CN101077739A - Lifting and transporting controlled system used for a plurality of hydraulic trucks and its method - Google Patents
Lifting and transporting controlled system used for a plurality of hydraulic trucks and its method Download PDFInfo
- Publication number
- CN101077739A CN101077739A CN 200710043408 CN200710043408A CN101077739A CN 101077739 A CN101077739 A CN 101077739A CN 200710043408 CN200710043408 CN 200710043408 CN 200710043408 A CN200710043408 A CN 200710043408A CN 101077739 A CN101077739 A CN 101077739A
- Authority
- CN
- China
- Prior art keywords
- hydraulic
- transporter
- many
- hydraulic transporter
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to control system and method for several raising and conveying hydraulic transporters. The control system includes control units mounted separately in the hydraulic transporters and connected mutually for receiving and outputting control signal; and detection units comprising range finder and sensor and connected to the control unit for detecting the running state of the hydraulic transporter and outputting the detected data to the control unit. The present invention can ensure the sync operation of the hydraulic transporters for stable transportation. In addition, each of the hydraulic transporters is equipped with control unit, so that only one driver is needed to control all the hydraulic transporters in saved manpower.
Description
Technical field
The present invention relates to the carrying technology of heavy objects, more particularly, relate to a kind of be used for many hydraulic transporter lift fortune control system and method thereof.
Background technology
Often need to transport the large-sized object of some super-tonnages now in a lot of large shipbuilding factories, harbour, power plant construction and some logistics transshipment centers etc., if adopt the words that the hydraulic power flat bed transport vehicle is transported, need the large tonnage hydraulic transporter of buying, the hydraulic transporter degree of utilization reduces like this, and has increased cost greatly.If utilize two or many hydraulic transporter to lift fortune and adopt, can utilize existing many small-sized hydraulic transpories trolley to realize lifting fortune one large-sized object, greatly reduce the equipment purchase cost, improved usage ratio of equipment, and help the modularization manufacturing of hydraulic transporter.Generally speaking, hydraulic transporter as one independently car come transferring objects, when needs transhipments large-sized object, according to the weight of object with select how many platform hydraulic transporter to lift fortune with, and then to select according to the requirement in the overall dimensions of object and place be vertical assembly or horizontal assembly.
Lifting in the running industry technology of many hydraulic transporter of present domestic employing, what adopt toward contact is by the independent steering vehicle of two or more drivers, then work compound together, tend to like this cause speed asynchronous, turn to inconsistently, can cause the object slippage, produce dangerous.
So to urgently provide a kind of many hydraulic transporter to lift the fortune control technology, how could guarantee many hydraulic transporter speed, turn to and keep synchronously, avoid the object that betransported to cause danger because of the asynchronous generation slippage of vehicle operating.
Summary of the invention
Lift between the transport trolley that transportation technique has speed and nonsynchronous defective such as turn at the object of many present hydraulic transporter, the invention provides a kind of be used for many hydraulic transporter lift fortune control system and method thereof, this system can make the speed between many hydraulic transporter and turn to and be consistent, and as long as a driver just can realize above-mentioned purpose.
For achieving the above object, the invention provides on the one hand a kind of be used for many hydraulic transporter lift the fortune control system, comprising:
Control unit is installed on described many hydraulic transporter and interconnects, and receives and export the described control signal of lifting the fortune control system according to predetermined demand;
Detecting unit comprises apomecometer and sensor, is installed on described many hydraulic transporter, is connected with described control unit, detects the running state data of hydraulic transporter and exports these data to described control unit.
Described control unit is corrected the running state of described hydraulic transporter automatically according to the operational mode of many hydraulic transporter of storing in advance.
The apomecometer of described detecting unit is the reflective laser apomecometer, is installed on the side or termination of vehicle.
The sensor of described detecting unit comprises speed sensor, angular transducer and pressure sensor, speed sensor is installed on the drive wheel of hydraulic transporter, angular transducer is installed on the steering shaft of hydraulic transporter, pressure sensor is a hydraulic pressure sensor, is installed on the hydraulic efficiency pressure system of hydraulic transporter.
Described control unit has bicycle and two kinds of master modes of combination, and the bicycle master mode is applicable to the operational mode of separate unit hydraulic transporter, and the combination control pattern is applicable to the operational mode of many hydraulic transporter.
Described control unit has display screen, and display screen shows the running state of described many hydraulic transporter.
On the other hand, the invention provides a kind of be used for many hydraulic transporter lift the fortune control method, may further comprise the steps:
A. set up and store several standard operational modes of many transpories trolley;
B. gather the operational factor of many transpories trolley;
C. the operational factor of described b step and the standard operational mode of described a step are compared;
If the comparison result of d. described c step then continues described b, c step consistent; If described b, c step are then corrected and repeat to the comparison result of described c step inconsistent to the operational factor of described many transpories trolley.
The standard operational mode of described a step is stored in the control computer, and control computer is installed on many transpories trolley; The operational factor of described b step is gathered by apomecometer and sensor, and the quantitative data input of collection is to described control computer.
Described apomecometer is a laser rangefinder, is installed on the side or termination of vehicle; Described sensor comprises speed sensor, angular transducer and hydraulic pressure sensor, speed sensor is installed on the drive wheel of hydraulic transporter, angular transducer is installed on the steering shaft of hydraulic transporter, and hydraulic pressure sensor is installed on the hydraulic efficiency pressure system of hydraulic transporter.
Described control computer has bicycle and two kinds of master modes of combination, and the bicycle master mode is applicable to the operational mode of separate unit hydraulic transporter, and the combination control pattern is applicable to the operational mode of many hydraulic transporter.
Adopt of the present invention a kind of be used for many hydraulic transporter lift fortune control system and method thereof, this system also exports these data to control unit by the apomecometer of detecting unit and the running state data of sensor hydraulic transporter, control unit has automatic error correction function, promptly correct the running state of hydraulic transporter automatically by the operational mode of many hydraulic transporter of storage in advance, can guarantee the speed of many hydraulic transporter and turn to synchronously, prevent the danger that causes being lifted the landing of fortune object because of asynchronous; And owing to all have control unit on each hydraulic transporter, so only need a driver to select arbitrary hydraulic transporter just can realize that above-mentioned object is lifted to transport and control, saved human cost like this; The control unit of this system also has bicycle and two kinds of master modes of combination in addition, the combination control pattern is suitable for the fortune of lifting of many hydraulic transporter, and when when control fortune of lifting that need withdraw from many hydraulic transporter, select the bicycle master mode to withdraw from, the hydraulic transporter that withdraws from so just can go to have carried out other work.
Description of drawings
Fig. 1 is a structural representation sketch of lifting the fortune control system of the present invention;
Fig. 2 is a schematic flow sheet of lifting the fortune control method of the present invention;
Fig. 3 is that the present invention is applicable to two horizontal combined running simplified schematic diagram of car;
Fig. 4 is that the present invention is applicable to two vertical combined running simplified schematic diagram of car;
Fig. 5 is the simplified schematic diagram that the present invention is applicable to two car craspedodrome operational modes;
Fig. 6 is the simplified schematic diagram that the present invention is applicable to two car diagonal operational modes;
Fig. 7 is the simplified schematic diagram that the present invention is applicable to two car turning operation patterns;
Fig. 8 is that the present invention is applicable to that two cars walk crosswise the simplified schematic diagram of operational mode;
Fig. 9 is the simplified schematic diagram that the present invention is applicable to two car center steering operational modes.
The specific embodiment
Further specify technical scheme of the present invention below in conjunction with drawings and Examples.
With reference to figure 1 and Fig. 3, a kind of fortune control system of lifting that is used for many hydraulic transporter of the present invention on the one hand comprises:
Detecting unit 20, comprise reflective laser apomecometer 21 and sensor, sensor comprises speed sensor 22, angular transducer 23 and pressure sensor 24, laser rangefinder 21 is installed on the side or termination of vehicle, described speed sensor 22 is installed on the drive wheel of described hydraulic transporter, the running velocity of measuring vehicle accurately, angular transducer 23 is installed on the steering shaft of hydraulic transporter, can calculate and measure the steering angle of each steering shaft accurately, pressure sensor 24 is hydraulic pressure sensors, it is installed in the region of interest of the hydraulic efficiency pressure system of described hydraulic transporter, can measure the pressure of hydraulic transporter hydraulic efficiency pressure system region of interest accurately.Detecting unit 20 is connected with control unit 10, detects the running state data of hydraulic transporter and exports these data to control unit 10.
With reference to figure 3 and Fig. 4, in two cars or many cars operational mode, because every hydraulic transporter all has control unit 10, so only need a driver to select any hydraulic transporter as the master control car, such as if selected hydraulic transporter A as the master control car, then hydraulic transporter B is from car controlling, the driving driver can utilize the control unit 10a of hydraulic transporter A to carry out many hydraulic transporter the fortune of lifting of object is controlled, detecting unit 20a (comprising laser rangefinder 21a and sensor) detects the running state of hydraulic transporter A, comprise the location status that it is instant, give control unit 10a with these data transmission, and for the B car, detecting unit 20b (comprising laser rangefinder 21b and sensor) detects the running state of hydraulic transporter B, comprise the location status that it is instant, give control unit 10b with these data transmission, control unit 10b is transferred to these data the control unit 10a of master control car A again by signal cable 50 then, control unit 10a analyzes these data, and and the storage various craspedodromes, diagonal, the normal data of operational mode such as turn to compare, if there are differences, then control unit 10a in time corrects, so just can guarantee the speed of many hydraulic transporter and turn to keep synchronously, the object of its operation can be because of asynchronous landing yet.
As shown in Figure 4, when two cars need vertical combined running, can be installed in two laser rangefinder 21a on the termination of hydraulic transporter this moment, and the hydraulic transporter of so vertical combination can be lifted the long object of fortune of the present invention lifting under the control of transporting control system.
In one embodiment of the invention, control unit 20 also has display screen, and display screen shows the running state of described many hydraulic transporter, the operation that the control personnel can be correlated with according to the data presented state of display screen.
In addition in order to make the present invention have more alerting ability, control unit 20 has bicycle and two kinds of master modes of combination, the bicycle master mode is applicable to the operational mode of separate unit hydraulic transporter, the combination control pattern is applicable to the operational mode of many hydraulic transporter, and when when control fortune of lifting that need withdraw from many hydraulic transporter, select the bicycle master mode to withdraw from, the hydraulic transporter that withdraws from so just can go to have carried out other work.
With reference to figure 2, of the present invention on the other hand a kind of be used for many hydraulic transporter lift the fortune control method, may further comprise the steps:
201. several standard operational modes of setting up and storing many transpories trolley.The standard operational mode is stored in the control computer, and control computer is installed on many transpories trolley.The standard operational mode that is stored in control computer comprises craspedodrome, diagonal, turn to, walk crosswise and operational mode such as center steering.
203. gather the operational factor of many transpories trolley.Operational factor is gathered by apomecometer and sensor, and the quantitative data input of collection is to described control computer.Described apomecometer is a laser rangefinder, is installed on the side or termination of vehicle; Described sensor comprises speed sensor, angular transducer and hydraulic pressure sensor, speed sensor is installed on the drive wheel of hydraulic transporter, angular transducer is installed on the steering shaft of hydraulic transporter, and hydraulic pressure sensor is installed on the hydraulic efficiency pressure system of hydraulic transporter.
205. with operational factor and the comparison of standard operational mode.
207. if the comparison result unanimity continues 203 and 205 steps.
209., correct the operational factor of many transpories trolley and repeat 203 and 205 steps if comparison result is inconsistent.
In one embodiment, described control computer has bicycle and two kinds of master modes of combination, and the bicycle master mode is applicable to the operational mode of separate unit hydraulic transporter, and the combination control pattern is applicable to the operational mode of many hydraulic transporter.
Introduce the stored various operational modes of control unit of lifting the fortune control system below in conjunction with accompanying drawing, these operational modes all are stored in the control unit of lifting the fortune control system, when this lifts the fortune control system need be suitable for these operational modes the time, operating personal can be selected this operational mode on control unit, after the selection, this lifts the fortune control system in the course of the work will be with this kind operational mode as reference, when the running state data that detects hydraulic transporter when detecting unit does not meet this kind operational mode that is stored in the control unit, control unit is in time corrected the running state of hydraulic transporter, promptly realize correcting function automatically, these operational modes comprise:
1) craspedodrome operational mode, with reference to figure 5, from the drive wheel 30 of hydraulic transporter A and B as can be seen, hydraulic transporter A and B are in two car craspedodrome operational modes, and this is the most frequently used operational mode.
2) diagonal operational mode, with reference to figure 6, from the drive wheel 30 of hydraulic transporter A and B as can be seen, hydraulic transporter A and B are in two car diagonal operational modes.
3) turning operation pattern, with reference to figure 7, from the drive wheel 30 of hydraulic transporter A and B as can be seen, hydraulic transporter A and B are in two car turning operation patterns, and hydraulic transporter A and B turn to around the P point.
4) walk crosswise operational mode, with reference to figure 8, from the drive wheel 30 of hydraulic transporter A and B as can be seen, hydraulic transporter A and B are in two cars and walk crosswise in the operational mode.
5) center steering operational mode, with reference to figure 9, it is the revolution running state at center that hydraulic transporter A and B are in the Q point.
Notice that after any operational mode more than having selected, hydraulic transporter A and B will carry out the work of following step by the described fortune control system of lifting:
1) two car combinations promptly connect with the signal cable of quick coupling with the control unit of every chassis.
2) detect and automatic deviation correction, promptly carry out position data by the detecting unit of lifting the fortune control system and detect, control unit compares the normal data of the data that detect and selected above-mentioned operational mode and rectifies a deviation.
3) combined running is promptly lifted collaborative the moving ahead of fortune control system modulated pressure transport trolley.
Those of ordinary skill in the art will be appreciated that, above embodiment is used for illustrating the present invention, and be not to be used as limitation of the invention, as long as in connotation scope of the present invention, all will drop in claims scope of the present invention variation, the modification of above embodiment.
Claims (10)
- One kind be used for many hydraulic transporter lift the fortune control system, it is characterized in that, comprising:Control unit is installed on described many hydraulic transporter and interconnects, and receives and export the described control signal of lifting the fortune control system according to predetermined demand;Detecting unit comprises apomecometer and sensor, is installed on described many hydraulic transporter, is connected with described control unit, detects the running state data of hydraulic transporter and exports these data to described control unit.
- 2. the fortune control system of lifting as claimed in claim 1 is characterized in that, described control unit is corrected the running state of described hydraulic transporter automatically according to the standard operational mode of many hydraulic transporter of storing in advance.
- 3. the fortune control system of lifting as claimed in claim 1 is characterized in that the apomecometer of described detecting unit is the reflective laser apomecometer, is installed on the side or termination of vehicle.
- 4. the fortune control system of lifting as claimed in claim 1, it is characterized in that, the sensor of described detecting unit comprises speed sensor, angular transducer and pressure sensor, speed sensor is installed on the drive wheel of hydraulic transporter, angular transducer is installed on the steering shaft of hydraulic transporter, pressure sensor is a hydraulic pressure sensor, is installed on the hydraulic efficiency pressure system of hydraulic transporter.
- 5. the fortune control system of lifting as claimed in claim 1 or 2, it is characterized in that, described control unit has bicycle and two kinds of master modes of combination, and the bicycle master mode is applicable to the operational mode of separate unit hydraulic transporter, and the combination control pattern is applicable to the operational mode of many hydraulic transporter.
- 6. the fortune control system of lifting as claimed in claim 5 is characterized in that described control unit has display screen, and display screen shows the running state of described many hydraulic transporter.
- One kind be used for many hydraulic transporter lift the fortune control method, it is characterized in that, may further comprise the steps:A. set up and store several standard operational modes of many transpories trolley;B. gather the operational factor of many transpories trolley;C. the operational factor of described b step and the standard operational mode of described a step are compared;If the comparison result of d. described c step then continues described b, c step consistent; If described b, c step are then corrected and repeat to the comparison result of described c step inconsistent to the operational factor of described many transpories trolley.
- 8. the fortune control method of lifting as claimed in claim 7 is characterized in that the standard operational mode of described a step is stored in the control computer, and control computer is installed on many transpories trolley; The operational factor of described b step is gathered by apomecometer and sensor, and the quantitative data input of collection is to described control computer.
- 9. the fortune control method of lifting as claimed in claim 8 is characterized in that described apomecometer is a laser rangefinder, is installed on the side or termination of vehicle; Described sensor comprises speed sensor, angular transducer and hydraulic pressure sensor, speed sensor is installed on the drive wheel of hydraulic transporter, angular transducer is installed on the steering shaft of hydraulic transporter, and hydraulic pressure sensor is installed on the hydraulic efficiency pressure system of hydraulic transporter.
- 10. the fortune control method of lifting as claimed in claim 8, it is characterized in that, described control computer has bicycle and two kinds of master modes of combination, and the bicycle master mode is applicable to the operational mode of separate unit hydraulic transporter, and the combination control pattern is applicable to the operational mode of many hydraulic transporter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710043408 CN101077739A (en) | 2007-07-04 | 2007-07-04 | Lifting and transporting controlled system used for a plurality of hydraulic trucks and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710043408 CN101077739A (en) | 2007-07-04 | 2007-07-04 | Lifting and transporting controlled system used for a plurality of hydraulic trucks and its method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101077739A true CN101077739A (en) | 2007-11-28 |
Family
ID=38905443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710043408 Pending CN101077739A (en) | 2007-07-04 | 2007-07-04 | Lifting and transporting controlled system used for a plurality of hydraulic trucks and its method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101077739A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
| CN107934417A (en) * | 2016-10-12 | 2018-04-20 | 株式会社大福 | Delivery system |
| CN109466569A (en) * | 2018-09-30 | 2019-03-15 | 中铁武汉勘察设计研究院有限公司 | The method of rail container power flatcar and transport container for through transport |
| CN109466571A (en) * | 2018-09-30 | 2019-03-15 | 中铁武汉勘察设计研究院有限公司 | Rail container power flatcar operational mode control system and control method |
| CN109466570A (en) * | 2018-09-30 | 2019-03-15 | 中铁武汉勘察设计研究院有限公司 | Rail container power flatcar and operation method |
| CN110744977A (en) * | 2019-09-06 | 2020-02-04 | 上海空间推进研究所 | Flexible carrying electric vehicle |
| CN112141585A (en) * | 2020-10-10 | 2020-12-29 | 上海应用技术大学 | Synchronous AGV (automatic guided vehicle) carrying system with cooperative active sensing and carrying method thereof |
| US20220073324A1 (en) * | 2019-01-02 | 2022-03-10 | Kando Environmental Services Ltd | Fluid monitoring system and support arrangement thereof |
| CN114537257A (en) * | 2022-01-18 | 2022-05-27 | 浙江工业大学 | Self-propelled modular transport vehicle clamp system and cooperative transport method |
-
2007
- 2007-07-04 CN CN 200710043408 patent/CN101077739A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
| CN107934417A (en) * | 2016-10-12 | 2018-04-20 | 株式会社大福 | Delivery system |
| CN107934417B (en) * | 2016-10-12 | 2021-05-14 | 株式会社大福 | Transport system |
| CN109466570B (en) * | 2018-09-30 | 2019-11-29 | 中铁武汉勘察设计研究院有限公司 | Rail container power flatcar and operation method |
| CN109466570A (en) * | 2018-09-30 | 2019-03-15 | 中铁武汉勘察设计研究院有限公司 | Rail container power flatcar and operation method |
| CN109466571B (en) * | 2018-09-30 | 2019-11-19 | 中铁武汉勘察设计研究院有限公司 | Rail container power flatcar operational mode control system and control method |
| CN109466571A (en) * | 2018-09-30 | 2019-03-15 | 中铁武汉勘察设计研究院有限公司 | Rail container power flatcar operational mode control system and control method |
| CN109466569B (en) * | 2018-09-30 | 2020-05-15 | 中铁武汉勘察设计研究院有限公司 | Container rail-powered flatcar for intermodal transport and method of transporting containers |
| CN109466569A (en) * | 2018-09-30 | 2019-03-15 | 中铁武汉勘察设计研究院有限公司 | The method of rail container power flatcar and transport container for through transport |
| US20220073324A1 (en) * | 2019-01-02 | 2022-03-10 | Kando Environmental Services Ltd | Fluid monitoring system and support arrangement thereof |
| US11667500B2 (en) * | 2019-01-02 | 2023-06-06 | Kando Environmental Services Ltd | Fluid monitoring system and support arrangement thereof |
| CN110744977A (en) * | 2019-09-06 | 2020-02-04 | 上海空间推进研究所 | Flexible carrying electric vehicle |
| CN112141585A (en) * | 2020-10-10 | 2020-12-29 | 上海应用技术大学 | Synchronous AGV (automatic guided vehicle) carrying system with cooperative active sensing and carrying method thereof |
| CN114537257A (en) * | 2022-01-18 | 2022-05-27 | 浙江工业大学 | Self-propelled modular transport vehicle clamp system and cooperative transport method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101077739A (en) | Lifting and transporting controlled system used for a plurality of hydraulic trucks and its method | |
| MX2013011762A (en) | Container handler alignment system and method. | |
| CN108313929A (en) | A kind of logistics fork truck for advantageously reducing the wooden pallet and using | |
| CN208471468U (en) | A kind of logistics fork truck for advantageously reducing the wooden pallet and using | |
| EP1731473A2 (en) | Container transport vehicle | |
| CN101037174A (en) | Deviation rectifying method of tyre type container gantry crane | |
| WO2012008846A1 (en) | A system for handling cargo | |
| CN1093081C (en) | Distribution machine for stacking multi-layer containers | |
| CN204549114U (en) | A kind of automatic stereowarehouse | |
| FI125732B (en) | Cargo handling with a gripper | |
| CN1560757A (en) | Recording method and device for vehicle transport loading unloading condition | |
| EP1878613A2 (en) | Rotary-type electric flat trolley for container transportation | |
| CN1447773A (en) | Device for handling unit loads | |
| CN2509022Y (en) | Self-loading & self-unloading vehicle | |
| CN105883689A (en) | Forklift truck with automatic weighing function | |
| CN211568153U (en) | Intelligent carrying trolley | |
| CN204549975U (en) | A kind of full automaticity direction movement fork truck | |
| CN200959029Y (en) | Pitch direction driver | |
| CN209978864U (en) | Shore bridge track detection device | |
| EP3466843A1 (en) | A method and a device for controlling speed of a moving shuttle | |
| CN214822866U (en) | Goods shifts transport vechicle based on tray is placed | |
| CN200964601Y (en) | Slip-proof checking device of wheel type loader | |
| CN2902842Y (en) | Steering device | |
| CN208516890U (en) | A kind of sucker fork truck based on KBK sliding rail | |
| CN202109971U (en) | Fork truck load-carrying balance detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Open date: 20071128 |