Automatic fixed-point rotary dumping device

Abstract

The invention belongs to the field of metallurgy and mechanical manufacturing, and provides an automatic fixed-point rotating dumping device which comprises a servo motor, a speed reducer, a sliding rod, an outer frame, an upper clamp, a rotating shaft, a container base, a material container, a locking device, a tensioning device, an industrial camera, a crawler-type chassis, a multi-view camera, a radar and a laser range finder. According to the invention, fixed-point, fixed-speed and variable-speed rotary dumping operation of various liquids can be realized, and meanwhile, the material drop point position and the conveying speed can be monitored in real time, so that the defect of large deviation of the liquid drop point and the problem of uncontrollable speed in the rotary dumping process are avoided; on the basis of the functions, the overall movement of the device is realized through the crawler-type chassis, the multi-view camera, the radar and the laser range finder so as to adapt to various scenes. The device can be combined with remote control operation or artificial intelligence training to achieve the functions of automatic movement, fixed-point dumping and material replacement in a severe environment, and the device is simple in mechanical structure, low in cost and easy to operate and maintain.

Description

Technical Field

[0001] The present invention belongs to the fields of metallurgy and mechanical manufacturing, and particularly relates to an automated fixed-point rotating pouring device. Background Art

[0002] The rotating pouring device is a common material conveying method in industry, which pours the materials in the container by rotating. This device is usually used in industrial production environments, especially in occasions where high temperature or automated material processing is required. Its working principle is generally to fix the container on the rotating device, and then pour out the materials from the container through rotation or tilting actions, which is commonly seen in the pouring treatment of high-temperature melts or normal-temperature liquids.

[0003] In casting, metallurgy and other production scenarios, the existing rotating pouring devices usually cannot meet the requirements of fixed-point pouring or high automation, and are prone to problems such as waste of materials and splashing of high-temperature melts. Therefore, it is necessary to develop an automated fixed-point rotating pouring device based on a crawler chassis and a sliding rod mechanism and integrated with a visual ranging system to achieve automated material replenishment during industrial manufacturing and achieve fixed-point and speed-adjustable pouring of flowing materials, reduce additional material waste, improve production efficiency and reduce production risks. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides an automated fixed-point rotating pouring device to solve the problems in the prior art. The technical solution adopted by the present invention is as follows:

[0005] An automated fixed-point rotating pouring device includes an outer frame, a rotating shaft, a material container, a servo motor and a crawler chassis;

[0006] The bottom of the outer frame is fixedly connected to the crawler chassis, the rotating shaft is rotatably connected to the outer frame, the material container is connected to the rotating shaft, and the output end of the servo motor is connected to the material container to drive the material container to rotate so as to pour the materials in the material container.

[0007] Furthermore, the rotating shaft is fixedly connected to the side of the upper fixture, and the top of the material container is installed on the upper fixture.

[0008] Furthermore, a radar and a laser rangefinder are installed on the crawler chassis, and a multi-eye camera is installed on the outer frame.

[0009] Furthermore, both the outer frame and the crawler chassis are provided with hollow parts, the material container is located in the hollow part of the outer frame, and the hollow part of the crawler chassis is located directly above the material container.

[0010] Further, it further includes a sliding rod. The sliding rod is arranged on both sides of the material container. The sliding rod is provided with a waist-shaped hole, and a shaft body is slidably arranged in the waist-shaped hole. The two shaft bodies are respectively fixedly connected to the side surface of the material container;

[0011] Both ends of the sliding rod are respectively fixedly connected to the bottom of a steel cable, the top of the steel cable is fixedly connected to the flywheel of the speed reducer, the output end of the servo motor is fixedly connected to the speed reducer, the speed reducer is installed on the outer frame, and the flywheel of the speed reducer is fixedly connected to the steel cable.

[0012] Further, a locking device is arranged on the flywheel of the speed reducer. The locking device includes a brake wheel, a driving rod, a brake pad and a housing;

[0013] The housing is fixedly connected to the outer frame. The flywheel of the speed reducer is rotatably arranged in the housing. The brake pads are arranged on both sides of the flywheel. The bottom of the brake pad is rotatably connected to the driving rod. The top of the driving rod is rotatably connected to the brake wheel. The middle part of the driving rod is movably connected to the housing. The driving rod is used for rotation to deflect the driving rod, so that the two brake pads move relatively to clamp or loosen the flywheel.

[0014] Further, a tensioning device is installed on the outer frame, and the tensioning device abuts against the steel cable

[0015] The present invention has the following beneficial effects:

[0016] (1) The present invention can realize constant-speed or variable-speed material dumping and conveying through programming of the servo motor; it can realize automatic reset after the material container arrives, with high automation; the transmission device based on the sliding rod mechanism and the steel cable connection can realize a high-load working environment.

[0017] (2) Utilize an industrial camera to monitor the material landing point and material conveying speed in real time, and combine with the servo motor to realize automatic real-time monitoring and regulation of the material conveying process.

[0018] (3) The present invention can realize automatic material replenishment, conveying and overall transfer through a multi-camera, radar, laser rangefinder and crawler chassis. On the basis of the cooperation of various visualization, ranging and moving devices, it can combine artificial intelligence to realize high-efficiency automatic production in a fixed-range environment.

[0019] (4) The present invention can be applied to various application scenarios such as physical experiments, casting or steel smelting processes according to different design sizes and material strengths.

[0020] (5) The present invention has no complex mechanical structure and can realize the process of fixed-point speed regulation and material dumping under harsh working conditions; the open design makes the present invention easy to maintain. Description of the Drawings

[0021] Figure 1 is the overall structure diagram of the present invention;

[0022] Figure 2 is the structural schematic diagram of the locking device. Specific embodiments

[0023] Next, in combination with the Figure 1 - Figure 2 in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. If not specifically specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0024] For example Figure 1 , an automatic fixed-point rotating dumping device includes an outer frame 1, a rotating shaft 4, a material container 6, a servo motor 7, and a crawler chassis 12;

[0025] The bottom of the outer frame 1 is fixedly connected to the crawler chassis 12. The rotating shaft 4 is rotatably connected to the outer frame 1. The material container 6 is connected to the rotating shaft 4. The output end of the servo motor 7 is connected to the material container 6 to drive the material container 6 to rotate so that the material container 6 dumps materials.

[0026] Further, the rotating shaft 4 is fixedly connected to the side surface of the upper clamp 5, and the top of the material container 6 is mounted on the upper clamp 5.

[0027] Further, a radar and a laser rangefinder 13 are mounted on the crawler chassis 12, and a multi-eye camera 14 is mounted on the outer frame 1.

[0028] Further, both the outer frame 1 and the crawler chassis 12 are provided with hollow parts. The material container 6 is located in the hollow part of the outer frame 1, and the hollow part of the crawler chassis 12 is located directly above the material container 6.

[0029] Further, it further includes a sliding rod 2. The sliding rod 2 is provided on both sides of the material container 6. The sliding rod 2 is provided with a waist-shaped hole, and a shaft body is slidably provided in the waist-shaped hole. The two shaft bodies are respectively fixedly connected to the side surface of the material container 6;

[0030] Both ends of the sliding rod 2 are respectively fixedly connected to the bottom of a steel cable. The top of the steel cable is fixedly connected to the flywheel 15 of the reducer 8. The output end of the servo motor 7 is fixedly connected to the reducer 8. The reducer 8 is mounted on the outer frame 1, and the flywheel 15 of the reducer 8 is fixedly connected to the steel cable.

[0031] For example Figure 2, a locking device 9 is provided on the flywheel 15 of the speed reducer 8, and the locking device 9 includes a brake wheel 16, a driving rod 17, a brake pad 18 and a housing 19;

[0032] The housing 19 is fixedly connected to the outer frame 1, the flywheel 15 of the speed reducer 8 is rotatably arranged in the housing 19, the brake pads 18 are arranged on both sides of the flywheel 15, the bottom of the brake pad 18 is rotatably connected to the driving rod 17, the top of the driving rod 17 is rotatably connected to the brake wheel 16, and the middle part of the driving rod 17 is movably connected to the housing 19. The driving rod 17 is used for rotating to deflect the driving rod 17, so that the two brake pads 18 move relatively to clamp or release the flywheel 15.

[0033] Further, a tensioning device 10 is installed on the outer frame 1, and the tensioning device 10 abuts against the steel cable.

[0034] Specifically, the upper clamp 5 is fixed above the material container 6 by bolts, the rotating shaft 4 is matched with the upper clamp 5 and the outer frame 1 through shaft holes, the container base 3 fastens the material container 6 by bolts, the sliding rod 2 is matched with the container base 3 through slot holes, the servo motor 7 is matched with the speed reducer 8 through key grooves, the flywheel 15 of the speed reducer 8 is connected to the sliding rod 2 through a steel cable, the servo motor 7 is fixed above the outer frame 1 by bolts, the locking device 9 is fixed on the servo motor base by bolts, the tensioning device 10 is fixed on the outer frame by bolts and matched with the steel cable to keep the steel cable taut, and the multi-camera 14 is fixed on the outer frame 1 by bolts with a bracket to monitor the material landing point and the material conveying speed in real time.

[0035] The multi-camera 14 is fixed above the outer frame 1 to position the hoisting process of the material container 6, and the image information collected by the multi-camera 14 is transmitted to the vehicle-mounted processor by cable or transmitted to the central processor by wireless signal; a global coordinate system is established through the image information to realize the coordinate unity of the four-eye vision system; the vehicle-mounted processor or the central processor preprocesses the collected images by median filtering denoising and adaptive equalization, then uses the Hough circle transform or ellipse fitting to identify the center position of the material container or the filling medium stream, and finally fuses the time series data through Kalman filtering and predicts the motion trajectory. Through the above operations and the position of the device in the global coordinate system, the collaborative tracked chassis realizes the automatic hoisting or filling of the material container.

[0036] The outer frame 1 is fixed above the tracked chassis 12 by welding or bolts, and the radar and laser rangefinder 13 are fixed around the tracked chassis to monitor the relative position of the device in the environment. The traveling path of the device is determined by the wide-area scanning of the area where the radar and laser rangefinder 13 are located, and then the laser is used for near-point distance control, so as to achieve the purpose of controlling the relative position of the overall device in the operating environment.

[0037] The present invention further includes the following steps:

[0038] Step 1: Drive the device manually by remote control or use the radar laser rangefinder 13 to self-drive the device to the material container 6 feeding place or the medium filling place;

[0039] Step 2: Combine the multi-camera 14, lift the material container 6 onto the container base and fasten it with bolts, and adjust the position of the outflow port of the material container 6 to be on the axis of the rotating shaft 4 to achieve fixed-point material transportation;

[0040] Step 3: Adjust the tensioning device 10 to keep the steel cable in a tensioned state

[0041] Step 4: Adjust the rotation speed of the servo motor 7 according to the required material transportation speed, and set the parking reset angle or set the multi-camera 14 to monitor the material transportation quality according to the required material transportation quality. When the transportation volume is reached, send a signal to reset the motor;

[0042] Step 5: Drive the entire device above the place where the material needs to be dumped

[0043] Step 6: Start the servo motor 7, and the material container 6 starts to rotate and dump the material.

[0044] Step 7: Turn on the industrial camera 11 to monitor the material landing point, transportation speed, and transportation quality in real time.

[0045] Step 8: After reaching the parking reset angle or the material transportation quality, the servo motor 7 drives the material container to automatically return to its original position.

[0046] Step 9: Combine the remaining material quality in the material container 6 and the transportation requirements, and the device automatically moves to the material container feeding place or the next material transportation location.

[0047] The present invention can realize the rotary dumping operation of various liquids at fixed points, at a fixed speed, and at a variable speed. At the same time, it can monitor the material landing point position and transportation speed in real time, avoiding the defects of large liquid landing point deviation and uncontrollable speed during the rotary dumping process. On the basis of the above functions, the overall movement of the device is realized through a crawler chassis, a multi-camera, a radar, and a laser rangefinder to adapt to various scenarios. Such a device can be combined with remote control operation or through artificial intelligence training to realize the functions of automatic movement, fixed-point dumping, and material replacement in harsh environments. The mechanical structure of the present invention is simple, the cost is low, and it is easy to operate and maintain.

[0048] The embodiments described above are only descriptions of the preferred embodiments of the present invention and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations, variations, modifications, and substitutions made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An automated fixed-point rotary tipping device, characterized in that, It includes an outer frame (1), a rotating shaft (4), a material container (6), a servo motor (7) and a crawler chassis (12); The bottom of the outer frame (1) is fixedly connected to the crawler chassis (12), the rotating shaft (4) is rotatably connected to the outer frame (1), the material container (6) is connected to the rotating shaft (4), and the output end of the servo motor (7) is connected to the material container (6) for driving the material container (6) to rotate so as to dump the material in the material container (6).

2. The automated fixed-point rotary tipping device according to claim 1, wherein, The rotating shaft (4) is fixedly connected to the side of the upper fixture (5), and the top of the material container (6) is mounted on the upper fixture (5).

3. The automated fixed-point rotary tipping device according to claim 1, characterized in that, A radar and a laser rangefinder (13) are mounted on the crawler chassis (12), and a multi-camera (14) is mounted on the outer frame (1).

4. An automated fixed-point rotary tipping device according to claim 1, characterized in that, Both the outer frame (1) and the crawler chassis (12) are provided with hollow parts. The material container (6) is located within the hollow part of the outer frame (1), and the hollow part of the crawler chassis (12) is located directly above the material container (6).

5. An automated fixed-point rotating and pouring device according to claim 1, characterized in that, It further includes sliding rods (2). The sliding rods (2) are provided on both sides of the material container (6). The sliding rods (2) are provided with waist-shaped holes, and shafts are slidably arranged within the waist-shaped holes. The two sides of the material container (6) are respectively fixedly connected to the two shafts; The two ends of the sliding rod (2) are respectively fixedly connected to the bottom of a steel cable. The top of the steel cable is fixedly connected to the flywheel (15) of the reducer (8). The output end of the servo motor (7) is fixedly connected to the reducer (8). The reducer (8) is mounted on the outer frame (1), and the flywheel (15) of the reducer (8) is fixedly connected to the steel cable.

6. The automated fixed-point rotary tipping device according to claim 5, characterized in that, A locking device (9) is provided on the flywheel (15) of the reducer (8). The locking device (9) includes a brake wheel (16), a driving rod (17), a brake pad (18) and a housing (19); The housing (19) is fixedly connected to the outer frame (1). The flywheel (15) of the reducer (8) is rotatably arranged within the housing (19). The brake pads (18) are provided on both sides of the flywheel (15). The bottom of the brake pad (18) is rotatably connected to the driving rod (17). The top of the driving rod (17) is rotatably connected to the brake wheel (16). The middle part of the driving rod (17) is movably connected to the housing (19). The driving rod (17) is used to rotate to deflect the driving rod (17), so that the two brake pads (18) move relative to each other to clamp or release the flywheel (15).

7. The automated fixed-point rotary tipping device according to claim 5, wherein A tensioning device (10) is mounted on the outer frame (1), and the tensioning device (10) abuts against the steel cable.

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