Two-machine anti-collision device for multiple stacker-reclaimers on same track

Abstract

The utility model relates to the technical field of material taking of port stacker-reclaimers, and discloses a two-machine collision prevention device for a plurality of stacker-reclaimers on the same track, a Gray bus cable is arranged between two tracks, a Gray bus magnetic head is arranged below the stacker-reclaimers, an absolute value encoder is arranged at a cart axle of the stacker-reclaimers, and the absolute value encoder is connected with the two tracks. And the controller is connected with the control network switch through a network cable. Compared with the traditional single encoder positioning, the Gray bus correction absolute value encoder provided by the utility model has the advantages of high positioning precision, enhanced anti-interference performance, continuous positioning, reduced maintenance cost and improved system reliability by adopting Gray bus and encoder redundancy positioning, and the absolute value encoder is corrected by combining the Gray bus correction absolute value encoder. According to the method, the system instability or failure risk caused by positioning errors or faults can be reduced, the reliability and stability of the whole system can be improved, and it is ensured that accurate and reliable position information can be provided under various application scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of material reclaiming by a port stacker and reclaimer, in particular to a two-machine anti-collision device for multiple stackers and reclaimers on the same track. Background Art

[0002] With the development of the times, the action plan for the construction of smart ports has been proposed, and the level of intelligence and full automation of port machinery has been improved. In this process, safety is a point that cannot be ignored. At present, the automated use of stackers and reclaimers has entered the practical application stage. In order to improve the operating efficiency and the utilization rate of coal yard space, most yards install two stackers and reclaimers on the same track. Automatic operation is different from manual operation, so the precise positioning of the stackers and reclaimers and the collision avoidance between the two machines have become a very important issue.

[0003] The existing anti-collision device usually realizes accurate positioning of the large machine by installing a Gray busbar in the middle of the track and an inductive magnetic head under the stacker and reclaimer, combined with an encoder installed on the walking device of the stacker and reclaimer. However, due to the encoder's numerical deviation or drift when it runs for a long time or is subject to external interference, it affects the positioning accuracy and operation stability of the stacker and reclaimer, resulting in poor displacement accuracy of the stacker and reclaimer, and prone to collision. To this end, those skilled in the art have provided a two-machine anti-collision device for multiple stackers and reclaimers on the same track to solve the problems raised in the above background technology. Utility Model Content

[0004] The main purpose of the utility model is to provide a two-machine anti-collision device for multiple stackers and reclaimers on the same track, which can effectively solve the problem that the existing anti-collision device for detecting stackers and reclaimers in the background technology may have numerical deviation or drift when subjected to external interference, thereby affecting the positioning accuracy and operating stability of the stackers and reclaimers.

[0005] To achieve the above purpose, the technical solution adopted by the utility model is: a two-machine anti-collision device for multiple stackers and reclaimers on the same track, including a circuit breaker, a switching power supply, a Gray bus cable, a PLC power supply, an absolute encoder, a Gray bus module, a control system PLC module, and a Gray bus magnetic head, wherein;

[0006] The Gray busbar cable is installed between the two tracks and is powered by the track origin power supply cabinet;

[0007] The Gray busbar magnetic head is installed under the stacker-reclaimer, powered by the stacker-reclaimer, and connected to the Gray busbar cabinet PLC module on the stacker-reclaimer through a network cable, and the Gray busbar PLC module is connected to the control network switch through a network cable;

[0008] The absolute value encoder is installed on the wheel axle of the stacker-reclaimer and is connected to the control network switch via a network cable.

[0009] As a further solution of the utility model: the Gray busbar cable adopts the AFC-ECG02 model.

[0010] As a further solution of the utility model: the Gray busbar magnetic head adopts the ZR-EMAT-B model.

[0011] As a further solution of the present invention: the control system PLC module adopts Siemens-1500 model.

[0012] As a further solution of the present invention: the absolute value encoder adopts Baumer-EAM580 model.

[0013] As a further solution of the utility model: it also includes an external AC power supply, and the external AC power supply is AC220V.

[0014] As a further solution of the utility model: the control system PLC module includes a module baseboard, a power module, a CPU module, a communication module and an IO module, the module voltage level is AC220V, and the control system PLC module communicates with the control system PLC through the Siemens S7 communication protocol.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] The utility model uses Gray busbar to correct the absolute value encoder. Compared with the traditional single encoder positioning, the utility model adopts Gray busbar and encoder redundant positioning, which has the advantages of high positioning accuracy, enhanced anti-interference, continuous positioning, reduced maintenance cost, and improved system reliability. The combined use of Gray busbar corrected absolute value encoder can reduce the risk of system instability or failure caused by positioning error or fault, which helps to improve the reliability and stability of the entire system, ensure that accurate and reliable position information can be provided in various application scenarios, and enhance the adaptability of the stacker and reclaimer to the external environment, so that it can maintain stable operation in a complex and changeable working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the principle structure of the two-machine anti-collision device used for multiple stackers and reclaimers on the same track of the utility model;

[0018] Figure 2 This is a circuit diagram of a two-machine anti-collision device for multiple stackers and reclaimers on the same track of the utility model;

[0019] Figure 3 The utility model is a schematic diagram of signal transmission of a two-machine anti-collision device for multiple stackers and reclaimers on the same track.

[0020] In the figure: 1. Circuit breaker; 2. Switching power supply; 3. Gray bus cable; 4. PLC power supply; 5. Absolute encoder; 6. Gray bus module; 7. Control system PLC module; 8. Gray bus magnetic head. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0022] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Please refer to Figure 1-3 As shown, a two-machine anti-collision device for multiple stackers and reclaimers on the same track includes a circuit breaker 1, a switching power supply 2, a Gray bus cable 3, a PLC power supply 4, an absolute encoder 5, a Gray bus module 6, a control system PLC module 7, and a Gray bus magnetic head 8, wherein;

[0025] Gray bus cable 3 is installed between two tracks and powered by the track origin power supply cabinet. Gray bus cable 3 adopts AFC-ECG02 model. This type of Gray bus cable 3 consists of core wire, mold core and sheath. The sheath is made of chloroprene rubber material, which has strong corrosion resistance, fire resistance, pollution resistance and interference resistance. The combination of Gray bus and correction encoder can operate stably in various complex environments, reduce the influence of external interference on positioning accuracy, and based on Gray bus positioning technology, it has the characteristics of continuous positioning, which can ensure seamless position tracking during movement. When combined with absolute encoder 5, it can make up for the positioning interruption or jump problem that may occur in the encoder in some cases, and achieve smoother and more stable positioning effect.

[0026] The Gray busbar magnetic head 8 is installed under the stacker-reclaimer and is powered by the stacker-reclaimer. It is connected to the Gray busbar cabinet PLC module on the stacker-reclaimer through a network cable, and the Gray busbar PLC module is connected to the control switch (such as Figure 3 As shown in the figure, the Gray busbar magnetic head 8 adopts the ZR-EMAT-B model. By installing the Gray busbar magnetic head 8 under each stacker-reclaimer, it is used to directly sense the Gray busbar cable 3 located between the two belt lines to directly obtain the position information of the stacker-reclaimer.

[0027] The absolute encoder 5 is installed at the wheel axle of the stacker-reclaimer and is connected to the control network switch through a network cable. The absolute encoder 5 adopts the Baumer-EAM580 model. By installing the absolute encoder 5 on each stacker-reclaimer, it is combined with the Gray bus bar head 8 to monitor the motion parameters of the stacker-reclaimer such as position, speed and direction in real time. The monitoring combination of the Gray bus bar head 8 and the Gray bus bar cable 3 is used to provide high-precision absolute position information.

[0028] The control system PLC module 7 adopts the Siemens-1500 model. By establishing a communication and control system, real-time data exchange between the control systems of the two stackers and reclaimers is ensured. The control system receives the position information of the two stackers and reclaimers. When the system detects that the distance between the two stackers and reclaimers is less than the preset safety threshold, the control system will immediately trigger the anti-collision mechanism, send out a system alarm signal to remind the operator to pay attention, and automatically adjust the movement speed and movement state of the stackers and reclaimers to ensure that a safe distance is maintained between them.

[0029] It also includes an external AC power supply, which is AC220V. The external AC220V power supply is connected to the upper end of the circuit breaker 1, and two groups of 220V feeders are led out from the lower end of the circuit breaker 1. One group is connected to the L and N terminals of the Gray bus cable 3 to provide working power for the Gray bus cable 3; the other group of feeders is connected to the L and N terminals of the switching power supply 2, and a DC24V working power supply is generated after conversion by the switching power supply 2. Three groups of 24V power lines are led out from the + and - terminals of the switching power supply 2, and are respectively connected to the PLC power supply 4, the absolute encoder 5 and the Gray bus head 8 to provide working power for them; because the Gray bus head 8 is connected to a network cable to connect to the Gray bus module 6, the Gray bus module 6 is then connected to the control system PLC module 7 through the network cable, and a network cable is led out from the signal output end of the absolute encoder 5 to connect to the communication module of the control system PLC module 7 (such as Figure 2 as shown).

[0030] The control system PLC module 7 includes a module base plate, a power module, a CPU module, a communication module and an IO module. The module voltage level is AC220V, and the control system PLC module 7 communicates with the control system PLC through the Siemens S7 communication protocol. The control system receives the position information of the two stackers and reclaimers, and controls the operating status and speed of the stacker and reclaimer mechanism according to the position information to ensure safe and smooth operation.

[0031] The working principle of the utility model is as follows: when two stackers and reclaimers are operating at the same time on the same track, when the operating areas are too close, the traditional encoder transmitting position information may cause errors due to mechanical failure, resulting in collision risks; at this time, the Gray bus cable 3 and the absolute encoder 5 are redundantly positioned, and the absolute encoder 5 is corrected by the high precision and low fault of the Gray bus positioning system; while increasing the accuracy of the absolute encoder 5, the operating status and position information of the stacker and reclaimer are transmitted from the Gray bus module 6 to the control system PLC module 7 of the stacker and reclaimer through the communication protocol, and it is judged by calculation whether the positions of the two machines exceed the safety threshold, and the operating status and operating speed of the stacker and reclaimer are determined by the stacker and reclaimer mechanism position information received by the control system PLC module 7, so as to realize safe collision avoidance in synchronous operation.

[0032] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A two-machine anti-collision device for multiple stackers and reclaimers on the same track, characterized in that: It includes a circuit breaker (1), a switching power supply (2), a Gray bus cable (3), a PLC power supply (4), an absolute encoder (5), a Gray bus module (6), a control system PLC module (7), and a Gray bus magnetic head (8), wherein; The Gray busbar cable (3) is installed between the two tracks and is powered by a track origin power supply cabinet; The Gray busbar magnetic head (8) is installed below the stacker-reclaimer, powered by the stacker-reclaimer, and connected to the Gray busbar cabinet PLC module on the stacker-reclaimer via a network cable, and the Gray busbar PLC module is connected to the control network switch via a network cable; The absolute value encoder (5) is installed on the wheel axle of the stacker-reclaimer and is connected to the control network switch via a network cable.

2. The anti-collision device for multiple stackers and reclaimers on the same track according to claim 1, characterized in that: The Gray busbar cable (3) adopts the AFC-ECG02 model.

3. The anti-collision device for two stackers and reclaimers on the same track according to claim 1, characterized in that: The Gray busbar magnetic head (8) adopts the ZR-EMAT-B model.

4. The anti-collision device for two stackers and reclaimers on the same track according to claim 1, characterized in that: The control system PLC module (7) adopts Siemens-1500 model.

5. The anti-collision device for two stackers and reclaimers on the same track according to claim 1, characterized in that: The absolute value encoder (5) is of Baumer-EAM580 model.

6. The anti-collision device for multiple stackers and reclaimers on the same track according to claim 1, characterized in that: It also includes an external AC power supply, which is AC220V.

7. The anti-collision device for multiple stackers and reclaimers on the same track according to claim 1, characterized in that: The control system PLC module (7) comprises a module base plate, a power module, a CPU module, a communication module and an IO module, the module voltage level is AC220V, and the control system PLC module (7) communicates with the control system PLC via the Siemens S7 communication protocol.

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