CN110255106A - Multi-transportation vehicle automatic alignment apparatus and alignment methods - Google Patents
Multi-transportation vehicle automatic alignment apparatus and alignment methods Download PDFInfo
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- CN110255106A CN110255106A CN201910709383.2A CN201910709383A CN110255106A CN 110255106 A CN110255106 A CN 110255106A CN 201910709383 A CN201910709383 A CN 201910709383A CN 110255106 A CN110255106 A CN 110255106A
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- transportation vehicle
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- station frame
- measuring light
- light screen
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000001939 inductive effect Effects 0.000 claims abstract description 31
- 230000006698 induction Effects 0.000 claims abstract description 23
- 230000032258 transport Effects 0.000 claims description 13
- 238000009826 distribution Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000015572 biosynthetic process Effects 0.000 description 5
- 238000003786 synthesis reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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)
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The present invention relates to multi-transportation vehicle automatic alignment apparatus and alignment methods, including induction component, with the opposing stationary setting of station frame；Measuring light screen is set on multi-transportation vehicle, for cooperating with induction component, inductive signal is formed, so that it is determined that the position of multi-transportation vehicle；Control unit, the control unit for being electrically connected or communicating to connect with the control system of Measuring light screen and multi-transportation vehicle, for receiving inductive signal, and analysis integrated transport vehicle and aiming station frame relative positional relationship are calculated, and then issues braking instruction or move to multi-transportation vehicle.Alignment device and method through the invention position more accurate, it can be achieved that third track on multi-transportation vehicle and the second track on aiming station frame are automatically aligned to, to save manpower, improve production efficiency, improve the degree of automation of equipment.
Description
Technical field
The present invention relates to multi-transportation vehicle automatic alignment apparatus and alignment methods.
Background technique
Currently, lifting is completed with multi-transportation vehicle (wallboard and floor transport) extensively in assembled architecture field
PC component transports storage region to by demoulding region.Whole Transporting frame is placed on the synthesis station frame of belt track.Multi-transportation vehicle
Along ground rail advance, when multi-transportation vehicle trolley track and station frame on track alignment after can just carry out PC component turn
Fortune, i.e. PC component are run by trolley track to the track of station frame with trolley.Since the self weight of multi-transportation vehicle is compared
Greatly, and the unloaded braking distance with when different load-carryings is different from, and is difficult to be aligned by manually operated track, is caused equipment
Unworkable problem.If the deviation of rail alignment is larger, trolley will cause larger damage during traversing.Many factories
Multi-transportation vehicle due to this problem in addition it is vacant do not have to, cause biggish waste.
Summary of the invention
In view of the deficiencies of the prior art, one of the objects of the present invention is to provide multi-transportation vehicle automatic alignment apparatus；With
Realize being automatically aligned to for multi-transportation vehicle；The second object of the present invention is to provide multi-transportation vehicle automatic aligning method.
In order to solve the above-mentioned technical problem, technical scheme is as follows:
Multi-transportation vehicle automatic alignment apparatus, the multi-transportation parking stall is in can move on the first track and along the first track
Dynamic, the side of the first track is equipped with several station framves with the cooperation of multi-transportation vehicle, and the station frame is equipped with several with first
The second vertical track of track, multi-transportation vehicle is equipped with several third tracks vertical with the first track, when multi-transportation vehicle
When being aligned with aiming station frame, the second track on third track and the aiming station frame on multi-transportation vehicle is corresponded；
Including
Component is incuded, with the opposing stationary setting of station frame；
Measuring light screen is set on multi-transportation vehicle, for cooperating with induction component, formation inductive signal, so that it is determined that
The position of multi-transportation vehicle；
Control unit, the control list for being electrically connected or communicating to connect with the control system of Measuring light screen and multi-transportation vehicle
Member for receiving inductive signal, and calculates analysis integrated transport vehicle and aiming station frame relative positional relationship, and then transports to comprehensive
Defeated vehicle issues braking instruction or move.
Optionally, the length direction of the Measuring light screen is parallel with the length direction of multi-transportation vehicle.
Optionally, the Measuring light screen includes upper and lower distribution beam emissions end and light beam receiving terminal；The induction component
For lighttight baffle, when Measuring light screen and induction component cooperation, baffle is protruded between beam emissions end and light beam receiving terminal.
Optionally, the Measuring light screen is set to multi-transportation vehicle close to the side of station frame.
Optionally, the induction component is fixed on ground by support component.
Multi-transportation vehicle automatic aligning method is carried out using multi-transportation vehicle alignment device as described above, including as follows
Step:
When S1, multi-transportation vehicle move to Measuring light screen and incude the initial mated position of component, formed in Measuring light screen
First inductive signal is simultaneously transferred to control unit by the first inductive signal；
S2, control unit receive the first inductive signal, issue braking instruction to multi-transportation vehicle, multi-transportation vehicle executes system
It is dynamic to instruct and be finally stopped；
S3, Measuring light screen and induction component cooperation form the second inductive signal in Measuring light screen and by the second inductive signal
It is transferred to control unit；
S4, control unit receive the second inductive signal, determine whether multi-transportation vehicle is aligned with aiming station frame；
S5, if it is determined that result is misalignment, then control unit is closed according to multi-transportation vehicle and aiming station frame relative position
It is to issue move after multi-transportation vehicle executes move and stops to multi-transportation vehicle to repeat S3, S4, determines synthesis
Whether transport vehicle is aligned with aiming station frame；If misalignment, repeatedly S5, until determining that result is alignment；
If it is determined that result is alignment, then multi-transportation vehicle is aligned with the completion of aiming station frame.
Optionally, in S4, control unit receives the second inductive signal, calculates analysis integrated transport vehicle and aiming station frame exists
The relative positional relationship of first track length direction, when multi-transportation vehicle and aiming station frame are in the position of the first track length direction
When setting deviation within a preset range, then complete to be aligned；When multi-transportation vehicle and aiming station are in the position of the first track length direction
Set deviation not within a preset range when, control unit according to deviation situation to multi-transportation vehicle issue move.
Optionally, the move is crawl move.
Alignment device and method through the invention are, it can be achieved that on third track and aiming station frame on multi-transportation vehicle
The second track be automatically aligned to, and position more accurate, to save manpower, improve production efficiency, improve the automatic of equipment
Change degree.
Detailed description of the invention
Fig. 1 is the relative position relation figure (top view) of the multi-transportation vehicle of one embodiment of the present invention, station frame.
Fig. 2 is the installation site figure (top view) of the automatic alignment apparatus of one embodiment of the present invention.
Fig. 3 is the partial enlarged view (top view) of second station frame in Fig. 2.
Fig. 4 is the structural schematic diagram of the support component of one embodiment of the present invention.
Fig. 5 is a kind of structural schematic diagram of Measuring light screen.
Fig. 6 is a kind of top view for incuding component.
Fig. 7 is the control principle drawing of one embodiment of the present invention.
Fig. 8 is one of alignment procedures flow chart of the invention.
Specific embodiment
Following description describe optional embodiment of the invention with instruct those of ordinary skill in the art how to implement and
It is bright to reproduce this.In order to teach the technical scheme of the invention, it has simplified or omitted some conventional aspects.Those of ordinary skill in the art
It should be understood that being originated from the variation or replacement of these embodiments will be within the scope of the present invention.Ordinary skill people
Member is it should be understood that the following features can be combined in various ways to form multiple variations of the present invention.Not office of the invention as a result,
It is limited to following optional embodiments, and is only limited by the claims and their equivalents.For sake of convenience, hereinafter as occurred
"upper", "lower", "left", "right" printed words only indicate consistent with the upper and lower, left and right direction of attached drawing itself, do not play limit to structure
It is set for using.
As shown in Figures 1 to 8, multi-transportation vehicle automatic alignment apparatus, the multi-transportation vehicle 1 are located on the first track 7
And can be moved along the first track 7, the side of the first track is equipped with several station framves with the cooperation of multi-transportation vehicle, the station frame
Several second tracks 9 vertical with the first track are equipped with, multi-transportation vehicle is equipped with several thirds vertical with the first track
Track 5, when multi-transportation vehicle is aligned with aiming station frame, on the third track 5 and the aiming station frame on multi-transportation vehicle
The second track 9 correspond；Including incuding component 6, with the opposing stationary setting of station frame；
Measuring light screen 4 is set on multi-transportation vehicle, for cooperating with induction component 6, inductive signal is formed, thus really
Determine the position of multi-transportation vehicle；
Control unit, the control for being electrically connected or communicating to connect with the control system of Measuring light screen 4 and multi-transportation vehicle
Unit for receiving inductive signal, and calculates analysis integrated transport vehicle and aiming station frame relative positional relationship, and then to synthesis
Transport vehicle issues braking instruction or move.
Multi-transportation vehicle and aiming station frame are single layer structure, and third track is set to the top of multi-transportation vehicle, the
Two tracks are set to the top of station frame；Optionally, multi-transportation vehicle and aiming station frame are multilayered structure, and each layer is respectively provided with
Respective rail.
The length direction of the Measuring light screen 4 is parallel with the length direction of multi-transportation vehicle.
The Measuring light screen 4 includes upper and lower distribution beam emissions end 401 and light beam receiving terminal 402；The induction component
6 be lighttight baffle, and when Measuring light screen 4 and the induction cooperation of component 6, baffle protrudes into beam emissions end 401 and light beam receives
Between end 402.Preferably, baffle is parallel to the horizontal plane.Baffle can be set as needed in the size of the first track length direction,
In general, the size is smaller, alignment precision is higher, can be delicately in induction range in Measuring light screen 4 but should control.
The Measuring light screen 4 is set to multi-transportation vehicle close to the side of station frame.
The induction component 6 is fixed on ground by support component 3.
Optionally, with reference to Fig. 1, Fig. 2, the quantity of station frame can be 2, set gradually along the first track trend, be such as arranged
First station frame 2 and second station frame 8 are arranged multiple groups in the first track side surfaces, are arranged between the first station frame and the first track
First support component 3A, and induction component is set on the first support component 3A, correspondingly, between second station frame and the first track
Second support component 3B is set, and sets induction component in the second support component, to facilitate multi-transportation vehicle and each station frame
Alignment.
Multi-transportation vehicle automatic aligning method is carried out using multi-transportation vehicle alignment device as described above, including as follows
Step:
When S1, multi-transportation vehicle move to Measuring light screen 4 and incude the initial mated position of component 6, shape in Measuring light screen 4
Control unit is transferred at the first inductive signal and by the first inductive signal；
S2, control unit receive the first inductive signal, issue braking instruction to multi-transportation vehicle, multi-transportation vehicle executes system
It is dynamic to instruct and be finally stopped；
S3, Measuring light screen 4 and induction component 6 cooperate, and form the second inductive signal in Measuring light screen 4 and believe the second induction
Number it is transferred to control unit；
S4, control unit receive the second inductive signal, determine whether multi-transportation vehicle is aligned with aiming station frame；
S5, if it is determined that result is misalignment, then control unit is closed according to multi-transportation vehicle and aiming station frame relative position
It is to issue move after multi-transportation vehicle executes move and stops to multi-transportation vehicle to repeat S3, S4, determines synthesis
Whether transport vehicle is aligned with aiming station frame；If misalignment, repeatedly S5, until determining that result is alignment；
If it is determined that result is alignment, then multi-transportation vehicle is aligned with the completion of aiming station frame.
In general, the braking distance of multi-transportation vehicle is 5-15cm, conventional Measuring light screen can meet alignment requirements.
Multi-transportation vehicle is moved towards aiming station frame, and when baffle is crossed in one end of Measuring light screen, the two cooperation, Measuring light screen forms the
One inductive signal after control unit receives first inductive signal, issues to the control system of multi-transportation vehicle brake immediately
Instruction, braking；After multi-transportation vehicle stops, the relative position variation of Measuring light screen and baffle simultaneously cooperates in new position, is formed
Second inductive signal, control unit can calculate the phase that analysis obtains multi-transportation vehicle and aiming station frame by the second inductive signal
To positional relationship, and make corresponding judgement.
Measuring light screen can quantity according to the light being blocked and position, determine that multi-transportation vehicle is opposite with induction component
Positional relationship, due to induction component and station frame it is opposing stationary, this relative positional relationship can actually characterize multi-transportation vehicle and
The relative positional relationship of station frame, in this way, can determine whether multi-transportation vehicle current location and the position that is aligned with aiming station frame
(such as overgauge: multi-transportation vehicle stop position has been more than alignment position for deviation size and bias direction；Minus deviation: multi-transportation
Stop position is less than alignment position).
In S4, control unit receives the second inductive signal, calculates analysis integrated transport vehicle and aiming station frame in the first rail
The relative positional relationship of 7 length direction of road, when multi-transportation vehicle is inclined in the position of 7 length direction of the first track with aiming station frame
Difference within a preset range when, then complete to be aligned；When multi-transportation vehicle and aiming station are inclined in the position of 7 length direction of the first track
Difference not within a preset range when, control unit according to deviation situation to multi-transportation vehicle issue move.
The move be crawl move, so control multi-transportation garage walk a small displacement, gradually to
The alignment of aiming station frame is located proximate to, until alignment.
Applicant has carried out the automatic alignment apparatus on probation, it can be achieved that multi-transportation vehicle in PC component workshop
Track is automatically aligned to aiming station frame, can effectively have been subtracted the operation difficulty of operator, greatly improved multi-transportation vehicle
Automatization level can advanced optimize the intelligence manufacture of factory.
The content that above-described embodiment illustrates should be understood as that these embodiments are only used for being illustrated more clearly that the present invention, without
For limiting the scope of the invention, after the present invention has been read, those skilled in the art are to various equivalent forms of the invention
Modification each fall within the application range as defined in the appended claims.
Claims (8)
1. multi-transportation vehicle automatic alignment apparatus, the multi-transportation vehicle (1) is located on the first track (7) and can be along the first track
(7) mobile, the side of the first track is equipped with several station framves with the cooperation of multi-transportation vehicle, the station frame be equipped with it is several with
Vertical the second track (9) of first track, multi-transportation vehicle are equipped with several third tracks (5) vertical with the first track, when
Second on third track (5) and aiming station frame when multi-transportation vehicle is aligned with aiming station frame, on multi-transportation vehicle
Track (9) corresponds；It is characterised in that it includes
Incude component (6), with the opposing stationary setting of station frame；
Measuring light screen (4), is set on multi-transportation vehicle, for cooperating with induction component (6), inductive signal is formed, thus really
Determine the position of multi-transportation vehicle；
Control unit, the control list for being electrically connected or communicating to connect with the control system of Measuring light screen (4) and multi-transportation vehicle
Member for receiving inductive signal, and calculates analysis integrated transport vehicle and aiming station frame relative positional relationship, and then transports to comprehensive
Defeated vehicle issues braking instruction or move.
2. multi-transportation vehicle alignment device according to claim 1, which is characterized in that the length of the Measuring light screen (4)
Direction is parallel with the length direction of multi-transportation vehicle.
3. multi-transportation vehicle alignment device according to claim 1, which is characterized in that the Measuring light screen (4) include it is upper,
The beam emissions end (401) of lower distribution and light beam receiving terminal (402)；The induction component (6) is lighttight baffle, works as measurement
When light curtain (4) and induction component (6) cooperation, baffle is protruded between beam emissions end (401) and light beam receiving terminal (402).
4. multi-transportation vehicle alignment device according to claim 1-3, which is characterized in that the Measuring light screen
(4) multi-transportation vehicle is set to close to the side of station frame.
5. multi-transportation vehicle alignment device according to claim 1-3, which is characterized in that the induction component
(6) it is fixed on ground by support component (3).
6. multi-transportation vehicle automatic aligning method, which is characterized in that utilize multi-transportation as described in any one in claim 1-5
Vehicle alignment device carries out, and includes the following steps:
When S1, multi-transportation vehicle move to Measuring light screen (4) and incude the initial mated position of component (6), in Measuring light screen (4)
It forms the first inductive signal and the first inductive signal is transferred to control unit；
S2, control unit receive the first inductive signal, issue braking instruction to multi-transportation vehicle, multi-transportation vehicle executes brake finger
It enables and is finally stopped；
S3, Measuring light screen (4) and induction component (6) cooperation, Measuring light screen (4) is interior to be formed the second inductive signal and incudes second
Signal is transferred to control unit；
S4, control unit receive the second inductive signal, determine whether multi-transportation vehicle is aligned with aiming station frame；
S5, if it is determined that result is misalignment, then control unit according to multi-transportation vehicle and aiming station frame relative positional relationship to
Multi-transportation vehicle issues move and repeats S3, S4 after multi-transportation vehicle executes move and stops, and determines multi-transportation
Whether vehicle is aligned with aiming station frame；If misalignment, repeatedly S5, until determining that result is alignment；
If it is determined that result is alignment, then multi-transportation vehicle is aligned with the completion of aiming station frame.
7. multi-transportation vehicle automatic aligning method according to claim 6, which is characterized in that in S4, control unit is received
Second inductive signal calculates analysis integrated transport vehicle and aiming station frame and closes in the relative position of the first track (7) length direction
System, when multi-transportation vehicle and aiming station frame the first track (7) length direction position deviation within a preset range when, then it is complete
At alignment；When multi-transportation vehicle and aiming station the first track (7) length direction position deviation not within a preset range when,
Control unit issues move to multi-transportation vehicle according to deviation situation.
8. multi-transportation vehicle automatic aligning method according to claim 6 or 7, which is characterized in that the move is
Crawl move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709383.2A CN110255106A (en) | 2019-08-01 | 2019-08-01 | Multi-transportation vehicle automatic alignment apparatus and alignment methods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910709383.2A CN110255106A (en) | 2019-08-01 | 2019-08-01 | Multi-transportation vehicle automatic alignment apparatus and alignment methods |
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| CN110255106A true CN110255106A (en) | 2019-09-20 |
Family
ID=67912599
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| CN201910709383.2A Pending CN110255106A (en) | 2019-08-01 | 2019-08-01 | Multi-transportation vehicle automatic alignment apparatus and alignment methods |
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| DE4012668A1 (en) * | 1990-04-20 | 1991-10-31 | W & M Engineering & Automation | Positioning of driverless rail vehicle at stopping point in station - involves controlling speed according to position in deceleration zone |
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