CN215883865U - Automatic bridge pier carrying machine based on tracking system - Google Patents
Automatic bridge pier carrying machine based on tracking system Download PDFInfo
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- CN215883865U CN215883865U CN202122139730.8U CN202122139730U CN215883865U CN 215883865 U CN215883865 U CN 215883865U CN 202122139730 U CN202122139730 U CN 202122139730U CN 215883865 U CN215883865 U CN 215883865U
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Abstract
The utility model discloses an automatic bridge pier carrying machine based on a tracking system, wherein a tire traveling system is arranged below a U-shaped portal frame mechanism through a slewing mechanism, a protection mechanism, a lifting mechanism, a turnover mechanism, a PLC (programmable logic controller) control system, a power system, the tracking navigation system, a hydraulic system and an obstacle avoidance system are attached to the U-shaped portal frame mechanism, the protection mechanism is arranged on the outer side of a bridge pier in a surrounding mode and can prevent the bridge pier from toppling over, the lifting mechanism can be used for hanging and lifting a base of the bridge pier, the turnover mechanism can rotate an inner mold for 90 degrees after the bridge pier is separated from the inner mold, the power system comprises an engine set and a generator set and is provided with a closed pump and an open pump which are used for respectively driving a hydraulic motor and a hydraulic oil cylinder, and the obstacle avoidance system can detect obstacles which are limited to pass in the running direction and feed back detection signals to the PLC control system. The automatic steering device can freely steer without being limited by a rail, can realize automatic object taking and transferring and pier overturning operation, effectively improves the carrying efficiency and reduces the labor cost.
Description
Technical Field
The utility model relates to the technical field of bridge pier carrying equipment, in particular to an automatic bridge pier carrying machine based on a tracking system.
Background
The spliced pier is a novel pier manufacturing mode which is established in recent years, and mainly comprises two hollow cylindrical piers and a bent cap, and a base adopts a cast-in-place mode. The prefabricated back of accomplishing of current pier adopts the formula gantry crane of rail formula to transport usually, and its handling efficiency is low, take the manual work, and the place is restricted, and the practicality is relatively poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an automatic bridge pier conveyor based on a tracking system, which solves the problems in the prior art.
In order to solve the technical problems, the utility model adopts the following technical scheme:
the utility model relates to an automatic bridge pier carrying machine based on a tracking system, which comprises a U-shaped portal frame mechanism, a protection mechanism, a lifting mechanism, a turnover mechanism, a PLC (programmable logic controller) control system, a tire traveling system, a power system, a tracking navigation system, a hydraulic system, an obstacle avoidance system and a rotary mechanism, wherein the tire traveling system is arranged below the U-shaped portal frame mechanism through the rotary mechanism, the protection mechanism, the lifting mechanism, the turnover mechanism, the PLC control system, the power system, the tracking navigation system, the hydraulic system and the obstacle avoidance system are all attached to the U-shaped portal frame mechanism, the U-shaped portal frame mechanism is U-shaped when viewed from above, the protection mechanism is arranged on the outer side of a bridge pier in a surrounding mode and can prevent the bridge pier from toppling over in the transportation process, the lifting mechanism can hang a base of the bridge pier and lift a certain height, the turnover mechanism can rotate an inner mold for 90 degrees after the bridge pier is separated from the inner mold, the power system comprises an engine unit and a generator set, and is provided with a closed pump and an open pump which are used for respectively driving a hydraulic motor and a hydraulic oil cylinder, and the obstacle avoidance system can detect obstacles which are limited to pass in the running direction and feed back detection signals to the PLC control system.
Furthermore, the PLC control system comprises a signal receiving device and a signal transmitting device, and can control the operation of the protection mechanism, the lifting mechanism, the turnover mechanism, the power system, the tracking navigation system, the hydraulic system, the obstacle avoidance system and the swing mechanism.
Furthermore, the tracking navigation system comprises a tracking navigation functional module and a target positioning functional module, wherein the tracking navigation functional module adopts ground magnetic tracking for navigation, and the target positioning functional module adopts RFID landmark positioning, so that the tire traveling system can accurately reach a specified position to implement a carrying task.
Still further, the hydraulic system includes a pipeline, a proportional valve for controlling turning and pivot of the tire running system by adjusting the flow rate of the hydraulic motor, an explosion-proof valve for ensuring that the broken pipeline path is cut off when the pipeline breaks in the circuit, and a control valve.
Further, the tire running system adopts rubber solid tires and is driven by the hydraulic motor.
Compared with the prior art, the utility model has the beneficial technical effects that:
according to the automatic bridge pier conveyor based on the tracking system, the tire traveling system and the swing mechanism are adopted, free steering without the limitation of a track can be achieved, the limitation of a site is avoided, automatic object taking and transferring and bridge pier overturning operation can be achieved through the tracking navigation system and the self-positioning system, the functions are complete, the conveying efficiency is effectively improved, the labor cost is reduced, and the practicability is high.
Drawings
The utility model is further illustrated in the following description with reference to the drawings.
Fig. 1 is a schematic front view of an automatic bridge pier handler based on a tracking system according to the present invention;
FIG. 2 is a schematic top view of an automatic bridge pier handler based on a tracking system according to the present invention;
fig. 3 is a left side view of the automatic bridge pier handler based on the tracking system according to the present invention.
Description of reference numerals: 1. a U-shaped gantry mechanism; 2. a protection mechanism; 3. a lifting mechanism; 4. a turnover mechanism; 5. a PLC control system; 6. a tire running system; 7. a power system; 8. a tracking navigation system; 9. a hydraulic system; 10. an obstacle avoidance system; 11. a swing mechanism; 12. provided is a bridge pier.
Detailed Description
As shown in fig. 1 to 3, an automatic bridge pier handler based on a tracking system comprises a U-shaped portal frame mechanism 1, a protection mechanism 2, a lifting mechanism 3, a turnover mechanism 4, a PLC control system 5, a tire traveling system 6, a power system 7, a tracking navigation system 8, a hydraulic system 9, an obstacle avoidance system 10 and a swing mechanism 11, wherein the tire traveling system 6 is installed below the U-shaped portal frame mechanism 1 through the swing mechanism 11, the protection mechanism 2, the lifting mechanism 3, the turnover mechanism 4, the PLC control system 5, the power system 7, the tracking navigation system 8, the hydraulic system 9 and the obstacle avoidance system 10 are all attached to the U-shaped portal frame mechanism 1, the U-shaped portal frame mechanism 1 is U-shaped, the protection mechanism 2 is annularly arranged outside a pier 12 and can prevent the pier 12 from toppling over in a transportation process, the lifting mechanism 3 can hang and take the base of the pier 12 and lift a certain height, the turnover mechanism 4 can rotate the internal mold by 90 degrees after the pier 12 is removed from the internal mold, the power system 7 comprises an engine unit and a generator unit and is provided with a closed pump and an open pump which are used for respectively driving a hydraulic motor and a hydraulic oil cylinder, and the obstacle avoidance system 10 can detect obstacles which are limited to pass in the running direction and feed back detection signals to the PLC control system 5.
When the automatic bridge pier conveyor based on the tracking system is used, a target actual position is determined through full-automatic flow control or remote control operation according to target information provided by a target positioning function module received by a signal receiving device of a PLC (programmable logic controller) control system 5, the position of the conveyor is adjusted according to the current position, then a base of a bridge pier 12 is hung, the whole bridge pier 12 is lifted through a lifting mechanism 3, the PLC control system 5 automatically selects a proper travelling route according to a magnetic induction signal detected by an obstacle avoidance system 10, and a slewing mechanism 11 performs actions such as executing, turning, slewing and the like, so that the bridge pier 12 is put down at a storage position; the transporter can transport the inner mold together with the base to a target position according to received target information, and the turnover mechanism 4 turns over the inner mold and cleans the inner mold through other equipment, or sleeves the inner mold into a placed steel bar mesh cage.
In addition, the U-shaped portal frame mechanism 1 which is in a U shape in a overlooking mode can facilitate the access of the pier 12 into equipment and the overturning of an inner die of the pier 12, and various installation interfaces and installation seats are arranged on the U-shaped portal frame mechanism 1 and are a main supporting structure of the equipment. Moreover, the U-shaped door frame mechanism 1 can adopt a square box type plate splicing structure.
Wherein, protection machanism 2 is not contacted with the pier body of pier 12 under normal condition, and it can prevent pier 12 and topple over in the transportation. And, protection machanism 2 includes fixed sheath, folded sheet and folding cylinder, and fixed sheath semicircular encloses to close and is connected with the folded sheet through the hinge respectively at pier 12 rear side and both ends, and two folded sheets realize enclosing the state or open mode through folding cylinder drive respectively.
Specifically, the PLC control system 5 includes a signal receiving device and a signal transmitting device, and is capable of controlling the operation of the protection mechanism 2, the lifting mechanism 3, the turnover mechanism 4, the power system 7, the tracking navigation system 8, the hydraulic system 9, the obstacle avoidance system 10, and the swing mechanism 11.
In this embodiment, the obstacle avoidance system 10 can detect an obstacle whose running direction restricts the passage of the conveyor, and feed back a detection signal to the PLC control system 5 to perform an avoiding operation such as stopping or retreating, and can adapt to weather such as rain and fog.
Specifically, the tracking navigation system 8 comprises a tracking navigation function module and a target positioning function module, the tracking navigation function module adopts ground magnetic tracking navigation, and the target positioning function module adopts RFID landmark positioning, so that the tire traveling system 6 can accurately reach a specified position to implement a carrying task.
In this embodiment, the tracking navigation system 8 relates to two functional modules, namely, tracking navigation and target positioning, and adopts a control scheme combining ground magnetic tracking navigation and RFID landmark positioning. The PLC-based control system 5 utilizes the detected magnetic induction signals and the variable-gain PID position adjusting algorithm to realize stable and accurate tracking navigation, and the positioning problem is solved by means of the RFID label marking station, so that the transport machine can accurately reach the designated position to carry out a transport task.
The rotating mechanism 11 may adopt a rotating speed reducer, and is driven by the hydraulic motor to rotate for 360 degrees, so as to realize turning, traversing and rotating of the tire running system 6.
Specifically, the hydraulic system 9 includes a pipeline, a proportional valve, an explosion-proof valve and a control valve, wherein the proportional valve controls the turning and pivot rotation of the tire traveling system 6 by adjusting the flow rate of the hydraulic motor, and the explosion-proof valve ensures that when no matter a hose or a hard tube breaks in a loop, in order to avoid that a workpiece tends to one side, the broken pipeline passage is cut off instantly, and the suspension still has a supporting function to wait for a user to replace the broken hose or hard tube.
In order to avoid the damage of equipment overturn and the like caused by tire burst, the tire running system 6 adopts rubber solid tires and is driven by the hydraulic motor.
According to the automatic bridge pier conveyor based on the tracking system, the tire traveling system and the swing mechanism are adopted, free steering without the limitation of a track can be achieved, the limitation of a site is avoided, automatic object taking and transferring and bridge pier overturning operation can be achieved through the tracking navigation system and the self-positioning system, the functions are complete, the conveying efficiency is effectively improved, the labor cost is reduced, and the practicability is high.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (5)
1. The utility model provides a pier automatic handling machine based on tracking system which characterized in that: including U type portal mechanism, protection machanism, hoist mechanism, tilting mechanism, PLC control system, tire walk capable system, driving system, tracking navigation, hydraulic system, keep away barrier system and rotation mechanism, the tire walks capable system and passes through rotation mechanism installs U type portal mechanism below, protection machanism the hoist mechanism tilting mechanism PLC control system power system tracking navigation the hydraulic system with keep away the barrier system and all attach to on the U type portal mechanism, U type portal mechanism overlooks and is the U type, protection machanism encircles and establishes in the pier outside and can prevent the pier is emptyd in the transportation, hoist mechanism can hang and get the base of pier and promote the take the altitude, tilting mechanism can with the centre form is rotatory 90 after the pier takes off the centre form, the power system comprises an engine unit and a generator set, and is provided with a closed pump and an open pump which are used for respectively driving a hydraulic motor and a hydraulic oil cylinder, and the obstacle avoidance system can detect obstacles which are limited to pass in the running direction and feed back detection signals to the PLC control system.
2. The automatic bridge pier handling machine based on the tracking system as claimed in claim 1, wherein: the PLC control system comprises a signal receiving device and a signal transmitting device and can control the operation of the protection mechanism, the lifting mechanism, the turnover mechanism, the power system, the tracking navigation system, the hydraulic system, the obstacle avoidance system and the swing mechanism.
3. The automatic bridge pier handling machine based on the tracking system as claimed in claim 1, wherein: the tracking navigation system comprises a tracking navigation functional module and a target positioning functional module, wherein the tracking navigation functional module adopts ground magnetic tracking navigation, and the target positioning functional module adopts RFID landmark positioning, so that the tire traveling system can accurately reach a specified position to implement a carrying task.
4. The automatic bridge pier handling machine based on the tracking system as claimed in claim 1, wherein: the hydraulic system comprises a pipeline, a proportional valve, an explosion-proof valve and a control valve, wherein the proportional valve controls the turning and the pivot rotation of the tire running system by regulating the flow of the hydraulic motor, and the explosion-proof valve can ensure that when the pipeline in a loop is broken, the broken pipeline passage is cut off.
5. The automatic bridge pier conveyor based on the tracking system as claimed in any one of claims 1 to 4, wherein: the tire running system adopts rubber solid tires and is driven by the hydraulic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122139730.8U CN215883865U (en) | 2021-09-07 | 2021-09-07 | Automatic bridge pier carrying machine based on tracking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122139730.8U CN215883865U (en) | 2021-09-07 | 2021-09-07 | Automatic bridge pier carrying machine based on tracking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215883865U true CN215883865U (en) | 2022-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122139730.8U Active CN215883865U (en) | 2021-09-07 | 2021-09-07 | Automatic bridge pier carrying machine based on tracking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215883865U (en) |
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2021
- 2021-09-07 CN CN202122139730.8U patent/CN215883865U/en active Active
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