CN219392521U - Automatic control system of leveling trolley - Google Patents
Automatic control system of leveling trolley Download PDFInfo
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- CN219392521U CN219392521U CN202223467549.0U CN202223467549U CN219392521U CN 219392521 U CN219392521 U CN 219392521U CN 202223467549 U CN202223467549 U CN 202223467549U CN 219392521 U CN219392521 U CN 219392521U
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- hall sensor
- trolley
- control system
- magnetic stripe
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides an automatic control system of a leveling trolley, which comprises the following components; the magnetic stripe is arranged on a preset advancing route; the Hall sensor is arranged on the longitudinal axis of the bottom of the trolley and is positioned above the magnetic stripe and used for acquiring the induction information of the magnetic stripe; a power unit for driving wheels of the trolley; the steering unit is used for controlling the left and right rotation of the wheels and comprises a gear-rack steering transmission mechanism and a servo steering engine; the control unit is connected with the Hall sensor, the power unit and the steering unit and used for controlling the power unit to drive the wheels; and judging whether the Hall sensor is positioned right above the magnetic stripe according to the induction information, and adjusting the direction of the trolley through the steering unit until the Hall sensor is positioned right above the magnetic stripe when the Hall sensor is not positioned right above the magnetic stripe. The automatic leveling trolley control system can control the leveling trolley to move forwards along a required direction, and meets the requirements of practical application.
Description
Technical Field
The utility model relates to the technical field of automatic control, in particular to an automatic control system of a leveling trolley.
Background
Because of uneven overall cold and hot of the steel plate caused by high welding temperature, plastic deformation can be formed at the welding position of the ship steel plate, and thus, unfavorable stress is generated. Therefore, some method is required to relieve the stress of the steel plate. Since the weld is typically a linear gap and the gap length is relatively long, typically above 20 meters, a trolley loaded with stress relief devices is typically used for stress relief. However, how the trolley advances along the gap is a difficulty to be solved.
Disclosure of Invention
In view of the above-described drawbacks of the prior art, an object of the present utility model is to provide an automatic leveling carriage control system capable of controlling a leveling carriage to advance in a desired direction, which meets the needs of practical applications.
The utility model provides an automatic control system of a leveling trolley, which comprises the following components; the magnetic stripe is arranged on a preset advancing route; the Hall sensor is arranged on the longitudinal axis of the bottom of the leveling trolley and is positioned above the magnetic stripe and used for acquiring induction information of the magnetic stripe; a power unit for driving wheels of the leveling trolley; the steering unit is used for controlling the left and right rotation of the wheels and comprises a gear-rack steering transmission mechanism and a servo steering engine; the control unit is connected with the Hall sensor, the power unit and the steering unit and used for controlling the power unit to drive the wheels; and judging whether the Hall sensor is positioned right above the magnetic stripe according to the induction information, and adjusting the direction of the leveling trolley through the steering unit until the Hall sensor is positioned right above the magnetic stripe when the Hall sensor is not positioned right above the magnetic stripe.
In one embodiment of the utility model, the Hall sensor is arranged at the bottom center position of the leveling trolley.
In an embodiment of the present utility model, the hall sensor is connected to an RS485 communication interface of the control unit.
In an embodiment of the present utility model, the power unit is an integrated dual-drive decelerator brushless motor.
In an embodiment of the utility model, the power unit is connected to a PWM interface of the control unit.
In an embodiment of the present utility model, the servo steering engine is connected to a PWM interface of the control unit.
In an embodiment of the present utility model, the control unit adopts an ARM singlechip.
In an embodiment of the utility model, the device further includes a power supply unit connected to the control unit for providing power.
In an embodiment of the present utility model, the remote control unit is connected to the control unit, and is configured to send control information to the control unit.
In an embodiment of the present utility model, the leveling trolley includes two front wheels and two rear wheels that are symmetrically disposed, a distance between the two front wheels is D, and a distance between the hall sensor and a plane where axles of the two front wheels and the two rear wheels are located is L, where L/d=1.5.
As described above, the automatic control system of the leveling trolley has the following beneficial effects:
(1) The leveling trolley can be controlled to move forward along a required direction such as a welding gap, the speed is adjustable, and the requirements of practical application are met;
(2) Compared with the way of advancing along the track, the track is not required to be carried, so that manpower is liberated, the working cost is reduced, and the operation time efficiency is improved;
(3) And manual operation is not needed, the automation degree is high, and the user experience is greatly improved.
Drawings
FIG. 1 is a schematic view showing the construction of an automatic leveling carriage control system according to the present utility model in one embodiment;
fig. 2 is a schematic diagram of an arrangement of a hall sensor according to an embodiment of the utility model.
Detailed Description
Other advantages and effects of the present utility model will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present utility model with reference to specific examples. The utility model may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present utility model. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present utility model by way of illustration, and only the components related to the present utility model are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
The automatic leveling trolley control system controls the leveling trolley to move forwards along the required direction by timely adjusting the advancing direction of the leveling trolley and adjusts the advancing speed according to the operation requirement, so that the requirement of practical application is met. In particular, for the leveling carriage, it is possible to advance along the welding gap and move forward according to the time required for stress relief, which is extremely practical.
As shown in fig. 1, in one embodiment, the present utility model provides an automatic leveling trolley control system including a magnetic stripe 1, a hall sensor 2, a power unit 3, a steering unit 4, and a control unit 5.
The magnetic strip 1 is arranged on a preset advancing route. Wherein the magnetic strip is a strip material which is prefabricated in advance and has magnetism. When in use, the magnetic strip with the required width is arranged on the advancing route so as to be parallel to the advancing route.
The Hall sensor 2 is arranged on the longitudinal axis of the bottom of the leveling trolley and is positioned above the magnetic stripe 1 and used for acquiring induction information of the magnetic stripe. The Hall sensor is a sensor which is manufactured according to the Hall effect and can detect the change of a magnetic field, has the advantages of sensitivity to the magnetic field, simple structure, small volume, wide frequency response, large output voltage change, long service life and the like, and is not influenced by the intensity of light. In actual use, the relative positions of the hall sensor 2 and the magnetic stripe 1 are different, and the obtained sensing information is also different. Therefore, the positional relationship between the hall sensor 2 and the magnetic stripe 1 can be deduced from the sensed information. Preferably, the hall sensor 2 is provided at a bottom center position of the leveling carriage. In one embodiment, the leveling carriage includes two front wheels and two rear wheels symmetrically disposed. The two front wheels are steering wheels, and the two rear wheels are driving wheels. As shown in fig. 2, the distance between the two front wheels is D, the distance between the hall sensor 2 and the plane where the axles of the two front wheels and the two rear wheels are located is L, and when L/d=1.5, the sensing effect between the hall sensor 2 and the magnetic stripe 1 is optimal.
The power unit 3 is used for driving wheels of the leveling trolley. In an embodiment of the present utility model, the power unit 3 is an integrated dual-drive decelerator brushless motor. Through adjusting the rotating speed of the motor, the advancing speed of the leveling trolley can be adjusted so as to meet the requirements under different working conditions.
The steering unit 4 is used for controlling the left and right rotation of the wheels, and comprises a gear rack steering transmission mechanism 41 and a servo steering engine 42. The rack-and-pinion steering transmission mechanism consists of a steering gear integrated with a steering shaft and a rack integrated with a tie rod, and the basic structure of the rack-and-pinion steering transmission mechanism is a pair of pinion gears and racks meshed with each other. When the steering shaft drives the pinion to rotate, the rack moves linearly. The tie rod is directly driven by the rack, so that the steering wheel can be steered. The servo steering engine 42 is used for driving the rack and pinion steering transmission mechanism 41.
The control unit 5 is connected with the Hall sensor 2, the power unit 3 and the steering unit 4 and is used for controlling the power unit 3 to drive the wheels; and judging whether the Hall sensor 2 is positioned right above the magnetic stripe 1 according to the induction information, and adjusting the direction of the leveling trolley through the steering unit 4 until the Hall sensor 2 is positioned right above the magnetic stripe 1 when the Hall sensor 2 is not positioned right above the magnetic stripe 1. Specifically, when the trolley travels along the preset advancing route, the hall sensor 2 is located right above the magnetic stripe 1, and the intensity of the sensing information of the hall sensor 2 for the magnetic stripe 1 is maximum. When the leveling trolley travels away from the preset advancing route, the hall sensor 2 is not located right above the magnetic stripe 1, and the intensity of the sensing information is weakened. Therefore, the control unit 5 can judge the advancing route of the trolley according to the sensing information, and timely perform steering correction when the route deviates. Wherein, if the leveling trolley deviates leftwards in the running process, the control unit 5 sends a steering signal to enable the leveling trolley to turn rightwards until the Hall sensor 2 is positioned right above the magnetic strip 1; if the leveling trolley deviates rightward in traveling, the control unit 5 sends a steering signal to enable the leveling trolley to turn leftward until the Hall sensor 2 is positioned right above the magnetic stripe 1, so that the leveling trolley keeps on a preset advancing route for automatic line inspection traveling.
In an embodiment of the present utility model, the control unit 5 adopts an ARM singlechip. Preferably, the ARM single-chip microcomputer STM32 series ARM.
Preferably, the hall sensor 2 is connected with an RS485 communication interface of the control unit 5. The control unit 5 is further provided with an RX485 chip, which is configured to receive the sensing information transmitted by the hall sensor 2 based on an RX485 protocol, and provide the sensing information to the ARM singlechip.
Likewise, the power unit 3 is connected to the PWM interface of the control unit 5; the servo steering engine 42 is connected with the PWM interface of the control unit 5.
In an embodiment of the present utility model, the automatic leveling trolley control system further includes a remote controller connected to the control unit, and configured to send control information to the control unit, where the control unit controls the power unit according to the control unit, so as to implement adjustment control on the speed of the leveling trolley.
In an embodiment of the present utility model, the automatic leveling trolley control system further includes a power supply unit connected to the control unit for providing power. Preferably, the power supply unit adopts 24V direct current power supply.
The above embodiments are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. An automatic control system of a leveling trolley is characterized in that: the system includes;
the magnetic stripe is arranged on a preset advancing route;
the Hall sensor is arranged on the longitudinal axis of the bottom of the leveling trolley and is positioned above the magnetic stripe and used for acquiring induction information of the magnetic stripe;
a power unit for driving wheels of the leveling trolley;
the steering unit is used for controlling the left and right rotation of the wheels and comprises a gear-rack steering transmission mechanism and a servo steering engine;
the control unit is connected with the Hall sensor, the power unit and the steering unit and used for controlling the power unit to drive the wheels; and judging whether the Hall sensor is positioned right above the magnetic stripe according to the induction information, and adjusting the direction of the leveling trolley through the steering unit until the Hall sensor is positioned right above the magnetic stripe when the Hall sensor is not positioned right above the magnetic stripe.
2. The automatic leveling trolley control system according to claim 1, characterized in that: the Hall sensor is arranged at the center position of the bottom of the leveling trolley.
3. The automatic leveling trolley control system according to claim 1, characterized in that: and the Hall sensor is connected with an RS485 communication interface of the control unit.
4. The automatic leveling trolley control system according to claim 1, characterized in that: the power unit adopts an integrated double-drive deceleration brushless motor.
5. The automatic leveling trolley control system according to claim 1, characterized in that: the power unit is connected with the PWM interface of the control unit.
6. The automatic leveling trolley control system according to claim 1, characterized in that: and the servo steering engine is connected with the PWM interface of the control unit.
7. The automatic leveling trolley control system according to claim 1, characterized in that: the control unit adopts an ARM single-chip microcomputer.
8. The automatic leveling trolley control system according to claim 1, characterized in that: the power supply unit is connected with the control unit and is used for providing power.
9. The automatic leveling trolley control system according to claim 1, characterized in that: the remote controller is connected with the control unit and is used for sending control information to the control unit.
10. The automatic leveling trolley control system according to claim 1, characterized in that: the leveling trolley comprises two front wheels and two rear wheels which are symmetrically arranged, the distance between the two front wheels is D, and the distance between the Hall sensor and the plane where the wheel shafts of the two front wheels and the two rear wheels are located is L, wherein L/D=1.5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223467549.0U CN219392521U (en) | 2022-12-21 | 2022-12-21 | Automatic control system of leveling trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223467549.0U CN219392521U (en) | 2022-12-21 | 2022-12-21 | Automatic control system of leveling trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219392521U true CN219392521U (en) | 2023-07-21 |
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ID=87189677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223467549.0U Active CN219392521U (en) | 2022-12-21 | 2022-12-21 | Automatic control system of leveling trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219392521U (en) |
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2022
- 2022-12-21 CN CN202223467549.0U patent/CN219392521U/en active Active
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