CN107284991A - A kind of mobile device straight line moving control device - Google Patents
A kind of mobile device straight line moving control device Download PDFInfo
- Publication number
- CN107284991A CN107284991A CN201710649468.7A CN201710649468A CN107284991A CN 107284991 A CN107284991 A CN 107284991A CN 201710649468 A CN201710649468 A CN 201710649468A CN 107284991 A CN107284991 A CN 107284991A
- Authority
- CN
- China
- Prior art keywords
- mobile device
- section
- straight line
- rectilinear orbit
- line moving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 4
- 239000007787 solid Substances 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of mobile device straight line moving control device, including mobile device, rectilinear orbit, testing agency and control system, control system is used for the walking mechanism for controlling mobile device, the direction of the rectilinear orbit is consistent with the straight line moving direction of mobile device, the testing agency includes upper linkage section and lower walking section, upper linkage section is used to be fixedly connected with mobile device, and lower walking section is on rectilinear orbit, and lower walking section can be moved along rectilinear orbit；Connected between the upper linkage section and lower walking section by connector, the connector is provided with angular encoder, angular encoder is used for the rotational angle for detecting lower walking section；It is communication connection between control system and angular encoder.The present invention can realize the straight line moving control of mobile device.
Description
Technical field
The present invention relates to a kind of mobile device straight line moving control device, belong to conveying equipment technical field.
Background technology
In various engineering projects, the straight line moving problem of some mobile devices, especially large-scale mine are often related to
Mobile device, generally requires to control it in complicated ground straight line moving.The dummy car of such as ribbon conveyer, passes by if be expert at
It can not be realized in journey and ribbon conveyer is offset out in straight line moving, moving process, also can not just smoothly complete discharging work.
The content of the invention
It is an object of the invention to provide a kind of mobile device straight line moving control device, concrete scheme is：
A kind of mobile device straight line moving control device, including mobile device, rectilinear orbit, testing agency and control system, control
System processed is used for the walking mechanism for controlling mobile device, the direction of the rectilinear orbit and the straight line moving direction one of mobile device
Cause, the testing agency includes upper linkage section and lower walking section, upper linkage section is used to be fixedly connected with mobile device, lower walking section
On rectilinear orbit, lower walking section can be moved along rectilinear orbit；Pass through connection between the upper linkage section and lower walking section
Part is connected, and lower walking section has the rotational freedom around reference axis, and the axial direction of the reference axis and the direction of rectilinear orbit coexist
In on same plane direction, the connector is provided with angular encoder, and angular encoder is used to detect lower walking section around the ginseng
According to the rotational angle of axle；It is communication connection between control system and angular encoder.
Further, connected between the upper linkage section and lower walking section by candan universal joint, the candan universal joint
Including horizontally and vertically；Transverse axis is vertical with rectilinear orbit, and transverse axis is rotated with upper linkage section and is connected；The longitudinal axis is rotated with lower walking section to be connected
Connect；The angular encoder is used to detect rotational angle of the lower walking section around the longitudinal axis.
Further, the mobile device be belt tripper, the rectilinear orbit and ribbon conveyer it is defeated
Send band direction consistent.
Further, the walking mechanism of the belt tripper is crawler type walking mechanism or rubber-tyred vehicle with walking machine
Structure.
The beneficial point of the present invention is：The present invention is simple in construction, using rectilinear orbit as reference, by the moving rail of mobile device
Offset between mark and rectilinear orbit is converted into angle displacement, and the angle displacement is converted into numeral by angular encoder
Pulse signal, and the signal is fed back into control system, control system controls walking mechanism to carry out corresponding actions according to the signal,
So as to realize the straight line moving of mobile device.In improvement project, using candan universal joint as connector, can preferably it adapt to
Complicated landform, excludes influence caused by hypsography, realizes the accurate control of mobile device straight line moving.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of testing agency in the present invention.
Embodiment
A kind of mobile device straight line moving control device as shown in Fig. 1 to 2, including mobile device 3, rectilinear orbit 2, detection machine
Structure 4 and control system, control system are used for the walking mechanism 5 for controlling mobile device 3, the direction of the rectilinear orbit 2 and movement
The straight line moving direction of equipment 3 is consistent, and the testing agency 4 includes upper linkage section 6 and lower walking section 7, upper linkage section 6 be used for
Mobile device 3 is fixedly connected, and lower walking section 7 is on rectilinear orbit 2, and lower walking section 7 can be moved along rectilinear orbit 2；It is described
Connected between upper linkage section 6 and lower walking section 7 by connector, lower walking section 7 has the rotational freedom around reference axis, described
The axial direction of reference axis is co-located on same plane direction with the direction of rectilinear orbit 2, and the connector is provided with angular encoder 9,
Angular encoder 9 is used to detect rotational angle of the lower walking section 7 around the reference axis；Between control system and angular encoder 9
For communication connection.
In the present embodiment, connected between the upper linkage section 6 and lower walking section 7 by candan universal joint 8, the cross ten thousand
Include transverse axis 10 and the longitudinal axis 11 to section 8；Transverse axis 10 is vertical with rectilinear orbit 2, and transverse axis 10 is rotated with upper linkage section 6 and is connected；The longitudinal axis
11 are connected with lower walking section 7 rotation；The angular encoder 9 is used to detect rotational angle of the lower walking section 7 around the longitudinal axis 11.
The mobile device 3 is belt tripper, the conveyer belt side of the rectilinear orbit 2 and ribbon conveyer 1
To consistent.
The walking mechanism 5 of the belt tripper is crawler type walking mechanism or rubber-tyred walking mechanism.
The present invention, when controlling mobile device straight line moving, is using rectilinear orbit as reference standard, by the shifting of mobile device
Offset between dynamic rail mark and rectilinear orbit is converted into angle displacement, and is converted into the angle displacement by angular encoder
Digital pulse signal, and the signal is fed back into control system, it is corresponding that control system controls walking mechanism to carry out according to the signal
Action, so as to realize the straight line moving of mobile device., can be more preferably using candan universal joint as connector in improvement project
The complicated landform of adaptation, excluding influences caused by hypsography, realizes the accurate control of mobile device straight line moving.
Claims (4)
1. a kind of mobile device straight line moving control device, including mobile device, rectilinear orbit, testing agency and control system,
Control system is used for the walking mechanism for controlling mobile device, it is characterised in that：The direction of the rectilinear orbit and mobile device
Straight line moving direction is consistent, and the testing agency includes upper linkage section and lower walking section, and upper linkage section is used for solid with mobile device
Fixed connection, lower walking section is on rectilinear orbit, and lower walking section can be moved along rectilinear orbit；The upper linkage section and lower walking
Connected between section by connector, lower walking section has the rotational freedom around reference axis, the axial direction of the reference axis and straight line
The direction of track is co-located on same plane direction, and the connector is provided with angular encoder, and angular encoder is used under detecting
Rotational angle of the section of walking around the reference axis；It is communication connection between control system and angular encoder.
2. mobile device straight line moving control device according to claim 1, it is characterised in that：The upper linkage section is with
Connected between walking section by candan universal joint, the candan universal joint is included horizontally and vertically；Transverse axis is vertical with rectilinear orbit,
Transverse axis is rotated with upper linkage section and is connected；The longitudinal axis is rotated with lower walking section and is connected；The angular encoder is used to detect lower walking section
Around the rotational angle of the longitudinal axis.
3. the mobile device straight line moving control device according to any one of claim 1 ~ 2, it is characterised in that：The movement
Equipment is belt tripper, and the rectilinear orbit is consistent with the belt direction of ribbon conveyer.
4. mobile device straight line moving control device according to claim 3, it is characterised in that：The ribbon conveyer is unloaded
The walking mechanism of truck is crawler type walking mechanism or rubber-tyred walking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710649468.7A CN107284991A (en) | 2017-08-02 | 2017-08-02 | A kind of mobile device straight line moving control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710649468.7A CN107284991A (en) | 2017-08-02 | 2017-08-02 | A kind of mobile device straight line moving control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107284991A true CN107284991A (en) | 2017-10-24 |
Family
ID=60104165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710649468.7A Pending CN107284991A (en) | 2017-08-02 | 2017-08-02 | A kind of mobile device straight line moving control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107284991A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005161939A (en) * | 2003-12-01 | 2005-06-23 | Shinmei Ind Co Ltd | Track rail type automatic traveling truck |
| CN102491169A (en) * | 2011-12-21 | 2012-06-13 | 三一集团有限公司 | Running deviation correcting device and rail-type engineering machine applying same |
| CN104890748A (en) * | 2015-07-02 | 2015-09-09 | 太原重工股份有限公司 | Throw-off carriage and running gear thereof |
| CN205972788U (en) * | 2016-06-22 | 2017-02-22 | 中冶华天南京工程技术有限公司 | Single trailer belt dummy car and system of unloading |
| CN207242854U (en) * | 2017-08-02 | 2018-04-17 | 焦作科瑞森重装股份有限公司 | A kind of mobile equipment straight line moving control device |
-
2017
- 2017-08-02 CN CN201710649468.7A patent/CN107284991A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005161939A (en) * | 2003-12-01 | 2005-06-23 | Shinmei Ind Co Ltd | Track rail type automatic traveling truck |
| CN102491169A (en) * | 2011-12-21 | 2012-06-13 | 三一集团有限公司 | Running deviation correcting device and rail-type engineering machine applying same |
| CN104890748A (en) * | 2015-07-02 | 2015-09-09 | 太原重工股份有限公司 | Throw-off carriage and running gear thereof |
| CN205972788U (en) * | 2016-06-22 | 2017-02-22 | 中冶华天南京工程技术有限公司 | Single trailer belt dummy car and system of unloading |
| CN207242854U (en) * | 2017-08-02 | 2018-04-17 | 焦作科瑞森重装股份有限公司 | A kind of mobile equipment straight line moving control device |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171024 |