Long storage yard stacker-reclaimer positioning device
By designing a stacker positioning device including a bracket, a rotating platform and a laser ranging sensor, the problems of low sensitivity and poor safety of the stacker positioning method in the prior art are solved, and high-precision positioning and Angle positioning improves the reliability and safety of the equipment and reduces noise pollution and failure rates.
Patent Information
- Application Number
- CN202420377405.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-28
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2034-02-28
AI Technical Summary
The existing stacker retrieval machine positioning method has low sensitivity, short life, poor safety, high failure rate, low reliability, cumbersome operation, and there is a risk of out-of-control, resulting in frequent cantilever collisions of stacker retrieval machine, serious noise pollution, affecting equipment Safety and component life.
A stacker positioning device including a bracket, a rotating platform, a column, a beam, a adjusting rod, a laser calibration box, and an electronic level monitor was designed. The rotating platform and a column were controlled to drive the crossbar to rotate the laser calibration box, combined with the control system. The laser ranging sensor and camera enable precise positioning of the stacker and cantilever angle, improving positioning accuracy and safety.
The high-precision position and angle positioning of the stacker is realized, which improves the reliability and safety of positioning, reduces the failure rate, improves the simplicity and speed of operation, prevents cantilever collision accidents, and reduces noise pollution.
Smart Images
Figure CN222181121U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of long yard stacker-reclaimer positioning equipment, in particular to a long yard stacker-reclaimer positioning device. Background Art
[0002] At present, stackers and reclaimers are the core equipment for stacking and reclaiming in a yard. In a yard, there are usually multiple stackers and reclaimers working at the same time. These stackers and reclaimers travel along the fixed tracks laid in the yard, and perform stacking and reclaiming work through horizontal rotation and up and down pitching cantilever arms. Due to the site restrictions of the yard, the tracks of the stackers and reclaimers are generally laid in parallel straight lines, and the cantilever length of the stackers and reclaimers is generally around 25-30 meters. Therefore, during the operation, cantilever collision accidents may occur between stackers and reclaimers. To prevent such accidents from happening, it is necessary to monitor and provide feedback on the travel distance of the stackers and reclaimers and the horizontal and pitching angles of their cantilevers. At present, the position of the stacker-reclaimer can be detected by the human eye. The accuracy of human eye positioning is greatly affected by the health of the eyes, the mental state of the person and the working environment, and the detection of the position of the stacker-reclaimer is prone to errors. There are also mechanical detection methods for the position of the stacker-reclaimer, but they all have the disadvantages of low sensitivity, short life, high failure rate, low reliability, cumbersome operation and the existence of a release link (i.e., an out-of-control zone), making it difficult for semi-automatic operation to operate reliably and stably. In addition, since the stacker-reclaimer is a large device with large inertia and rigid when starting and stopping, it will produce a lot of impact and vibration during operation, causing serious noise pollution, seriously affecting its safety and the life of related parts, and easily damaging the equipment. Utility Model Content
[0003] The present application provides a long yard stacker-reclaimer positioning device, which solves the problems of low sensitivity, short life, poor safety, high failure rate, low reliability, cumbersome operation and loss of control in the existing stacker-reclaimer positioning method.
[0004] The present application provides a positioning device for a long-type stockyard stacker and reclaimer, comprising a bracket, a rotating platform, a column, a crossbeam, an adjusting rod, a laser calibration box, and an electronic level monitor; the bracket is arranged above a gear turntable of a cantilever frame of the stacker and reclaimer, a rotating platform is arranged on the bracket, a vertical column is arranged on the rotating platform, a crossbeam is arranged at the upper end of the column, one end of the crossbeam is connected and fixed to the column, and the other end is horizontally suspended above the cantilever frame of the stacker and reclaimer, a vertical adjusting rod is rotatably arranged at the suspended end of the crossbeam, a horizontal laser calibration box is arranged at the lower end of the adjusting rod, a camera is arranged in the middle of a bottom plate of the laser calibration box, two laser transmitters are symmetrically arranged at both ends, two laser ranging sensors 1 are symmetrically arranged on both sides of the camera, two laser ranging sensors 2 are symmetrically arranged in the middle of the end covers at both ends of the laser calibration box, and two electronic level monitors are symmetrically arranged at both ends of a top plate of the laser calibration box.
[0005] In the above technical solution, further, a horizontal positioning pin is fixed on the rear side wall of the suspended end of the beam, a pivot hole matched with the positioning pin is arranged at the upper end of the adjusting rod, and the beam is inserted into the pivot hole through the positioning pin for rotational cooperation.
[0006] In the above technical solution, further, the central axis of the column coincides with the central axis of the gear turntable of the cantilever frame of the stacker-reclaimer.
[0007] In the above technical solution, further, an electric push rod is obliquely arranged below the cross beam, the fixed end of the electric push rod is hingedly connected to a hinge seat 1 arranged at the middle position of the bottom of the cross beam, and the telescopic end of the electric push rod is hingedly connected to a hinge seat 2 arranged on the side wall of the adjusting rod.
[0008] In the above technical solution, further, the rotating platform is a cam divider, and the lower end of the column is connected to the output end of the cam divider.
[0009] In the above technical solution, further, the rotating platform, the camera, the laser distance sensor 1, the laser distance sensor 2, the electric push rod and the control system are electrically connected to control
[0010] It can be seen from the above technical solutions that the present application provides a positioning device for a long yard stacker-reclaimer.
[0011] Compared with the prior art, the beneficial effects of the utility model are:
[0012] The utility model controls the rotation of the rotating platform through a control system to drive the columns and the crossbeam to rotate the laser calibration box to a longitudinal position, calibrates the laser calibration box to a horizontal state through an electronic level monitor, and then measures the distance between the stacker and the starting position of the vehicle through a second laser distance measuring sensor, thereby realizing accurate positioning of the stacker and the reclaimer; by rotating the laser calibration box to a transverse position, observing through a camera and cooperating with the first laser distance measuring sensor to rotate the laser calibration box to a position consistent with the vertical direction of the cantilever frame, the pitch angle and the horizontal rotation angle of the cantilever frame can be measured respectively, thereby realizing accurate positioning of the cantilever frame, with high positioning accuracy, simple positioning structure and good safety. Compared with the previous method of installing sensors on the cantilever frame of the stacker and the reclaimer, the utility model has stronger reliability, better anti-interference ability, and faster and more accurate positioning speed. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the implementation cases. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0014] Figure 1 The utility model is a schematic diagram of the overall structure of a positioning device for a long yard stacker-reclaimer.
[0015] In the figure:
[0016] 1- bracket; 2- rotating platform; 3- column; 4- crossbeam; 40- positioning pin; 5- adjusting rod; 50- pivot hole; 6- laser transmitter; 7- laser calibration box; 71- camera; 72- laser distance sensor 1; 73- laser distance sensor 2; 8- electronic level monitor; 9- electric push rod; 100- stacker; 101- cantilever frame gear turntable; 102- cantilever frame; 200- track; 300- pile. DETAILED DESCRIPTION
[0017] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.
[0018] See also Figure 1A positioning device for a long yard stacker and reclaimer, comprising a bracket 1, a rotating platform 2, a column 3, a crossbeam 4, an adjusting rod 5, a laser calibration box 7, and an electronic level monitor 8; the bracket 1 is arranged above a gear turntable 101 of a cantilever frame of the stacker and reclaimer 100, a rotating platform 2 is arranged on the bracket 1, a vertical column 3 is arranged on the rotating platform 2, a crossbeam 4 is arranged at the upper end of the column 3, one end of the crossbeam 4 is connected and fixed to the column 3, and the other end is horizontally suspended on the cantilever frame 100 of the stacker and reclaimer 100 02, a vertical adjusting rod 5 is rotatably set at the suspended end of the crossbeam 4, a horizontal laser calibration box 7 is set at the lower end of the adjusting rod 5, a camera 71 is set in the middle of the bottom plate of the laser calibration box 7, two laser transmitters 6 are symmetrically set at both ends, two laser ranging sensors 1 72 are symmetrically set on both sides of the camera 71, two laser ranging sensors 2 73 are symmetrically set in the middle of the end covers at both ends of the laser calibration box 7, and two electronic level monitors 8 are symmetrically set at both ends of the top plate of the laser calibration box 7.
[0019] In the above embodiment, the control system controls the rotating platform to rotate and drive the column 3 and the beam 4 to rotate the laser calibration box 7 to the longitudinal position, and the electronic level monitor 8 is used to calibrate the laser calibration box 7 to a horizontal state, and then the laser distance sensor 2 73 can be used to measure the distance between the stacker and reclaimer 100 and the starting position, so as to achieve accurate positioning of the stacker and reclaimer 100, and by rotating the laser calibration box 7 to a transverse position, the camera 71 is used to observe and cooperate with the laser distance sensor 1 72 to rotate the laser calibration box 7 to a position consistent with the vertical direction of the cantilever frame 102, and the pitch angle and horizontal rotation angle of the cantilever frame 102 can be measured respectively, so as to achieve accurate positioning of the cantilever frame 102, with high positioning accuracy, good safety, strong reliability and fast positioning speed.
[0020] In the above embodiments, please refer to the attached Figure 1 A horizontal positioning pin 40 is fixed to the rear side wall of the suspended end of the crossbeam 4, and a pivot hole 50 matched with the positioning pin 40 is arranged at the upper end of the adjusting rod 5. The crossbeam 4 is inserted into the pivot hole 50 through the positioning pin 40 for rotational cooperation. The positioning pin 40 is vertically welded and fixed on the side wall of the crossbeam 4 to form a cantilever shaft structure. The upper end of the adjusting rod 5 is sleeved on the positioning pin 40 through the pivot hole 50, and the lower end of the adjusting rod 5 can be vertically rotated along the positioning pin 40 to adjust the laser calibration box 7 installed at the lower end of the adjusting rod 5 to maintain a horizontal state, thereby increasing the accuracy and precision of the parameters measured by the sensor.
[0021] In the above embodiments, please refer to the attached Figure 1The central axis of the column 3 coincides with the central axis of the gear turntable 101 of the cantilever frame 102 of the stacker-reclaimer 100. Generally, the horizontal rotation angle center of the cantilever frame 102 is located at the output shaft center of the gear turntable 101. The coincidence of the two ensures that the rotation angle of the laser calibration box 7 matches the rotation angle of the cantilever frame 102.
[0022] In the above embodiments, please refer to the attached Figure 1 An electric push rod 9 is obliquely arranged below the cross beam 4, and the fixed end of the electric push rod 9 is hingedly connected to a hinge seat 1 arranged at the middle position of the bottom of the cross beam 4, and the telescopic end of the electric push rod 9 is hingedly connected to a hinge seat 2 arranged on the side wall of the adjusting rod 5. The function of the electric push rod 9 is to assist in adjusting the horizontality of the laser calibration box 7 to ensure the accuracy of measurement and positioning.
[0023] In the above embodiments, please refer to the attached Figure 1 Preferably, the rotating platform 2 is a cam divider, the lower end of the column 3 is connected to the output end of the cam divider, a key slot is set at the lower end of the column, the output end of the cam divider is connected to the lower end of the column through a key, and by selecting the cam divider, the column 3 can be provided with an accurate rotation angle and rotation time.
[0024] In the above embodiments, please refer to the attached Figure 1 The rotating platform 2, the camera 71, the laser ranging sensor 1 72, the laser ranging sensor 2 73, and the electric push rod 9 are electrically connected to the control system for control, and the semi-automatic control of the positioning device is realized through manual remote control monitoring.
[0025] Among them, the rotating platform 2, the camera 71, the laser ranging sensor 1 72, the laser ranging sensor 2 73, and the electric push rod 9 are all existing commercially available components.
[0026] It can be seen from the above technical scheme that when in use, first, the control system controls the electric push rod 9 to drive the adjusting rod 5 to adjust the horizontality of the laser calibration box 7. When the two electronic level monitors 8 monitor that the laser calibration box 7 is in a horizontal state, the control system controls the rotating platform 2 to drive the column 3 to rotate 90 degrees clockwise, so that the laser calibration box 7 rotates from a horizontal state to a vertical state. The two laser ranging sensors 73 emit lasers a and b respectively, wherein laser a monitors the distance h1 from the laser calibration box 7 to the column 3, and laser b monitors the distance h2 from the laser calibration box 7 to the departure starting point. A laser signal receiving board is set at the departure starting point, h1+h2+h3 (length of the laser calibration box 7) = H1 (distance between the stacker and the departure starting position). After the measurement is completed, the control system controls the rotating platform 2 to drive the column 3 to rotate 90 degrees counterclockwise, so that the laser calibration box 7 is in a horizontal state, and the controller controls the rotating platform 2 to rotate so that the laser The calibration box 7 rotates to, through, the laser calibration box 7 rotates to the same direction as the cantilever, specifically through observation by the camera 71, when the laser bright spots emitted by the two laser emitters 6 just shine on the cantilever at the same time, it indicates that the laser calibration box 7 and the cantilever are in the same vertical position, and the time required for the rotation process is t. The control system controls the distances of the two laser ranging sensors 72 to the two positions of the cantilever respectively, wherein the distance between the two laser ranging sensors 72 is L1, and the absolute value of the difference in the cantilever distance measured by the two laser ranging sensors 72 is L2, then the vertical elevation angle of the cantilever is θ=arctan(L2 / L1), the average rotation speed of the rotating platform 2 is W, then the horizontal rotation angle of the cantilever is φ=W*t, and the length of the cantilever is the standard L0. The horizontal rotation angle, vertical pitch angle and position parameters of the cantilever can be obtained through the above-mentioned monitoring and positioning, so as to realize the precise positioning of the stacker and reclaimer during operation.
[0027] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope of the present application is indicated by the claims.
[0028] It should be understood that the present application is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The above-described embodiments of the present application do not constitute a limitation on the scope of protection of the present application.
Claims
1. A positioning device for a long yard stacker-reclaimer, characterized in that: The invention comprises a support (1), a rotating platform (2), a column (3), a crossbeam (4), an adjusting rod (5), a laser calibration box (7), and an electronic level monitor (8); the support (1) is arranged above a gear turntable (101) of a cantilever frame of a stacker and reclaimer (100); a rotating platform (2) is arranged on the support (1); a vertical column (3) is arranged on the rotating platform (2); a crossbeam (4) is arranged at the upper end of the column (3); one end of the crossbeam (4) is connected and fixed to the column (3); and the other end is horizontally suspended on the cantilever frame (102) of the stacker and reclaimer (100). ), a vertical adjustment rod (5) is rotatably arranged at the suspended end of the crossbeam (4), a horizontal laser calibration box (7) is arranged at the lower end of the adjustment rod (5), a camera (71) is arranged in the middle of the bottom plate of the laser calibration box (7), two laser transmitters (6) are symmetrically arranged at both ends, two laser distance measuring sensors (72) are symmetrically arranged on both sides of the camera (71), two laser distance measuring sensors (73) are symmetrically arranged in the middle of the end covers at both ends of the laser calibration box (7), and two electronic level monitors (8) are symmetrically arranged at both ends of the top plate of the laser calibration box (7).
2. A long yard stacker-reclaimer positioning device according to claim 1, characterized in that: A horizontal positioning pin (40) is fixed on the rear side wall of the suspended end of the crossbeam (4), and a pivot hole (50) matching the positioning pin (40) is provided on the upper end of the adjustment rod (5), and the crossbeam (4) is inserted into the pivot hole (50) through the positioning pin (40) for rotational engagement.
3. The long yard stacker-reclaimer positioning device according to claim 1, characterized in that: The central axis of the column (3) coincides with the central axis of the cantilever gear turntable (101) of the stacker-reclaimer (100).
4. The long yard stacker-reclaimer positioning device according to claim 1, characterized in that: An electric push rod (9) is obliquely arranged below the cross beam (4), the fixed end of the electric push rod (9) is hingedly connected to a hinge seat 1 arranged at the middle position of the bottom of the cross beam (4), and the telescopic end of the electric push rod (9) is hingedly connected to a hinge seat 2 arranged on the side wall of the adjustment rod (5).
5. The long yard stacker-reclaimer positioning device according to claim 1, characterized in that: The rotating platform (2) is a cam divider, and the lower end of the column (3) is connected to the output end of the cam divider.
6. The long yard stacker-reclaimer positioning device according to claim 1, characterized in that: The rotating platform (2), the camera (71), the first laser distance measuring sensor (72), the second laser distance measuring sensor (73), and the electric push rod (9) are electrically connected to a control system for control.