CN114735382B - Straight pipe section access system - Google Patents
Straight pipe section access system Download PDFInfo
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- CN114735382B CN114735382B CN202110018408.1A CN202110018408A CN114735382B CN 114735382 B CN114735382 B CN 114735382B CN 202110018408 A CN202110018408 A CN 202110018408A CN 114735382 B CN114735382 B CN 114735382B
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- straight pipe
- lifting
- pipe section
- track
- controller
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- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The application relates to a straight pipe access system, and belongs to the technical field of component access. The system includes a first rail, a mobile device, a lifting rail assembly, a lifting device, a storage shelf, a placement shelf, and a controller, wherein: the first track is 3 layers of ladder structures, and mobile device includes the mobile device body, the gear shaft, the gear, first gyro wheel and first motor, the lift track subassembly sets up on the mobile device body, and the lift track subassembly includes two lift tracks, pivot, two pairs of sprockets, two chains and second motor, and the elevating gear includes the mobile device body, telescoping device, the connecting block, second gyro wheel and fork, and storage goods shelves set up in first orbital both sides for hang straight tube section, place goods shelves setting in first orbital both sides. By adopting the application, a technician is not required to look up the types of the straight pipe sections one by one in the warehouse to find the straight pipe sections with the corresponding types, and a great deal of manpower resources are saved.
Description
Technical Field
The application relates to the technical field of component access, in particular to a straight pipe access system.
Background
The produced flowmeter is generally sent to related departments for verification according to the requirements, and straight pipe sections with different types are selected for different types of flowmeters in the verification process of the flowmeter.
Normally, staff can irregularly store straight pipe sections of various types in a warehouse, when the straight pipe sections of required types are determined, the staff is required to go to the warehouse manually to check the straight pipe sections of various types one by one, and the straight pipe sections of required types are selected, so that a great deal of manpower is wasted.
Disclosure of Invention
The embodiment of the application provides a straight pipe access system, which can solve the technical problems in the related art, and the technical scheme of the straight pipe access system is as follows:
the embodiment of the application provides a straight pipe section access system, which comprises a first rail 1, a moving device 2, a lifting rail assembly 3, a lifting device 4, a storage shelf 5, a placing shelf 6 and a controller, wherein:
the first track 1 is of a 3-layer ladder structure, and a rack 11 is arranged on the uppermost ladder surface of the first track 1;
the moving device 2 comprises a moving device body 21, a gear shaft 22, a gear 23, a first roller 24 and a first motor, wherein the gear shaft 22 is arranged in mounting holes of two side plates of the moving device body 21, the gear 23 is arranged at two ends of the gear shaft 22, the gear 23 is meshed with the rack 11, the first roller 24 is arranged on the outer wall of the side plate of the moving device body 21, the first roller 24 is arranged on the middle layer step surface of the first track 1, and the first motor is in transmission connection with the gear shaft 22;
the lifting rail assembly 3 is arranged on the mobile device body 21, the lifting rail assembly 3 comprises two lifting rails 31, a rotating shaft 32, two pairs of chain wheels 33, two chains 34 and a second motor, the upper ends and the lower ends of the two lifting rails 31 are respectively connected through the rotating shaft 32, the two chain wheels 33 in each pair of chain wheels 33 are respectively arranged on the rotating shaft 32 at the upper end and the lower end, each pair of chain wheels 33 is meshed with the agreeing chain 34, sliding grooves 311 are arranged on opposite side surfaces of the two lifting rails 31, and the second motor is in transmission connection with one end of the rotating shaft 32;
the lifting device 4 comprises a lifting device body 41, a telescopic device 42, a connecting block 43, a second roller and a fork 44, wherein the connecting block 43 is fixedly connected with the lifting device body 41, the lifting device body 41 is fixedly connected with the chain 34, the second roller is arranged on two sides of the connecting block 43, the second roller is placed in a sliding groove 311, the inside of the lifting device body 41 is hollow, two sides of the lifting device body are open, a first end of the fork 44 is arranged outside a cavity of the lifting device body 41 and is of an arc-shaped structure, the telescopic device 42 is connected with a second end of the fork 44, and the telescopic device 42 is arranged inside the cavity of the lifting device body 41;
the storage shelves 5 are arranged on two sides of the first track 1, each storage shelf 5 comprises a cross beam 51 and a hook 52, a first end of each hook 52 is connected with the cross beam 51 through a bolt, a second end of each hook 52 is of an arc-shaped structure and is used for hanging a straight pipe section 7, and one straight pipe section 7 corresponds to two hooks 52;
the upper end of the placing shelf 6 is of an arc-shaped structure, and the placing shelf 6 is arranged on two sides of the first track 1;
the controller is electrically connected to the first motor, the second motor and the output of the telescopic device 42.
In one possible implementation, the system further comprises a computer device, a first reader, and a second reader;
the first reader and the second reader are respectively in communication connection with computer equipment;
the first reader is secured to a first end of the fork 44;
computer apparatus for:
acquiring a target flowmeter identifier read by the second reader in an electronic tag of the flowmeter;
determining first control information corresponding to the target flowmeter identifier based on a pre-stored corresponding relation between the flowmeter identifier and the control information, wherein the control information comprises displacement control information of the mobile device 2, lifting control information of the lifting device 4 and telescopic control information of the telescopic device 42;
transmitting the first control information to a controller;
a controller for;
the moving device 2, the lifting device 4 and the telescopic device 42 are controlled to operate based on the first control information so as to place the first straight pipe section 7 corresponding to the target flowmeter identifier on the placing shelf 6.
In one possible implementation, the controller is further configured to:
receiving a straight pipe section storage instruction, and controlling the operation of the moving device 2, the lifting device 4 and the telescopic device 42 based on the second control information stored in advance so as to move the fork 44 to the place where the goods shelf 6 is placed;
computer apparatus, further configured to:
acquiring a target straight pipe section identifier read by the first reader in an electronic tag of a second straight pipe section 7 placed on a placing shelf 6;
determining third control information corresponding to the target straight pipe section identification based on a corresponding relation between the prestored straight pipe section identification and the control information;
transmitting the third control information to a controller;
a controller, further configured to:
and controlling the moving device 2, the lifting device 4 and the telescopic device 42 to operate based on the third control information so as to place the straight pipe section 7 corresponding to the target straight pipe section identifier at the position corresponding to the placing shelf 6.
In one possible implementation, the system further comprises a first laser ranging sensor, a second laser ranging sensor, a laser alignment sensor, and a mirror;
the first laser ranging sensor is arranged at the end part of the first track 1, the second ranging laser sensor is arranged at the end part of the lifting track 31, the laser alignment sensor is arranged at the first end of the fork 44, the reflector is fixed on the lower surface of the cross beam 51 and is positioned between the two hooks 52 corresponding to the same straight pipe section 7;
the first laser ranging sensor, the second ranging laser sensor and the laser alignment sensor are respectively and electrically connected with the controller;
the first laser ranging sensor is used for detecting the distance between the first laser ranging sensor and the mobile device 2 and sending the distance to the controller;
the second laser ranging sensor is used for detecting the distance between the second laser ranging sensor and the lifting device 4 and sending the distance to the controller;
the laser alignment sensor is used for sending alignment success information to the controller when detecting reflected light of the emitted laser reflected by the reflector;
and a controller for controlling the movement of the moving device 2 based on the displacement control information and the distance transmitted by the first laser ranging sensor, controlling the movement of the moving device 2 based on the lifting control information and the distance transmitted by the second laser ranging sensor, controlling the operation of the telescoping device 42 based on the telescoping control information, and controlling the telescoping device 42 to stop operating when the alignment success information is received.
In one possible implementation, the telescoping device 42 includes a lead screw 421, a nut 422, and a third motor 423;
the nut 422 is fixedly connected with the second end of the fork 44, the lead screw 421 is in threaded connection with the nut 422, and one end of the lead screw 421 is in transmission connection with the output shaft of the third motor 423;
the controller is electrically connected to the third motor 423.
In a possible implementation, the system further comprises a second track 8;
the second track 8 corresponds to the position of the first track 1 and is arranged above the first track 1;
the upper end of the lifting rail 31 is provided with a third roller which is matched with the second rail 8.
In one possible implementation, limit switches are provided at both ends of the second track 8.
In one possible implementation, the lifting rail assembly 3 further comprises a parking plate 35, the parking plate 35 being fixed at the lower part of the lifting rail 31 and located directly below the lifting device 4 for parking of the lifting device 4, reducing the consumption of chains.
In one possible implementation, the mobile device 2 further includes a buffer post 25, the buffer post 25 being disposed at a position opposite to the front end face and the rear end face of the mobile device body 21.
In one possible implementation, the storage shelf 5 further comprises a storage shelf body 53, the storage shelf body 53 having a triangular structure.
The technical scheme provided by the embodiment of the application at least comprises the following beneficial effects:
the embodiment of the application provides a straight pipe section access system, wherein a controller controls a moving device, a lifting device and a telescopic device to operate, so that the straight pipe section access system can directly acquire straight pipe sections of corresponding types or store the straight pipe sections of corresponding types at corresponding positions of a storage shelf, a technician is not required to look over the types of the straight pipe sections one by one in a warehouse to find the straight pipe sections of corresponding types, and a large amount of manpower resources are saved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. In the drawings:
FIG. 1 is a schematic diagram of a straight pipe access system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a straight pipe access system according to an embodiment of the present application;
FIG. 3 is a schematic view of a first track according to an embodiment of the present application;
FIG. 4 is a schematic view of a lifting track assembly according to an embodiment of the present application;
fig. 5 is a schematic structural view of a lifting device according to an embodiment of the present application.
Description of the drawings
1. A first track;
11. a rack;
2. a mobile device;
21. a mobile device body; 22. a gear shaft; 23. a gear; 24. a first roller; 25. a buffer column;
3. a lifting rail assembly;
31. lifting rails; 32. a rotating shaft; 33. a sprocket; 34. a chain; 35. a parking plate;
4. a lifting device;
41. a lifting device body; 42. a telescoping device; 43. a connecting block; 44. a fork;
421. a screw rod; 422. a nut; 423. a third motor;
5. a storage rack;
51. a cross beam; 52. a hook; 53. a storage rack body;
6. placing a goods shelf;
7. a straight pipe section;
8. and a second track.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
The embodiment of the application provides a straight pipe section access system, as shown in fig. 1 and 2, which comprises a first rail 1, a moving device 2, a lifting rail assembly 3, a lifting device 4, a storage shelf 5, a placing shelf 6 and a controller, wherein:
the first track 1 is of a 3-layer ladder structure, and a rack 11 is arranged on the uppermost ladder surface of the first track 1.
As shown in fig. 3, the section of the first track 1 is of a 3-layer ladder structure, a rack 11 is arranged on the uppermost layer ladder surface, a plurality of through holes are uniformly formed on the lowermost layer ladder surface, and the first track 1 can be fixed on the ground by using bolts.
The moving device 2 comprises a moving device body 21, a gear shaft 22, a gear 23, a first roller 24 and a first motor, wherein the gear shaft 22 is arranged in mounting holes of two side plates of the moving device body 21, the gear 23 is arranged at two ends of the gear shaft 22, the gear 23 is meshed with the rack 11, the first roller 24 is arranged on the outer wall of the side plate of the moving device body 21, the first roller 24 is arranged on the middle layer step surface of the first track 1, and the first motor is in transmission connection with the gear shaft 22.
The mobile device body 21 of the mobile device 2 can be of a U-shaped structure, the opening is downward, mounting holes are formed in positions corresponding to the lower ends of the two side plates, the gear shaft 22 is arranged in the mounting holes, the two gears 23 are respectively arranged at two ends of the gear shaft 22, the rack 11 is arranged on the uppermost step surface of the first track 1, the gears 23 are meshed with the rack 11, a belt wheel can be arranged on the gear shaft 22, the output end of the first motor is connected with and fixed with a belt wheel, an annular belt is arranged on the two belt wheels, the first motor drives the gear shaft 22 to rotate through belt transmission, so that the gears 23 are driven to rotate, the gears 23 are driven to rotate on the rack 11, and the mobile device 2 is driven to move along the direction of the first track 1.
The moving device 2 is further provided with a first roller 24, the first roller 24 is arranged on the outer wall of the side plate of the moving device body 21, the first roller 24 is placed on the middle layer step surface of the first track 1, and the moving device 2 is driven to move along the direction of the first track 1 along with the rotation of the gear 23 on the rack 11, so that the first roller 24 is driven to roll on the middle layer step surface of the first track 1, the moving device body 21 is balanced and supported, and the moving device 2 is enabled to move stably.
Optionally, the moving device 2 further includes a buffer post 25, where the buffer post 25 is disposed at a position opposite to the front end face and the rear end face of the moving device body 21, so as to avoid moving toward two ends of the first track 1 when the straight pipe access system fails, so that the straight pipe access system may strike other devices, thereby causing a safety accident.
The lifting rail assembly 3 is disposed on the moving device body 21, the lifting rail assembly 3 includes two lifting rails 31, a rotating shaft 32, two pairs of sprockets 33, two chains 34 and a second motor, the upper ends and the lower ends of the two lifting rails 31 are respectively connected through the rotating shaft 32, the two sprockets 33 of each pair of sprockets 33 are respectively disposed on the rotating shaft 32 at the upper ends and the lower ends, each pair of sprockets 33 is engaged with the consent chain 34, sliding grooves 311 are disposed on opposite sides of the two lifting rails 31, and the second motor is in transmission connection with one end of the rotating shaft 32.
The two lifting rails 31 are arranged on the upper surface of the mobile device body 21, the opposite side surfaces of the two lifting rails 31 are provided with sliding grooves 311, two ends of each sliding groove 311 are sealed, the upper end and the lower end of each lifting rail 31 are provided with mounting holes, the rotating shafts 32 are arranged in the mounting holes, the upper ends of the two lifting rails 31 are rotationally connected with the same rotating shaft 32, the lower ends of the two lifting rails 31 are rotationally connected with the same rotating shaft 32, one of a pair of chain wheels 33 is respectively arranged on the upper rotating shaft 32 and the lower rotating shaft 32, the pair of chain wheels 33 are meshed with a chain 34, and in order to ensure stable lifting, a pair of chain wheels 33 and chains 34 can be respectively arranged at two ends of the rotating shaft 32. The output shaft of the second motor is fixedly connected with the rotating shaft 32 coaxially, the output shaft of the second motor rotates to drive the rotating shaft 32 to rotate, and therefore the chain wheel is driven to rotate, and the chain wheel drives the chain to rotate.
The lifting device 4 comprises a lifting device body 41, a telescopic device 42, a connecting block 43, a second roller and a fork 44, wherein the connecting block 43 is fixedly connected with the lifting device body 41, the lifting device body 41 is fixedly connected with the chain 34, the second roller is arranged on two sides of the connecting block 43, the second roller is placed in the sliding groove 311, the lifting device body 41 is hollow and is opened on two sides, the first end of the fork 44 is arranged outside a cavity of the lifting device body 41 and is of an arc-shaped structure, the telescopic device 42 is connected with the second end of the fork 44, and the telescopic device 42 is arranged inside the cavity of the lifting device body 41.
The lifting device body 41 is fixedly connected with the connecting block 43, and second rollers are arranged at two ends of the connecting block 43, and the second rollers are matched with the sliding groove 311 and can roll on the side wall of the sliding groove 311. The lifting device body 41 is fixedly connected with the chain 34, and the second roller is finally driven to roll in the sliding groove 311 along with the rotation of the chain 34, so that the lifting device 4 is driven to stably lift along with the chain 34.
The lifting device body 41 is hollow and is provided with openings at two sides, the telescopic device 42 is arranged in the inner cavity of the lifting device body 41 and fixedly connected with the second end of the fork 44, the first end of the fork 44 extends out of the opening of the lifting device body 41, and the fork 44 stretches out and draws back along with the stretching of the telescopic device 42. The prongs 44 have an arcuate configuration at a first end for receiving the straight tube section 7.
In one possible implementation, the telescopic device 42 includes a screw 421, a nut 422 and a third motor 423, the nut 422 is fixedly connected to the second end of the fork 44, the screw 421 is in threaded connection with the nut 422, one end of the screw 421 is in driving connection with an output shaft of the third motor 423, and the controller is electrically connected to the third motor 423.
The third motor 423 rotates to drive the screw 421 to rotate, the nut 422 is fixed at the second end of the fork 44 and is in threaded connection with the screw, the screw 421 rotates, so that the nut 422 rotates in the nut 422, the nut 422 moves relatively along the axial direction of the screw 421, and the fork 44 is driven to stretch along with the nut 422 at the side opening of the lifting device body 41.
The third motor 423 is not yet operated, the screw 421 and the nut 422 are not yet rotated, the position of the fork 44 when the fork 44 is not extended is set to be the reset position of the fork 44, and each time the fork 44 stretches and contracts, the operation error caused by repeatedly taking and releasing the straight pipe section 7 is avoided, and the operation is simpler and more convenient. When the screw 421 rotates with the third motor 423, the screw drives the fork 44 to start to extend.
In one possible implementation, the lifting rail assembly 3 further comprises a parking plate 35, the parking plate 35 being fixed at the lower part of the lifting rail 31 and located directly below the lifting device 4 for parking of the lifting device 4, reducing the consumption of chains. When the straight pipe section 7 does not need to be taken and placed, the lifting device 4 can be placed on the parking plate 35, consumption of chains can be reduced, the position of the lifting device 4 when placed on the parking plate 35 can be set to be the reset position of the lifting device 4, each movement of the lifting device 4 is started from the reset position, running errors caused by taking and placing the straight pipe section 7 for many times are avoided, and the operation is simpler and more convenient.
The storage shelf 5 is arranged on two sides of the first track 1, the storage shelf 5 comprises a cross beam 51 and hooks 52, a first end of each hook 52 is connected with the cross beam 51 through a bolt, a second end of each hook 52 is of an arc-shaped structure and is used for hanging a straight pipe section 7, and one straight pipe section 7 corresponds to two hooks 52. The storage shelf 5 further includes a storage shelf body 53, and the storage shelf body 53 has a triangular structure.
Storage shelves 5 are placed on both sides of the first track 1 for storing straight tube sections 7. The length direction of the storage shelf 5 is parallel to the length direction of the first rail 1, so that the straight pipe section 7 can be conveniently taken and placed. The storage rack body 53 is a triangular plate, the cross beam 51 is arranged between two adjacent storage rack bodies 53, the first end of the hook 52 is fixedly connected with the cross beam 51 through a bolt, the second end of the hook 52 is of an arc-shaped structure and is used for hanging the straight pipe section 7, and one straight pipe section corresponds to two hooks 52 and is more stable for hanging the straight pipe section 7.
Alternatively, the straight pipe sections 7 may be sequentially arranged on the storage shelf 5 from top to bottom and from front to back in order of size and weight from large to small, so that the straight pipe section 7 is more conveniently accessed by the straight pipe section accessing system.
The upper end of the placing shelf 6 is of an arc-shaped structure, and the placing shelf 6 is arranged on two sides of the first track 1.
The lower end of the placing shelf 6 is fixed on the ground, and the upper end is of an arc-shaped structure and is used for placing the straight pipe section 7. The placement shelves 6 are placed on both sides of the first rail 1 and on one side of the storage shelf 5.
The position of the moving device 2 when being aligned with the placing shelf 6, namely the position of the fork 44 when the straight pipe section 7 is taken and placed on the placing shelf 6, can be set as the reset position of the moving device 2, each movement of the moving device 2 is started from the reset position, the running error caused by taking and placing the straight pipe section 7 for many times is avoided, and the operation is simpler and more convenient.
The straight pipe section access system further comprises a second track 8, the second track 8 corresponds to the first track 1 in position, the second track 8 is arranged above the first track 1, a third roller is arranged at the upper end of the lifting track 31, and the third roller is matched with the second track 8. Thus, the moving device 2 can move along the direction of the first rail 1 below and the second rail 8 above when moving, so as to avoid the overturning of the straight pipe access system caused by the unstable gravity center of the straight pipe access system due to the excessively high speed of the moving device or the unstable gravity center of the straight pipe access system caused by the fork 44 carrying the straight pipe section 7.
Limit switches are arranged at two ends of the second track 8. When the third roller touches the contact of the limit switch, the limit switch can send stop information to the controller, and the controller controls the first motor to stop running, so that the moving distance of the moving device 2 is limited, and accidents caused by excessive movement of the moving device 2 are prevented.
The controller is electrically connected to the first motor, the second motor and the output of the telescopic device 42. The controller can control the first motor, the second motor and the output end (i.e. the third motor 423) of the telescopic device 42 to rotate according to the received information, so as to drive the moving device 2, the lifting device 4 and the telescopic device 42 to operate.
The straight tube segment access system further includes a computer device, a first reader and a second reader, the first reader and the second reader being in communication with the computer device, respectively, the first reader being secured to the first end of the fork 44.
When a check plan exists on the flowmeter, the straight pipe section 7 with the corresponding model can be taken out according to the model of the flowmeter, and the process can be as follows:
computer apparatus for: and acquiring a target flowmeter identifier read by the second reader in the electronic tag of the flowmeter, and determining first control information corresponding to the target flowmeter identifier based on a corresponding relation between the prestored flowmeter identifier and control information, wherein the control information comprises displacement control information of the mobile device 2, lifting control information of the lifting device 4 and expansion control information of the expansion device 42, and sending the first control information to a controller.
A controller for; the movement device 2, the lifting device 4 and the telescopic device 42 are controlled to operate based on the first control information so as to place the first straight pipe section 7 corresponding to the target flowmeter identification on the placement shelf 6.
The technician may store the corresponding relation of the control information in the computer device in advance, where the control information may be the position information of the straight pipe section 7 on the storage shelf 5, and the corresponding relation may be set as the model of each model of the flowmeter and the corresponding straight pipe section 7, and the position information of the straight pipe section 7 of the model on the storage shelf 5.
When the track direction of the first track 1 is set as the X direction, the direction in which the forks 44 extend and retract is set as the Y direction, the track direction of the lifting track 31 is set as the Z direction, and points in the space where the reset position of the moving device 2, the reset position of the lifting device 4, and the reset position of the forks 44 are located are set as zero points of the coordinate system, the position information of the straight pipe section 7 on the storage rack 5 may be coordinate values in the X direction, the Y direction, and the Z direction.
Each flowmeter is provided with an electronic tag, model information of the flowmeter is recorded in the electronic tag, a technician can enable the electronic tag on the flowmeter to be close to a second reader, the second reader which is in communication connection with computer equipment is used for reading the electronic tag on the target flowmeter, the model information of the target flowmeter is transmitted to the computer equipment, and then the computer equipment sends the position information of the first straight pipe section 7 corresponding to the target flowmeter to the controller according to the received corresponding relation between the model information of the flowmeter and the pre-stored information. After receiving the position information of the first straight pipe section 7, the controller controls the moving device 2, the lifting device 4 and the telescopic device 42 to operate, i.e. controls the first motor, the second motor and the third motor 423 to operate. First, the first motor is controlled to operate, the moving device 2 is moved to the corresponding coordinate in the X direction, namely the corresponding position in front of the storage shelf 5 where the first straight tube section 7 is located, then, the second motor is controlled to operate, the lifting device 4 is moved to the corresponding coordinate in the Y direction, namely the corresponding position of the first straight tube section 7, then, the third motor 423 is controlled to operate, the fork 44 is extended to the corresponding coordinate in the Z direction along with the telescopic device 42, namely the position right below the first straight tube section 7 on the storage shelf 5, then, the lifting device 4 moves upwards in the lifting track 31, the fork lifts the first straight tube section 7, the first straight tube section 7 is separated from the hook 52 of the storage shelf 5, then, the telescopic device 42 stretches and retracts the fork to the reset position of the fork, then, the lifting device 4 moves downwards to the reset position of the lifting device 4, then, the moving device 2 moves along the first track 1 and the second track 8 to the reset position of the moving device 2, namely the corresponding position of the storage shelf 6, the lifting device 4 can be moved upwards a distance, then, the fork 44 is extended to the position right below the first straight tube section 7 on the storage shelf 6, then, the fork 7 is retracted right below the first straight tube section 6 is placed on the storage shelf 6, and the first straight tube section 7 is completely retracted, then, the lifting device 7 is placed on the first straight tube section 6 is completely.
When the straight pipe section 7 needs to be put back on the storage shelf 5 after being used, the process can be as follows:
a controller, further configured to: receiving a straight pipe section storage instruction, and controlling the operation of the moving device 2, the lifting device 4 and the telescopic device 42 based on the second control information stored in advance so as to move the fork 44 to the place where the goods shelf 6 is placed;
computer apparatus, further configured to:
acquiring a target straight pipe section identifier read by the first reader in an electronic tag of a second straight pipe section 7 placed on a placing shelf 6, determining third control information corresponding to the target straight pipe section identifier based on a corresponding relation between the prestored straight pipe section identifier and the control information, and sending the third control information to a controller;
a controller, further configured to:
and controlling the moving device 2, the lifting device 4 and the telescopic device 42 to operate based on the third control information so as to place the straight pipe section 7 corresponding to the target straight pipe section identifier at the position corresponding to the placing shelf 6.
When the straight tube segment 7 is used, the technician may place the straight tube segment 7 (i.e., the second straight tube segment 7) on the placement shelf 6. The placing shelf 6 is provided with a laser sensor, when the second straight pipe section 7 is placed on the placing shelf 6, laser emitted by the laser sensor is blocked by the second straight pipe section 7 and is reflected back to the laser sensor, a receiver in the laser sensor receives the reflected laser and triggers a storage instruction to be sent to the controller, and the storage instruction is used for instructing the straight pipe section access system to place the second straight pipe section 7 back to the corresponding position of the storage shelf 5. After receiving the storage instruction, the controller controls the moving device 2, the lifting device 4 and the telescopic device 42 to operate based on the pre-stored second control information, and moves the fork 44 to the place where the goods shelf 6 is placed, but since the reset position of the moving device 2 and the reset position of the lifting device 4 are both at the corresponding places where the goods shelf 6 is placed, only the telescopic device 42 is required to be controlled at this time, the fork 44 is extended, so that the first reader arranged at the first end of the fork 44 is close to the second straight tube section 7 on the place where the goods shelf 6 is placed, the first reader reads the identification of the second straight tube section 7 on the second straight tube section 7, the identification of the second straight tube section 7 is sent to the computer equipment, and after receiving the identification of the second straight tube section 7, the computer equipment obtains the position information of the second straight tube section 7, namely the third control information, and then sends the position information of the second straight tube section 7 to the controller, and the controller controls the moving device 2, the lifting device 4, the motor 42, the first motor 423 and the second telescopic device to operate based on the position information of the second straight tube section 7. Firstly, the third motor 423 is controlled to operate, the pallet fork 44 is extended by the telescopic device 42, the pallet fork 44 is located right below the second straight pipe section 7, then the second motor is controlled to operate, the lifting device 4 is lifted, the second straight pipe section 7 is taken out, then the telescopic device is retracted to the reset position of the telescopic device, the lifting device 4 is also moved downwards to the reset position of the lifting device, then the first motor is controlled to operate, the moving device 2 is moved to the position corresponding to the X direction in the position information of the second straight pipe section 7, namely the position corresponding to the second straight pipe section 7 on the storage shelf 5, then the second motor is controlled to operate, the lifting device 4 is moved to the position corresponding to the Y direction, namely the storage position of the second straight pipe section 7, then the third motor 423 is controlled to operate, the pallet fork 44 is extended to the position corresponding to the Z direction along with the telescopic device 42, namely the position right above the hook 52 of the storage shelf 5, then the lifting device 4 is moved downwards, the second straight pipe section 7 on the pallet fork 44 is placed on the hook 52, then the telescopic device 44 is moved downwards, and the pallet fork 44, and then the lifting device 42 and the lifting device 4 are moved to the respective reset positions at the moment, and the storage process is completed.
The straight pipe section access system may also be provided with various sensors to ensure the accuracy of the movement of the moving means 2, lifting means 4 and telescopic means 42.
The straight pipe section access system further comprises a first laser ranging sensor, a second laser ranging sensor, a laser alignment sensor and a reflector.
The first laser ranging sensor is arranged at the end part of the first track 1, the second ranging laser sensor is arranged at the end part of the lifting track 31, the laser alignment sensor is arranged at the first end of the fork 44, the reflector is fixed on the lower surface of the cross beam 51, and the reflector is positioned between the two hooks 52 corresponding to the same straight pipe section 7.
The first laser ranging sensor, the second ranging sensor and the laser alignment sensor are respectively and electrically connected with the controller, the first laser ranging sensor is used for detecting the distance between the first laser ranging sensor and the mobile device 2 and sending the distance to the controller, the second laser ranging sensor is used for detecting the distance between the second laser ranging sensor and the lifting device 4 and sending the distance to the controller, and the laser alignment sensor is used for sending alignment success information to the controller when detecting the reflected light of the emitted laser reflected by the reflector;
and a controller for controlling the movement of the moving device 2 based on the displacement control information and the distance transmitted by the first laser ranging sensor, controlling the movement of the moving device 2 based on the lifting control information and the distance transmitted by the second laser ranging sensor, controlling the operation of the telescoping device 42 based on the telescoping control information, and controlling the telescoping device 42 to stop operating when the alignment success information is received.
The first laser ranging sensor can be respectively arranged at two ends of the first track 1, the first laser ranging sensor emits laser to the direction of the mobile device 2, the mobile device 2 reflects the laser back, the receiver of the first laser ranging sensor receives the reflected light, the distance between the first laser ranging sensor and the mobile device 2 can be calculated through the time difference between the emission and the receiving, then the detected distance is sent to the controller, the controller can prestore the distance between the first laser ranging sensor of the mobile device 2 at the reset position of the mobile device 2 and the mobile device 2, then according to the distance between the first laser ranging sensor and the mobile device 2 measured later, the controller can obtain whether the distance of the mobile device 2 moving from the reset position is accurate or not, and if not, the position of the mobile device 2 is adjusted according to the distance detected by the first laser ranging sensor. For example, in the process of acquiring the first straight pipe section 7, the mobile device 2 needs to be moved to the corresponding position of the storage rack 5, after the controller controls the first motor to operate and moves the mobile device 2 to the position of the corresponding coordinate in the X direction, the controller obtains the moving distance of the mobile device 2 according to the distance between the mobile device 2 measured by the first laser ranging sensor and the distance between the mobile device 2 and the prestored reset position of the mobile device 2, then judges whether the moving distance of the mobile device 2 is accurate or not based on the first control information acquired by the controller, namely the position information of the first straight pipe section 7, if not, the position of the mobile device 2 is adjusted, and the controller controls the first motor to operate so that the mobile device 2 moves to the position of the corresponding coordinate in the accurate X direction.
The first laser ranging sensors are arranged at two ends of the first track 1, whether the two distances correspond or not can be judged according to the distances detected by the two first laser ranging sensors, under normal conditions, the controller respectively calculates that the current positions of the two mobile devices 2 are identical according to the distances detected by the two first laser ranging sensors and the reset positions of the mobile devices 2, if the two distances are not identical, the straight pipe access system can be stopped, an obstacle possibly appears at the position of the first track 1, the two first laser ranging sensors cannot correspond to each other, the operation is stopped at the moment, collision is avoided, the computer equipment can display warning information, and technicians look over and adjust the warning information.
The second laser ranging sensors may be respectively disposed at two ends of the lifting track 31, the working principle of the second laser ranging sensors is the same as that of the first laser ranging sensor, the second laser ranging sensors detect the distance between the second laser ranging sensors and the lifting device 4, and then the detected distance is sent to the controller, and the controller determines whether the distance of the lifting device 4 moving from the reset position is accurate or not according to the distance detected by the second laser ranging sensors and the distance between the second laser ranging sensors when the pre-stored lifting device 4 is at the reset position of the lifting device 4, and adjusts the position of the lifting device 4 according to the detected distance of the second laser ranging sensors if the distance is inaccurate.
The second laser ranging sensors are arranged at two ends of the lifting track 31, whether the two distances correspond or not can be judged according to the distances detected by the two second laser ranging sensors, under normal conditions, the controller is respectively used for checking and adjusting the technical staff according to the distances detected by the two second laser ranging sensors and the reset position of the lifting device 4, if the calculated current positions of the lifting device 4 are the same, the two distances are corresponding, if the calculated distances are not corresponding, an obstacle possibly appears on the lifting track 31, at the moment, the straight pipe access system can be stopped, then the computer equipment displays warning information, and the technical staff checks and adjusts.
The laser alignment sensor is arranged at the first end of the laser beam or the first end of the laser beam 45, the emitting direction of the laser beam is upward, the reflecting mirror is arranged on the lower surface of the cross beam 51 and between the two hooks 52 of the same straight pipe section 7, when the fork 44 is positioned right below the hanging position of the straight pipe section of the hooks 52, the laser beam emitted by the laser alignment sensor is reflected back to the sensor through the reflecting mirror, when the laser alignment sensor receives the reflected laser beam, the position of the fork 44 right below the hanging position of the straight pipe section 7 is indicated, at the moment, the laser alignment sensor can send alignment success information to the controller, and then the controller controls the straight pipe section access system to perform the next operation.
When the third motor 423 is operated according to the instruction sent by the controller, after the fork 44 extends to the corresponding position, if the laser alignment sensor sends the alignment success information to the controller at this time, it indicates that the fork 44 is located under the hanging position of the straight pipe section 7, the controller may control the straight pipe section 7 to be removed from the hook 52 or the straight pipe section 7 on the fork 44 to be placed on the hook 52, if the laser alignment sensor does not send the alignment success information to the controller, it indicates that the position of the fork 44 is not located under the hanging position of the straight pipe section 7, at this time, the controller may control the third motor 423 to operate, stretch and retract the fork 44 until the alignment success information is received, then control the third motor 423 to stop operation, and then may control the acquisition or placement of the straight pipe section 7.
The foregoing description of the preferred embodiments of the present application is not intended to limit the application, but rather, the application is to be construed as limited to the appended claims.
Claims (10)
1. A straight pipe section access system, characterized in that the system comprises a first rail (1), a moving device (2), a lifting rail assembly (3), a lifting device (4), a storage shelf (5), a placing shelf (6) and a controller, wherein:
the first track (1) is of a 3-layer ladder structure, and a rack (11) is arranged on the uppermost ladder surface of the first track (1);
the moving device (2) comprises a moving device body (21), a gear shaft (22), a gear (23), a first roller (24) and a first motor, wherein the gear shaft (22) is arranged in mounting holes of two side plates of the moving device body (21), the gear (23) is arranged at two ends of the gear shaft (22), the gear (23) is meshed with the rack (11), the first roller (24) is arranged on the outer wall of the side plate of the moving device body (21), the first roller (24) is arranged on the middle-layer step surface of the first track (1), and the first motor is in transmission connection with the gear shaft (22);
the lifting rail assembly (3) is arranged on the mobile device body (21), the lifting rail assembly (3) comprises two lifting rails (31), a rotating shaft (32), two pairs of chain wheels (33), two chains (34) and a second motor, the upper ends and the lower ends of the two lifting rails (31) are respectively connected through the rotating shaft (32), the two chain wheels (33) in each pair of the chain wheels (33) are respectively arranged on the rotating shaft (32) at the upper end and the lower end, each pair of the chain wheels (33) are meshed with the agreeing chain (34), sliding grooves (311) are formed in opposite side surfaces of the two lifting rails (31), and the second motor is in transmission connection with one end of the rotating shaft (32);
the lifting device (4) comprises a lifting device body (41), a telescopic device (42), a connecting block (43), a second roller and a fork (44), wherein the connecting block (43) is fixedly connected with the lifting device body (41), the lifting device body (41) is fixedly connected with a chain (34), the second roller is arranged at two sides of the connecting block (43), the second roller is arranged in a sliding groove (311), the inside of the lifting device body (41) is hollow, two sides of the second roller are open, the first end of the fork (44) is arranged outside a cavity of the lifting device body (41) and is of an arc-shaped structure, the telescopic device (42) is connected with the second end of the fork (44), and the telescopic device (42) is arranged inside the cavity of the lifting device body (41);
the storage shelves (5) are arranged on two sides of the first track (1), each storage shelf (5) comprises a cross beam (51) and a hook (52), the first ends of the hooks (52) are connected with the cross beam (51) through bolts, the second ends of the hooks (52) are arc-shaped structures and are used for hanging straight pipe sections (7), and one straight pipe section (7) corresponds to two hooks (52);
the upper end of the placing shelf (6) is of an arc-shaped structure, and the placing shelf (6) is arranged on two sides of the first track (1);
the controller is electrically connected with the first motor, the second motor and the output end of the telescopic device (42).
2. The straight pipe segment access system of claim 1 further comprising a computer device, a first reader, and a second reader;
the controller, the first reader and the second reader are respectively in communication connection with the computer equipment;
the first reader is fixed at a first end of a fork (44);
the computer device is used for:
acquiring a target flowmeter identifier read by the second reader in an electronic tag of the flowmeter;
determining first control information corresponding to the target flowmeter identifier based on a corresponding relation between the pre-stored flowmeter identifier and the control information, wherein the control information comprises displacement control information of the mobile device (2), lifting control information of the lifting device (4) and expansion control information of the expansion device (42);
transmitting the first control information to the controller;
the controller is used for;
and controlling the running of the moving device (2), the lifting device (4) and the telescopic device (42) based on the first control information so as to place the first straight pipe section (7) corresponding to the target flowmeter identifier on the placing shelf (6).
3. The straight pipe segment access system of claim 2 wherein the controller is further configured to:
receiving a straight pipe section storage instruction, and controlling the movement device (2), the lifting device (4) and the telescopic device (42) to operate based on second control information stored in advance so as to move the fork (44) to the place where the goods shelf (6) is placed;
the computer device is further configured to:
acquiring a target straight pipe section identifier read by the first reader from an electronic tag of a second straight pipe section (7) placed on a placing shelf (6);
determining third control information corresponding to the target straight pipe section identification based on a corresponding relation between the prestored straight pipe section identification and the control information;
transmitting the third control information to the controller;
the controller is further configured to:
and controlling the movement device (2), the lifting device (4) and the telescopic device (42) to operate based on the third control information so as to place the straight pipe section (7) corresponding to the target straight pipe section identifier at a position corresponding to the placing shelf (6).
4. The straight pipe segment access system of claim 2 further comprising a first laser ranging sensor, a second laser ranging sensor, a laser alignment sensor and a mirror;
the first laser ranging sensor is arranged at the end part of the first track (1), the second laser ranging sensor is arranged at the end part of the lifting track (31), the laser alignment sensor is arranged at the first end of the fork (44), and the reflector is fixed on the lower surface of the cross beam (51) and positioned between two hooks (52) corresponding to the same straight pipe section (7);
the first laser ranging sensor, the second ranging laser sensor and the laser alignment sensor are respectively and electrically connected with the controller;
the first laser ranging sensor is used for detecting the distance between the first laser ranging sensor and the mobile device (2) and sending the distance to the controller;
the second laser ranging sensor is used for detecting the distance between the second laser ranging sensor and the lifting device (4) and sending the distance to the controller;
the laser alignment sensor is used for sending alignment success information to the controller when detecting reflected light of the emitted laser reflected by the reflector;
the controller is used for controlling the moving device (2) to move based on the displacement control information and the distance sent by the first laser ranging sensor, controlling the moving device (2) to move based on the lifting control information and the distance sent by the second laser ranging sensor, controlling the telescopic device (42) to operate based on the telescopic control information, and controlling the telescopic device (42) to stop operating when the alignment success information is received.
5. The straight pipe section access system of claim 1 wherein the telescoping device (42) comprises a lead screw (421), a nut (422) and a third motor (423);
the nut (422) is fixedly connected with the second end of the fork (44), the lead screw (421) is in threaded connection with the nut (422), and one end of the lead screw (421) is in transmission connection with the output shaft of the third motor (423);
the controller is electrically connected with the third motor (423).
6. The straight pipe section access system according to claim 1, characterized in that the system further comprises a second track (8);
the second track (8) corresponds to the position of the first track (1) and is arranged above the first track (1);
the upper end of the lifting track (31) is provided with a third roller, and the third roller is matched with the second track (8).
7. The straight pipe section access system according to claim 6, characterized in that both ends of the second track (8) are provided with limit switches.
8. The straight pipe section access system according to claim 1, characterized in that the lifting rail assembly (3) further comprises a parking plate (35), the parking plate (35) being fixed to the lower part of the lifting rail (31) and located directly below the lifting device (4) for parking the lifting device (4) to reduce the consumption of the chain.
9. The straight pipe section access system according to claim 1, wherein the moving device (2) further comprises a buffer column (25), the buffer column (25) being provided at a position opposite to the front end face and the rear end face of the moving device body (21).
10. The straight pipe section access system according to claim 1, wherein the storage rack (5) further comprises a storage rack body (53), the storage rack body (53) having a triangular structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018408.1A CN114735382B (en) | 2021-01-07 | 2021-01-07 | Straight pipe section access system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018408.1A CN114735382B (en) | 2021-01-07 | 2021-01-07 | Straight pipe section access system |
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| CN114735382A CN114735382A (en) | 2022-07-12 |
| CN114735382B true CN114735382B (en) | 2023-09-26 |
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| US4642017A (en) * | 1982-09-30 | 1987-02-10 | Amca International Corporation | Automated in-process pipe storage and retrieval system |
| CN101214878A (en) * | 2007-12-31 | 2008-07-09 | 枣庄市弘大实业总公司 | Belt conveyer |
| WO2012143453A1 (en) * | 2011-04-19 | 2012-10-26 | Proces-Data A/S | Apparatus and method for managing stored goods such as packaged tobacco products |
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