CN209039041U - A kind of train truss load crane-pipe based on 3D machine vision - Google Patents
A kind of train truss load crane-pipe based on 3D machine vision Download PDFInfo
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- CN209039041U CN209039041U CN201821129814.5U CN201821129814U CN209039041U CN 209039041 U CN209039041 U CN 209039041U CN 201821129814 U CN201821129814 U CN 201821129814U CN 209039041 U CN209039041 U CN 209039041U
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Abstract
The utility model discloses a kind of train truss load crane-pipes based on 3D machine vision, belong to tank mouth connection equipment technical field, comprising: light source, the 3D NI Vision Builder for Automated Inspection being fixed on bracket, truss, walking dolly, the power device for driving walking dolly to move along the walking of truss direction, lifting device, oil filling riser, sealing cover, microprocessor, industrial personal computer.The beneficial effects of the utility model are: the utility model can make oil filling riser realize precisely contraposition to target tank mouth, manual operation bring maloperation risk is reduced.And position aligning time is greatly shortened, labor intensity is reduced, is improved labor efficiency, and improves sealing effect.It is simple that automatic updating transformation is done on the basis of original oil filling riser, consistent effective, plant maintenance point is few, and it is big to invest small income.
Description
Technical field
The utility model relates to tank mouth connection equipment technical field, in particular to a kind of train purlins based on 3D machine vision
Rack-mounted vehicle oil filling riser.
Background technique
The truss-like oil filling riser that traditional train loading arm generally uses is using air motor or explosion-proof servo motor driving row
Walking trolley drives the oil filling riser being mounted on walking dolly and oil filling riser lifting device to walk above tank car along truss track, manually
Operation Pneumatic valve or electric cabinet control operating, steering and the stopping of trundle to realize the alignment with tank car tank mouth, due to people
The range estimation of member and the error of operation are wanted repeated multiple times forward and reverse crawl operation, could be precisely directed to oil filling riser in tank car tank mouth
Center.If contraposition is inaccurate, it will cause decentralization oil filling riser sealing cover that tank mouth cannot be completely covered, live oil gas volatilization causes safety
Hidden danger.
Chinese patent 201721024497.6 discloses a kind of based on laser distance sensor or ultrasonic distance sensor
Detection identification is carried out to train tank mouth, and realizes the train truss load crane of automatic aligning by controllers such as PLC or single-chip microcontrollers
Pipe.The patent efficiently solves the error problem of manual operation contraposition.But the alignment mode need to drive oil filling riser tank mouth not
Carry out detection scanning in the state of knowing, there is still a need for moving back and forth alignment after the scanning confirmation of target tank mouth, the cycle of operation long efficiency compared with
Low, aligning accuracy is not high.Controller logic design is complicated, since target tank mouth needs artificially to sentence relative to the position of oil filling riser
It is disconnected, however it remains the risk of artificial incorrect operation.
Chinese patent 201320026014.1 discloses a kind of big oil filling riser based on laser positioning and visual sensor technology
Automatic contraposition device.This utility model patent technology is positioned by means of laser assisted, by being in Laser emission to tank mouth
Industrial camera provides scale, then carries out picture catching identification to tank mouth by industrial camera, and simultaneously full-automatic contraposition is not implemented in which
Operation, it is still necessary to manually implement the identification positioning of train tank mouth using laser aiming industrial camera.And the location technology is applied in fire
On the big oil filling riser of recessing vehicle entrucking, the train truss-like entrucking oil filling riser of the entrucking form and technique of big oil filling riser and this application has essence
Difference.
Utility model content
For the comprehensively solve above problem, in particular for deficiency of the prior art, the utility model provides one
Kind novel lathe device being capable of the comprehensively solve above problem.
To achieve the above object, the utility model uses following technological means:
A kind of train truss load crane-pipe based on 3D machine vision, comprising: light source, the 3D machine being fixed on bracket view
Feel system, truss, walking dolly, the power device for driving walking dolly to move along the walking of truss direction, lifting device, crane
Pipe, sealing cover, microprocessor, industrial personal computer, the light source are set to 3D NI Vision Builder for Automated Inspection side and connect with bracket, the truss
It is set to above target tank mouth, the walking dolly is equipped with the limit switch connecting with industrial personal computer, and the limit switch includes
The front in walking carriage walking direction, the limit switch B is arranged in limit switch A and limit switch B, the limit switch A
The rear in walking carriage walking direction is set, and the lifting device is set on walking dolly and as walking dolly is along purlin
The walking movement of frame direction, the oil filling riser are set to lifting device bottom end and connect with lifting device, and the sealing cover is set to lifting
It is connect on device with lifting device, lower position switch and laser distance sensor, the 3D machine is provided on the sealing cover
Vision system is connect with microprocessor, the industrial personal computer respectively with power device, lifting device, microprocessor, limit switch A,
Limit switch B, lower position switch, laser distance sensor connection.
Further, the light source is LED light source, optical fiber halogen light source or high-frequency florescent lamp.
Further, the 3D NI Vision Builder for Automated Inspection is to be integrated with CCD the or CMOS integrated industrial camera of microprocessor.
Further, the lifting device is the device or power device driving multi-joint mechanical arm of vertical lift.
Further, the device of the vertical lift is that PLC controls hydraulic synchronization top, and the power device drives multi-joint
Mechanical arm is the two-link robotic manipulator automatic industrial mechanical arm for being equipped with drive and control of electric machine.
Further, the power device is air motor with encoder or explosion-proof servo motor.
Further, the truss is to be parallel to rail or edge-on truss.
Further, the microprocessor is DS89C430 Series of MCU.
Further, the industrial personal computer is PLC or single-chip microcontroller.
The beneficial effects of the utility model are: the utility model can make oil filling riser realize precisely contraposition, drop to target tank mouth
Low manual operation bring maloperation risk.And position aligning time is greatly shortened, labor intensity is reduced, improves labour effect
Rate, and improve sealing effect.It is simple that automatic updating transformation is done on the basis of original oil filling riser, consistent effective, plant maintenance
Point is few, and it is big to invest small income.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model embodiment one.
Fig. 2 is the structural schematic diagram of the utility model embodiment two.
Fig. 3 is the structure chart of the utility model vision system.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Embodiment one
As shown in figures 1 and 3, a kind of train truss load crane-pipe based on 3D machine vision, comprising: light source 1 is fixed on
3D NI Vision Builder for Automated Inspection 2 on bracket 3 is parallel to rail 10, walking dolly 4, driving walking dolly 4 along being parallel to rail 10
Device 5, the oil filling riser 7, sealing cover 8, microprocessor 11, industrial personal computer 12 of the mobile power device 6 of direction walking, vertical lift, institute
It states light source 1 and is set to 2 side of 3D NI Vision Builder for Automated Inspection and connect with bracket 3, the rail 10 that is parallel to is set in target tank mouth 9
Side, the walking dolly 4 are equipped with the limit switch that connect with industrial personal computer 12, the limit switch include limit switch A41 with
The front of 4 direction of travel of walking dolly, the limit switch B42 setting is arranged in limit switch B42, the limit switch A41
At the rear of 4 direction of travel of walking dolly, the device 5 of the vertical lift is set on walking dolly 4 and with walking dolly 4
It is moved along the walking of 10 direction of rail is parallel to, the oil filling riser 12 is set to 5 bottom end of device and the vertical lift of vertical lift
Device 5 connects, and the sealing cover 8 is set on the device 5 of vertical lift and connect with the device of vertical lift 5, the sealing cover 8
On be provided with lower position switch 81 and laser distance sensor 82, the 3D NI Vision Builder for Automated Inspection 2 is connect with microprocessor 11, institute
State industrial personal computer 12 respectively with power device 6, vertical lift device 5, microprocessor 11, limit switch A41, limit switch B42,
Lower position switch 81, laser distance sensor 82 connect.
3D NI Vision Builder for Automated Inspection 2 is used to identify locator as target tank mouth 9.Daytime using natural light as light conditions,
Front illumination is carried out with light source 1 in the case of night or dark.Use industrial personal computer 12 as controller, uses configuration code device
Walking dolly 4.Using limit switch A41, limit switch B42, laser distance sensor 82 is passed as the position of walking dolly 4
Sensor.Using oil filling riser 7 as filling device.NI Vision Builder for Automated Inspection 2 first can be acquired the image of tank car, then to target tank
Mouth 9 is identified and positioned.The information of acquisition is sent to microprocessor 11 and is calculated and obtain target by NI Vision Builder for Automated Inspection 2
Coordinate value is saved and sends industrial personal computer 12 to by the world coordinates at 9 center of tank mouth, microprocessor 11.Industrial personal computer 12 passes through tune
It with the coordinate value, makes corresponding kinematics and decomposes, driving walking dolly 4 moves to target position.Laser on sealing cover 8 away from
From sensor 82 can the position to oil filling riser 7 detect and feedback signal, confirmation oil filling riser 7 is aligned with target tank mouth 9.Industrial personal computer 12
The device 5 of driving vertical lift declines, when sealing cover 8 drops to 81 set distance of lower position switch with oil filling riser 7, then vertical to rise
The device 5 of drop stops decline, and waiting entrucking is completed in the confirmation contraposition of industrial personal computer 12.After oil product is filling, the device 5 of vertical lift
Rise, walking dolly 4 returns to initial position, and entire entrucking process terminates.
Embodiment two
As shown in Figures 2 and 3, a kind of train truss load crane-pipe based on 3D machine vision, comprising: light source 1 is fixed on
3D NI Vision Builder for Automated Inspection 2, edge-on truss 10, walking dolly 4, driving walking dolly 4 on bracket 3 is along edge-on 10 direction of truss
Mobile power device 6, the power device of walking drive multi-joint mechanical arm 5, oil filling riser 7, sealing cover 8, microprocessor 11, industrial personal computer
12, the light source 1 is set to 2 side of 3D NI Vision Builder for Automated Inspection and connect with bracket 3, and the edge-on truss 10 is set to target tank mouth
9 tops, the walking dolly 4 are equipped with the limit switch connecting with industrial personal computer 12, and the limit switch includes limit switch A41
The front of 4 direction of travel of walking dolly is set with limit switch B42, the limit switch A41, the limit switch B42 is set
It sets at the rear of 4 direction of travel of walking dolly, the power device driving multi-joint mechanical arm 5 is set on walking dolly 4 simultaneously
As walking dolly 4 is moved along the walking of edge-on 10 direction of truss, the oil filling riser 12 is set to power device driving multi-joint machine
5 bottom end of tool arm is connect with power device driving multi-joint mechanical arm 5, and the sealing cover 8 is set to power device driving multi-joint
It is connect on mechanical arm 5 with power device driving multi-joint mechanical arm 5, lower position switch 81 is provided on the sealing cover 8 and is swashed
Electrical distance sensor 82, the 3D NI Vision Builder for Automated Inspection 2 are connect with microprocessor 11, the industrial personal computer 12 respectively with power device
6, power device driving multi-joint mechanical arm 5, microprocessor 11, limit switch A41, limit switch B42, lower position switch 81,
Laser distance sensor 82 connects.
3D NI Vision Builder for Automated Inspection 2 is used to identify locator as target tank mouth 9.Daytime using natural light as light conditions,
Front illumination is carried out with light source 1 in the case of night or dark.Use industrial personal computer 12 as controller, uses configuration code device
Walking dolly 4.Using limit switch A41, limit switch B42, laser distance sensor 82 is passed as the position of walking dolly 4
Sensor.Using oil filling riser 7 as filling device.NI Vision Builder for Automated Inspection 2 first can be acquired the image of tank car, then to target tank
Mouth 9 is identified and positioned.The information of acquisition is sent to microprocessor 11 and is calculated and obtain target by NI Vision Builder for Automated Inspection 2
Coordinate value is saved and sends industrial personal computer 12 to by the world coordinates at 9 center of tank mouth, microprocessor 11.Industrial personal computer 12 passes through tune
It with the coordinate value, makes corresponding kinematics and decomposes, driving walking dolly 4 moves to target position.Laser on sealing cover 8 away from
From sensor 82 can the position to oil filling riser 7 detect and feedback signal, confirmation oil filling riser 7 is aligned with target tank mouth 9.Industrial personal computer 12
Driving power device drives multi-joint mechanical arm 5 to decline, when sealing cover 8 and oil filling riser 7 drop to 81 set distance of lower position switch
When, then power device driving multi-joint mechanical arm stops decline, and waiting entrucking is completed in the confirmation contraposition of industrial personal computer 12.Oil product is filled
Bi Hou, power device drive multi-joint mechanical arm 5 to rise, and walking dolly 4 returns to initial position, and entire entrucking process terminates.
The utility model and embodiments thereof are described above, this description is no restricted, shown in attached drawing
Be also one of the embodiments of the present invention, actual structure is not limited to this.All in all if this field
Those of ordinary skill is enlightened by it, without deviating from the purpose of the present invention, not inventively design with
The similar frame mode of the technical solution and embodiment, all should belong to the protection range of the utility model.
Claims (9)
1. a kind of train truss load crane-pipe based on 3D machine vision characterized by comprising light source is fixed on bracket
3D NI Vision Builder for Automated Inspection, truss, walking dolly, driving walking dolly along truss direction walking move power device, rise
Falling unit, oil filling riser, sealing cover, microprocessor, industrial personal computer, the light source is set to 3D NI Vision Builder for Automated Inspection side and bracket connects
It connects, the truss is set to above target tank mouth, and the walking dolly is equipped with the limit switch connecting with industrial personal computer, the limit
Bit switch includes limit switch A and limit switch B, and the front in walking carriage walking direction is arranged in the limit switch A, described
The rear in walking carriage walking direction is arranged in limit switch B, and the lifting device is set on walking dolly and with walking
Trolley is moved along the walking of truss direction, and the oil filling riser is set to lifting device bottom end and connect with lifting device, the sealing cover
It is set on lifting device and is connect with lifting device, be provided with lower position switch and laser distance sensor on the sealing cover,
The 3D NI Vision Builder for Automated Inspection is connect with microprocessor, the industrial personal computer respectively with power device, lifting device, microprocessor,
Limit switch A, limit switch B, lower position switch, laser distance sensor connection.
2. a kind of train truss load crane-pipe based on 3D machine vision according to claim 1, which is characterized in that described
Light source is LED light source, optical fiber halogen light source or high-frequency florescent lamp.
3. a kind of train truss load crane-pipe based on 3D machine vision according to claim 1, which is characterized in that described
3D NI Vision Builder for Automated Inspection is to be integrated with CCD the or CMOS integrated industrial camera of microprocessor.
4. a kind of train truss load crane-pipe based on 3D machine vision according to claim 1, which is characterized in that described
Lifting device is the device or power device driving multi-joint mechanical arm of vertical lift.
5. a kind of train truss load crane-pipe based on 3D machine vision according to claim 4, which is characterized in that described
The device of vertical lift is that PLC controls hydraulic synchronization top, and the power device driving multi-joint mechanical arm is to be equipped with motor driven
The two-link robotic manipulator automatic industrial mechanical arm of control.
6. a kind of train truss load crane-pipe based on 3D machine vision according to claim 1, which is characterized in that described
Power device is air motor with encoder or explosion-proof servo motor.
7. a kind of train truss load crane-pipe based on 3D machine vision according to claim 1, which is characterized in that described
Truss is to be parallel to rail or edge-on truss.
8. a kind of train truss load crane-pipe based on 3D machine vision according to claim 1, which is characterized in that described
Microprocessor is DS89C430 Series of MCU.
9. a kind of train truss load crane-pipe based on 3D machine vision according to claim 1, which is characterized in that described
Industrial personal computer is PLC or single-chip microcontroller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821129814.5U CN209039041U (en) | 2018-07-17 | 2018-07-17 | A kind of train truss load crane-pipe based on 3D machine vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821129814.5U CN209039041U (en) | 2018-07-17 | 2018-07-17 | A kind of train truss load crane-pipe based on 3D machine vision |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111762748A (en) * | 2020-07-10 | 2020-10-13 | 连云港华恒石化设备制造有限公司 | Train cantilever loading crane pipe based on 3D machine vision |
| CN113501487A (en) * | 2021-06-02 | 2021-10-15 | 深圳市奥图威尔科技有限公司 | Full-automatic alignment resetting method of fluid loading and unloading arm |
| CN113800460A (en) * | 2021-09-27 | 2021-12-17 | 深圳市奥图威尔科技有限公司 | Automatic loading control method and control device for loading crane pipe |
| CN113838148A (en) * | 2021-10-08 | 2021-12-24 | 中科海拓(无锡)科技有限公司 | Automatic positioning method of oil filling riser oil loading and unloading device based on machine vision |
-
2018
- 2018-07-17 CN CN201821129814.5U patent/CN209039041U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111762748A (en) * | 2020-07-10 | 2020-10-13 | 连云港华恒石化设备制造有限公司 | Train cantilever loading crane pipe based on 3D machine vision |
| CN111762748B (en) * | 2020-07-10 | 2021-02-05 | 连云港华恒石化设备制造有限公司 | Train cantilever loading crane pipe based on 3D machine vision |
| CN113501487A (en) * | 2021-06-02 | 2021-10-15 | 深圳市奥图威尔科技有限公司 | Full-automatic alignment resetting method of fluid loading and unloading arm |
| CN113800460A (en) * | 2021-09-27 | 2021-12-17 | 深圳市奥图威尔科技有限公司 | Automatic loading control method and control device for loading crane pipe |
| CN113838148A (en) * | 2021-10-08 | 2021-12-24 | 中科海拓(无锡)科技有限公司 | Automatic positioning method of oil filling riser oil loading and unloading device based on machine vision |
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