CN210557460U - Rail mounted discharge apparatus based on image recognition automatic positioning - Google Patents
Rail mounted discharge apparatus based on image recognition automatic positioning Download PDFInfo
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- CN210557460U CN210557460U CN201920519727.9U CN201920519727U CN210557460U CN 210557460 U CN210557460 U CN 210557460U CN 201920519727 U CN201920519727 U CN 201920519727U CN 210557460 U CN210557460 U CN 210557460U
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Abstract
The utility model discloses a rail mounted discharge apparatus based on image recognition automatic positioning, including positioning system, and set up the tripper on the guide rail, the tripper sets up on the guide rail, set up the gray generating line in the lower part of guide rail, set up the encoder locator on the gray generating line that corresponds each loading and unloading material operation work position, set up gray generating line locator in the bottom of walking the automobile body, set up the level detector on the upper portion of walking the automobile body, set up the image locator in the track lower part that corresponds each loading and unloading material operation work position, the encoder locator, gray generating line locator, the level detector, image locator and gray generating line are connected with central processing controller respectively, central processing controller then sets up in the workshop control room. The utility model discloses an intelligent management control operation, the location is accurate, accomplishes and connects material, pay-off automation, can satisfy different production line transport demands, has reduced manual operation, improves work efficiency, is favorable to reducing the cost in business and improves production handling efficiency.
Description
Technical Field
The utility model belongs to the technical field of dummy car automatic positioning, supervision, concretely relates to automatic management degree is high, moves reliable and stable rail mounted discharge apparatus based on image recognition automatic positioning.
Background
At present, the relatively advanced control of the discharging trolley is realized in a remote control mode in a central control room, and the judgment of the arrival of the trolley at a target bin position and the bin replacement is based on an indication signal of a bin position signal lamp on an operation table. The signal of the indicator light is obtained by installing one or several proximity switches (or limit switches) beside each cabin in the field. The specific operation is that a limit switch is arranged at each stock bin/ore groove, and the position signals of a plurality of points provided by the limit switch are utilized to carry out remote control in a special operating room; the most direct control is that the unloading of the storage bins is realized by manually controlling the unloading trolley, a post operator observes the material level of each storage bin through human eyes, and drives the trolley to a reasonable storage bin for unloading according to the requirement; potential safety hazards such as failure, vehicle sliding and the like exist after the limit switch used in the mode is frequently operated; moreover, the loading and unloading site environment is extremely poor, the dust and noise seriously affect the health of post operators, and people are not suitable for long-term on-site attendance.
Therefore, the key to solve the problem is to develop and design a novel material loading and unloading tool which has high automation management degree and stable and reliable operation.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an automatic change management degree height, move reliable and stable based on image recognition automatic positioning's rail mounted discharge apparatus.
The purpose of the utility model is realized like this: the automatic lifting device comprises a positioning system and a discharging trolley arranged on a guide rail, wherein the discharging trolley is arranged on the guide rail and comprises a self-propelled vehicle body, lifters and a lifting frame, four lifters are arranged on the self-propelled vehicle body, supporting ball seats are arranged at the tops of the lifters, the lifting frame is provided with connecting ball rods corresponding to the supporting ball seats, the connecting ball rods are arranged in the supporting ball seats and are in movable fit with the supporting ball seats, so that the connecting ball rods can move on the supporting ball seats along the horizontal sagittal axis and rotate inwards and outwards along the vertical axis; the positioning system comprises an encoder positioner, a gray bus positioner, a level detector, a figure shadow positioner and a gray bus which are respectively connected with a central processing controller, the gray bus is arranged at the lower part of the guide rail, the encoder positioner corresponds to each loading and unloading operation working position and is arranged on the gray bus, the gray bus positioner is arranged at the bottom of the self-propelled vehicle body, the level detector is arranged on the lifting frame, the figure shadow positioner corresponds to each loading and unloading operation working position and is arranged at the lower part of the track, and the central processing controller is arranged in a workshop control room.
Has the advantages that: the utility model adopts the intelligent management control operation of the intelligent control device, can realize the butt joint of different work positions, completes the automation of material receiving and feeding, can make straight line turning and backing a car during operation, and can identify operation at a switch, has strong bearing capacity, and can carry products with various specifications; the Gray bus navigation is adopted, the positioning is accurate, the running speed is high, the carrying efficiency is greatly improved, the manual operation is reduced, and the working efficiency is improved; the automobile body integration sets up, and the automobile body can independently turn to, and appearance design is reasonable effective, receives the space restriction low, and the operation is stable, the expansibility is strong, simple structure, cost are lower, and it is stronger to handle bearing capacity, and improves the flexible performance and the environmental suitability of loading and unloading operation greatly, and the operating space occupies for a short time, can satisfy different production line transport demands, is favorable to reducing the cost of enterprise and improves production handling efficiency.
Drawings
Fig. 1 is a schematic structural view of the present invention;
3 FIG. 3 2 3 is 3 a 3 schematic 3 cross 3- 3 sectional 3 view 3 taken 3 along 3 line 3 A 3- 3 A 3 of 3 FIG. 3 1 3; 3
FIG. 3 is an enlarged view of portion B of FIG. 1;
fig. 4 is a schematic top view of the present invention;
fig. 5 is a schematic structural diagram of the middle positioning system of the present invention;
reference numbers in the figures: 1-guide rail, 2-self-propelled vehicle body, 3-self-propelled drive, 4-lifter, 5-lifting frame, 6-supporting ball seat, 7-connecting ball rod, 8-intelligent control device, 9-central processing controller, 10-encoder positioner, 11-gray bus positioner, 12-material level detector, 13-image positioner, 14-gray bus, 15-adjusting support rod, 16-material box, 17-anti-collision sensor, 18-obstacle sensor, 19-safety rod and 20-electronic weighing device.
Detailed Description
The present invention will be further described with reference to the following examples, which are not intended to limit the invention in any way, and any alterations and substitutions based on the teachings of the present invention are all within the scope of the present invention.
The rail type unloading device based on image recognition automatic positioning shown in the attached figures 1-5 comprises a positioning system and an unloading trolley arranged on a guide rail 1, wherein the unloading trolley is arranged on the guide rail 1 and comprises a self-propelled vehicle body 2, lifters 4 and a lifting frame 5, the self-propelled vehicle body 2 is provided with four lifters 4, the top of each lifter 4 is provided with a supporting ball seat 6, the lifting frame 5 is provided with a connecting ball rod 7 corresponding to each supporting ball seat 6, the connecting ball rod 7 is arranged in the supporting ball seats 6, and the connecting ball rod 7 is in movable fit with the supporting ball seats 6 so that the connecting ball rod 7 can move on the supporting ball seats 6 along the horizontal sagittal axis and rotate in and out along the vertical axis; the positioning system comprises an encoder positioner 10, a gray bus positioner 11, a level detector 12, a figure shadow positioner 13 and a gray bus 14 which are respectively connected with a central processing controller 9, the gray bus 14 is arranged at the lower part of a guide rail 1, the encoder positioner 10 is arranged on the gray bus 14 corresponding to each loading and unloading operation working position, the gray bus positioner 11 is arranged at the bottom of a self-propelled vehicle body 2, the level detector 12 is arranged on a lifting frame 5, the figure shadow positioner 13 is arranged at the lower part of a track corresponding to each loading and unloading operation working position, and the central processing controller 9 is arranged in a workshop control room.
Support 5 both ends of lifting frame set up adjusting support rod 15 respectively, set up level detector 12 on each adjusting support rod 15, detachably sets up the material case 16 that suits with it on lifting frame 5, and material case 16 is in between two adjusting support rod 15, adjusting support rod 15 is telescopic rod structure.
The self-propelled driving device 3 of the self-propelled vehicle body 2 is a variable frequency motor, the front end and the rear end of the self-propelled vehicle body 2 are respectively provided with an anti-collision sensor 17 and an obstacle sensor 18, the anti-collision sensor 17 is arranged outside the self-propelled vehicle body in a protruding mode, and the obstacle sensor 18 is arranged above the anti-collision sensor 17.
The gray bus positioner 11 is respectively arranged at the front section and the rear section of the bottom of the self-propelled vehicle body 2, and the gray bus positioner 11 is arranged on the side edge of the self-propelled vehicle body 2.
The front end of the self-propelled vehicle body 2 is provided with an intelligent control device 8, the intelligent control device 8 is electrically connected with the self-propelled driving device 3, the lifter 4, the gray bus positioner 11, the level detector 12, the anti-collision sensor 17 and the obstacle sensor 18, and the intelligent control device 8 is provided with a communication module which is in signal transmission with the central processing controller 9.
The communication module comprises a carrier communicator, a micro-power wireless communicator, a WiFi communicator or a Bluetooth communicator.
The lifter 4 is a cylinder or a hydraulic cylinder.
The image positioner 13 is an industrial camera.
The lifting frame 5 is also provided with an electronic weighing device 20, the electronic weighing device 20 is connected with the intelligent control device 8, and the material in the material box 16 is weighed and monitored to prevent overweight.
The central processing controller 9 is a PC or a PLC with display and input functions.
The intelligent control device 8 is a PLC programmable logic controller with display and input functions.
From 2 outsides of automobile body be provided with the protecting crust, intelligent control device 8 inlays and locates on the protecting crust.
The front end and the rear end of the self-propelled vehicle body 2 are respectively provided with a bumper 19.
The utility model discloses a working method: before work, according to plant area and workshop equipment layout diagrams, a gray bus 14 is arranged at the lower part of a guide rail 1 leading to each production equipment in advance, an encoder positioner 10 is arranged on the gray bus 14 corresponding to each loading and unloading operation work position, a figure shadow positioner 13 is arranged at the lower part of a track corresponding to each loading and unloading operation work position, a gray bus positioner 11 is arranged at the bottom of a self-propelled vehicle body 2, a material level detector 12 is arranged at the upper part of the self-propelled vehicle body 2, and a running route track program of a dumping car is pre-input into an intelligent control device 8 and a central processing controller.
When the self-propelled automatic unloading vehicle works, the intelligent control device 8 starts the self-propelled driving device 3 to drive the unloading vehicle to run according to a running command, the self-propelled driving device runs on the guide rail 1 along a track, the self-propelled driving device is positioned to start parking according to feedback information of the encoder positioner 10, the Gray bus positioner 11 and the image positioner 13, two lifters 4 at the front section of the self-propelled vehicle body 2 are selected to be started to lift according to the working position condition, at the moment, each connecting ball rod 7 performs outward rotation movement in the same direction on the corresponding supporting ball seat 6 along the transverse horizontal line, the lifting frame 5 provided with the material box 16 is inclined, and unloading from the rear part of the; when the side direction unloading is needed, two lifters 4 opposite to the working position are selected to be started to lift up according to the working position condition, at the moment, each connecting ball rod 7 performs outward rotation movement in the same direction on the corresponding supporting ball seat 6 along the longitudinal horizontal line, so that the lifting frame 5 provided with the material box 16 is inclined, the self weight of the material is utilized to realize the side position unloading from the unloading trolley, and the unloading operation at different positions is met; in the working process, the types of the material tanks 16 arranged on the lifting frame 5 can be selected according to different loaded materials, namely when powdery, granular and fluid materials are loaded, the material tanks 16 with sealed peripheries and bottoms are adopted, when large plate and bar materials are loaded, the material tanks 16 with fence type are adopted, or the material tanks 16 with different heights and sizes are selected according to the weight of the loaded materials.
The Gray bus positioner 11 arranged at the bottom of the self-propelled vehicle body 2 is used for sensing a work position stop station which is set in advance, when the work position stop station is reached, the Gray bus positioner 11 feeds back a sensed signal of the encoder positioner 10, namely a stop signal to the intelligent control device 8 and the central processing controller 9, so that the dump car can be accurately stopped at each work position stop station and unloaded, the production line is in seamless fit with the material receiving and conveying platform, the material can be automatically conveyed from the production line to the dump car, or the material is automatically conveyed from the dump car to the production line, thereby obviously reducing manual intervention operation and improving the work efficiency.
In order to ensure the bidirectional driving safety of the dump truck, the self-propelled truck body 2 is also provided with an anti-collision sensor 17 and an obstacle sensor 18, so that various obstacle problems can be sensed and responded; the obstacle sensor 18 judges whether an obstacle exists in the driving direction, when the obstacle is sensed, the intelligent control device 8 or the central processing controller 9 controls the dump truck to automatically stop and wait, when the obstacle sensor 18 fails to detect the obstacle, and when the obstacle sensor accidentally encounters the obstacle, the anti-collision sensor 17 protruding out of the self-propelled truck body 2 collides with the obstacle, the self-propelled truck body 2 is protected from being damaged, and the anti-collision sensor 17 can send a signal to the intelligent control device 8 and the central processing controller 9, so that the dump truck emergently stops and immediately warns, and the failure and damage rate is effectively reduced.
Claims (10)
1. The utility model provides a rail mounted discharge apparatus based on image recognition automatic positioning, includes positioning system and sets up the tripper on guide rail (1), the tripper sets up on guide rail (1), its characterized in that: the unloading trolley comprises a self-propelled trolley body (2), lifters (4) and a lifting frame (5), wherein the self-propelled trolley body (2) is provided with four lifters (4), the top of each lifter (4) is provided with a supporting ball seat (6), the lifting frame (5) is provided with a connecting ball rod (7) corresponding to each supporting ball seat (6), the connecting ball rod (7) is arranged in the supporting ball seat (6), and the connecting ball rod (7) is movably matched with the supporting ball seats (6) to enable the connecting ball rod (7) to move on the supporting ball seats (6) along the folding and unfolding of a horizontal sagittal axis and to rotate inwards and outwards along a vertical axis; the positioning system comprises an encoder positioner (10), a gray bus positioner (11), a level detector (12), a figure shadow positioner (13) and a gray bus (14) which are respectively connected with a central processing controller (9), the gray bus (14) is arranged at the lower part of a guide rail (1), the encoder positioner (10) is arranged on the gray bus (14) corresponding to each loading and unloading operation working position, the gray bus positioner (11) is arranged at the bottom of a self-propelled vehicle body (2), the level detector (12) is arranged on a lifting frame (5), the figure shadow positioner (13) is arranged at the lower part of a track corresponding to each loading and unloading operation working position, and the central processing controller (9) is arranged in a workshop control room.
2. The rail-mounted discharging device automatically positioned based on image recognition as claimed in claim 1, wherein: support and lift frame (5) both ends set up adjusting support rod (15) respectively, set up level detector (12) on each adjusting support rod (15), detachably sets up material case (16) that suits with it on supporting and lifting frame (5), and material case (16) are in between two adjusting support rod (15).
3. The rail-mounted discharging device automatically positioned based on image recognition as claimed in claim 1, wherein: the self-propelled vehicle is characterized in that the self-propelled driving device (3) of the self-propelled vehicle body (2) is a variable frequency motor, the front end and the rear end of the self-propelled vehicle body (2) are respectively provided with an anti-collision sensor (17) and an obstacle sensor (18), the anti-collision sensor (17) is arranged outside the self-propelled vehicle body in a protruding mode, and the obstacle sensor (18) is arranged above the anti-collision sensor (17).
4. The rail-mounted discharging device automatically positioned based on image recognition as claimed in claim 1, wherein: gray bus line locator (11) respectively set up one at self-propelled automobile body (2) bottom anterior segment and back end, and Gray bus line locator (11) set up on the side of self-propelled automobile body (2).
5. The rail-mounted discharging device automatically positioned based on image recognition as claimed in claim 1, wherein: the intelligent self-propelled vehicle is characterized in that an intelligent control device (8) is arranged at the front end of the self-propelled vehicle body (2), the intelligent control device (8) is electrically connected with the self-propelled driving device (3), the lifter (4), the Gray bus positioner (11), the level detector (12), the anti-collision sensor (17) and the obstacle sensor (18), and a communication module which is in signal transmission with the central processing controller (9) is arranged on the intelligent control device (8).
6. The rail-mounted discharging device automatically positioned based on image recognition as claimed in claim 5, wherein: the communication module comprises a carrier communicator, a micro-power wireless communicator, a WiFi communicator or a Bluetooth communicator.
7. The rail-mounted discharging device automatically positioned based on image recognition as claimed in claim 1, wherein: the lifter (4) is a cylinder or a hydraulic cylinder.
8. The rail-mounted discharging device automatically positioned based on image recognition as claimed in claim 1, wherein: the image positioner (13) is an industrial camera.
9. The rail-mounted discharging device automatically positioned based on image recognition as claimed in claim 1, wherein: the lifting frame (5) is also provided with an electronic weighing device (20), and the electronic weighing device (20) is connected with the intelligent control device (8).
10. The rail-mounted discharging device automatically positioned based on image recognition as claimed in claim 1, wherein: the central processing controller (9) is a PC or a PLC programmable logic controller with display and input functions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920519727.9U CN210557460U (en) | 2019-04-17 | 2019-04-17 | Rail mounted discharge apparatus based on image recognition automatic positioning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920519727.9U CN210557460U (en) | 2019-04-17 | 2019-04-17 | Rail mounted discharge apparatus based on image recognition automatic positioning |
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| Publication Number | Publication Date |
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| CN210557460U true CN210557460U (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920519727.9U Active CN210557460U (en) | 2019-04-17 | 2019-04-17 | Rail mounted discharge apparatus based on image recognition automatic positioning |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104755A (en) * | 2021-11-19 | 2022-03-01 | 武汉志远智能控制技术有限公司 | Intelligent management system and method for feeding bin of blast furnace tank |
| CN116331759A (en) * | 2023-05-30 | 2023-06-27 | 安溪藤铁家居工业设计研究院有限公司 | Transport device and transport method for rattan iron furniture |
-
2019
- 2019-04-17 CN CN201920519727.9U patent/CN210557460U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104755A (en) * | 2021-11-19 | 2022-03-01 | 武汉志远智能控制技术有限公司 | Intelligent management system and method for feeding bin of blast furnace tank |
| CN116331759A (en) * | 2023-05-30 | 2023-06-27 | 安溪藤铁家居工业设计研究院有限公司 | Transport device and transport method for rattan iron furniture |
| CN116331759B (en) * | 2023-05-30 | 2023-09-01 | 安溪藤铁家居工业设计研究院有限公司 | Transport device and transport method for rattan iron furniture |
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