Unmanned positioning device of bucket wheel machine

Abstract

The utility model provides an unmanned positioning device of a bucket wheel machine, and belongs to the technical field of bucket wheel machines. Comprising a track and a plurality of bucket wheel machine main bodies moving along the track, and each bucket wheel machine main body comprises a bucket wheel machine cart head and a bucket wheel machine tripper car tail and further comprises a positioning equipment adjustable mounting component. The plurality of positioning equipment adjustable mounting components are respectively and fixedly arranged at two ends of the track, the head part of the bucket wheel machine cart and the tail part of the bucket wheel machine tripper car, and the positioning equipment adjustable mounting components are respectively provided with a displaceable laser distance measuring sensor and a reflecting plate. The method is suitable for positioning the positions of different numbers of bucket wheel machines on the track, and the applicability is high.

Description

Technical Field

[0001] The present application relates to the field of bucket wheel machines, and in particular, to an unmanned positioning device for bucket wheel machines. Background Art

[0002] With the continuous improvement of the automation level of bucket wheel excavators, the position information verification is a very important link before the bucket wheel stacker and reclaimer performs coal stacking and reclaiming operations. However, traditional encoders will produce errors as the operation time goes by, and the longer the time, the greater the error. Although the encoder error can be solved by manual correction, it is relatively troublesome and fails to achieve true bucket wheel "automation". The new bucket wheel excavator trolley positioning device is proposed in this context. The encoder in the prior art will increase the error as the working time increases, and the error correction is time-consuming and labor-intensive. The existing positioning technologies (such as differential GPS, UWB, etc.) are limited in use and relatively expensive.

[0003] To this end, the Chinese utility model patent application number is CN201820023930.2, which discloses a bucket wheel excavator trolley positioning device, which uses a laser sensor in combination with a reflector plate for positioning. The overall structure is stable and reliable, with high accuracy and convenient signal collection, which solves the problems of difficult maintenance, high price and poor accuracy of error correction in traditional positioning technology.

[0004] However, in the process of implementing the technical solutions in the embodiments of the present application, the inventors of the present application found that the above technology has at least the following technical problems:

[0005] The above scheme is only applicable to the situation where there is only a single bucket wheel machine working on the track, and is not applicable to the positioning of the common rail bucket wheel machine walking positioning and anti-collision protection system disclosed in the Chinese utility model patent application number CN202120249574.8. Therefore, when there are two or more bucket wheel machines on the track, they cannot be accurately positioned. Utility Model Content

[0006] In order to make up for the above shortcomings, the present application provides an unmanned positioning device for bucket wheel machines, which is suitable for positioning different numbers of bucket wheel machines on the track and has strong applicability.

[0007] The present application provides an unmanned positioning device for a bucket wheel machine, comprising a track and a plurality of bucket wheel machine bodies moving along the track, wherein the bucket wheel machine bodies each comprise a bucket wheel machine trolley head and a bucket wheel machine tail trolley tail, and also comprise an adjustable mounting member for a positioning device;

[0008] The positioning device has multiple adjustable mounting components which are respectively fixed at the two ends of the track and the head of the bucket wheel excavator and the rear of the bucket wheel excavator. The positioning device has also adjustable mounting components which are respectively provided with displaceable laser ranging sensors and reflective plates.

[0009] Preferably, the adjustable mounting structure of the positioning device includes an L-shaped rod arranged at both ends of the track and at the head of the bucket wheel excavator and the rear of the bucket wheel excavator, the upper end of the L-shaped rod is connected to a fixing plate, and the outer side of the fixing plate is equipped with a driving member fixed to the laser ranging sensor and the reflective plate and used to adjust the horizontal positions of the two.

[0010] Preferably, the driving member includes a servo motor installed on the outside of the fixed plate, a ball screw pair is installed at the output end of the servo motor, a nut seat is rotatably provided on the ball screw pair, the nut seat is slidably connected to the fixed plate, a connecting block is provided on the outer wall of the nut seat, and a movable plate connected to the laser ranging sensor and the reflector is fixed on the outer wall of the connecting block.

[0011] Preferably, a sliding block is fixedly connected to the outer wall of the nut seat, and a sliding rail matched with the sliding block is provided on the fixing plate.

[0012] Preferably, a connecting column is fixedly connected to the outer side surface of the movable plate, and the reflecting plate is installed on the outer end of the connecting column, and the reflecting surface of the reflecting plate is flush with the front end of the laser ranging sensor.

[0013] Preferably, the heights of the reflective plate and the laser ranging sensor from the ground are both greater than 2 meters.

[0014] Preferably, the laser ranging sensor signal is 4-20mA.

[0015] Beneficial effect: The present application provides an unmanned positioning device for a bucket wheel machine. When two or more bucket wheel machine bodies are designed on a track, the laser ranging sensors and reflectors in the bucket wheel machine trolley head and the bucket wheel machine tail trolley tail of adjacent bucket wheel machine bodies can correspond to each other through the design of the adjustable mounting component of the positioning equipment, and the laser ranging sensors and reflectors of the bucket wheel machine bodies near the end of the track and the laser ranging sensors and reflectors installed at the end of the track can correspond to each other, and the adjustable design can stagger all laser beams on the track to avoid interference in ranging. The laser emitted by the laser ranging sensor is reflected by the corresponding reflector, and the signal is transmitted to the external PLC device to locate the trolley position in real time, so that multiple bucket wheel machine bodies operating on the track can also be positioned. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the drawings required for use in the implementation methods will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic structural diagram of an unmanned positioning device for a bucket wheel machine provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the structure of an adjustable mounting component of a positioning device provided in an embodiment of the present application;

[0019] Figure 3 A schematic structural diagram of the connection relationship between the fixing plate and the driving member provided in an embodiment of the present application.

[0020] In the figure: 1-bucket wheel excavator body; 11-bucket wheel excavator trolley head; 12-bucket wheel excavator tail trolley tail; 2-track; 3-adjustable mounting member of positioning device; 31-L-shaped rod; 32-fixed plate; 321-slide rail; 33-driving member; 331-servo motor; 332-ball screw pair; 333-nut seat; 334-connecting block; 335-movable plate; 336-slider; 4-laser ranging sensor; 5-reflector. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0022] See also Figure 1-Figure 3 The present application provides an unmanned positioning device for a bucket wheel machine, comprising a track 2 and a plurality of bucket wheel machine bodies 1 moving along the track, wherein the bucket wheel machine bodies 1 each comprise a bucket wheel machine head 11 and a bucket wheel machine tail 12, and also comprise an adjustable mounting member 3 for positioning equipment;

[0023] There are multiple adjustable mounting components 3 for positioning equipment, which are respectively fixed at both ends of the track 2 and the head 11 of the bucket wheel excavator and the rear 12 of the bucket wheel excavator. The adjustable mounting components 3 for positioning equipment are also respectively provided with displaceable laser ranging sensors 4 and reflective plates 5.

[0024] In this embodiment, when two or more bucket wheel excavator bodies 1 are designed on the track 2, the laser ranging sensors 4 and reflecting plates 5 in the bucket wheel excavator trolley head 11 and the bucket wheel excavator trolley tail 12 of adjacent bucket wheel excavator bodies 1 are made to correspond to each other, and the laser ranging sensors 4 and reflecting plates 5 of the bucket wheel excavator body 1 near the end of the track 2 and the laser ranging sensors 4 and reflecting plates 5 installed at the end of the track 2 are made to correspond to each other, and the adjustable design is used to stagger all laser beams on the track 2 to avoid interference in ranging, and the laser emitted by the laser ranging sensor 4 is reflected by the corresponding reflecting plate 5, and the signal is transmitted to the external PLC device to locate the trolley position in real time.

[0025] The adjustable mounting member 3 of the positioning device includes an L-shaped rod 31 disposed at both ends of the track 2 and at the positions of the bucket wheel machine head 11 and the bucket wheel machine tail 12. The upper end of the L-shaped rod 31 is connected to a fixing plate 32. The outer side of the fixing plate 32 is provided with a driving member 33 fixed to the laser ranging sensor 4 and the reflector 5 and used to adjust the horizontal position of the two. Specifically, the position of the laser ranging sensor 4 and the reflector 5 can be adjusted by using the driving member 33, so that all the laser ranging harnesses on the track 2 can be staggered, reducing ranging interference and improving the effectiveness of laser ranging.

[0026] The driving member 33 includes a servo motor 331 installed on the outside of the fixed plate 32, a ball screw pair 332 is installed at the output end of the servo motor 331, a nut seat 333 is rotatably provided on the ball screw pair 332, the nut seat 333 is slidably connected with the fixed plate 32, a connecting block 334 is provided on the outer wall of the nut seat 333, and a movable plate 335 connected to the laser ranging sensor 4 and the reflector 5 is fixed on the outer wall of the connecting block 334. Specifically, the servo motor 331 is started to control the rotation of the ball screw pair 332, and the nut seat 333 is indirectly controlled to move along the ball screw pair 332, so that the positions of the laser ranging sensor 4 and the reflector 5 installed on the movable plate 335 can be adjusted, and all the laser ranging harnesses existing on the track 2 can be staggered indirectly, reducing ranging interference and improving the effectiveness of laser ranging.

[0027] The outer wall of the nut seat 333 is also fixedly connected with a slider 336, and the fixed plate 32 is provided with a slide rail 321 adapted to the slider 336. Specifically, the nut seat 333 and the fixed plate 32 are slidably matched by the cooperation of the slider 336 and the slide rail 321, which indirectly ensures the stable displacement of the laser ranging sensor 4 and the reflector 5.

[0028] A connecting column is fixedly connected to the outer surface of the movable plate 335 , and the reflecting plate 5 is installed on the outer end of the connecting column. The reflecting surface of the reflecting plate 5 is flush with the front end of the laser ranging sensor 4 .

[0029] The heights of the reflector 5 and the laser distance measuring sensor 4 from the ground are both more than 2 meters. Specifically, such a design reduces the interference of the laser distance measuring by the external staff when walking.

[0030] The signal of laser distance sensor 4 is 4-20mA.

[0031] When using this application:

[0032] When two or more bucket wheel excavator bodies 1 are designed on the track 2, the servo motor 331 is started to indirectly control the laser ranging sensors 4 and reflectors 5 in the bucket wheel excavator trolley head 11 and the bucket wheel excavator trolley tail 12 of the adjacent bucket wheel excavator bodies 1 so that they can be adjusted to correspond. The laser ranging sensors 4 and reflectors 5 of the bucket wheel excavator bodies 1 near the end of the track 2 and the laser ranging sensors 4 and reflectors 5 installed at the end of the track 2 can be adjusted to correspond. The laser ranging sensors 4 and reflectors 5 after position adjustment allow all laser beams on the track 2 to be staggered to avoid interference in ranging. The laser emitted by the laser ranging sensor 4 is reflected by the corresponding reflector 5 and transmitted to the external PLC device through a 4-20mA signal to locate the trolley position in real time. In this way, multiple bucket wheel excavator bodies 1 operating on the track 2 can also be positioned.

[0033] It should be noted that the specific models and specifications of the servo motor 331, the laser ranging sensor 4 and the external PLC equipment need to be selected and determined according to the actual specifications of the device, and the specific selection calculation method adopts the existing technology in this field, so it will not be described in detail.

[0034] The power supply and principle of the servo motor 331, the laser ranging sensor 4 and the external PLC device are clear to those skilled in the art and will not be described in detail here.

[0035] It is obvious to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. An unmanned positioning device for a bucket wheel machine, comprising a track (2) and a plurality of bucket wheel machine bodies (1) moving along the track, wherein each of the bucket wheel machine bodies (1) comprises a bucket wheel machine head (11) and a bucket wheel machine tail (12), characterized in that: Also includes: The positioning device adjustable mounting components (3) are provided in plurality and are respectively fixedly mounted at the two ends of the track (2) and at the head (11) of the bucket wheel machine carriage and the rear (12) of the bucket wheel machine carriage. The positioning device adjustable mounting components (3) are also respectively provided with displaceable laser distance measuring sensors (4) and reflective plates (5).

2. The unmanned positioning device for a bucket wheel machine according to claim 1, characterized in that: The adjustable mounting member (3) of the positioning device comprises an L-shaped rod (31) arranged at both ends of the track (2) and at the head (11) of the bucket wheel machine trolley and the tail (12) of the bucket wheel machine trolley, the upper end of the L-shaped rod (31) being connected to a fixing plate (32), and the outer side surface of the fixing plate (32) being mounted with a driving member (33) fixed to the laser distance measuring sensor (4) and the reflecting plate (5) and used for adjusting the horizontal positions of the two.

3. The unmanned positioning device for a bucket wheel machine according to claim 2, characterized in that: The driving member (33) comprises a servo motor (331) mounted on the outside of the fixed plate (32); a ball screw pair (332) is mounted on the output end of the servo motor (331); a nut seat (333) is rotatably provided on the ball screw pair (332); the nut seat (333) is slidably connected to the fixed plate (32); a connecting block (334) is provided on the outer wall of the nut seat (333); and a movable plate (335) connected to the laser distance measuring sensor (4) and the reflective plate (5) is fixed on the outer wall of the connecting block (334).

4. The unmanned positioning device for a bucket wheel machine according to claim 3, characterized in that: The outer wall of the nut seat (333) is also fixedly connected with a sliding block (336), and the fixing plate (32) is provided with a sliding rail (321) adapted to the sliding block (336).

5. The unmanned positioning device for a bucket wheel machine according to claim 4, characterized in that: A connecting column is fixedly connected to the outer surface of the movable plate (335), and the reflecting plate (5) is mounted on the outer end of the connecting column. The reflecting surface of the reflecting plate (5) is flush with the front end of the laser distance measuring sensor (4).

6. The unmanned positioning device for a bucket wheel machine according to claim 5, characterized in that: The heights of the reflective plate (5) and the laser distance measuring sensor (4) from the ground are both greater than 2 meters.

7. The unmanned positioning device for a bucket wheel machine according to claim 1, characterized in that: The signal of the laser distance measuring sensor (4) is 4-20mA.

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