CN213921029U - Automatic deviation correcting device for rail transfer platform - Google Patents
Automatic deviation correcting device for rail transfer platform Download PDFInfo
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- CN213921029U CN213921029U CN202023234260.5U CN202023234260U CN213921029U CN 213921029 U CN213921029 U CN 213921029U CN 202023234260 U CN202023234260 U CN 202023234260U CN 213921029 U CN213921029 U CN 213921029U
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Abstract
The utility model provides an automatic deviation rectifying device of a rail transfer platform, which comprises a signal acquisition unit, a signal processing unit, an execution unit, a communication unit and a limiting mechanism; the signal acquisition unit, the signal processing unit and the execution unit are networked through the communication unit; the signal acquisition unit is used for acquiring a position signal and a speed signal of the vehicle moving platform; the signal processing unit receives the signal sent by the signal acquisition unit, performs operation to generate an instruction and sends the instruction to the execution unit for execution; the limiting mechanism is arranged on the driving wheel to prevent the driving wheel from deviating. The signal processing unit adopts a PLC, the difference value of the master coding ruler and the slave coding ruler is compared, if the difference value exceeds an allowable value, the output of the frequency converter is adjusted, so that the error at two ends of the transfer platform is reduced until the vehicle body is vertical to the rail, and the wheels are parallel to the rail. The utility model discloses effectively solved the platform of moving a car and gnawing the problem of rail because of horizontal skew and vertical drunkenness lead to each wheelset at the operation in-process, had advantages such as the regulation precision is high, the speed governing real-time is good, the operation is stable.
Description
Technical Field
The utility model relates to a track traffic technical field, concretely relates to there is automatic deviation correcting device of rail transfer platform.
Background
In the rail transit vehicle manufacturing process, a rail-mounted transfer platform is generally required to transfer the unpowered vehicle to a different process workshop. The workshops are generally distributed on two sides of the transfer platform in a row, rail transit vehicles generally have the length of twenty-three-ten meters, and the maximum running distance can reach more than one hundred meters, so that the requirements on the synchronism among all driving wheels, the parallelism degree of a rail and the flatness degree of the large-scale rail transfer equipment are high. The existing scheme adopts switching value to indirectly detect the relative position of a wheel set and a track, and activates the deviation rectifying function by meeting the triggering condition of a sensor, and the scheme has the obvious defect that the sensor has 1 set switching value and has poor real-time performance, so that deviation rectifying failure or overshoot is easy to occur; in the scheme, the number of revolutions of the motor or the wheel set is measured by an encoder and converted into the position difference of the deflection of the vehicle moving platform, the difference of the diameters of the wheel sets, the difference of the rotating speeds of the motor and the deflection angle of the wheel set during assembling are ignored, and the factors which are not ignored for a large-scale device with the axial length of 32m, the distance between the two farthest driving wheels of 28m and the adjacent driving wheels of 7m are considered.
In summary, the prior art has the following drawbacks:
1) and the offset of the wheel surface and the track is detected, and the offset of the trackless transfer platform can not be accurately reflected.
2) By adopting switching value detection, the offset position cannot be monitored in real time, real-time quantitative adjustment cannot be carried out, and the precision is not high.
3) The driving control is not position master-slave following control, namely a plurality of driving units have no unified position reference standard, and the randomness and the contingency of debugging are large, so the accuracy is further reduced.
4) The wheel set of the existing rail transfer platform has no guide mechanism, and the deviation of the wheel set in the running process has no structural limitation.
In summary, there is a need for an automatic deviation rectifying device for a rail-guided vehicle moving platform to solve the problems in the prior art.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a there is rail automatic deviation rectification device that moves the platform to solve multiple reasons such as drive wheel rotational speed inconsistent, load distribution is unbalanced, the track skids and lead to the rail to move the platform and take place the problem of lateral shifting and vertical drunkenness.
In order to achieve the purpose, the utility model provides an automatic deviation rectifying device of a rail transfer platform, which comprises a signal acquisition unit, a signal processing unit, an execution unit, a communication unit and a limiting mechanism; the signal acquisition unit, the signal processing unit and the execution unit are networked through the communication unit; the signal acquisition unit is used for acquiring a position signal and a speed signal of the vehicle moving platform; the signal processing unit receives the signal sent by the signal acquisition unit, performs operation to generate an instruction and sends the instruction to the execution unit for execution; the limiting mechanism is arranged on the driving wheel to prevent the driving wheel from deviating;
the limiting mechanism comprises a mounting seat, a roller, a bearing and a driving arm; the mounting seat is connected to the bottom of the transfer platform; the bearing is sleeved on the driving arm, and the driving arm is connected with the mounting seat through the bearing; the driving arm is vertically arranged, and one end of the driving arm is connected with the roller; two sets of limiting mechanisms are arranged and distributed on two sides of the traveling direction of the driving wheel.
Further, the signal processing unit is a PLC.
Further, the execution unit comprises a motor and a frequency converter for controlling the motor; the motor is connected with the driving wheel; the frequency converter receives the given speed of the PLC to adjust the rotating speed of the motor in real time and feeds the state information of the frequency converter and the rotating speed of the motor back to the PLC.
Furthermore, the signal acquisition unit comprises a main coding scale, a slave coding scale and an incremental encoder; the main coding ruler and the auxiliary coding ruler are respectively arranged at the boundary positions of the left side and the right side of the transfer platform; the main coding ruler and the auxiliary coding ruler are used for collecting the position information of the trolley moving table; the master coding ruler and the slave coding ruler feed back the acquired information to the PLC; the incremental encoder is arranged on the motor and used for acquiring the speed information of the vehicle moving platform; the incremental encoder feeds back the acquired signals to the PLC and the frequency converter.
Further, the communication unit employs Profinet communication.
Use the technical scheme of the utility model, following beneficial effect has:
the utility model discloses in, the signal acquisition unit is responsible for gathering the absolute coordinate of automobile body in real time by the coding ruler, and incremental encoder is responsible for gathering the real-time rotational speed of motor. The signal processing unit adopts a PLC, the difference value of the master coding ruler and the slave coding ruler is compared, if the difference value exceeds an allowable value, the output of the frequency converter is adjusted, so that the error at two ends of the transfer platform is reduced until the vehicle body is vertical to the rail, and the wheels are parallel to the rail. The execution unit is mainly controlled by the frequency converter to operate. The limiting mechanism is used for limiting the deviation of the two ends of the vehicle moving platform. The utility model discloses effectively solved the platform of moving a car and gnawing the problem of rail because of horizontal skew and vertical drunkenness lead to each wheelset at the operation in-process. The device has the advantages of high adjusting precision, good speed adjusting real-time property, stable operation and the like.
In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic view of an automatic deviation rectification device for a rail transfer platform;
FIG. 2 is a sectional view A-A of FIG. 1;
FIG. 3 is an enlarged view of section I of FIG. 2;
FIG. 4 is an enlarged view of section II of FIG. 2;
FIG. 5 is an enlarged view of a portion III of FIG. 2;
FIG. 6 is a schematic diagram of a deviation correction device;
the track-type automatic track-type automatic track-type automatic track-type automatic track-type automatic track-type automatic.
Detailed Description
The embodiments of the invention will be described in detail hereinafter with reference to the accompanying drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example 1:
referring to fig. 1 to 6, four groups of driving wheels and one group of driven wheels are arranged at the bottom of the transfer platform, a track is arranged on the ground, each group of driving wheels or driven wheels corresponds to one track, and the transfer platform travels on the track through the driving wheels and the driven wheels.
As shown in FIG. 2, the traverse dimension of the transfer platform is as long as 32m, the longitudinal running distance is as long as 160m, the distance between the rails is 7m, the rail I1 runs on the primary driving wheel I, the rail II 2 runs on the secondary driving wheel I, the rail III 3 runs on the unpowered secondary driving wheel I, the rail IV 4 runs on the secondary driving wheel II, and the rail V5 runs on the primary driving wheel II.
An automatic deviation correcting device for a rail transfer platform comprises a signal acquisition unit, a signal processing unit, an execution unit, a communication unit and a limiting mechanism; the signal acquisition unit, the signal processing unit and the execution unit are networked through the communication unit; the signal acquisition unit is used for acquiring a position signal and a speed signal of the vehicle moving platform; the signal processing unit receives the signal sent by the signal acquisition unit, performs operation to generate an instruction and sends the instruction to the execution unit for execution; the limiting mechanism is arranged on the first main driving wheel and the second main driving wheel and used for preventing the wheel pair from shifting on the track, so that the rail transfer platform is limited to shift on the track. In this embodiment, the signal processing unit employs a PLC, and the communication unit employs Profinet communication.
As shown in fig. 3, the limiting mechanism includes a mounting seat 6, a roller 9, a bearing 7 and a driving arm 8; the mounting seat 6 is connected to the bottom of the transfer platform 10; the bearing 7 is sleeved on the driving arm 8, and the driving arm 8 is connected with the mounting seat 6 through the bearing 7; the driving arm 8 is vertically arranged, and one end of the driving arm 8 is connected with the roller 9; two sets of limiting mechanisms are arranged and distributed on two sides of the traveling direction of the driving wheel.
The execution unit comprises a motor and a frequency converter; the first main driving wheel, the second main driving wheel, the first auxiliary driving wheel and the second auxiliary driving wheel are respectively connected with a motor; the 4 frequency converters respectively control 4 motors, receive the given speed of the PLC, adjust the rotating speed of the motors in real time and feed self state information and the rotating speed of the motors back to the PLC.
The signal acquisition unit comprises a main coding scale 11, a slave coding scale 12 and an incremental encoder; the main coding ruler 11 and the auxiliary coding ruler 12 are respectively arranged at the boundary positions of the left side and the right side of the transfer platform 10; the main coding ruler 11 and the auxiliary coding ruler 12 are used for collecting the position information of the transfer platform and collecting the absolute coordinates of the body of the transfer platform in real time; the main coding ruler 11 and the slave coding ruler 12 feed back the collected information to the PLC; the incremental encoders are arranged on the motors, and the 4 incremental encoders respectively acquire real-time speed signals of the 4 motors; the incremental encoder feeds the acquired signals back to the PLC and the corresponding frequency converter.
The working principle of the automatic deviation correcting device for the rail transfer platform is as follows:
as shown in fig. 6, the PLC is networked with the code scale and the frequency converter through Profinet communication, the code scale feeds back the measured value to the PLC in real time, and the PLC sends the speed command to the frequency converter in real time through calculation. And calculating the difference value of the main coding ruler and the auxiliary coding ruler by taking the main coding ruler as a reference, and adjusting other driving wheels by taking the first main driving wheel as a reference. If the difference value of the master coding rule and the slave coding rule is regular, controlling the speed increasing of a frequency converter of the master driving wheel II, and simultaneously, controlling the speed increasing of the frequency converter of the slave driving wheel II along with the speed increasing of the frequency converter of the master driving wheel II; and if the value is negative, controlling the frequency converter of the second main driving wheel to decelerate, and simultaneously, controlling the frequency converter of the second auxiliary driving wheel to decelerate along with the frequency converter of the second main driving wheel. And the speed control of the first slave driving wheel follows the first master driving wheel in real time. The adjustment quantity of the driving wheel speed is adjusted in real time after being calculated through relevant factors such as the difference value of the position, the change rate of the position difference value, the accumulation of the position difference value in a unit time period and the like. The incremental encoder feeds the acquired rotating speed of the motor back to the frequency converter and the PLC in real time, so that the given speed value is adjusted in real time to realize no deviation from the actual speed value. The adjustment mode is similar to the adjustment mode of the reference position to revise the speed ring, so that the overall dynamic balance in operation is achieved. The utility model has the characteristics of response speed is fast, adjusts accurate etc. Finally, the coordinate difference value of the wheels at the left end and the right end is not more than 1 mm.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A rail transfer table automatic deviation correcting device is characterized in that a plurality of groups of driving wheels are arranged at the bottom of a transfer table, rails are arranged on the ground, each group of driving wheels corresponds to one rail, and the transfer table travels on the rails through the driving wheels; the device is characterized in that the deviation correcting device comprises a signal acquisition unit, a signal processing unit, an execution unit, a communication unit and a limiting mechanism; the signal acquisition unit, the signal processing unit and the execution unit are networked through the communication unit; the signal acquisition unit is used for acquiring a position signal and a speed signal of the vehicle moving platform; the signal processing unit receives the signal sent by the signal acquisition unit, performs operation to generate an instruction and sends the instruction to the execution unit for execution; the limiting mechanism is arranged on the driving wheel to prevent the driving wheel from deviating;
the limiting mechanism comprises a mounting seat, a roller, a bearing and a driving arm; the mounting seat is connected to the bottom of the transfer platform; the bearing is sleeved on the driving arm, and the driving arm is connected with the mounting seat through the bearing; the driving arm is vertically arranged, and one end of the driving arm is connected with the roller; two sets of limiting mechanisms are arranged and distributed on two sides of the traveling direction of the driving wheel.
2. The automatic deviation rectifying device for rail transfer platforms as claimed in claim 1, wherein said signal processing unit is PLC.
3. The automatic deviation rectifying device for the rail-guided transfer platform as claimed in claim 2, wherein the execution unit comprises a motor and a frequency converter for controlling the motor; the motor is connected with the driving wheel; the frequency converter receives the given speed of the PLC to adjust the rotating speed of the motor in real time and feeds the state information of the frequency converter and the rotating speed of the motor back to the PLC.
4. The automatic deviation rectifying device for the rail transit platform as claimed in claim 3, wherein the signal collecting unit comprises a master code scale, a slave code scale and an incremental encoder; the main coding ruler and the auxiliary coding ruler are respectively arranged at the boundary positions of the left side and the right side of the transfer platform; the main coding ruler and the auxiliary coding ruler are used for collecting the position information of the trolley moving table; the master coding ruler and the slave coding ruler feed back the acquired information to the PLC; the incremental encoder is arranged on the motor and used for acquiring the speed information of the vehicle moving platform; the incremental encoder feeds back the acquired signals to the PLC and the frequency converter.
5. A rail transfer station automatic deviation rectification device according to any one of claims 1 to 4, characterized in that the communication unit adopts Profinet communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023234260.5U CN213921029U (en) | 2020-12-29 | 2020-12-29 | Automatic deviation correcting device for rail transfer platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023234260.5U CN213921029U (en) | 2020-12-29 | 2020-12-29 | Automatic deviation correcting device for rail transfer platform |
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| Publication Number | Publication Date |
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| CN213921029U true CN213921029U (en) | 2021-08-10 |
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| CN202023234260.5U Active CN213921029U (en) | 2020-12-29 | 2020-12-29 | Automatic deviation correcting device for rail transfer platform |
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| CN (1) | CN213921029U (en) |
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- 2020-12-29 CN CN202023234260.5U patent/CN213921029U/en active Active
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