Railcar parking positioning device and working method

Abstract

This invention relates to a railcar parking and positioning device and its operating method. A first distance sensor, connected to the crossbeam of the railcar via a bracket, is used to acquire the lateral distance between the railcar and the rail during operation. A second distance sensor is connected to the top corner of a rotating tripod. One bottom corner of the rotating tripod is movably connected to a fixed plate, and the other bottom corner faces a guide post. The fixed plate is connected to the railcar. One end of the guide post is connected to the rail, and the other end of the guide post has a reflector plate matching the second distance sensor. A slewing bearing is located on the outer side of the guide post. A tripod structure on the railcar, capable of rotating the distance sensor, works in conjunction with the guide post and reflector plate on the rail. When the railcar reaches the parking position, the tripod structure is pushed by the guide post to rotate, preventing the signal from the distance sensor from being reflected by the reflector plate. The change in the signal acquired by the distance sensor controls the railcar to stop.

Description

Technical Field

[0001] This invention relates to the field of measurement and positioning technology, specifically to a railcar parking positioning device and its working method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Steel structure companies use rail-guided RGV trolleys (rail-guided vehicles) to transport profiles, steel plates, and other components. Upon arrival at the welding station, an overhead crane hoists each component onto a workbench for fixation before processing operations (such as welding or cutting) are performed. After processing, the components are hoisted back onto the RGV trolley for transport to subsequent process stages. This repeated loading and unloading of components results in inefficient work processes.

[0004] Some existing technologies attempt to improve the parking control precision of RGVs, enabling them to accurately stop at a desired workstation. This involves using robots to directly process parts on the RGV, eliminating the need for repeated loading, unloading, and hoisting of parts between the RGV and the processing station. Since the processed parts are heavy-duty components such as profiles and steel plates, and involve metal cutting, grinding, and welding processes, ensuring that the RGV can meet heavy load requirements during operation and achieve accurate positioning when stopping typically relies on the coordinated operation of high-precision sensors and the track. To meet precision requirements, the track's cross-sectional structure often incorporates grooves or channels to ensure straightness. However, the presence of a large amount of metal shavings at steel structure processing sites can reduce the positioning accuracy of the RGV when stopping when these shavings enter the grooves or channels on the track surface, affecting the track's precision. Furthermore, due to the limitations of the groove structure, it is difficult to clean the accumulated metal shavings inside these high-precision tracks. In addition, high-precision tracks often require installation on a base to ensure their accuracy and reliability, which makes the modification of the mechanical structure too difficult and unsuitable for existing track vehicle reconstruction work. Summary of the Invention

[0005] To address the technical problems mentioned above, this invention provides a railcar parking and positioning device and its operating method. A tripod structure capable of driving a distance sensor to rotate is installed on the railcar. Guide posts and reflectors are installed at predetermined positions on the existing rails. When the railcar reaches its limit position, the tripod structure is pushed by the guide posts to rotate, so that the signal emitted by the distance sensor is no longer reflected by the reflector. Based on the signal changes acquired by the distance sensor, the railcar is controlled to stop before reaching its limit position.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides a railcar parking and positioning device, comprising:

[0008] The first distance sensor is connected to the crossbeam of the railcar via a bracket and is used to obtain the lateral distance between the railcar and the rail during operation.

[0009] The second distance sensor is connected to the top corner of the rotary tripod. One of the bottom corners of the rotary tripod is movably connected to the fixed plate, and the other bottom corner faces the guide column. The fixed plate is connected to the railcar.

[0010] The guide post is connected to the rail at one end and has a reflector plate that matches the second distance sensor at the other end. A slewing bearing is provided on the outside of the guide post.

[0011] Furthermore, the fixing plate is connected to the crossbeam of the railcar, and the fixing plate is movably connected to the slewing tripod so that the slewing tripod is arranged on one side of the rail.

[0012] Furthermore, the fixed plate is equipped with adjusting bolts for adjusting the initial angle of the slewing tripod.

[0013] Furthermore, the slewing tripod is an isosceles or equilateral triangle, with the apex pointing downwards along the direction of gravity, one of the base angles being movably connected to the fixed plate via a pivot pin, and the other base angle pointing towards the guide post.

[0014] Furthermore, a second distance sensor is located at the top corner of the slewing tripod to obtain the distance in the direction the railcar is traveling and the distance during the return trip.

[0015] Furthermore, the reference object illuminated by the second distance sensor is the reflector connected to the guide post.

[0016] Furthermore, the position of the guide post on the rail is determined based on the location required for the railcar to stop.

[0017] Furthermore, when the railcar travels to the position of the guide post, one of the bottom corner edges of the slewing tripod contacts the slewing bearing on the guide post. As the railcar continues to travel, the slewing bearing rotates, pushing one of the bottom corners of the slewing tripod to swing upwards, causing the second distance sensor to rotate, avoiding the reflector until it passes the bottom corner position of the slewing tripod, and then returns to the initial angle position by gravity.

[0018] Furthermore, it also has a processor that controls the stopping action of the railcar based on the distance signal obtained from the second distance sensor.

[0019] A second aspect of the present invention provides a method for operating a railcar parking and positioning device, comprising the following steps:

[0020] When the track car travels to the set position, one of the bottom corner edges of the rotary tripod contacts the rotary bearing on the guide post. As the track car continues to travel, the rotary bearing is squeezed and rotated, causing one of the bottom corners of the rotary tripod to swing upward, driving the second distance sensor to rotate, avoiding the reflector until it passes the bottom corner position of the rotary tripod, and then returns to the initial angle position by gravity.

[0021] When the distance signal acquired by the second distance sensor decreases to the first set value, the railcar is controlled to decelerate.

[0022] When the distance signal acquired by the second distance sensor decreases to a second set value, the control system stops the track vehicle;

[0023] When the distance signal acquired by the second distance sensor disappears, the railcar reaches the set limit position.

[0024] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects:

[0025] 1. When the railcar reaches the guide post, one of the bottom corners of the slewing tripod contacts the slewing bearing on the guide post. As the railcar continues to move, the slewing bearing rotates, pushing one of the bottom corners of the slewing tripod upwards. This causes the second distance sensor to rotate, avoiding the reflector until it passes the bottom corner of the slewing tripod, and then returns to its initial angle position due to gravity. During this operation, when the second distance sensor rotates to avoid the reflector, the acquired distance signal disappears, indicating that the railcar has reached the set limit position, i.e., the position of the guide post on the rail. The distance signal acquired by the second distance sensor is used to control the railcar to decelerate and stop before it reaches the limit position.

[0026] 2. The device can be installed on existing rails and railcars without requiring complex modifications to the rails themselves. It has a compact structure and is easy to maintain. Since the rails themselves remain unchanged, the iron filings generated during steel structure processing will not affect its positioning accuracy.

[0027] 3. The triangular structure of the rotating tripod helps the distance sensor to automatically reset by gravity, enabling parking and positioning of the track vehicle in both forward and backward directions. Furthermore, the distance sensor will not collide with it or affect its performance when the track vehicle passes through extreme positions. Attached Figure Description

[0028] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0029] Figure 1 This is a schematic diagram of the overall structure of the railcar parking and positioning device provided in one or more embodiments of the present invention;

[0030] Figure 2 This is a partial structural schematic diagram of a railcar parking and positioning device provided in one or more embodiments of the present invention.

[0031] In the diagram: 1. Rail; 2. Power unit; 3. Bracket; 4. First distance sensor; 5. Fixing plate; 6. Adjusting bolt; 7. Pin; 8. Rotary tripod; 9. Second distance sensor; 10. Guide column; 11. Rotary bearing; 12. Reflector. Detailed Implementation

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0034] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the scope of exemplary embodiments of the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] RGV (Rail Guided Vehicle) refers to a rail-guided vehicle that uses rails to guide a small vehicle and is typically used for transportation operations.

[0036] As described in the background section, steel structure processing sites require RGV trolleys with high positioning accuracy. If high-precision tracks are selected for modification, on the one hand, the modification is difficult, requiring the removal of existing steel rails, leveling, installation of bases, and then installation of high-precision guide rails; on the other hand, the groove structure of high-precision guide rails is prone to accumulating impurities such as iron filings, affecting positioning accuracy, and the iron filings are difficult to clean.

[0037] Therefore, the following embodiment provides a railcar parking and positioning device and its working method. A tripod structure capable of driving a distance sensor to rotate is set on the wheels of the RGV trolley. A guide post and a reflector are set at a set position on the existing rail. When the RGV trolley runs to the set limit position, the tripod structure is pushed by the guide post to rotate, so that the signal emitted by the distance sensor is no longer reflected by the reflector. The background processor uses the distance signal obtained by the sensor to control the RGV trolley to decelerate and stop before the limit position.

[0038] Example 1:

[0039] like Figures 1-2 As shown, this embodiment provides a railcar parking and positioning device, including:

[0040] The first distance sensor 4 is connected to the crossbeam of the railcar via a bracket 3 and is used to obtain the lateral distance between the railcar and the rail during operation.

[0041] The second distance sensor 9 is connected to the top corner of the rotary tripod 8. One of the bottom corners of the rotary tripod 8 is movably connected to the fixed plate 5, and the other bottom corner faces the guide column 10. The fixed plate 5 is connected to the railcar.

[0042] The guide post 10 is connected to the rail 1 at one end and has a reflector 12 that matches the second distance sensor 9 at the other end. A slewing bearing 11 is provided on the outer side of the guide post 10.

[0043] The railcar travels on rail 1. When it reaches a designated location or workstation, the position of the railcar is coarsely located by the position positioning system. The position system is not limited to a specific structural type and can be based on navigation systems such as RFID, magnetic strips, SLAM laser navigation, and QR codes. The parking positioning device provided in this embodiment then performs fine positioning.

[0044] The fixing plate 5 is connected to the crossbeam of the railcar. In this embodiment, the railcar has at least two sets of power units 2, which are connected by a crossbeam. The power units 2 are used to drive the railcar to run. The specific structural form is not limited.

[0045] When the railcar reaches the designated position, it slows down in advance and travels at a low speed. The first distance sensor 4 measures the lateral distance between the railcar and the rail as the railcar travels in the direction of travel, and determines the position of the railcar by the change in the lateral distance data.

[0046] The fixing plate 5 is installed on the crossbeam of the railcar, and the slewing tripod 8 is installed through the pin 7. The adjusting bolt 6 next to the pin 7 is used to adjust the initial angle of the slewing tripod 8.

[0047] The rotating tripod 8 is an isosceles or equilateral triangle with the apex pointing downwards along the direction of gravity. One of its base angles is movably connected to the fixed plate 7 via a pivot pin 7, and the other base angle points towards the guide post 10.

[0048] A second distance sensor 9 is mounted on the top corner of the slewing tripod 8, which is used to measure the distance in the direction the railcar travels and the distance during the return trip.

[0049] The reference object illuminated by the second distance sensor 9 is a reflector 12 in front. The reflector 12 is fixed to the rail 1 by the guide post 10. According to the high-precision parking positioning position, the guide post 10 and the reflector 12 are installed by drilling holes at the corresponding positions on the rail. The outer side of the guide post 10 is movably connected to the rotary bearing 11.

[0050] As the track vehicle moves forward, one of the bottom corners of the rotary tripod 8 will first contact the rotary bearing 11 on the guide post 10. As the track vehicle continues to move, the rotary bearing 11 rotates, pushing one of the bottom corners of the rotary tripod 8 to swing upward, causing the second distance sensor 9 to rotate, avoiding the reflector 12 until it passes the bottom corner position of the rotary tripod 8, and then returns to the initial angle position by gravity. The return trip follows the same steps.

[0051] During this period, the second distance sensor 9 transmits a signal to the reflector 12 and receives the reflected signal. The distance signal is obtained by converting the time difference between signal transmission and reception. As the railcar moves, the measurement data of the second distance sensor is fed back to the background processor in real time. In order to avoid the inertia of the high-speed railcar from affecting the parking accuracy, the background processor gradually reduces the speed of the vehicle based on the distance signal fed back by the second sensor 9. When the vehicle is about to reach the parking position, it continues to move to the set parking position at a lower speed, thereby achieving high-precision parking.

[0052] When the railcar starts moving forward again, one of the bottom corners of the slewing tripod 8 will be pushed by the slewing bearing 11 on the guide post 10, so that the transmission signal of the second distance sensor 9 avoids the reflector 12, which means that the railcar has reached the set limit position, that is, the position of the guide post 10 on the rail 1.

[0053] The second distance sensor 9 is a short-range, high-precision laser rangefinder. For example, within a range of 1000mm, the emitted light signal is reflected by the reflector 12 to obtain an accurate distance value.

[0054] The device itself can be installed on rails and railcars as an optional accessory. It has a more compact structure and is easier to maintain. It can automatically reset after reaching the limit position without affecting the accuracy performance of the sensor itself.

[0055] It can be installed on existing rails and railcars without requiring complex modifications to the rails themselves. Since it is installed under the railcar chassis, the iron filings and dust generated during steel structure processing will not affect its positioning accuracy.

[0056] The slewing tripod achieves reset by gravity. By installing two second distance sensors or sensors with bidirectional signal transmission function, the parking and positioning of the railcar in both forward and backward directions can be achieved.

[0057] Example 2:

[0058] The working method of the railcar parking positioning device according to one embodiment includes the following steps;

[0059] When the track car travels to the set position, one of the bottom corners of the rotary tripod 8 contacts the rotary bearing 11 on the guide post 10. As the track car continues to travel, the rotary bearing 11 rotates and pushes one of the bottom corners of the rotary tripod 8 to swing upward, causing the second distance sensor 9 to rotate, avoiding the reflector 12 until it passes the bottom corner position of the rotary tripod 8, and then returns to the initial angle position by gravity.

[0060] When the distance signal acquired by the second distance sensor decreases to the first set value, the railcar is controlled to decelerate.

[0061] When the distance signal acquired by the second distance sensor decreases to a second set value, the control system stops the track vehicle; the second set value is less than the first set value.

[0062] When the distance signal acquired by the second distance sensor disappears, the railcar reaches the set limit position.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A railcar parking and positioning device, characterized in that, include: The first distance sensor is connected to the crossbeam of the railcar via a bracket and is used to obtain the lateral distance between the railcar and the rail during operation. The second distance sensor is connected to the top corner of the rotary tripod. One of the bottom corners of the rotary tripod is movably connected to the fixed plate, and the other bottom corner faces the guide column. The fixed plate is connected to the railcar. The guide post is connected to the rail at one end and has a reflector at the other end that matches the second distance sensor. A slewing bearing is provided on the outside of the guide post. When the track car travels to the position of the guide column, one of the bottom corners of the slewing tripod contacts the slewing bearing on the guide column. As the track car continues to travel, the slewing bearing rotates, pushing one of the bottom corners of the slewing tripod to swing upward, causing the second distance sensor to rotate, avoiding the reflector until it passes the bottom corner position of the slewing tripod, and then returns to the initial angle position by gravity.

2. The railcar parking and positioning device as described in claim 1, characterized in that, The fixing plate is connected to the crossbeam of the railcar, and the fixing plate is movably connected to the slewing tripod so that the slewing tripod is arranged on one side of the rail.

3. The railcar parking and positioning device as described in claim 1, characterized in that, The fixed plate is equipped with adjusting bolts for adjusting the initial angle of the rotating tripod.

4. The railcar parking and positioning device as described in claim 1, characterized in that, The rotating tripod is an isosceles or equilateral triangle with its apex pointing downwards along the direction of gravity. One of its base angles is movably connected to the fixed plate via a pivot pin, and the other base angle points towards the guide post.

5. A railcar parking and positioning device as described in claim 1, characterized in that, The second distance sensor is located at the top corner of the slewing tripod and is used to obtain the distance in the direction the railcar travels and the distance during the return trip.

6. The railcar parking and positioning device as described in claim 1, characterized in that, The reference object illuminated by the second distance sensor is a reflector connected to the guide post.

7. A railcar parking and positioning device as described in claim 1, characterized in that, Determine the position of the guide post on the rail based on the location required for the railcar to stop.

8. A railcar parking and positioning device as described in claim 1, characterized in that, It also has a processor that controls the stopping action of the railcar based on the distance signal obtained from the second distance sensor.

9. A method for operating the railcar parking and positioning device according to any one of claims 1-8, characterized in that, Includes the following steps: When the track car travels to the set position, one of the bottom corner edges of the rotary tripod contacts the rotary bearing on the guide post. As the track car continues to travel, the rotary bearing is squeezed and rotated, causing one of the bottom corners of the rotary tripod to swing upward, driving the second distance sensor to rotate, avoiding the reflector until it passes the bottom corner position of the rotary tripod, and then returns to the initial angle position by gravity. When the distance signal acquired by the second distance sensor decreases to the first set value, the railcar is controlled to decelerate. When the distance signal acquired by the second distance sensor decreases to a second set value, the control system stops the track vehicle; When the distance signal acquired by the second distance sensor disappears, the railcar reaches the set limit position.

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