Accurate distribution travelling crane patrol device based on laser ranging

Abstract

The utility model discloses a laser ranging-based accurate distribution travelling crane patrol device. The device comprises a first guide rail, a second guide rail, a longitudinal girder and a mobile vehicle, wherein the first guide rail and the second guide rail are parallel to each other; the two ends of the longitudinal girder move along the first guide rail and the second guide rail, and the moving trolley moves along the longitudinal girder. According to the utility model, the moving distance of the laser beam is increased on the transverse moving mechanism and the longitudinal moving mechanism, the distance is a set constant distance, when the laser range finder calculates the light transmission distance, the constant distance is reduced by two times or one time, and the accurate patrol position of the distribution travelling crane can be obtained; blind spots generated due to the fact that the measuring position of the laser range finder is too close are avoided, and accurate cabinet patrol of travelling cranes is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of driving precise cabinet patrol devices, and more specifically, to a distribution driving precise cabinet patrol device based on laser ranging. Background Art

[0002] Laser rangefinders generally use two methods to measure distance: pulse method and phase method. When using the pulse method to measure distance, the laser emitted by the rangefinder is reflected by the object being measured and then received by the rangefinder. The rangefinder also records the time it takes for the laser to travel back and forth. Half of the product of the speed of light and the round-trip time is the distance between the laser rangefinder and the object being measured. The accuracy of the pulse method to measure distance is plus or minus one meter. In addition, the pulse method rangefinder has a blind spot of five meters, that is, when the distance between the rangefinder and the reflector is too small and the laser reflection time is too short, the distance between the two cannot be measured.

[0003] At the tobacco silk thread fabric process, there is currently an issue of inaccurate positioning when the cabinet patrol crane is in the process of patrolling cabinets. Therefore, a laser ranging mechanism is added to the cabinet patrol crane to assist in the positioning of the crane. The laser positioning device currently installed on the crane is generally installed between the moving longitudinal beam and the fixed end of the guide rail. When the longitudinal beam moves to a distance less than five meters from the end of the guide rail, a measurement blind spot is created, resulting in inaccurate measurement. Therefore, the cabinet patrol crane cannot accurately position the cabinet it is patrolling.

[0004] Therefore, how to provide a distribution driving accurate cabinet patrol device based on laser ranging has become a technical problem that needs to be solved urgently in this field. Utility Model Content

[0005] The purpose of the utility model is to provide a distribution driving accurate cabinet patrol device based on laser ranging to solve the problems raised in the above background technology.

[0006] According to one aspect of the utility model, a distribution driving precise cabinet patrol device based on laser ranging is provided, comprising a first guide rail and a second guide rail parallel to each other, a longitudinal beam and a mobile vehicle;

[0007] The two ends of the longitudinal beam are displaced along the first guide rail and the second guide rail, and the moving vehicle is displaced along the longitudinal beam;

[0008] A first laser rangefinder is provided on the left side of one end of the longitudinal beam close to the first guide rail, a first refractor and a second refractor are provided on the left side of one end of the longitudinal beam close to the second guide rail, and a first reflector is provided on the left end of the second guide rail. The laser beam emitted by the first laser rangefinder is refracted and redirected by the first refractor and then directed to the first reflector, then reflected by the first reflector and then directed to the second refractor, then refracted by the second refractor and then directed to the receiving end of the first laser rangefinder, so as to measure the position of the longitudinal beam on the first guide rail and the second guide rail;

[0009] A laser rangefinder transmitting end is fixed on one side of the moving vehicle, a third reflector is provided on the top surface of one end of the longitudinal beam close to the first guide rail, and a laser rangefinder receiving end is provided on the top surface of one end of the longitudinal beam close to the second guide rail. The laser beam emitted by the laser rangefinder transmitting end is directed to the third reflector and then reflected to the laser rangefinder receiving end to measure the position of the moving vehicle on the longitudinal beam.

[0010] Optionally, according to the laser ranging based distribution driving precise cabinet patrol device described in the utility model, a second laser rangefinder is provided on the right side of one end of the longitudinal beam close to the second guide rail, a third refractor and a fourth refractor are provided on the right side of one end of the longitudinal beam close to the second guide rail, and a second reflector is provided on the right end of the second guide rail. The laser beam emitted by the second laser rangefinder is refracted and redirected by the third refractor and then emitted to the second reflector, and then reflected by the second reflector and emitted into the fourth refractor, and then refracted by the fourth refractor and emitted into the receiving end of the second laser rangefinder, so as to measure the position of the longitudinal beam on the first guide rail and the second guide rail again.

[0011] Optionally, according to the distribution driving precise cabinet patrol device based on laser ranging described in the utility model, the first refractor and the second refractor, and the third refractor and the fourth refractor are made of quartz material.

[0012] Optionally, according to the laser ranging-based precise cabinet patrol device for distribution vehicles described in the utility model, a cabinet patrol locator is also provided at the bottom of the mobile vehicle.

[0013] Optionally, according to the laser ranging-based distribution driving precise cabinet patrol device described in the utility model, linkage gears are provided at both ends of the longitudinal beam, a double-output shaft motor connected to the linkage gears is provided inside, and longitudinal shift racks are provided on the first guide rail and the second guide rail, and the linkage gears are respectively meshed with the two longitudinal shift racks for transmission.

[0014] Optionally, according to the laser ranging-based precise cabinet patrol device for distribution vehicles described in the utility model, a transverse motor is fixed to one side of the mobile vehicle, the output shaft of the transverse motor is fixedly connected to a transverse gear, a transverse rack is provided on the side wall of the longitudinal beam, and the transverse gear meshes with the transverse rack.

[0015] Optionally, according to the laser ranging-based distribution vehicle precise cabinet patrol device described in the utility model, the bottom end of the mobile vehicle is fixedly connected to a lifting motor, and the output shaft of the lifting motor is fixedly connected to a wire winch.

[0016] Compared with the prior art, the utility model provides a distribution driving accurate cabinet patrol device based on laser ranging, which has the following beneficial effects:

[0017] The utility model increases the moving distance of the laser beam on the transverse moving mechanism and the longitudinal moving mechanism, and the distance is a set constant distance. When the laser rangefinder calculates the light transmission distance, the constant distance is reduced by two or one times, so that the accurate cabinet patrol position of the driving vehicle can be obtained, and the blind spot of the laser rangefinder caused by the measurement position being too close is avoided, so that the accurate cabinet patrol of the driving vehicle can be realized.

[0018] In the utility model, a double-output shaft motor is fixed in a longitudinal beam, two ends of the double-output shaft motor are fixedly connected to linkage gears, and longitudinal shift racks are fixedly installed on the top ends of the first guide rail and the second guide rail. When the double-output shaft motor rotates, the two longitudinal shift racks are meshed simultaneously through the linkage gears, and the two ends of the longitudinal beam move at the same speed and in the same direction at the top ends of the two guide rails, so as to ensure the accuracy of the measurement data of the laser rangefinder.

[0019] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present invention and, together with the description, serve to explain the principles of the present invention.

[0021] Figure 1 It is a schematic diagram of the subjective structure of the utility model;

[0022] Figure 2 It is a bottom view schematic diagram of the subjective structure of the utility model;

[0023] Figure 3 It is a schematic diagram of the top-sectional structure of the main structure of the utility model;

[0024] Figure 4 This is a schematic diagram of lateral distance measurement of the laser rangefinder of the utility model;

[0025] Figure 5 This is a schematic diagram of longitudinal distance measurement of the laser rangefinder of the utility model.

[0026] Description of reference numerals:

[0027] 1. First guide rail; 2. Second guide rail; 3. Longitudinal beam; 4. Transverse roller; 5. First laser rangefinder; 6. First refractor; 7. Second refractor; 8. First reflector; 9. Second reflector; 10. Second laser rangefinder; 11. Third refractor; 12. Fourth refractor; 13. Moving vehicle; 14. Transmitting end of laser rangefinder; 15. Third reflector; 16. Receiving end of laser rangefinder; 17. Patrol cabinet locator; 18. Double-axle motor; 19. Linkage gear; 20. Longitudinal rack; 21. Transverse motor; 22. Transverse gear; 23. Transverse rack; 24. Lifting motor; 25. Wire winch. DETAILED DESCRIPTION

[0028] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0029] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present invention, its application, or uses.

[0030] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0031] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0032] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0033] according to Figures 1 to 5 As shown, the utility model provides a distribution driving precise cabinet patrol device based on laser ranging, including a first guide rail 1 and a second guide rail 2 parallel to each other, a longitudinal beam 3 and a moving vehicle 13.

[0034] The two ends of the longitudinal beam 3 are displaced along the first guide rail 1 and the second guide rail 2 through the transverse rollers 4 , and the moving vehicle 13 is displaced along the longitudinal beam 3 .

[0035] A first laser rangefinder 5 is provided on the left side of one end of the longitudinal beam 3 close to the first guide rail 1, a first refractor 6 and a second refractor 7 are provided on the left side of one end of the longitudinal beam 3 close to the second guide rail 2, and a first reflector 8 is provided on the left end of the second guide rail 2. The laser beam emitted by the first laser rangefinder 5 is refracted and redirected by the first refractor 6 and then emitted to the first reflector 8, then reflected by the first reflector 8 and emitted into the second refractor 7, then refracted by the second refractor 7 and emitted into the receiving end of the first laser rangefinder 5 to measure the position of the longitudinal beam 3 on the first guide rail 1 and the second guide rail 2.

[0036] A laser rangefinder transmitting end 14 is fixed on one side of the moving vehicle 13, a third reflector 15 is provided on the top surface of one end of the longitudinal beam 3 close to the first guide rail 1, and a laser rangefinder receiving end 16 is provided on the top surface of one end of the longitudinal beam 3 close to the second guide rail 2. The laser beam emitted by the laser rangefinder transmitting end 14 is directed to the third reflector 15 and then reflected to the laser rangefinder receiving end 16 to measure the position of the moving vehicle 13 on the longitudinal beam 3.

[0037] If the distance between the third reflector 15 and the laser rangefinder receiving end 16 is set to B, and the distance between the laser rangefinder transmitting end 14 and the third reflector 15 is set to b, then the actual travel C of the laser from the laser rangefinder transmitting end 14 to the laser rangefinder receiving end 16 is equal to B+b. When b is equal to zero, C is equal to B, then it can be determined that the moving vehicle 13 has moved to the first guide rail 1. When b is equal to B, C is equal to 2B, then it can be determined that the moving vehicle 13 has moved to the second guide rail 2. When C is equal to 1.5B, through the calculation of the laser rangefinder, it can be known that the moving vehicle 13 is located in the middle of the longitudinal beam 3.

[0038] Furthermore, a second laser rangefinder 10 is provided on the right side of one end of the longitudinal beam 3 close to the second guide rail 2, a third refractor 11 and a fourth refractor 12 are provided on the right side of one end of the longitudinal beam 3 close to the second guide rail 2, and a second reflector 9 is provided at the right end of the second guide rail 2. The laser beam emitted by the second laser rangefinder 10 is refracted and redirected by the third refractor 11 and then emitted to the second reflector 9, and then reflected by the second reflector 9 and emitted into the fourth refractor 12, and then refracted by the fourth refractor 12 and emitted into the receiving end of the second laser rangefinder 10, so as to measure the position of the longitudinal beam 3 on the first guide rail 1 and the second guide rail 2 again.

[0039] Among them, if the length of both ends of the longitudinal beam 3 is set to B, the length from the longitudinal beam 3 to the left end of the first guide rail 1 and the second guide rail 2 is A, and the length from the longitudinal beam 3 to the right end of the first guide rail 1 and the second guide rail 2 is a, when the longitudinal beam 3 moves to the leftmost end of the first guide rail 1 and the second guide rail 2, it can be determined that A is equal to zero. When the laser rangefinder is used for direct measurement, a blind spot will be generated. At this time, the actual travel distance of the laser beam received by the first laser rangefinder 5 is 2B, and the actual travel distance of the laser beam received by the second laser rangefinder 10 is 2B+2a;

[0040] When the longitudinal beam 3 moves to the rightmost end of the first guide rail 1 and the second guide rail 2, it can be determined that a is equal to zero. At this time, the actual stroke of the laser beam received by the first laser rangefinder 5 is 2B+2A, and the actual stroke of the laser beam received by the second laser rangefinder 10 is 2B.

[0041] Therefore, in this device, during the movement of the first guide rail 1 and the second guide rail 2, the laser stroke increases by a length of 2B, which is a set constant distance. When the laser rangefinder calculates the light transmission distance, by subtracting this constant distance, the precise cabinet patrol position of the allocated vehicle can be obtained, avoiding the blind spot of the laser rangefinder caused by measuring the position too close, and realizing the measurement of the precise moving distance of the vehicle.

[0042] Furthermore, the first refractor 6, the second refractor 7, the third refractor 11 and the fourth refractor 12 are made of quartz material. Quartz material has good light transmittance and refractive index, and can fully refract the laser light, so that the laser light emitted by the first laser rangefinder 5 and the second laser rangefinder 10 can be received by its photosensitive unit again after two refractions and reflections.

[0043] Furthermore, a cabinet patrol locator 17 is provided at the bottom of the mobile vehicle 13 to facilitate positioning of the cabinet at the bottom of the mobile vehicle 13 .

[0044] Furthermore, linkage gears 19 are provided at both ends of the longitudinal beam 3, and a double-output shaft motor 18 connected to the linkage gear 19 is provided inside. Longitudinal shift racks 20 are provided on the first guide rail 1 and the second guide rail 2, and the linkage gear 19 is respectively meshed with the two longitudinal shift racks 20 for transmission.

[0045] When the double-output shaft motor 18 rotates, the two longitudinal shift racks 20 are simultaneously meshed through the linkage gears 19 at both ends. At this time, under the reaction force, the longitudinal beam 3 moves at the same speed and direction at the top of the first guide rail 1 and the second guide rail 2 to ensure the accuracy of the measurement data of the above-mentioned first laser rangefinder 5 and the second laser rangefinder 10.

[0046] Furthermore, a transverse motor 21 is fixed to one side of the moving vehicle 13, and a transverse gear 22 is fixedly connected to the output shaft of the transverse motor 21. A transverse rack 23 is provided on the side wall of the longitudinal beam 3, and the transverse gear 22 meshes with the transverse rack 23. When the transverse motor 21 rotates, the transverse gear 22 meshes with the transverse rack 23, and the moving vehicle 13 moves along the longitudinal direction of the longitudinal beam 3 under the reaction force.

[0047] Furthermore, a lifting motor 24 is fixedly connected to the bottom of the mobile vehicle 13, and a wire winch 25 is fixedly connected to the output shaft of the lifting motor 24. When the lifting motor 24 is turned on, the wire winch 25 is driven to rotate, so that the wire rope wound on the wire winch 25 lifts the objects hoisted at the bottom.

[0048] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A distribution driving precise cabinet patrol device based on laser ranging, characterized in that: It includes a first guide rail and a second guide rail parallel to each other, a longitudinal beam and a moving vehicle; The two ends of the longitudinal beam are displaced along the first guide rail and the second guide rail, and the moving vehicle is displaced along the longitudinal beam; A first laser rangefinder is provided on the left side of one end of the longitudinal beam close to the first guide rail, a first refractor and a second refractor are provided on the left side of one end of the longitudinal beam close to the second guide rail, and a first reflector is provided on the left end of the second guide rail. The laser beam emitted by the first laser rangefinder is refracted and redirected by the first refractor and then directed to the first reflector, then reflected by the first reflector and then directed to the second refractor, then refracted by the second refractor and then directed to the receiving end of the first laser rangefinder, so as to measure the position of the longitudinal beam on the first guide rail and the second guide rail; A laser rangefinder transmitting end is fixed on one side of the moving vehicle, a third reflector is provided on the top surface of one end of the longitudinal beam close to the first guide rail, and a laser rangefinder receiving end is provided on the top surface of one end of the longitudinal beam close to the second guide rail. The laser beam emitted by the laser rangefinder transmitting end is directed to the third reflector and then reflected to the laser rangefinder receiving end to measure the position of the moving vehicle on the longitudinal beam.

2. The distribution driving precise cabinet patrol device based on laser ranging according to claim 1 is characterized in that: A second laser rangefinder is provided on the right side of one end of the longitudinal beam close to the second guide rail, a third refractor and a fourth refractor are provided on the right side of one end of the longitudinal beam close to the second guide rail, and a second reflector is provided at the right end of the second guide rail. The laser beam emitted by the second laser rangefinder is refracted and redirected by the third refractor and then emitted to the second reflector, then reflected by the second reflector and emitted to the fourth refractor, then refracted by the fourth refractor and emitted to the receiving end of the second laser rangefinder, so as to measure the position of the longitudinal beam on the first guide rail and the second guide rail again.

3. The distribution driving precise cabinet patrol device based on laser ranging according to claim 2 is characterized in that: The first refractor and the second refractor, and the third refractor and the fourth refractor are made of quartz material.

4. The distribution driving precise cabinet patrol device based on laser ranging according to claim 3 is characterized in that: A cabinet patrol locator is also provided at the bottom of the mobile vehicle.

5. The distribution driving precise cabinet patrol device based on laser ranging according to any one of claims 1 to 4, characterized in that: Both ends of the longitudinal beam are provided with linkage gears, and a double-output shaft motor connected to the linkage gears is provided inside. The first guide rail and the second guide rail are provided with longitudinal shift racks, and the linkage gears are respectively meshed with the two longitudinal shift racks for transmission.

6. The distribution driving precise cabinet patrol device based on laser ranging according to claim 5 is characterized in that: A transverse shifting motor is fixed on one side of the moving vehicle, and a transverse shifting gear is fixedly connected to the output shaft of the transverse shifting motor. A transverse shifting rack is provided on the side wall of the longitudinal beam, and the transverse shifting gear meshes with the transverse shifting rack.

7. The distribution driving precise cabinet patrol device based on laser ranging according to claim 6 is characterized in that: The bottom end of the mobile vehicle is fixedly connected with a lifting motor, and the output shaft of the lifting motor is fixedly connected with a wire winch.

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