CN104097935A - Multi-position self-aligning system with track movable type belt discharging trolley and control method thereof - Google Patents
Multi-position self-aligning system with track movable type belt discharging trolley and control method thereof Download PDFInfo
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- CN104097935A CN104097935A CN201410334002.4A CN201410334002A CN104097935A CN 104097935 A CN104097935 A CN 104097935A CN 201410334002 A CN201410334002 A CN 201410334002A CN 104097935 A CN104097935 A CN 104097935A
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Abstract
The invention discloses a multi-position self-aligning system with a track movable type belt discharging trolley and a control method thereof and belongs to the field of coal chemical industrial transportation equipment. The multi-position self-aligning system comprises a positioning structure and an electric control system. The positioning structure comprises a movable discharging trolley, a motor reducing gear, proximity switches, a cam, a mechanical brake mechanism, a trolley track, a travelling motor and a dust shield. The electric control system comprises an industrial control computer, a processor, an I/O (input/output) module card and a motor driver. The processor, the I/O module card and the motor driver are sequentially connected. The industrial control computer is connected with the processor through a network. According to the arrangement, a positioning method that rough positioning is combined with fine positioning is adopted to achieve low cost, high accuracy and mounting easiness.
Description
Technical field
The present invention relates to Coal Chemical Industry transportation device field, more particularly, relate to a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system and control method thereof.
Background technology
Band conveyor dump car belongs to independent parts of band conveyor, is mainly used in band conveyor to have the occasion of discharging requirement, and its effect is identical with discharger, just can realize multi-point distribution and different location cloth.Band conveyor dump car uses more for convenience, but cost is higher relatively, is adapted at using on large band conveyer.
The mode of current track portable belt dump car mainly contains on-the-spot artificial contraposition control and two kinds of patterns of remote auto contraposition control.On-the-spot artificial contraposition control require to have full-time operating personal under the harsies environment such as the high dust in scene, high noisy to operate, this mode is had relatively high expectations to operating personal, rugged environment works the mischief to operating personal is healthy, considered also to increase the human cost of producing from the angle of cost of human resources simultaneously, uneconomical.
Existing application frequency converter and coder are realized the mode (referring to " application of belt unloading trolley autonomous cruise speed system " Anhui University of Technology's journal (natural science edition) S1 phase in 2010) of remote auto contraposition control, and, although solved to a certain extent more manually operated problems, this mode has been brought following problem: 1. can not solve well dolly in moving process owing to skidding between wheel and track the correct problem of contraposition; 2. due to the use of frequency converter and coder, the cost of entirety is higher; 3. the harsh environment at scene brings certain difficulty to the maintenance of coder.
Chinese Patent Application No. 201020296858.4, the patent document in August 19 2010 applying date discloses a kind of travelling car alignment device for belt conveyor system.This application case relates to the travelling car alignment device for belt conveyor system, comprise reflection sensor and controller, reflection sensor interval is arranged on the deceleration station and unloading station on feed bin top, wherein slow down station away from the center of feed bin, and unloading station is close to the center of feed bin, signal reflex plate with reflection sensor cooperating is being set in the travelling car front portion of feed bin upper horizontal migration, reflection sensor is all connected with controller, and controller is by the operation of wired or wireless connection control travelling car.This scheme can realize the contraposition of dolly substantially, but reflection sensor precision is not high, and mode of operation is easily subject to external environment influence, poor stability.
Summary of the invention
1. the technical matters that invention will solve
For the cost of the correctly contraposition owing to skidding between wheel and track in moving process of prior art middle orbit portable belt dump car control system dolly, entirety higher and be difficult to safeguard, the problem of reflection sensor poor stability, the invention provides a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system and control method thereof, it can adopt coarse positioning and the combined localization method of fine positioning as required in large stroke material automatic conveying, reaches low cost, high precision, easy object of installing.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system, comprise location structure and electric control system, described location structure comprises movable unloading trolley, motor reducer, approach switch, touches iron, mechanical hatching gate mechanism, trolley track, movable motor and dust boot; Described movable unloading trolley is arranged on trolley track, described the same side of touching iron and dust boot and being arranged on movable unloading trolley, on the ground of its same side, be also provided with approach switch, described dust boot be arranged on approach switch directly over, described touch iron be arranged on approach switch under; Described motor reducer is arranged on the bottom of movable unloading trolley, and the output shaft of described movable motor is connected with mechanical hatching gate mechanism, and described mechanical hatching gate mechanism is connected with the input shaft of motor reducer; Described electric control system comprises industrial control computer and the treater being connected successively, I/O module fastener and motor driver; Described industrial control computer is connected by network with treater; Described motor reducer and the electrical connection of described motor driver, described mechanical hatching gate mechanism and approach switch and the electrical connection of I/O module fastener.
Further, the installation site of described approach switch, is positioned at the vertical centre point in each target storehouse in vertical direction.
The control method that adopts described a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system, the steps include:
(a), instruction input: typing material kind, material are planted and storehouse synopsis on described industrial control computer, and confirm that system starts;
(b), system retrieval: the material kind code that system basis is inputted in industrial control computer and in advance material kind and the storehouse synopsis of input system, by program search, draw and need the mobile target bay number arriving;
(c), the setting of target position in storehouse control word: intrasystem PLC 16 word, as target bay number control word, is formed to the corresponding each bin level of each binary digit by it;
(d), the setting of actual position in storehouse control word: intrasystem PLC 16 word, as actual bay number control word, is formed to the approach switch signal configuring on the corresponding each bin level of each binary digit by it;
(e), contraposition control: the more above-mentioned target bay number control word drawing of treater of described electric control system and the numerical values recited of actual bay number control word, by the rotating of I/O module fastener control movable motor, finally reach and control the object that movable unloading trolley advances or retreats;
In the time that the actual bay number control word of being surveyed by approach switch equates with the target position in storehouse control word numerical value of setting, illustrate that movable unloading trolley has arrived target position in storehouse, movable motor is out of service, and by the mechanical hatching gate mechanism locking described in described I/O module fastener control, thereby realize precise positioning.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with prior art, there is following remarkable result:
(1) a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system of the present invention and control method thereof, employing is installed on approach switch on each locating point as localizing objects value, so dolly can be owing to skidding and correctly contraposition between wheel and track in moving process, contraposition is accurate, and practical effect is good;
(2) a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system of the present invention and control method thereof, system architecture is easy for installation, and the components and parts that wherein relate to are few, wherein location structure and electric control system, can on original equipment, transform low cost of manufacture;
(3) a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system of the present invention and control method thereof, location structure comprises movable unloading trolley, motor reducer, approach switch and touches iron etc., comparatively simple, without high-precision equipment, to site environment require low, be suitable for moving in the environment of high temperature, high dust, applied widely, easily promote;
(4) a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system of the present invention and control method thereof, described dust boot, the approach switch inductive head that touches iron and install downwards, can effectively avoid because dust under harsh environment is on approaching the impact of on-off signal, the possibility that positioning signal is disturbed is significantly reduced, and be easy to the maintenance of on-the-spot components and parts;
(5) a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system of the present invention and control method thereof, the algorithm using is the particular algorithm of the switching value signal of multiple positions approach switch and target location being put into the corresponding control word of program, can actv. switching value signal be converted to analog signals, thereby realize by the judgement of control word numerical values recited being controlled to the object moving forward and backward of dolly.
Brief description of the drawings
Fig. 1 is control process diagram of circuit of the present invention;
Fig. 2 is electric control system composition schematic diagram of the present invention;
Fig. 3 is location structure system architecture schematic diagram of the present invention;
Fig. 4 is the dolly positioning control schematic diagram of three positions in storehouse of the present invention.
Label declaration in schematic diagram:
In figure: 1, movable unloading trolley; 2, motor reducer; 3, approach switch; 4, touch iron; 5, mechanical hatching gate mechanism; 6, dust boot; 7, trolley track; 8, movable motor.
Detailed description of the invention
Below in conjunction with Figure of description and specific embodiment, the present invention is described in detail.
Embodiment 1
By reference to the accompanying drawings 4, a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system of the present invention, comprises location structure and electric control system:
By reference to the accompanying drawings 3, described location structure comprises movable unloading trolley 1, motor reducer 2, approach switch 3, touches iron 4, mechanical hatching gate mechanism 5, trolley track 7, movable motor 8 and dust boot 6.Described movable unloading trolley 1 is arranged on trolley track 7, described the same side of touching iron 4 and dust boot 6 and being arranged on movable unloading trolley 1, on the ground of its same side, be also provided with approach switch 3, approach switch 3 indexs of selecting are as follows: U:220VAC, I:400mA, Sn:20mm, the installation site of described approach switch 3, be positioned in vertical direction the vertical centre point in each target storehouse, described dust boot 6 be arranged on approach switch 3 directly over, described touch iron 4 be arranged on approach switch 3 under; Described motor reducer 2 is DC toothed gearing electric motor, is arranged on the bottom of movable unloading trolley 1, and the output shaft of described movable motor 8 is connected with mechanical hatching gate mechanism 5, and described mechanical hatching gate mechanism 5 is connected with the input shaft of motor reducer 2; What movable motor 8 adopted is the three phase asynchronous motor that Nanjing bridge motor head factory is produced, model: ZD ZDS YSE, rating horsepower: 0.2KW-18.5KW, rated speed of rotation: 1380 (rpm).The overload capacity of this motor is strong, adapts to Fraquent start needs, and power savings is remarkable, and less starting current can extend the service life of master control AC contactor, can under the less condition of power supply capacity, use.
By reference to the accompanying drawings 2, described electric control system comprises industrial control computer and the treater being connected successively, I/O module fastener and motor driver; Described industrial control computer is connected by network with treater;
Described motor reducer 2 is electrically connected with described motor driver, described mechanical hatching gate mechanism 5 and approach switch 3 and the electrical connection of I/O module fastener.
By reference to the accompanying drawings 1, the control method of a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system in the present embodiment, the steps include:
(a), instruction input: typing material kind and storehouse synopsis, material are planted on described industrial control computer, and confirm that system starts;
(b), system retrieval: the material kind code that system basis is inputted in industrial control computer and in advance material kind and the storehouse synopsis of input system, by program search, draw and need the mobile target bay number arriving;
(c), the setting of target position in storehouse control word: by intrasystem PLC 16 word as target bay number control word, it is formed to the corresponding each bin level of each binary digit, target position in storehouse control word MW10 in the present embodiment, in the time that needs move to movable unloading trolley 1 in Fig. 4 C position, MW10 is set as 04H;
(d), the setting of actual position in storehouse control word: by intrasystem PLC 16 word as actual bay number control word, it is formed to approach switch 3 signals that configure on the corresponding each bin level of each binary digit, in the present embodiment, actual position in storehouse control word is set as MW12, by low three A that correspond to respectively in Fig. 4 in actual position in storehouse control word MW12, B, locational approach switch 3 signals of C, when movable unloading trolley 1 is behind A position, be that the approach switch 3 of A position is while having positive rise, actual position in storehouse control word MW12 is set to 01H, behind B position, be that the approach switch 3 of B position is while having positive rise, actual position in storehouse control word MW12 is set to 02H, behind C position, be that the approach switch 3 of C position is while having positive rise, actual position in storehouse control word MW12 is set to 04H,
(e), contraposition control: the more above-mentioned target bay number control word drawing of treater of described electric control system and the numerical values recited of actual bay number control word, be that treater (CPU) is by the size of comparison object position in storehouse control word MW10 and actual position in storehouse control word MW12 numerical value, by 8 rotatings of I/O module fastener control movable motor, finally reach and control the object that movable unloading trolley 1 advances or retreats;
Work as MW10>MW12, control movable unloading trolley 1 and move to right;
Work as MW10<MW12, control movable unloading trolley 1 and move to left;
Work as MW10=MW12, when the actual bay number control word that approach switch 3 is surveyed equates with the target position in storehouse control word numerical value of setting, movable unloading trolley 1 arrives target location, movable motor 8 is out of service and by mechanical hatching gate mechanism 5 lockings described in described I/O module fastener control, movable unloading trolley 1 stops, thereby has realized precise positioning.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited to this.So, if those of ordinary skill in the art is enlightened by it, in the situation that not departing from the invention aim, without the creationary frame mode similar to this technical scheme and the embodiment of designing, all should belong to protection scope of the present invention.
Claims (3)
1. an orbit movable belt unloading trolley multiple spot automatic decimal alignment system, comprises location structure and electric control system, it is characterized in that:
Described location structure comprises movable unloading trolley (1), motor reducer (2), approach switch (3), touches iron (4), mechanical hatching gate mechanism (5), trolley track (7), movable motor (8) and dust boot (6); Described movable unloading trolley (1) is arranged on trolley track (7), described the same side of touching iron (4) and dust boot (6) and being arranged on movable unloading trolley (1), on the ground of its same side, be also provided with approach switch (3), described dust boot (6) be arranged on approach switch (3) directly over, described touch iron (4) be arranged on approach switch (3) under; Described motor reducer (2) is arranged on the bottom of movable unloading trolley (1), the output shaft of described movable motor (8) is connected with mechanical hatching gate mechanism (5), and described mechanical hatching gate mechanism (5) is connected with the input shaft of motor reducer (2);
Described electric control system comprises industrial control computer and the treater being connected successively, I/O module fastener and motor driver; Described industrial control computer is connected by network with treater;
Described motor reducer (2) and the electrical connection of described motor driver, described mechanical hatching gate mechanism (5) and approach switch (3) and the electrical connection of I/O module fastener.
2. a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system according to claim 1, is characterized in that: the installation site of described approach switch (3), is positioned at the vertical centre point in each target storehouse in vertical direction.
3. the control method that adopts a kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system claimed in claim 1, the steps include:
(a), instruction input: typing material kind, material are planted and storehouse synopsis on described industrial control computer, and confirm that system starts;
(b), system retrieval: the material kind code that system basis is inputted in industrial control computer and in advance material kind and the storehouse synopsis of input system, by program search, draw and need the mobile target bay number arriving;
(c), the setting of target position in storehouse control word: intrasystem PLC 16 word, as target bay number control word, is formed to the corresponding each bin level of each binary digit by it;
(d), the setting of actual position in storehouse control word: intrasystem PLC 16 word, as actual bay number control word, is formed to approach switch (3) signal configuring on the corresponding each bin level of each binary digit by it;
(e), contraposition control: the more above-mentioned target bay number control word drawing of treater of described electric control system and the numerical values recited of actual bay number control word, by I/O module fastener control movable motor (8) rotating, finally reach and control the object that movable unloading trolley (1) advances or retreats;
In the time being equated with the target position in storehouse control word numerical value of setting by the actual bay number control word of approach switch (3) actual measurement, illustrate that movable unloading trolley (1) has arrived target position in storehouse, movable motor (8) is out of service, and by mechanical hatching gate mechanism (5) locking described in described I/O module fastener control, thereby realize precise positioning.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410334002.4A CN104097935A (en) | 2014-07-14 | 2014-07-14 | Multi-position self-aligning system with track movable type belt discharging trolley and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410334002.4A CN104097935A (en) | 2014-07-14 | 2014-07-14 | Multi-position self-aligning system with track movable type belt discharging trolley and control method thereof |
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| CN201410334002.4A Pending CN104097935A (en) | 2014-07-14 | 2014-07-14 | Multi-position self-aligning system with track movable type belt discharging trolley and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364730A (en) * | 2016-05-12 | 2017-11-21 | 鞍钢股份有限公司 | Method for coal discharge by accurate alignment of bucket-trough trolley |
| CN112605155A (en) * | 2020-12-30 | 2021-04-06 | 大力神铝业股份有限公司 | Automatic change aluminium book stretcher |
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| WO2014032821A1 (en) * | 2012-08-30 | 2014-03-06 | Koenig & Bauer Aktiengesellschaft | Method and device for handling printing-material packing drums in a printing-material supply system of a printing plant which comprises a printing press |
| CN203959284U (en) * | 2014-07-14 | 2014-11-26 | 马钢(集团)控股有限公司 | A kind of orbit movable belt unloading trolley multiple spot automatic decimal alignment system |
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Patent Citations (5)
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| CN202648426U (en) * | 2012-06-01 | 2013-01-02 | 成都远峰科技发展有限公司 | Automatic annular material distributing system |
| WO2014032821A1 (en) * | 2012-08-30 | 2014-03-06 | Koenig & Bauer Aktiengesellschaft | Method and device for handling printing-material packing drums in a printing-material supply system of a printing plant which comprises a printing press |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107364730A (en) * | 2016-05-12 | 2017-11-21 | 鞍钢股份有限公司 | Method for coal discharge by accurate alignment of bucket-trough trolley |
| CN107364730B (en) * | 2016-05-12 | 2020-03-31 | 鞍钢股份有限公司 | Method for coal discharge by accurate alignment of bucket-trough trolley |
| CN112605155A (en) * | 2020-12-30 | 2021-04-06 | 大力神铝业股份有限公司 | Automatic change aluminium book stretcher |
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