CN214297881U - Automatic warehouse patrolling and cleaning system for material conveying - Google Patents
Automatic warehouse patrolling and cleaning system for material conveying Download PDFInfo
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- CN214297881U CN214297881U CN202120242501.6U CN202120242501U CN214297881U CN 214297881 U CN214297881 U CN 214297881U CN 202120242501 U CN202120242501 U CN 202120242501U CN 214297881 U CN214297881 U CN 214297881U
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Abstract
The utility model discloses an automatic storehouse, clearance system of patrolling is carried to material, including tipper, material loading belt feeder, the platform truck of unloading, still include the center control system, respectively through the automatic storehouse positioning system, the robot of walking by oneself, the supplementary clearance system of patrolling of the platform truck of unloading that wireless/wired transmission system is connected with the center control system. The central control system determines a bin according to the unloading seeds received by the tipper, controls the unloading trolley to transport materials according to the position information fed back by the unloading trolley automatic cabin-patrolling positioning system, and locks and starts unloading when the unloading trolley reaches a target unloading station; determining a material blockage position and a boundary line according to the returned information of the auxiliary cleaning system, controlling the unloading trolley to move and avoid, and simultaneously controlling the self-propelled robot to clean sundries in time; and after cleaning, controlling the unloading trolley to return to continue unloading. By adopting the system, the continuous working time of the equipment is increased, the production efficiency is improved, and the field labor intensity and the operation frequency are reduced; the quality requirement of the product before iron is met, and the quality and the benefit of steel are improved.
Description
Technical Field
The utility model relates to an ironmaking technical field, concretely relates to automatic storehouse, clearance system of patrolling of material transport.
Background
The material conveying coal preparation area and the batching chamber are one of the important processes of raw material treatment, wherein the unloading of the silo top unloading trolley is a key ring. The material on the feeding belt conveyor is unloaded in a specified bin, and in order to achieve that the unloading trolley can unload different materials for different bins, the unloading trolley needs to carry out reciprocating motion in the positive and negative directions along the running direction of the feeding belt conveyor to evenly unload the materials in the bins.
In the prior art, the length of a unloading belt frame in a stock ground operation area is 290 meters, 12 silos are arranged, the diameter of the silo and the outer wall is 22 meters, 2 unloading trolleys are arranged, and 4 laser/radar level meters are arranged in the middle of each silo.
The position of unloading platform truck is confirmed according to machinery travel switch and people's eye and is discerned and operate, because machinery travel switch strikes many times repeatedly, can lead to the internal circuit to damage, can only rely on people's eye on-the-spot observation, nevertheless because operational environment is complicated, noise and dust are serious, when well accuse personnel assign the instruction of unloading through the intercom, on-the-spot operating personnel listen unclear, lead to the wrong storehouse condition of compounding, cause very big material waste and loss.
Present discharge trolley position detection and operation's advantage lies in: the direct cost is low, and the discharging trolley is directly operated; the disadvantages are that: the mechanical travel switch is point positioning and contact detection, a blind area exists in continuous position detection, the damage rate is high, the maintenance and the replacement are troublesome, the human eye positioning is limited by the eye health condition and the mental state, the environmental influence is large, the operation time is long, and the materials are easily mixed by mistake.
The raw materials of the feeding belt conveyor are conveyed from a dumping area of the tipper, and contain impurities for blocking the cabin door of the train, such as straws, woven bags and the like, and meanwhile, the impurities, such as bricks, stones, steel wires and the like, are often doped in the raw materials. When the discharging trolley is used for discharging, sundries are fed into a factory to block the grid, so that discharging is not smooth. At the moment, the unloading trolley needs to be moved to manually clean up sundries, so that the influence on material conveying to cause accumulation is prevented. The existing separation net and the ground are integrally paved, so that the materials are splashed seriously, the manual work is required to clean frequently, the cleanness in a factory is influenced, and the labor intensity is increased.
SUMMERY OF THE UTILITY MODEL
Based on the problem, the utility model provides an automatic storehouse, clearance system of patrolling is carried to material, automated inspection putty, the automatic debris of clearing up to increased equipment continuous operation time, promoted production efficiency, reduced on-the-spot intensity of labour and operation frequency simultaneously.
In order to achieve the above object, the utility model adopts the following technical scheme:
an automatic material conveying bin-patrolling and cleaning system comprises a tipper, a feeding belt conveyor and an unloading trolley, wherein the tipper is arranged above the feeding belt conveyor, walking rails are arranged on two sides of the feeding belt conveyor, the unloading trolley is arranged on the walking rails, the feeding belt conveyor is provided with a plurality of unloading stations, a bin is arranged below each unloading station, a discharging port and an unloading trolley locking mechanism are arranged on each unloading trolley, and the automatic material conveying bin-patrolling and cleaning system further comprises a central control system, a wireless/wired transmission system, an automatic unloading trolley bin-patrolling positioning system, a self-propelled robot and an auxiliary cleaning system;
the self-walking robot is arranged on one side of the unloading trolley, and the control system of the self-walking robot, the tipper, the feeding belt conveyor and the unloading trolley, the automatic cabin-patrolling positioning system of the unloading trolley and the auxiliary cleaning system are respectively connected with the central control system through a wireless/wired transmission system.
Preferably, the automatic bin-patrol positioning system of the unloading trolley comprises a distance measuring sensor for detecting the real-time position of the unloading trolley。
Preferably, the distance measuring sensor adopts an APON wireless positioning distance measuring sensor or a graduated scale accurate positioning system, and comprises a base station and a moving end, wherein the base station is installed at the tail end of a walking track, a set of moving end is respectively installed on the unloading trolley and the self-walking robot, and the base station is connected with a central control system through a wireless/wired transmission system.
Preferably, the auxiliary cleaning system is used for detecting the blanking blockage of the discharging trolley and sending information to the central control system, and comprises a blanking port blockage detection sensor, a video monitoring system and a laser scanning system which are respectively connected with the central control system through a wireless/wired transmission system.
Preferably, the feed opening blockage detection sensor is a microwave correlation sensor or a capacitance sensor.
Preferably, the laser scanning system employs a laser scanning sensor.
Preferably, the auxiliary cleaning system further comprises an alarm system connected with the central control system through a wireless/wired transmission system.
Due to the structure, the beneficial effects of the utility model reside in that:
the method adopts a real-time continuous positioning and ranging system (an automatic warehouse-patrolling positioning system of the unloading trolley) to replace the conventional mechanical travel switch, realizes full-range real-time position detection on the unloading trolley, avoids a positioning blind area and forms a program closed loop; the accurate issuing of the operation instruction is realized by adopting logic programming (a central control system), and the operation instruction is butted with the material information of the tipper to form a closed loop, so that the limiting action is realized on the possible wrong operation of operators, and the material mixing is avoided; the automatic cleaning of jam is realized at unloading platform truck one side installation self-propelled robot system, and through unloading platform truck feed opening sensor detection jam (supplementary clearance system), the jam condition of on-the-spot video feedback remote operation personnel is in time cleared up the jam to control the robot.
The automatic bin-patrolling positioning system of the unloading trolley, the self-walking robot and the auxiliary cleaning system can automatically detect the blocking and automatically clean the sundries, so that the efficient, accurate and automatic control on the unloading trolley is realized, the continuous working time of the equipment is prolonged, the production efficiency is improved, and the field labor intensity and the operation frequency are reduced; meanwhile, the discharging trolley can realize multipoint uniform distribution through accurate position control, so that the bin capacity can be improved, economic benefits can be created, the quality requirement of pre-iron products can be scientifically met, the quality and benefits of steel and iron can be improved, and the working environment of operators can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below.
FIG. 1 is a block diagram of the present invention;
fig. 2 is a process flow chart of the application of the present invention.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, this embodiment provides an automatic storehouse, clearance system that patrols of material transport, including tipper, material loading belt feeder, platform truck of unloading, the material loading belt feeder top is located to the tipper, and material loading belt feeder both sides are equipped with the walking track, are equipped with the platform truck of unloading on the walking track, and material loading belt feeder is equipped with a plurality of stations of unloading, and the station below of unloading is equipped with the feed bin, is equipped with feed opening and unloading platform truck locking mechanism on the platform truck of unloading. The embodiment is also additionally provided with a central control system, a wireless/wired transmission system, an automatic warehouse-patrolling positioning system of the unloading trolley, a self-walking robot and an auxiliary cleaning system;
the self-walking robot is arranged on one side of the unloading trolley, and the control system of the self-walking robot, the tipper, the feeding belt conveyor and the unloading trolley, the automatic cabin-patrolling positioning system of the unloading trolley and the auxiliary cleaning system are respectively connected with the central control system through a wireless/wired transmission system.
The automatic bin-patrolling positioning system of the unloading trolley comprises a distance measuring sensor and is used for detecting the real-time position of the unloading trolley。
In this embodiment, range sensor adopts APON wireless location range sensor or scale accurate positioning system, including basic station, removal end, the basic station is installed at walking track end, one set of removal end of installing respectively on unloading platform truck and the self-propelled robot, basic station and center control system pass through wireless/wired transmission system and are connected.
The auxiliary cleaning system is used for detecting the blanking blockage condition of the discharging trolley and sending information to the central control system, and comprises a blanking port blockage detection sensor, a video monitoring system and a laser scanning system which are respectively connected with the central control system through a wireless/wired transmission system.
In this embodiment, the feed opening blockage detection sensor is a microwave correlation sensor or a capacitive sensor.
In this embodiment, the laser scanning system employs a laser scanning sensor.
In this embodiment, the auxiliary cleaning system further includes an alarm system, and is connected to the central control system through a wireless/wired transmission system.
As shown in fig. 2, the process flow applying the above structure includes:
the central control system determines a stock bin according to the unloading seeds of the tipper;
the automatic warehouse inspection positioning system of the unloading trolley detects the position of the unloading trolley in real time, the central control system controls the unloading trolley to transport materials according to position information, and controls the unloading trolley locking mechanism to lock the unloading trolley and control the unloading trolley to start unloading when the unloading trolley reaches a target unloading station;
the auxiliary cleaning system monitors whether the material is blocked or not in real time, the central control system determines the material blocking position and the boundary line according to the returned information of the auxiliary cleaning system, generates an instruction to control the unloading trolley to move and avoid, and controls the self-propelled robot to clean sundries in time;
after sundries are cleaned, the central control system controls the unloading trolley to return to continue unloading.
In the embodiment, the auxiliary cleaning system monitors whether the material is blocked or not in real time through the material blocking detection sensor at the feed opening, the video monitoring system collects a blocking video, the laser scanning system performs laser scanning to obtain three-dimensional point cloud data on the surface of the material, and the central control system performs modeling according to the returned information of the auxiliary cleaning system and controls the alarm system to give an alarm.
In this embodiment, when the tippler transmission information received by the central control system is inconsistent with the manual input information, the central control system does not send any control instruction to ensure that the information closed loop is uniform; when the unloading trolley needs to be forced to move on site or remotely, the locking of the unloading trolley locking mechanism on the unloading trolley needs to be released firstly; when the arrival position of the site manual remote control unloading trolley is different from the target position determined by the central control system, the unloading trolley automatically returns.
Before the system is applied, the blanking of the material conveying coal bunker corresponds to different coal bunkers due to different types of coal, the blanking discharging trolley is manually controlled to move on site through remote control command, the position is manually confirmed, the situations of wrong information receiving, wrong on-site noisy listening instruction and wrong bin aligning situation exist in manual remote control positioning.
This application can adopt prior art through wireless/wired transmission system, can transmit coal type signal to center control system in real time, and then transmit unloading platform truck control system. Meanwhile, the automatic bin patrol positioning system of the unloading trolley is adopted to position and monitor the parking position of the unloading trolley in real time, and the system realizes closed-loop operation through logic control, so that errors are avoided.
Currently, there are three main types of mainstream positioning systems: laser ranging positioning, Gray bus and APON wireless positioning ranging sensor positioning.
The problem of inaccurate positioning when the dust is large is solved by combining the actual environment of a site and the laser ranging positioning mode, and other two positioning modes are considered, so that the Gray bus positioning precision is high, the position is accurate, the erection and maintenance are complex, and the construction cost is high. The APON wireless positioning ranging device is simple in installation and convenient to maintain, low in cost, capable of adapting to various complex environments, poor in positioning accuracy and low in reaction speed. Therefore, the APON wireless positioning and ranging technology is preferably selected for real-time positioning of the unloading trolley.
Description of other positioning modalities:
the wheel encoder comprises: the working modes of wheel slip and relative positioning form accumulated errors;
laser ranging: dust on a reflector of a laser displacement sensor in an unclean environment can affect the reflection effect, and the target position of the reflector can be inaccurate due to the shaking of the running of a vehicle caused by rail settlement, and the position detection can also be inaccurate;
third, limiting switch: the walking limit switch has a blind area for detecting the continuous position due to point positioning;
marking points: the RFID mode has the phenomenon of missing reading and has larger time delay;
gray bus: the technical construction is complex, the overhaul cost is high, and the total cost is not trivial.
The principle of warehouse inspection: and classifying and labeling the bins corresponding to the zero base stations, wherein each distance segment corresponds to different bins, and the program marks the positions of the bins. According to the type of a system transmission raw material (central control transmission or tipper position transmission), the system automatically judges the current position of the unloading trolley and the position of a required corresponding bin, the unloading trolley drive control system starts the unloading trolley to move to the corresponding bin position, the APON wireless positioning and ranging positioning system refreshes the unloading trolley and the position of a robot in real time, after the preset bin position is reached, the unloading trolley stops, meanwhile, the unloading trolley is locked to move, and the unloading is started by feeding back a position signal. When the manual input is inconsistent with the transmission of the tippler, the system does not act, and the information closed loop is ensured to be uniform. When the unloading trolley needs to be forced to move on site or remotely, the locking unloading trolley moving command needs to be released first. When the arrival position of the site manual remote control discharging trolley is different from the input material position of the system, the discharging trolley system automatically returns.
Before the system is applied, sundries such as woven bags, stones, reinforcing steel bars and the like are often mixed in the material conveying materials and are manually inspected and cleaned in 24 hours. In addition, the material splashes seriously in the falling process, and the table top needs to be cleaned frequently.
This application is through installation feed opening putty detection sensor, whether putty of real-time supervision, and control discharge trolley autonomous movement, video monitoring system with putty video passback well accuse platform, laser scanning system swept surface putty heap type and modeling, commander robot automatic positioning clearance debris.
The robot is initially selected by a KUKA industrial six-axis robot, a robot control unit comprises a motor driver, an IO unit, a communication module and the like and is provided with a handheld operation box; the laser scanning system selects a 2D LiDAR sensor LMS4000, is particularly suitable for internal logistics, material processing and all fields requiring rapid and accurate analysis and moving of cargos, and provides an excellent solution for measuring the position, shape, volume or surface characteristics of an object and correspondingly evaluating and further processing the position, shape, volume or surface characteristics of the object by means of the LMS 4000. The video monitoring system adopts a model DS-2DY9120IW-A, so that the current material blocking condition can be conveniently checked by remote control operation of central control room personnel.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to 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 (7)
1. The utility model provides an automatic storehouse, clearance system that patrols is carried to material, includes tipper, material loading belt feeder, the platform truck of unloading, the material loading belt feeder top is located to the tipper, and material loading belt feeder both sides are equipped with the walking track, are equipped with the platform truck of unloading on the walking track, and material loading belt feeder is equipped with a plurality of stations of unloading, and the station below of unloading is equipped with the feed bin, is equipped with feed opening and unloading platform truck locking mechanism on the platform truck of unloading, its characterized in that: the automatic warehouse-patrolling system comprises a central control system, a wireless/wired transmission system, an automatic warehouse-patrolling positioning system of the unloading trolley, a self-walking robot and an auxiliary cleaning system;
the self-walking robot is arranged on one side of the unloading trolley, and the control system of the self-walking robot, the tipper, the feeding belt conveyor and the unloading trolley, the automatic cabin-patrolling positioning system of the unloading trolley and the auxiliary cleaning system are respectively connected with the central control system through a wireless/wired transmission system.
2. The automatic material conveying bin patrol and cleaning system according to claim 1, characterized in that: the automatic bin-patrolling positioning system of the unloading trolley comprises a distance measuring sensor and is used for detecting the position of the unloading trolley in real time.
3. The automatic material conveying bin patrol and cleaning system according to claim 2, characterized in that: the range sensor adopts APON wireless location range sensor or scale accurate positioning system, including basic station, removal end, the basic station is installed at walking track end, install one set of removal end on unloading platform truck and the self-propelled robot respectively, and the basic station passes through wireless/wired transmission system with central control system and is connected.
4. The automatic material conveying bin patrol and cleaning system according to claim 1, characterized in that: the auxiliary cleaning system is used for detecting the blanking blockage condition of the discharging trolley and sending information to the central control system, and comprises a blanking port blockage detection sensor, a video monitoring system and a laser scanning system which are respectively connected with the central control system through a wireless/wired transmission system.
5. The automatic material conveying bin patrol and cleaning system according to claim 4, wherein: and the feed opening blockage detection sensor adopts a microwave correlation sensor or a capacitance sensor.
6. The automatic material conveying bin patrol and cleaning system according to claim 4, wherein: the laser scanning system employs a laser scanning sensor.
7. The automatic material conveying bin patrol and cleaning system according to claim 1, characterized in that: the auxiliary cleaning system also comprises an alarm system which is connected with the central control system through a wireless/wired transmission system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120242501.6U CN214297881U (en) | 2021-01-28 | 2021-01-28 | Automatic warehouse patrolling and cleaning system for material conveying |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120242501.6U CN214297881U (en) | 2021-01-28 | 2021-01-28 | Automatic warehouse patrolling and cleaning system for material conveying |
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| CN214297881U true CN214297881U (en) | 2021-09-28 |
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| CN202120242501.6U Active CN214297881U (en) | 2021-01-28 | 2021-01-28 | Automatic warehouse patrolling and cleaning system for material conveying |
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- 2021-01-28 CN CN202120242501.6U patent/CN214297881U/en active Active
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