CN112722610A - Walking control method of container cover lifting machine - Google Patents
Walking control method of container cover lifting machine Download PDFInfo
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- CN112722610A CN112722610A CN202011643812.XA CN202011643812A CN112722610A CN 112722610 A CN112722610 A CN 112722610A CN 202011643812 A CN202011643812 A CN 202011643812A CN 112722610 A CN112722610 A CN 112722610A
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- driving motor
- carrying
- control processor
- lifting
- trolley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D90/00—Component parts, details or accessories for large containers
- B65D90/54—Gates or closures
- B65D90/66—Operating devices therefor
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- 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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- 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
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
-
- 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)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a walking control method of a container cover lifting machine, which relates to the technical field of mechanical manufacturing, wherein the container cover lifting machine comprises two carrying trolleys, a lifting mechanism is arranged on each of the two carrying trolleys, a material taking and placing paw is arranged on a lifting platform, the material taking and placing paw comprises a taking and placing plate fixedly connected with the lifting platform, and lifting rods corresponding to clamping hooks on the upper edge and the lower edge of a container cover are respectively arranged on the upper side and the lower side of the tail end of the taking and placing plate; the carrying trolley comprises a frame, four connecting columns are arranged at four corners of the bottom of the frame, a transport wheel is rotatably arranged on each connecting column, and each carrying trolley is provided with a magnetic stripe navigation module; the whole structure of the invention is divided into two independent movable individuals, the mobile dispatching is slightly restricted by the field and space, the large-scale carrying function is realized by the cooperative operation of two flexible monomer structures, the equipment is not required to be installed and fixed, the multi-station operation can be realized, and the universality and the practicability are strong.
Description
Technical Field
The invention relates to the technical field of machine manufacturing, in particular to a walking control method of a container cover lifting machine.
Background
Container, english name container. The container is a large container with certain strength, rigidity and specification and specially used for turnover. The goods can be directly loaded in the warehouse of a shipper and unloaded in the warehouse of a consignee by using the container for transferring the goods, when vehicles and ships are changed in midway, the goods do not need to be taken out from the container for changing, and the standardization of the products and the whole set of transportation system established by the standardization enable the goods to be applied to the logistics system matched with ships, ports, airlines, roads, transfer stations, bridges, tunnels and multi-mode intermodal transportation in the global range. When unloading and loading, the container cover sleeved on the container needs to be removed.
In traditional operation, need artifically open the container lid with the help of other appurtenance, because container volume and weight are all big partially, it is big to adopt the manual work to lift and cover intensity of labour, and lifts and cover the difficult inefficiency of operation, is difficult to satisfy present increasingly quick, intelligent, nimble production transportation system requirement.
In addition, because the volume and the weight of the container are both larger, if the box cover falls off due to improper operation in the process of lifting the cover of the container, serious property loss can be caused, and personal injury can be caused to operators on site; moreover, the containers are not easy to frequently move on site, and the operation stations of the containers cannot be unified, so that the efficient and safe cover lifting of a plurality of containers in an operation site without manual work is particularly important.
Disclosure of Invention
The invention aims to: in order to solve the technical problem, the invention provides a walking control method of a container cover lifting machine.
The invention specifically adopts the following technical scheme for realizing the purpose: a walking control method of a container cover lifting machine comprises two carrying trolleys, wherein each carrying trolley is provided with a lifting mechanism, each lifting mechanism comprises a lifting platform and a lifting driving mechanism for driving the lifting platform to move up and down, a material taking and placing paw is arranged on each lifting platform, each material taking and placing paw comprises a material taking and placing plate fixedly connected with each lifting platform, and lifting rods corresponding to clamping hooks on the upper edge and the lower edge of a container cover are respectively arranged on the upper side and the lower side of the tail end of each material taking and placing plate; the carrying trolley comprises a frame, four connecting columns are arranged at four corners of the bottom of the frame, a transport wheel is rotatably arranged on each connecting column, at least two transport wheels positioned on the same side of the frame are connected with a first drive motor for driving the transport wheels to rotate in a vertical plane, the four transport wheels are connected with a second drive motor for driving the transport wheels to rotate in a horizontal plane, and the second drive motor drives the connecting column where the transport wheels are positioned to rotate in the horizontal plane; the second driving motor drives the connecting column where the conveying wheels are located to rotate in the horizontal plane; each carrying trolley is provided with a magnetic stripe navigation module, each magnetic stripe navigation module comprises a magnetic sensor group and a magnetic stripe paved at the bottom of the carrying trolley, the magnetic sensor group, a first driving motor, a second driving motor and a lifting driving mechanism are electrically connected to a control processor, and the control processor is electrically connected with a control panel;
the walking control method of the container cover lifting machine comprises the following steps:
(1) the carrying trolley of the container cover lifting machine moves independently:
forward, backward and turn instructions are issued through an operation panel; the control processor receives the operation instruction, controls the first driving motor and the second driving motor, and drives the whole trolley to move according to the instruction direction;
(2) the carrying trolley of the container cover lifting machine moves synchronously:
the two carrying trolleys are driven to the magnetic strip track through the control panel, the magnetic sensor group detects and calculates magnetic strip position signals and sends the magnetic strip position signals to the control processor, and the control processor receives the magnetic strip position signals to control the two carrying trolleys, drives the first driving motor and the second driving motor to operate, and enables the two carrying trolleys to move or turn synchronously.
Preferably, the magnetic sensor group comprises a front-end magnetic sensor arranged at the front end of the carrying trolley and a rear-end magnetic sensor arranged at the rear end of the carrying trolley, when the carrying trolley moves forwards, the front-end magnetic sensor detects and calculates a magnetic strip position signal at the bottom of the carrying trolley and sends the magnetic strip position signal to the control processor, and when the carrying trolley moves backwards, the rear-end magnetic sensor detects and calculates a magnetic strip position signal at the bottom of the carrying trolley and sends the magnetic strip position signal to the control processor.
Preferably, the step of controlling the carrier vehicle to move or turn by the control processor comprises:
(1) when the carrying trolley needs to be controlled to walk linearly, the control processor starts a second driving motor, the second driving motor drives the connecting column to rotate, the four transport wheels are enabled to keep consistent with the walking direction, and then the first driving motor is started to drive the transport wheels to rotate to realize the linear walking of the carrying trolley;
(2) when the carrying trolley is controlled to steer, the second driving motor is controlled through the control processor, the four transport wheels are rotated to the angle of target steering, and then the transport wheels are driven to rotate through the first driving motor, so that the carrying trolley can steer and walk.
Preferably, a steering sensor is arranged at a transport wheel of the carrying trolley, the steering sensor is electrically connected to the control processor, and the step of controlling the carrying trolley to steer by the control processor comprises:
(1) the control processor receives external steering and speed signals and converts the external steering and speed signals into corner signals and rotating speed signals of each transport wheel;
(2) the control processor sends the rotating speed signals to each first driving motor through the motor driver to control the rotating speed;
(3) and the control processor sends the rotation angle signals to each second driving motor through the motor driver to perform rotation angle control.
The invention has the following beneficial effects:
1. according to the container cover lifting machine, the two lifting carrying trolleys act on two opposite sides of the same container cover in opposite directions, the container cover is lifted up from a container by the lifting mechanism, and the container cover is transferred to other places by the carrying trolleys in cooperation, so that the traditional manual labor-saving and efficient container cover lifting carrying operation is replaced, the automation degree of the whole structure is high, the labor is saved efficiently, and the potential safety hazard is reduced; the container cover lifting machine is convenient to flexibly move in an operation field so as to meet the operation requirements of containers at different positions, does not need to be installed and fixed at fixed points, and has strong flexibility and applicability; and every carrying trolley all is furnished with the magnetic stripe navigation module, and in actual operation, the container lifts the lid machine and can carry out systematization, multiplex station collaborative work in planning the operation place of magnetism guide in advance, realizes remote control, further uses manpower sparingly, reduces the manual interference degree and controls the degree of difficulty when improving degree of automation, and effectively guarantees that the manual work keeps away from the operation place, ensures manual operation safety.
2. The container cover lifting machine comprises two lifting carrying trolleys which are matched with each other, and the two lifting carrying trolleys can carry out planning path unified control walking through a controller and magnetic guidance when the container cover lifting is carried out so as to complete the large-scale carrying operation of the container cover lifting; the independent lifting carrying trolley can independently control to freely walk, so that the trolley body is convenient to transfer and allocate on site; the occupied area of the split structure space is small; the whole equipment is convenient to transfer, park and maintain; the material taking and placing paw can be flexibly moved for other purposes, and the universality is strong.
3. The container cover lifting machine is designed according to the carrying clamping hook structure of the container cover, has a simple structure, strong rigidity and low cost, has a simple butt joint action requirement with the container cover, and has stable and reliable acting force acting on the container cover in the carrying process.
Drawings
FIG. 1 is a schematic structural diagram of a container lid lifting machine according to the present invention;
FIG. 2 is a schematic perspective view of FIG. 1;
FIG. 3 is a partial enlarged view of portion B of FIG. 1;
FIG. 4 is a schematic structural view of the lift truck of the present invention;
FIG. 5 is an enlarged partial pawl mounting view of section A of FIG. 4;
FIG. 6 is a schematic view of the overall construction of the fall arrest device of FIG. 5;
FIG. 7 is a schematic view of the structure of the carrying cart of the present invention;
fig. 8 is a schematic diagram of a self-balancing mechanism of the carrying trolley.
Description of the drawings: the device comprises a frame 1, a connecting column 2, a transport wheel 3, a guide rod 4, a limiting sleeve 5, a guide sleeve 6, a return spring 7, a balancing rod 8, a second driving motor 9, a first driving motor 10, a lifting support 11, a chain 12, a guide wheel 13, a connecting plate 14, a pawl 15, a lifting table 16, a connecting rod 17, a rack 18, an installation cavity 19, a compression spring 20, a counterweight 21, a guide rod 22, a container cover 23, a lifting rod 24, a clamping hook 25 and a taking and placing plate 26.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally arranged when products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operated, and thus, cannot be construed as limiting the present invention.
Example 1
As shown in fig. 1 to 8, a method for controlling the travel of a container lid lifting machine includes two carrying carts, each carrying cart has a lifting mechanism, the lifting mechanism includes a lifting platform 16 and a lifting driving mechanism for driving the lifting platform 16 to move up and down, the lifting platform 16 has a material taking and placing paw, the material taking and placing paw includes a taking and placing plate 26 fixedly connected to the lifting platform 16, and the upper and lower sides of the end of the taking and placing plate 26 are respectively provided with a lifting rod 24 corresponding to a hook 25 on the upper and lower edges of a container lid 23; the carrying trolley comprises a trolley frame 1, four connecting columns 2 are arranged at four corners of the bottom of the trolley frame 1, a transport wheel 3 is rotatably arranged on each connecting column 2, at least two transport wheels 3 positioned on the same side of the trolley frame 1 are connected with a first drive motor 10 for driving the transport wheels 3 to rotate in a vertical plane, the four transport wheels 3 are all connected with a second drive motor 9 for driving the transport wheels 3 to rotate in a horizontal plane, and the second drive motor 9 drives the connecting column 2 where the transport wheels 3 are positioned to rotate in the horizontal plane; the second driving motor 9 drives the connecting column 2 where the transport wheels 3 are located to rotate in the horizontal plane; each carrying trolley is provided with a magnetic stripe navigation module, each magnetic stripe navigation module comprises a magnetic sensor group and a magnetic stripe paved at the bottom of the carrying trolley, the magnetic sensor group, a first driving motor 10, a second driving motor 9 and a lifting driving mechanism are electrically connected to a control processor, and the control processor is electrically connected with a control panel;
the walking control method of the container cover lifting machine comprises the following steps:
(1) the carrying trolley of the container cover lifting machine moves independently:
forward, backward and turn instructions are issued through an operation panel; the control processor receives the operation instruction, controls the first driving motor 10 and the second driving motor 9, and drives the whole trolley to move according to the instruction direction;
(2) the carrying trolley of the container cover lifting machine moves synchronously:
the two carrying trolleys are driven to the magnetic strip track through the control panel, the magnetic sensor group detects and calculates magnetic strip position signals and sends the magnetic strip position signals to the control processor, the control processor receives the magnetic strip position signals to control the two carrying trolleys, and the first driving motor 10 and the second driving motor 9 are driven to operate, so that the two carrying trolleys move or turn synchronously.
As a preferred embodiment of the present invention, the container lid lifting machine of the present invention includes two carrying trolleys, each of the two carrying trolleys is provided with a lifting mechanism, the lifting mechanism includes a lifting platform 16 and a lifting driving mechanism for driving the lifting platform 16 to move up and down, the lifting driving mechanism includes a lifting bracket 11, a chain wheel and a chain 12 assembly are vertically erected on the lifting bracket 11, the chain wheel is connected with a rotation driving mechanism, the chain 12 is connected with a connecting plate 14, the connecting plate 14 is fixedly connected with the lifting platform 16, the lifting platform 16 is provided with a material taking and placing paw, the material taking and placing paw includes a material taking and placing plate 26 fixedly connected with the lifting platform 16, and the upper and lower sides of the tail end of the material taking and placing plate 26 are respectively provided with a lifting rod 24 corresponding to the hooks 25 on the upper and lower edges of the container lid 23; the carrying trolley comprises a trolley frame 1, four connecting columns 2 are arranged at four corners of the bottom of the trolley frame 1, a transport wheel 3 is rotatably arranged on each connecting column 2, at least two transport wheels 3 positioned on the same side of the trolley frame 1 are connected with a first drive motor 10 for driving the transport wheels 3 to rotate in a vertical plane, the four transport wheels 3 are all connected with a second drive motor 9 for driving the transport wheels 3 to rotate in a horizontal plane, and the second drive motor 9 drives the connecting column 2 where the transport wheels 3 are positioned to rotate in the horizontal plane; each carrying trolley is provided with a magnetic stripe navigation module, each magnetic stripe navigation module comprises a magnetic sensor group and a magnetic stripe paved at the bottom of the carrying trolley, and the magnetic sensor group, the first driving motor 10, the second driving motor 9 and the lifting driving mechanism are all controlled by a control processor in a unified mode.
An anti-falling device is arranged between the lifting platform 16 and the mobile lifting driving mechanism, the anti-falling device comprises a pawl 15 which is rotatably connected with the lifting platform 16, the bottom end of the connecting plate 14 is fixedly connected with the tail end of the transmission chain 12, the upper end of the connecting plate 14 is connected with a compression spring 20, the upper end of the compression spring 20 is connected with a connecting column 2, and the connecting column 2 is connected with the head end of the transmission chain 12; the lifting support 11 is provided with a rack 18 capable of accommodating the pawl 15, the pawl 15 is hinged with a connecting rod 17 capable of driving the pawl 15 to rotate and clamping the rack 18, and the other end of the connecting rod 17 is hinged with the connecting column 2.
Wherein, connecting plate 14 fixedly connected with guide bar 22, it is connected with leading wheel 13 to rotate on the guide bar 22, leading wheel 13 and 11 roll connection of lifting support, fixedly connected with balancing weight 21 on the 14 offside chains 12 of connecting plate on the lifting support 11, be equipped with on the lifting support 11 and hold gliding spout from top to bottom including balancing weight 21.
Wherein, be equipped with self-balancing mechanism on the carrying trolley, self-balancing mechanism is including rotating balancing pole 8 that sets up on frame 1, and two isometric and all rotation of two free ends of balancing pole 8 are connected with a guide pin bushing 6, and two are said and all wear to be equipped with one diameter that can go up vertical elevating movement on frame 1 from last guide arm 4 that increases progressively down, two all the fixed cover is equipped with a stop collar 5 on the guide arm 4, and the top of two stop collars 5 is connected with the bottom ball of guide pin bushing 6 on its place guide arm 4 respectively, and the bottom surface that the frame 1 was stretched out to the lower extreme of two guide arms 4 is respectively with a spliced pole 2 fixed connection of haulage wheel 3, and the top surface that the frame 1 was all stretched out to the upper end of two guide arms 4 is connected with the stop gear.
In this embodiment, the frame 1 is of a [ "type, four transport wheels 3 are rotatably arranged at the bottoms of two top corners and two free ends of the frame 1 through four connecting posts 2, a self-balancing mechanism is arranged between the two transport wheels 3 corresponding to one side of the frame 1, a concave cavity is formed in the side of the frame 1, the length center of the balancing rod 8 is rotatably connected to the center of the concave cavity, the upper surface of the balancing rod 8 is in an arc shape with an upward protrusion in the middle, it is ensured that the balancing rod 8 can swing up and down within a certain range in the concave cavity, the diameter of the guide rod 4 is increased from top to bottom, so that the guide sleeve 6 has an inclined space within a certain range on the guide rod 4, and meanwhile, the lower end of the guide sleeve 6 is in ball connection with the limiting sleeve 5, so that the central point of the guide sleeve 6 is prevented from being deviated along. The upper ends of the two guide rods 4 extend out of the upper surface of the frame 1 from the concave cavity, the tail ends of the two guide rods are fixedly provided with limiting pieces with diameters larger than the upper opening of the concave cavity, the guide rods 4 are prevented from sliding out, and the lower ends of the guide rods 4 extend out of the bottom surface of the frame 1 from the concave cavity and are fixedly connected with the connecting columns 2.
In this embodiment, four second driving motors 9 are installed on the upper surface of the frame 1, the upper ends of the connecting columns 2 corresponding to the two transport wheels 3 without the self-balancing mechanism are fixedly connected with driving shafts rotating relative to the frame 1, the two second driving motors 9 respectively drive the driving shafts to rotate, the other two second driving motors 9 respectively drive the guide rod 4 to rotate, specifically, the upper end rod of the guide rod 4 is provided with a spline and is provided with a driving sleeve, the guide rod 4 moves up and down in the driving sleeve, the second driving motors 9 drive the driving sleeve to rotate, and therefore the guide rod 4 is driven to rotate.
As a preferred embodiment of the present embodiment, the compression springs 20 are sleeved on the rod bodies of the two guide rods 4 between the guide sleeves 6 and the top surface of the frame 1, and assist the rapid balance and return of the inclined balancing rods 8 after the acting force disappears.
The carrying trolley is convenient for realizing straight line walking and turning control under the driving of the first driving motor 10 and the second driving motor 9, when the carrying trolley runs, the heights of two wheels on two sides of the balancing rod 8 are automatically adjusted according to the road condition, one transport wheel 3 drives the balancing rod 8 to swing up and down when being raised or lowered, so that the transport wheel 3 on the other side is driven to reversely adjust, the two transport wheels 3 with the self-balancing mechanism are combined with the transport wheels 3 of other two conventional installations, the trolley body can keep three-point balance in the running process, and the trolley body is effectively prevented from inclining or turning on one side.
A vertically arranged sliding rod is fixedly connected between the upper end and the lower end of the lifting support 11, the wheel surface of the guide wheel 13 is I-shaped and clamped on the rod body of the sliding rod and rolls up and down on the sliding rod along with the connecting plate 14, and a balancing weight 21 is arranged to balance the lifting platform 16 on the lifting support 11 and improve the lifting stability of the lifting platform 16; the guide wheels 13 play a further limiting and guiding role in the position and the movement direction of the lifting platform 16 relative to the lifting support 11, and the stability of the lifting platform 16 in the whole lifting operation on the lifting support 11 is effectively improved.
Compared with the mode that the connecting rod 17 is hinged to other positions on the pawl 15, the mode effectively ensures that when the connecting rod 17 is subjected to downward acting force, enough pulling force is generated on the pawl 15 to enable the pawl to rotate for enough angles, and the phenomenon that the connecting rod 17 and the pawl 15 are abnormally interlocked to cause anti-falling failure can be avoided. The connecting rod 17 is positioned right below the rotating shaft axis of the pawl 15 relative to the lifting platform 16 relative to the rotating shaft axis of the connecting column 2 and is vertical and horizontal, so that the acting force direction of the connecting rod 17 and the rotating shaft axis of the pawl 15 are positioned on the same vertical line, and the stable pulling force is ensured.
In this embodiment, the connecting rod 17 is hinged right to the rotating axial lead of the pawl 15, the tip of the pawl 15 faces downward and the acting end faces the rack 18 leftwards, the rod body of the connecting rod 17 is arc-shaped, the lower end of the connecting rod 17 and the hinged axial lead of the connecting column 2 are located right below the rotating axial lead of the pawl 15, when the chain 12 is broken, the connecting column 2 moves downwards to drive the upper end of the connecting rod 17 to generate pulling force on the pawl 15, the pawl 15 rotates clockwise to be clamped into the rack 18, and the connecting plate 14 and the lifting platform 16 are prevented from falling.
Wherein, the upper end of connecting plate 14 is equipped with installation cavity 19, and the top of installation cavity 19 is equipped with the direction guide, and compression spring 20 sets up in installation cavity 19, and the upper end of spliced pole 2 stretches out the direction guide and articulated with chain 12, and the direction guide plays the guide effect to spliced pole 2, avoids the drive belt fracture, and the direction takes place great deflection and to connecting rod 17 losing force when spliced pole 2 atress is kick-backed.
When the lifting mechanism is in a normal operation state, the connecting column 2 is connected with the chain 12, the connecting column 2 does not generate acting force on the connecting rod 17, the connecting rod 17 does not generate rotating acting force on the pawl 15, the pawl 15 moves up and down along with the connecting plate 14 and is not clamped into the rack 18, and the anti-falling device does not influence the normal lifting of the lifting mechanism; when the transmission belt is broken, the compression spring 20 drives the connecting column 2 to rebound downwards with large force, the connecting column 2 pulls the connecting rod 17, the connecting rod 17 generates acting force on the pawl 15 to drive the pawl 15 to rotate, the pawl 15 is clamped into the rack 18 to realize interlocking, the connecting plate 14 is prevented from falling downwards, the integral device adopts the pawl 15 and a ratchet structure to perform mechanical interlocking to achieve the purpose of preventing falling, the starting acting force of the pawl 15 comes from mechanical force which is inevitably generated when the transmission belt is broken, the influence of other driving mechanisms or human factors is avoided, and the timely response of preventing falling is ensured; and (4) restoring the position of the connecting column 2 after the hidden danger is eliminated, driving the position of the connecting rod 17 to be restored, and enabling the pawl 15 to rotate and restore.
The magnetic strip navigation module comprises a magnetic sensor group and a magnetic strip paved at the bottom of the carrying trolley (paved according to the requirements of running and operation position tracks of an actual application field); the magnetic sensor group comprises a front-end magnetic sensor and a rear-end magnetic sensor; the front-end magnetic sensor is arranged at the front end of the carrying trolley, and the rear-end magnetic sensor is arranged at the rear end of the carrying trolley; when the carrying trolley advances, the front-end magnetic sensor detects and calculates a magnetic strip position signal at the bottom of the equipment and sends the magnetic strip position signal to the control processor; when the carrying trolley retreats, the rear-end magnetic sensor detects and calculates a magnetic strip position signal at the bottom of the carrying trolley and sends the magnetic strip position signal to the control processor; laying of the magnetic strips, and signal transmission control of the magnetic sensors and the control processor are all customized and planned according to the track requirement by using the existing mature technology, and the detailed description is omitted.
When carrying out the operation of container lid lifting, control processor carries out unified control to container lid lifting machine, leads two delivery trolley of drive to two offsides of container down at the magnetic conductance, makes two execution ends act on the both ends of container lid 23, then two elevating system of synchronous drive lift up container lid 23 from the container and rise to the height that does not interfere with the container, then can drive delivery trolley according to actual need and shift container lid 23 elsewhere.
When the container cover lifting machine needs to be transferred or dispatched, forward, backward and turning instructions are issued through the control panel; and the control processor receives the operation instruction, controls the first driving motor 10 and the second driving motor 9, and drives the whole trolley to move independently according to the instruction direction.
The container cover lifting and carrying device replaces the traditional manual labor, the cover lifting and carrying operation of the container cover 23 is efficiently completed, the automation degree of the whole structure is high, the labor is efficiently saved, and the potential safety hazard is reduced; and be convenient for remove in the flexible of operation place to satisfy the container operation demand of different positions, flexibility and suitability are strong. And the whole structure is divided into two independent movable individuals, the mobile scheduling is slightly restricted by the field and space, compared with large-scale equipment with fixed structure, the invention realizes the large-scale carrying function through the cooperative operation of two flexible monomer structures, does not need to install and fix the equipment, can carry out multi-station operation, and has strong universality and practicability.
Example 2
As shown in fig. 1 and fig. 2, the present embodiment is further optimized based on embodiment 1, specifically:
the step of controlling the processor to control the carrier trolley to move or turn comprises the following steps:
(1) when the carrying trolley needs to be controlled to walk linearly, the control processor starts the second driving motor 9, the second driving motor 9 drives the connecting column 2 to rotate, the four transport wheels 3 are enabled to keep consistent with the walking direction, and then the first driving motor 10 is started to drive the transport wheels 3 to rotate to realize the linear walking of the carrying trolley;
(2) when the carrying trolley is controlled to turn, the second driving motor 9 is controlled through the control processor, the four transport wheels 3 are rotated to the target turning angle, and then the transport wheels 3 are driven to rotate through the first driving motor 10, so that the carrying trolley can turn and walk.
In order to further facilitate the accurate and closed-loop control of the steering angle of the transport wheels 3, a steering sensor (not shown in the figure) is arranged at the transport wheels 3 of the carrying trolley, the steering sensor is electrically connected to the control processor, and the step of controlling the carrying trolley to steer by the control processor comprises:
(1) the control processor receives external steering and speed signals and converts the steering angle signals and the rotating speed signals of the transport wheels 3;
(2) the control processor sends the rotating speed signals to each first driving motor 10 through the motor driver to control the rotating speed;
(3) the control processor sends the rotation angle signals to each second driving motor 9 through the motor driver to carry out rotation angle control.
Claims (4)
1. A walking control method of a container cover lifting machine is characterized in that the container cover lifting machine comprises two carrying trolleys, a lifting mechanism is arranged on each of the two carrying trolleys and comprises a lifting platform (16) and a lifting driving mechanism for driving the lifting platform (16) to move up and down, a material taking and placing paw is arranged on the lifting platform (16) and comprises a taking and placing plate (26) fixedly connected with the lifting platform (16), and lifting rods (24) corresponding to clamping hooks (25) on the upper edge and the lower edge of a container cover (23) are respectively arranged on the upper side and the lower side of the tail end of the taking and placing plate (26); the carrying trolley comprises a trolley frame (1), four connecting columns (2) are arranged at four corners of the bottom of the trolley frame (1), a conveying wheel (3) is rotatably arranged on each connecting column (2), at least two conveying wheels (3) positioned on the same side of the trolley frame (1) are connected with a first driving motor (10) for driving the conveying wheels (3) to rotate in a vertical plane, the four conveying wheels (3) are respectively connected with a second driving motor (9) for driving the conveying wheels (3) to rotate in a horizontal plane, and the second driving motor (9) drives the connecting column (2) where the conveying wheels (3) are positioned to rotate in the horizontal plane; the second driving motor (9) drives the connecting column (2) where the conveying wheel (3) is located to rotate in the horizontal plane; each carrying trolley is provided with a magnetic stripe navigation module, each magnetic stripe navigation module comprises a magnetic sensor group and a magnetic stripe paved at the bottom of the carrying trolley, the magnetic sensor group, a first driving motor (10), a second driving motor (9) and a lifting driving mechanism are electrically connected to a control processor, and the control processor is electrically connected with a control panel;
the walking control method of the container cover lifting machine comprises the following steps:
(1) the carrying trolley of the container cover lifting machine moves independently:
forward, backward and turn instructions are issued through an operation panel; the control processor receives the operation instruction, controls the first driving motor (10) and the second driving motor (9) and drives the whole trolley to move according to the instruction direction;
(2) the carrying trolley of the container cover lifting machine moves synchronously:
the two carrying trolleys are driven to the magnetic strip track through the control panel, the magnetic sensor group detects and calculates magnetic strip position signals and sends the magnetic strip position signals to the control processor, and the control processor receives the magnetic strip position signals to control the two carrying trolleys, drives the first driving motor (10) and the second driving motor (9) to operate, and enables the two carrying trolleys to move or turn synchronously.
2. The method as claimed in claim 1, wherein the magnetic sensor set comprises a front magnetic sensor disposed at the front end of the carrier cart and a rear magnetic sensor disposed at the rear end of the carrier cart, the front magnetic sensor detects and calculates a magnetic stripe position signal at the bottom of the carrier cart and sends the magnetic stripe position signal to the control processor when the carrier cart moves forward, and the rear magnetic sensor detects and calculates a magnetic stripe position signal at the bottom of the carrier cart and sends the magnetic stripe position signal to the control processor when the carrier cart moves backward.
3. The method as claimed in claim 1, wherein the step of the control processor controlling the movement or turning of the carrying trolley comprises:
(1) when the carrying trolley needs to be controlled to walk linearly, the control processor starts a second driving motor (9), the second driving motor (9) drives the connecting column (2) to rotate, so that the four transport wheels (3) are consistent with the walking direction, and then the first driving motor (10) is started to drive the transport wheels (3) to rotate to realize the linear walking of the carrying trolley;
(2) when the carrying trolley is controlled to turn, the second driving motor (9) is controlled through the control processor, the four transport wheels (3) are rotated to a target turning angle, and then the transport wheels (3) are driven to rotate through the first driving motor (10), so that the carrying trolley is steered and walks.
4. The walking control method of container cover lifting machine according to claim 3, wherein the transportation wheels (3) of the carrying trolley are provided with steering sensors, the steering sensors are electrically connected to the control processor, and the step of the control processor controlling the steering of the carrying trolley comprises:
(1) the control processor receives external steering and speed signals and converts corner signals and rotating speed signals of each transport wheel (3);
(2) the control processor sends the rotating speed signals to each first driving motor (10) through the motor driver to control the rotating speed;
(3) the control processor sends the rotation angle signals to each second driving motor (9) through the motor driver to carry out rotation angle control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011643812.XA CN112722610A (en) | 2020-12-31 | 2020-12-31 | Walking control method of container cover lifting machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011643812.XA CN112722610A (en) | 2020-12-31 | 2020-12-31 | Walking control method of container cover lifting machine |
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| CN112722610A true CN112722610A (en) | 2021-04-30 |
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| CN202011643812.XA Pending CN112722610A (en) | 2020-12-31 | 2020-12-31 | Walking control method of container cover lifting machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113696813A (en) * | 2021-08-23 | 2021-11-26 | 四川东泉机械设备制造有限公司 | Transferring method of container transferring trolley |
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Application publication date: 20210430 |