CN111026132A - Intelligent laser positioning guiding device - Google Patents
Intelligent laser positioning guiding device Download PDFInfo
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- CN111026132A CN111026132A CN201911396954.8A CN201911396954A CN111026132A CN 111026132 A CN111026132 A CN 111026132A CN 201911396954 A CN201911396954 A CN 201911396954A CN 111026132 A CN111026132 A CN 111026132A
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- gas injection
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- 238000001816 cooling Methods 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims description 28
- 238000002347 injection Methods 0.000 claims description 13
- 239000007924 injection Substances 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 11
- 238000010926 purge Methods 0.000 claims description 6
- 239000000428 dust Substances 0.000 abstract description 12
- 239000000463 material Substances 0.000 abstract description 10
- 238000007664 blowing Methods 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 abstract description 7
- 238000004140 cleaning Methods 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 239000000306 component Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000036760 body temperature Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000009865 steel metallurgy Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D1/00—Devices using naturally cold air or cold water
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Thermal Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides an intelligent laser positioning guiding device which comprises a microcomputer control system, a micro motor and a speed change device thereof, a rotating mechanism, a laser reflecting column, a cleaning mechanism, an air blowing and cooling system thereof and the like. The rotation mechanism is automatically controlled by a microcomputer control system to rotate so as to drive the laser reflection column to rotate, and the double-row brush cleaning mechanism and the compressed air cooling and blowing system are adopted to synchronously clean and cool the reflection column. The laser positioning device is suitable for laser positioning guide of the material handling trolley in a high-temperature and dust environment, and has the advantages of high positioning precision and long service life.
Description
Technical Field
The invention relates to the field of automation, in particular to an intelligent laser positioning and guiding device.
Background
In the fields of automation and intelligence, more and more enterprises at home and abroad adopt laser positioning and navigation automatic material carrying trolleys to replace manpower to carry materials, so that the labor workload of workers is reduced, and the production organization efficiency is improved. The laser scanner is mounted on the upper portion of the material handling trolley and continuously emits rotating laser beams in the process of walking along with the trolley. Laser beams emitted by the laser scanner are directly reflected by a plurality of groups of laser reflecting columns laid along a trolley traveling path, and the reflected laser beams trigger the controller to record distance values and angle values from the rotating laser head to the reflecting plate. The intelligent carrying trolley controller calculates the absolute coordinates of the trolley according to the actual measured parameters matched with the actual positions of the group of reflective columns, and compares the absolute coordinates with the set data in the program, so that very accurate laser automatic positioning can be realized based on the principle, and the trolley is guided to automatically walk.
In order to deeply promote industrial intelligent manufacturing in the steel industry, an advanced intelligent trolley automatic handling system is introduced in front of a certain blast furnace of Bao steel to replace field operators to carry mud guns and filling materials. In order to guide the blast furnace stemming carrying trolley to automatically walk, a plurality of groups of laser reflecting columns are configured on site and used for guiding the carrying trolley to perform laser positioning navigation.
In the field use process of a certain blast furnace of Bao steel, because a blast furnace casting house produces a large amount of dust and high-temperature radiation in the casting process, the dust and the high-temperature radiation accelerate the aging of a reflecting film of a reflecting column, influence the reflecting effect, cause the deviation of distance data and angle data actually measured by a trolley, further cause the deviation of a controller for calculating the position coordinate of the trolley, and cause the deviation of the running path of the trolley. Once the running path of the trolley deviates, normal carrying operation of stemming is firstly influenced, and unsmooth logistics is caused; secondly, the trolley path can collide with an on-site production object after deviation, so that the structure of the trolley is damaged, an on-site steel structure and a production pipe network are damaged, and normal production of the blast furnace is influenced.
Disclosure of Invention
The device develops and develops an intelligent laser positioning and guiding device with a self-cleaning and self-cooling function according to the operating requirements of the working environment and the field working condition of a certain blast furnace cast house of Bao steel on the laser positioning and guiding device, and the intelligent laser positioning and guiding device comprises:
the reflecting column is longitudinally arranged between the upper electric cabinet and the bottom supporting platform, a driving motor is arranged in the upper electric cabinet, the driving motor is connected with a rotating shaft of the reflecting column through a gearbox, and the driving motor drives the reflecting column to horizontally rotate in the vertical direction;
the sweeping and cooling structure comprises a compressed gas injection device and brushes positioned on two sides of a gas injection port of the compressed gas injection device, and the brushes are in contact with the outer diameter of the reflection column;
a temperature detection device fixed to the upper end cap;
and the controller is arranged in the electric cabinet and is connected with the driving motor, the gearbox, the compressed gas injection device and the temperature detection device.
Furthermore, a left upright column and a right upright column are arranged on one side of the supporting column close to the reflecting column, the left upright column and the right upright column are respectively provided with the hair brush, an airflow adjusting plate is arranged between the left upright column and the right upright column, and the airflow adjusting plate is connected with an air jet orifice of the compressed air injection device.
Further, the brush is installed on the left and right upright posts through a spring.
Furthermore, a lower tray at the bottom of the reflecting column is connected with a bottom supporting platform through a rotating bearing, a bearing seat of the rotating bearing is inverted T-shaped and penetrates through the bottom supporting platform from bottom to top to be connected with the lower tray,
furthermore, an adjustable supporting shaft is arranged on the bottom supporting platform and used for adjusting the axial height of the rotary bearing, and a positioning pin shaft used for locking the adjustable supporting shaft is further arranged on the bottom supporting platform.
Furthermore, the reflecting column and the supporting column are fixed by a special mounting and fixing plate,
the left side of the special installation fixing plate is provided with four waist-shaped holes for external installation and fixation, the middle of the special installation fixing plate is provided with two longer waist-shaped holes for installation and fixation of the reflecting column and the supporting column, the right side of the special installation fixing plate is provided with four holes close to the right side for installation and fixation of the external wiring terminal box, and the rightmost side of the special installation fixing plate is provided with two holes for installation and fixation of the compressed gas injection device.
Further, the device also comprises an external parameter setting handheld device which is connected with a controller of the upper electric cabinet through a circuit;
an electric driving device for driving the driving motor is arranged in the upper electric cabinet.
The working principle of the invention is as follows: the special controller application program controls the electric driving device, the electric driving device drives the motor and the micro gearbox thereof, and the micro gearbox drives the reflecting column to rotate through the output shaft. In the rotating process of the reflecting column, the compressed air blowing and cooling system is synchronously started, the special brush is in contact with the surface of the reflecting column, and the special brush removes dust and garbage on the surface of the reflecting column. Meanwhile, high-pressure compressed air with certain pressure sweeps dust on the surfaces of the special brush and the reflecting column, so that the aims of sweeping the dust and cooling the device body are fulfilled.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a diagram of the main components of an intelligent laser positioning and guiding device provided by the present invention;
FIG. 2 is an installation view of the intelligent laser positioning and guiding device body;
FIG. 3 is a schematic diagram of the operation of the purge cooling configuration;
fig. 4 is a schematic diagram of a structure of a dedicated mounting and fixing plate.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
The invention provides an intelligent laser positioning guiding device, wherein a device body 60 can be divided into three parts, as shown in figure 1, the first part is an upper end part A, mainly an upper electric cabinet 10 part, and the upper electric cabinet 10 is provided with a bottom plate 1, an upper cover plate 11, a special driving motor 15, a micro gearbox 14, a special controller 18, an electric driving device 19, a temperature detection device 20, a position detection device 21, a monitoring device 22 and the like. The shell parts of the upper electric cabinet 10 are connected by bolts and combined to form a closed mechanical structure for protecting the electric control system, the power system, the sensing detection system and other core components on the device body.
With reference to fig. 1, the second part of the apparatus body 60 includes the main mechanism components of the reflection column, such as the upper end cover 2, the lower tray 3, the reflection column 12, the left upright 6, the middle upright 7, the right upright 8, the air flow adjusting plate 9, the special brush 13, and the rotary bearing 16. Wherein the reflective column 12 is fixedly installed between the upper end cover 2 and the lower tray 3. The special brush 13 is fixed between the middle upright post 7 and the left upright post 6 and the right upright post 8, adopts a double-brush structure, and the contact force between the special brush and the reflection post 12 can be adjusted by a spring. The air flow adjusting plate 9 is fixed on the middle upright post 7 by bolts. Compressed air for blowing and cooling cleans and cools the reflecting column 12 and the special brush 13 through the right upright post 8, the middle upright post 7 and the airflow adjusting plate 9, so that double effects of blowing dust and cooling are achieved, the airflow direction and airflow pressure of the compressed air can be adjusted through the adjusting plate 9, and blowing and cooling effects are guaranteed as shown in figure 3.
In a specific embodiment, the application program automatically controls the special driving motor 15 to rotate for a certain time in one direction, the compressed air purging and cooling control system is synchronously started, and the compressed air purges and cools the surface of the reflection column 12 and the special brush 13 while the special brush 13 cleans the surface of the reflection column 12, so that the self-cleaning and self-cooling of the device body are realized. After the short-time stopping and reversing, the special driving motor 15 runs for a certain time in the opposite direction and stops at the set stop position, and a running period is completed.
The third part of the device body mainly comprises a supporting platform 4, an adjustable supporting shaft 5, a positioning pin shaft 17 and the like, wherein the adjustable supporting shaft 5 is fixed on the supporting platform 4 through a threaded structure, and the positioning pin shaft 17 is fixed on the adjustable supporting shaft 5 through a threaded structure. 8 positioning counter bores are formed in the supporting platform 4, and the positioning pin shaft 17 can lock the adjustable supporting shaft 5 at different angles conveniently.
The special brush 13 for the body part of the device is moderate in hardness, the brush with soft hardness is difficult to effectively clean dust accumulated on the surface of the reflection column 12, and the brush with hard hardness can damage a reflection film on the surface of the reflection column 12, so that the positioning accuracy of the reflection column 12 is influenced.
The reflecting film used by the reflecting column 12 of the body part of the device has the advantages of no directional selection of light source reflection, wide reflection angle, simple film pasting industry and long service life.
The contact force between the special brush 13 of the device body and the reflection column 12 is adjusted by a group of springs, the adjustment force is moderate, if the contact force between the special brush and the reflection column is adjusted to be smaller, the effect of cleaning the surface of the reflection column 12 is poor, and the dust on the surface of the reflection column 12 is difficult to effectively clean. If the contact force is adjusted to be larger, the high-precision reflecting film is abraded when the surface of the reflecting column 12 is cleaned, the surface aging of the reflecting column 12 is accelerated, and the service life of the reflecting column is shortened.
The lower tray 3 of the device body is arranged on an adjustable supporting shaft and rotates along with the reflecting column 12 through a rotating bearing 16. The height of the lower tray 3 can be adjusted by the adjustable support shaft 5 in the vertical direction, and the levelness can be adjusted by the rotary bearing 16 in the horizontal direction.
The device body reference platform 4 is configured with mechanical and electrical system interfaces and installation and fixation modes thereof, such as an electrical control interface, a communication setting interface, a special driving motor 15 installation and fixation mode, a special controller 18 fixation mode, a sensing detection device installation and fixation mode and the like, so that the device body reference platform is compact in structure and convenient to machine and maintain.
The special installation fixing plate 23 for the device adopts a galvanized plate as a main body material, is convenient for on-site welding construction, and has strong corrosion resistance. The main structure of the special mounting and fixing plate 23 is divided into four areas, four waist-shaped holes in the left area are external connecting and fixing positions, the device is connected through bolts or welded for field mounting and use, and the four waist-shaped holes can provide vertical position adjustment for the device in the vertical direction during mounting.
The middle area of the special installation fixing plate 23 for the device is the installation position of the device body 60, two waist-shaped holes with the length of 42mm in the horizontal direction are adopted, and the installation holes can provide left and right position adjustment for the installation of the device body in the horizontal direction. The right side area adjacent to the right side area is an installation position of an external wiring terminal box 25, 4 screw holes are adopted for installation and fixation, and a wiring terminal box body adopts a waterproof aluminum box, so that the phenomenon that on-site dust, high temperature, rainwater and the like enter an electrical system to cause abnormal operation of the device is avoided. The rightmost region is the fixed location for the compressed air purge cooling control device 24.
The device special controller 18 and the electric driving device 19 form a microcomputer control system, the microcomputer control system is developed and designed by adopting an industrial grade 32-bit ARM nuclear semiconductor chip, the control function is strong, the data processing capacity is strong, the device has the functions of remote control and on-site automatic control, and the core control parameters mainly comprise the motor rotation direction, the rotation time, the rotation interval period and the like.
The invention is also provided with a device parameter setting handheld device 27 which is connected with the controller 18 and is used for setting key operation parameters of a microcomputer control system of the device, meeting the use of the device under different field working conditions, configuring a temperature detection control algorithm and adaptively adjusting the key operation parameters according to the environmental temperature conditions.
The device body temperature detection device 20 is used for monitoring the operating environment temperature of the device in real time, automatically adjusting the operating parameters of the microcomputer control system of the device according to the real-time temperature state, and cooling the device body in time.
The device body position detection device 21 is used for monitoring the running state of the rotating mechanism of the device in real time and controlling the stop position of the rotating mechanism.
The device body position monitoring device 22 is used for monitoring the running state conditions of key components such as the power supply state of the device, the running state of a control system, the running state of a special driving motor and the like in real time.
The device for Bao steel and a certain blast furnace on-site implementation process comprises the following steps:
(1) and the special installation fixing plate 23 for the device is installed and fixed by using a field steel structure bracket in a mode of connecting four M8 bolts or welding.
(2) The device body 60 is fixed on the special mounting fixing plate 23 by adopting 4M 5 bolts.
(3) The external wiring of the terminal block 25 connected to the mounting fixing plate 23 includes an external power supply terminal and a signal terminal, wherein the external power supply terminal is a field DC power supply DC24V, and the signal terminal is a remote communication control signal.
(4) An aviation plug connecting the device body 60 and the terminal block 25.
(5) A compressed air conveying pipe network communicated with the outside of the device and a high-pressure rubber hose 26 connected between the compressed air blowing and cooling control device 24 and the device body 60.
(6) The power switch on the terminal block 25 is turned on, and the operation is put into practice.
The device is practically applied to a certain blast furnace front automation project of Bao steel, and the use effect is good after the practical field use and inspection. The device completely meets the laser automatic navigation positioning guide requirement of the material handling trolley, the positioning precision of the material handling trolley is obviously improved after the device is used, and the service life of the device is more than 3 times that of the prior art.
The device provided by the invention aims to solve the problem of the laser automatic navigation and positioning precision of the intelligent material handling trolley in the severe production environment such as high temperature, dust, toxic and harmful substances in front of a certain blast furnace in the steel metallurgy industry. Practice proves that the device can be completely used in a poor or even severe environment, and the problem of poor laser navigation and positioning precision of the material handling trolley used in high-temperature and dust industries such as mines, cement, metallurgy and the like is effectively solved. In the 4.0 era of the current intelligent manufacturing and unmanned industrial production, the device has very wide market application prospect and very high popularization value and economic benefit.
The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (7)
1. An intelligent laser positioning guide device, comprising:
the reflecting column (12) is longitudinally arranged between the upper electric cabinet (10) and the bottom supporting platform (4), a driving motor (15) is arranged in the upper electric cabinet (10), the driving motor (15) is connected with a rotating shaft of the reflecting column (12) through a gearbox (14), and the driving motor (15) drives the reflecting column (12) to horizontally rotate in the vertical direction;
the supporting column is fixed between the upper electric cabinet (10) and the bottom supporting platform (4) and is positioned on the rear side of the reflecting column (12), a purging and cooling structure is fixed on the supporting column, the purging and cooling structure comprises a compressed gas injection device and brushes (13) positioned on two sides of a gas injection port of the compressed gas injection device, and the brushes (13) are in contact with the outer diameter of the reflecting column (12);
the temperature detection device (20) is fixed on the lower surface of the bottom plate (1) of the electric cabinet (10);
and the controller (18) is arranged in the electric cabinet (10) and is connected with the driving motor (15), the gearbox (14), the compressed gas injection device and the temperature detection device (20).
2. The intelligent laser positioning and guiding device as claimed in claim 1, wherein a left column and a right column are provided on the side of the supporting column near the reflection column (12), the left column and the right column are respectively provided with the brush (13), an air flow adjusting plate (9) is provided between the left column and the right column, and the air flow adjusting plate (9) is connected with the gas injection port of the compressed gas injection device.
3. The intelligent laser positioning and guiding device as claimed in claim 1, wherein the brush (13) is mounted on the left and right posts by a spring.
4. The intelligent laser positioning and guiding device as claimed in claim 1, wherein the lower tray (3) at the bottom of the reflecting column (12) is connected with the bottom supporting platform (4) through a rotating bearing (16), and a bearing seat of the rotating bearing (16) is inverted T-shaped and penetrates through the bottom supporting platform (4) from bottom to top to be connected with the lower tray (3).
5. The intelligent laser positioning and guiding device as claimed in claim 4, wherein an adjustable supporting shaft (5) is arranged on the bottom supporting platform (4), the adjustable supporting shaft (5) is used for adjusting the axial height of the rotating bearing (16), and a positioning pin shaft (17) used for locking the adjustable supporting shaft (5) is further arranged on the bottom supporting platform (4).
6. The intelligent laser positioning and guiding device as claimed in claim 1, wherein the reflection column (12) and the supporting column are fixed by a special mounting and fixing plate,
the left side of the special installation fixing plate is provided with four waist-shaped holes for external installation and fixation, the middle of the special installation fixing plate is provided with two longer waist-shaped holes for installation and fixation of the reflecting column and the supporting column, the right side of the special installation fixing plate is provided with four holes close to the right side for installation and fixation of the external wiring terminal box (25), and the rightmost side of the special installation fixing plate is provided with two holes for installation and fixation of the compressed gas injection device (24.
7. The intelligent laser positioning and guiding device as claimed in claim 1, further comprising an external parameter setting handset (27) connected to the controller (18) of the upper electric cabinet (10) by a wire;
an electric driving device (19) for driving the driving motor (15) is arranged in the upper electric cabinet (10).
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| CN201911396954.8A CN111026132B (en) | 2019-12-30 | 2019-12-30 | Intelligent laser positioning guiding device |
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| CN201911396954.8A CN111026132B (en) | 2019-12-30 | 2019-12-30 | Intelligent laser positioning guiding device |
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| CN111026132A true CN111026132A (en) | 2020-04-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112284301A (en) * | 2020-11-17 | 2021-01-29 | 北京城建集团有限责任公司 | Verticality detection system with telescopic circular pipe column circle center self-positioning function |
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