving device and the second Gray bus positioning device, enables the lifting head to move above a target lifting object, then moves the lifting head to a target height through the lifting head driving device and the height encoder, and adsorbs and lifts the target lifting object;

(5) the industrial personal computer transmits a control signal to the travelling crane driving and positioning assembly according to the input target discharging position coordinate, and controls the travelling crane to operate to the position for discharging.

Has the advantages that: the traveling system scans a three-dimensional image forming a material library through the 3D scanner and forms a coordinate system, an operator can directly determine a coordinate point of a target hoisting object through the industrial personal computer, and outputs a control signal to the traveling drive positioning assembly through the industrial personal computer, and the traveling drive positioning assembly drives the traveling crane to the target coordinate point to hoist the material. Therefore, automatic control of the travelling crane in an unmanned state is guaranteed, automatic operation of operators is liberated, and material taking efficiency is effectively improved.

Drawings

FIG. 1 is a block diagram of the driving system of the present invention;

fig. 2 is a flow chart of the automatic control of the present invention.

Detailed Description

The present invention will be described in further detail with reference to fig. 1 by taking a traveling system for taking scrap from a steel plant of a certain plant as an example. The storage area is internally provided with scrap steel and other material piles which are fixedly arranged, and the scrap steel is taken and used as required through the travelling crane system in the production process.

Specifically, the 3D scanner is installed in the workshop and is higher than the workshop, so that the 3D scanner can scan the whole warehouse area to generate a three-dimensional image. The movable area of the travelling crane lifting head is a cubic area which takes a travelling crane track as a long edge, the width of the cart is wide, the height of the highest position of the lifting head is high, the cubic area is also positioned in the scanned three-dimensional image, and the generated three-dimensional image mainly comprises the ground and the placed materials because the materials in the storage area are uniformly distributed on the ground.

When a coordinate system is established for the generated stereo image, the track direction of the cart is taken as an x axis, the length direction of the cart is taken as a y axis, the height direction is taken as a z axis, and the ground right below a stopper of the track on one side of the cart is taken as the origin of the coordinate system. And further, each material in the image forms a unique three-dimensional coordinate.

Data that 3D scanner generated transmit for the control room core control system, also promptly through wired communication the utility model discloses the industrial computer so called. The operator can obtain the position of each material in the storage area visually through the image and the coordinate displayed on the operation interface of the industrial personal computer, and further can mark the material type on each material pile, so that the operation and the identification are convenient.

The industrial personal computer and the traveling crane on site carry out signal interaction through the signal transceiver, and specifically, the signal transceiver is two data signal transceivers, one is connected on the industrial personal computer, and the other is connected with the cpu processor of the traveling crane.

The on-site traveling crane part comprises a cart, a cart track, a trolley track, a lifting head and a traveling crane driving and positioning component. Wherein, handling head is absorption formula handling head, also is the sucking disc. The driving and positioning assembly comprises a power device, a first gray bus positioning device, a second gray bus positioning device, a height encoder and a weighing device.

The power device comprises a cart driving device, a trolley driving device and a lifting head driving device. The cart driving device is arranged on the cart and used for driving the cart to run on the cart track; the trolley driving device is arranged on the trolley and used for driving the trolley to run on the trolley track; the lifting head driving device is arranged on the trolley and used for driving the lifting head to ascend and descend.

The first Gray bus positioning device is arranged on the cart and used for detecting the position of the cart on a cart track. And the second Gray bus positioning device is arranged on the trolley and used for detecting the position of the trolley on the trolley track. And the height encoder is arranged on the trolley and used for detecting and controlling the height of the lifting head. The weighing device is arranged on the lifting head and used for detecting the lifting weight of the lifting head.

Of course, the signals of the equipment are all connected with a CPU (central processing unit) of the traveling crane to carry out conventional operation processing on the signal data.

As shown in fig. 2, the automatic control method of the traveling system includes the following steps:

Claims

1. A traveling system comprises a traveling body, wherein the traveling body comprises a cart, a cart track, a trolley track and a lifting head arranged on the trolley, and is characterized by further comprising an industrial personal computer, a 3D scanner, a signal receiving and transmitting device and a traveling driving positioning assembly; the industrial personal computer is connected with the 3D scanner, the 3D scanner scans the moving space range of the lifting head to form a three-dimensional image, a coordinate system is established on the three-dimensional image, and image data are transmitted to the industrial personal computer; the signal receiving and transmitting device is connected between the industrial personal computer and the driving positioning assembly for signal interaction; the industrial personal computer outputs a control signal to the driving positioning assembly according to the input coordinate point, and the driving positioning assembly drives the driving vehicle to move to the coordinate point to perform operation according to the control signal.

2. The traveling system of claim 1, wherein the traveling drive positioning assembly comprises a power plant including a cart drive, and a trolley drive.

3. The travel system of claim 2, wherein the cart drive is mounted on the cart for driving the cart on the cart track; the trolley driving device is arranged on the trolley and used for driving the trolley to run on the trolley track; the lifting head driving device is arranged on the trolley and used for driving the lifting head to ascend and descend.

4. The traveling system according to claim 3, wherein the traveling drive positioning assembly further comprises a first Gray bus positioning device, and the first Gray bus positioning device is arranged on the cart and used for detecting the position of the cart on the cart track.

5. The traveling system according to claim 3, wherein the traveling drive positioning assembly further comprises a second Gray bus positioning device disposed on the cart for detecting the position of the cart on the cart track.

6. The travel system of claim 3, wherein the travel drive positioning assembly further comprises a height encoder; the height encoder is arranged on the trolley and used for detecting and controlling the height of the lifting head.

7. The traveling system according to claim 1, wherein the traveling drive positioning assembly comprises a weighing device, and the weighing device is arranged on the lifting head and used for detecting the weight lifted by the lifting head.

8. The traveling system of claim 1, wherein the trolley head is an adsorption trolley head.