CN108657831B - Intelligent balance moving loader upright post self-correcting method - Google Patents
Intelligent balance moving loader upright post self-correcting method Download PDFInfo
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- CN108657831B CN108657831B CN201810339695.4A CN201810339695A CN108657831B CN 108657831 B CN108657831 B CN 108657831B CN 201810339695 A CN201810339695 A CN 201810339695A CN 108657831 B CN108657831 B CN 108657831B
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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
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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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
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Abstract
An intelligent balance mobile loading and unloading machine upright column self-correcting method belongs to the loading and unloading field; the loader comprises an angle sensor, a Y-direction electric push rod and an X-direction electric push rod, an upright post self-positive switch is operated, the X-direction electric push rod and a positive and negative rotation button of the Y-direction electric push rod are respectively started, and the two directions of X, Y are adjusted to enable the upright post-lower to be vertical to the horizontal plane; then setting the alarm value of the angle sensor, grounding the angle sensor, setting the current state as 0, and placing the upright self-correcting switch at the automatic position to self-correct the upright. Can be widely applied to the field of loading, unloading and carrying.
Description
This patent is an invention patent: the utility model provides a divide application of case of intelligent balanced removal loader stand from formal device, former application date: 14/4/2018, original application number: 201810334584.4.
Technical Field
The invention belongs to the field of loading, unloading and carrying mechanical equipment, and particularly relates to an intelligent balance energy-saving stand column self-correcting method for hybrid power supply of a rechargeable battery and a generator.
Background
With the great promotion of urbanization construction, a large number of bricks need to be produced, transported, loaded and unloaded in construction sites and brickyards, and because the brickyards are located in remote mountain areas, a large amount of strong labor force enters cities for construction workers, and manual transportation of the bricks becomes a great problem; the existing transporter equipment has the defects of large equipment, high cost, low daily utilization rate, special training of operation and maintenance personnel, unstable technical personnel and loss risk. The invention provides a self-correcting method of a loading and unloading machine upright post for safely locking loading and unloading objects, and also provides an intelligent balance mobile loading and unloading machine upright post self-correcting method which ensures the compactness of loading and unloading machine equipment, intelligence, high efficiency, energy conservation, low consumption, light and flexible operation, lower application cost and no damage to the loading and unloading objects in the loading and unloading process of the loading and unloading machine.
Disclosure of Invention
The invention discloses an intelligent balance mobile loading and unloading machine upright post self-correcting method, which aims to overcome the defects of the existing transporter equipment and solve the problems of intelligent self-correcting control balance, energy conservation and low consumption.
An intelligent balance mobile loader column self-correcting method is disclosed, wherein the intelligent balance mobile loader comprises a clamping device, a cantilever device, a clamping and locking control device, a column device, a chassis device and a pneumatic control device; the locking device comprises a clamping device and a clamping control device; the clamping device comprises a clamp bracket, a clamp fixed end, a loading and unloading object, a clamping switch, a lifting switch, a clamping cylinder, a proximity switch, a clamp movable end, a proximity bracket and a clamp rotating joint; the clamping control device comprises a clamping cylinder, a pressure sensor, a pneumatic lock, a speed regulating valve A, a speed regulating valve B, a sequence valve, a load electromagnetic valve, a clamping electromagnetic valve, an air supply end, an uplink pressure regulating valve, a downlink pressure regulating valve, a conversion electromagnetic valve, a precise pressure regulating valve, a pneumatic two-way valve and a load cylinder; the pneumatic control device comprises a clamping unit and a load unit; the clamping unit comprises a clamping cylinder, a proximity switch, a pressure sensor, a pneumatic lock, a speed regulating valve A, a speed regulating valve B, a sequence valve, a load electromagnetic valve and a clamping electromagnetic valve; the load unit comprises an air supply end, an uplink pressure regulating valve, a downlink pressure regulating valve, a conversion electromagnetic valve, a precise pressure regulating valve, an air control two-way valve and a load cylinder; the cantilever device comprises an auxiliary arm, an auxiliary arm rotating joint, a main arm-upper part, a main arm-lower part, a balance block, a load cylinder support and a load cylinder; the upright post device comprises an upright post-upper upright post brake, an upright post rotating joint, an angle sensor, an upright post self-aligning switch, a Y-direction electric push rod, an X-direction electric push rod, an upright post-lower upright post ball head, a pneumatic control system and a self-aligning control system; the chassis device comprises a walking control system, a chassis frame, a walking crawler belt, a motor cover, a direct current speed reducing motor, a right direct current speed reducing motor, a left direct current speed reducing motor, a range extender, a battery pack and a charging controller;
the connection relation of the intelligent balance mobile loading and unloading machine is as follows: the upper part of the clamp bracket is connected with the lower part of a clamp rotating joint, the upper part of the clamp rotating joint is connected with the lower end of an auxiliary arm, the upper end of the auxiliary arm is connected with the upper end of an auxiliary arm rotating joint, the lower end of the auxiliary arm rotating joint is connected with a main arm-lower part, the main arm-lower part is connected with a balance block, the main arm-lower part is connected with a load cylinder, the load cylinder is connected with a load cylinder support, the lower part of the load cylinder support is connected with the upper part of an upright post-upper part, the lower part of the upright post-upper part is connected with an upright post brake, the upright post brake is connected with the upper part of the upright post rotating joint, the lower part of the upright post-lower part is connected with an upright post ball head, the upright post rotating joint is further, The X-direction electric push rod is connected, and the pneumatic control system is arranged on the upright post; a clamping cylinder is arranged between the fixed end of the clamp and the movable end of the clamp, the lower part of a clamp bracket is arranged at the upper part of the fixed end of the clamp, the upper part of the clamp bracket is connected with the lower part of a rotary joint of the clamp, and a proximity switch, a clamping switch and a lifting switch are arranged on the clamp bracket; the connection relation of the chassis device is as follows: the lower part of the chassis frame is provided with a walking crawler belt, the walking control system, the self-aligning control system and the walking operating rod are sequentially arranged in the middle of the chassis frame, the motor cover is arranged on the upper part of the chassis frame, the motor cover is internally provided with a direct current speed reducing motor-right and a direct current speed reducing motor-left respectively, and the upper part of the chassis frame is also provided with a range extender, a battery pack and a charging controller respectively;
the method is characterized in that: the self-correcting method of the loading and unloading machine comprises the following steps:
1.1 the power supply unit comprises an angle sensor, a Y-direction electric push rod and an X-direction electric push rod,
1.2 operating the upright post self-positive switch to be arranged at a manual position, respectively starting a positive and negative rotation button of the X-direction electric push rod and the Y-direction electric push rod, and adjusting X, Y two directions to enable the upright post-lower to be vertical to the horizontal plane, namely the blister of the angle sensor is positioned in the center;
1.3 resetting the alarm value of the angle sensor, wherein the alarm value is as follows: the X direction is more than +/-0.2 degrees, the Y direction is more than +/-0.2 degrees, the angle sensor is grounded and reset, the current state is set to be 0 degree, and the upright post self-correcting switch is arranged at an automatic position;
and 1.4 operating the chassis of the loading and unloading machine to another loading and unloading position, wherein the upright post-up and the upright post-down are not vertical to the horizontal plane, pressing the upright post self-alignment switch for 30 seconds, exchanging data between the angle sensor and a self-alignment control system, and controlling the X-direction electric push rod and the Y-direction electric push rod to work until the angle in the two directions of X, Y is within the alarm value of the angle sensor.
The allowable range of the flatness of the working site of the loader is within +/-10 degrees.
The self-correcting range of the X direction under the upright post is within +/-10 degrees.
The self-correcting range of the column-downward Y direction is within +/-10 degrees.
The self-righting working principle of the loading and unloading machine is as follows: the upright post is provided with an installation angle sensor and a self-correcting control system; the angle sensor exchanges data with the self-alignment control system, and the self-alignment control system controls the X-direction electric push rod and the Y-direction electric push rod to work until the angles in the two directions of X, Y are within the alarm values of the angle sensor.
The loader is provided with a column self-correcting unit: an angle sensor is installed according to direction definition and is installed on the lower part and the upper part of the upright post; an angle sensor, self-positive control system power supply DC24V is installed. Operating the upright post self-centering switch to be arranged at a manual position, respectively starting a forward-reverse button of the X-direction electric push rod and a forward-reverse button of the Y-direction electric push rod, and adjusting X, Y two directions to enable the upright post-lower to be vertical to the horizontal plane, namely the blister of the angle sensor is positioned in the center; then setting the alarm value of the angle sensor, wherein the X direction is larger than +/-0.2 degrees, the Y direction is larger than +/-0.2 degrees, the angle sensor is grounded and reset, setting the current state as 0 position, and placing the upright self-correcting switch at an automatic position.
When the loading and unloading machine is moved to another position, the upright post is not vertical to the horizontal plane at the moment, the upright post self-alignment switch is pressed, the pressing time is 30 seconds, the angle sensor exchanges data with the self-alignment control system, the X-direction electric push rod and the Y-direction electric push rod are controlled to work, the upright post is adjusted to be vertical to the horizontal plane, and the alarm values within +/-0.2 degrees in the X direction and +/-0.2 degrees in the Y direction are achieved.
The self-correcting unit of the vertical column of the loading and unloading machine has the functions of ensuring the vertical column and eliminating the gravity inertia generated by the non-vertical column. The rotation resistance of the upright post rotating joint, the auxiliary arm rotating joint and the clamp rotating joint is reduced, the light and flexible effect is realized, and the effect of four-two stirring jacks is achieved.
The noun defines:
the X direction is transverse in the horizontal plane; the Y direction is perpendicular to the X direction and in the horizontal plane. Forward is defined as + Y and backward is defined as-Y;
the direction consistent with the + X direction is defined as the right, and the direction consistent with the-X direction is defined as the left;
the Z direction is vertically intersected with the horizontal plane, the vertical horizontal plane is defined as + Z upwards, and the vertical horizontal plane is defined as-Z downwards;
the direction coincident with the + Z direction is defined as up, and the direction coincident with the-Z direction is defined as down;
CT: a coil;
p: the load unit comprises an air supply end, an upstream pressure regulating valve, a downstream pressure regulating valve, a conversion electromagnetic valve, a precise pressure regulating valve, an air control two-way valve and a load cylinder;
j: the clamping unit comprises a clamping cylinder, a proximity switch, a pressure sensor, a pneumatic lock, a speed regulating valve A, a speed regulating valve B, a sequence valve, a load electromagnetic valve and a clamping electromagnetic valve.
The angle sensor used is an existing commercially available product.
The invention discloses a self-correcting method of an intelligent balance mobile loading and unloading machine upright column, which has the remarkable characteristics and technical progress that: the technical route is that an installation angle sensor and a self-correcting control system are designed and installed; the angle sensor exchanges data with the self-alignment control system to control the X-direction electric push rod and the Y-direction electric push rod to work; the realized technical effect is that the gravity inertia generated by the vertical column is eliminated; the stability of chassis is ensured to the technical purpose who reaches, reduces stand revolute joint, auxiliary arm revolute joint, anchor clamps revolute joint's rotational resistance, and intelligence is balanced from positive control, and operating effort is very little, realizes lightly nimble, reaches four two and dials the effect of very heavy.
Drawings
Fig. 1 is a general structure diagram of an intelligent balance mobile loader (clamping state of a clamping device).
Fig. 2 shows a structure diagram of an intelligent balance mobile loading and unloading machine upright column.
Fig. 3 shows a structure diagram of a balance arm of the intelligent balance mobile loading and unloading machine (a clamping device is in a release state).
Fig. 4 shows a structure diagram of the intelligent balance mobile loading and unloading machine for clamping the loaded and unloaded objects (a clamping device is in a releasing state).
FIG. 5 is a schematic diagram of an intelligent balance mobile loader upright post self-righting alarm angle.
Fig. 6 is a circuit diagram of a pneumatic clamping control circuit of the intelligent balance mobile loading and unloading machine.
FIG. 7 is a circuit diagram of a self-righting control circuit of the intelligent balance mobile loader column.
FIG. 8 is a flow chart of a method for locking a loading object of the intelligent balance mobile loading and unloading machine.
In the figure:
Detailed Description
The intelligent balance mobile loading and unloading machine upright column self-correcting method is implemented in a place where equipment needs to be carried.
The first embodiment,
Implement this patent intelligence balanced removal loader stand from square method, adopt the intelligent balanced removal loader of this patent, the shipment fragment of brick adopts three clamp cylinder of group. In the first embodiment, the loading and unloading object P01-2 is a brick.
The intelligent balance mobile loading and unloading machine comprises a locking device, a cantilever device, an upright post device, a chassis device and a pneumatic control device; the locking device comprises a clamping device and a clamping and locking control device.
The clamping device comprises a clamp fixed end P01-1, a loading and unloading object P01-2, a clamping switch P01-3, a lifting switch P01-4, a clamping cylinder P01-5, a proximity switch P01-6, a clamp movable end P01-7, a proximity bracket P01-8 and a clamp rotating joint P02.
The clamping locking control device comprises a clamping cylinder P01-5, a proximity switch P01-6, a pressure sensor 3, a pneumatic control lock 4, a speed regulating valve A5-1, a speed regulating valve B5-2, a sequence valve 6, a load electromagnetic valve 7, a clamping electromagnetic valve 8, an air supply end 9, an uplink pressure regulating valve 10-1, a downlink pressure regulating valve 10-2, a conversion electromagnetic valve 11, a precision pressure regulating valve 12, a pneumatic control two-way valve 13 and a load cylinder P08.
The cantilever device comprises an auxiliary arm P03, an auxiliary arm rotating joint P04, a main arm-upper P05, a main arm-lower P06, a balance weight P09, a load cylinder support P07 and a load cylinder P08.
The upright post device comprises an upright post-upper P10, an upright post brake P11, an upright post rotating joint P12, an angle sensor P13, an upright post self-centering switch P14, a Y-direction electric push rod P15Y, an X-direction electric push rod P15X, an upright post-lower P16, an upright post ball P17, a pneumatic control system P18 and a self-centering control system D01-2.
The chassis device comprises a walking control system D01-1, a chassis frame D02, a walking crawler D03, a motor cover D04, a direct-current speed reducing motor-right D10R, a direct-current speed reducing motor-left D10L, a range extender D08, a battery pack D09-1 and a charging controller D09-2.
The pneumatic control device comprises a clamping unit J and a load unit P; the clamping unit J comprises a clamping cylinder P01-5, a proximity switch P01-6, a pressure sensor 3, a pneumatic control lock 4, a speed regulating valve A5-1, a speed regulating valve B5-2, a sequence valve 6, a load electromagnetic valve 7 and a clamping electromagnetic valve 8; the load unit P comprises an air supply end 9, an ascending pressure regulating valve 10-1, a descending pressure regulating valve 10-2, a conversion electromagnetic valve 11, a precision pressure regulating valve 12, a pneumatic control two-way valve 13 and a load cylinder P08.
The connection relation of the intelligent balance mobile loading and unloading machine is as follows: the upper part of the clamp bracket is connected with the lower part of a clamp rotating joint P02, the upper part of a clamp rotating joint P02 is connected with the lower end of an auxiliary arm P03, the upper end of an auxiliary arm P03 is connected with the upper end of an auxiliary arm rotating joint P04, the lower end of an auxiliary arm rotating joint P04 is connected with a main arm-upper P05, the lower end of an auxiliary arm rotating joint P04 is connected with a main arm-lower P06, a main arm-lower P06 is connected with a balance weight P09, a main arm-lower P06 is connected with a load cylinder P08, a load cylinder P08 is connected with a load cylinder support P07, the lower part of the load cylinder support P07 is connected with the upper part of an upright post-upper P10, the lower part of an upright post-upper P10 is connected with an upright post brake P11, the upright post brake P11 is connected with the upper part of an upright post rotating joint P11, the lower part of the upright post rotating joint P11 is connected with the upper part of an upright post-, the lower part of the upright post-lower P16 is also respectively connected with a Y-direction electric push rod P15Y and an X-direction electric push rod P15X, and a pneumatic control system P18 is arranged on an upright post-upper P10; a clamping cylinder P01-5 is arranged between the clamp fixed end P01-1 and the clamp movable end P01-7, the lower part of a clamp bracket is arranged at the upper part of the clamp fixed end P01-1, the upper part of the clamp bracket is connected with the lower part of a clamp rotating joint P02, and a proximity switch P01-6, a clamping switch P01-3 and an ascending switch P01-4 are arranged on the clamp bracket; the chassis device comprises a walking control system DO1-1, a self-correcting control system D01-2, a chassis frame D02, a walking crawler D03, a motor cover D04, a walking operating lever D05, a vehicle body protective cover D06, an air compressor D07, a range extender D08, a battery pack D09-1, a charging controller D09-2, a direct-current speed reducing motor-right D10R and a direct-current speed reducing motor-left D10L; the connection relation of the chassis device is as follows: the lower part of a chassis frame D02 is respectively provided with a walking crawler D03 left side and a walking crawler D03 right side, a walking control system DO1-1, a self-correcting control system D01-2 and a walking operating rod D05 are sequentially arranged in the middle of the chassis frame D02, a motor cover D04 is arranged on the upper part of the chassis frame D02, a direct current speed reducing motor-right D10R and a direct current speed reducing motor-left D10L are respectively arranged in a motor cover D04, and the upper part of the chassis frame D02 is also respectively provided with a range extender D08, a battery pack D09-1 and a charging controller DO 9-2; the pneumatic control device comprises a clamping unit and a loading unit; the clamping unit comprises a clamping cylinder P01-5, a proximity switch P01-6, a pressure sensor 3, a pneumatic control lock 4, a speed regulating valve A5-1, a speed regulating valve B5-2, a sequence valve 6, a load electromagnetic valve 7 and a clamping electromagnetic valve 8; the load unit comprises an air supply end 9, an ascending pressure regulating valve 10-1, a descending pressure regulating valve 10-2, a switching electromagnetic valve 11, a precision pressure regulating valve 12, a pneumatic control two-way valve 13 and a load cylinder P08.
When the electric quantity of the battery pack D09-1 is about to be exhausted, the charging controller D09-2 starts the range extender D08 to generate electricity, and the normal work of the loading and unloading machine is ensured.
The self-correcting method of the loading and unloading machine comprises the following steps:
1.1 the power supply components comprise an angle sensor P13, a Y-direction electric push rod P15Y and an X-direction electric push rod P15X power supply DC 24V;
1.2 operating a column self-positive switch P14 to be in a manual position, respectively starting a positive and negative rotation button of an X-direction electric push rod P15X and a Y-direction electric push rod P15Y, adjusting X, Y two directions, and enabling a column-lower P16 to be perpendicular to a horizontal plane, namely a bubble of an angle sensor P13 is positioned in the center; 1.3 resetting the alarm value of the angle sensor P13, wherein the alarm value is as follows: the X direction is greater than +/-0.2 degrees, the Y direction is greater than +/-0.2 degrees, the angle sensor P13 is grounded and reset, the current state is set to be 0 degree, and the upright post self-correcting switch P14 is arranged at an automatic position; 1.4 operating the chassis of the loading and unloading machine to another loading and unloading position, wherein the upright post-up and the upright post-down are not vertical to the horizontal plane, the time for pressing the upright post self-positive switch P14 is 30 seconds, the angle sensor P13 exchanges data with the self-positive control system D01-2, and the X-direction electric push rod and the Y-direction electric push rod P15Y are controlled to work until the angles of X, Y in two directions are at the alarm value of the angle sensor P13: the X direction is +/-0.2 degrees, and the Y direction is +/-0.2 degrees; the self-correcting range of the X direction of the upright post-lower P16 is within +/-5 degrees;
the self-alignment range of the column-lower P16 in the Y direction is within ± 5 °.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (4)
1. An intelligent balance mobile loader column self-correcting method is disclosed, wherein the intelligent balance mobile loader comprises a locking device, a cantilever device, a clamping and locking control device, a column device, a chassis device and a pneumatic control device; the locking device comprises a clamping device and a clamping control device; the clamping device comprises a clamp bracket, a clamp fixed end, a loading and unloading object, a clamping switch, a lifting switch, a clamping cylinder, a proximity switch, a clamp movable end, a proximity bracket and a clamp rotating joint; the clamping control device comprises a clamping cylinder, a pressure sensor, a pneumatic lock, a speed regulating valve A, a speed regulating valve B, a sequence valve, a load electromagnetic valve, a clamping electromagnetic valve, an air supply end, an uplink pressure regulating valve, a downlink pressure regulating valve, a conversion electromagnetic valve, a precise pressure regulating valve, a pneumatic two-way valve and a load cylinder; the pneumatic control device comprises a clamping unit and a load unit; the clamping unit comprises a clamping cylinder, a proximity switch, a pressure sensor, a pneumatic lock, a speed regulating valve A, a speed regulating valve B, a sequence valve, a load electromagnetic valve and a clamping electromagnetic valve; the load unit comprises an air supply end, an uplink pressure regulating valve, a downlink pressure regulating valve, a conversion electromagnetic valve, a precise pressure regulating valve, an air control two-way valve and a load cylinder; the cantilever device comprises an auxiliary arm, an auxiliary arm rotating joint, a main arm-upper part, a main arm-lower part, a balance block, a load cylinder support and a load cylinder; the upright post device comprises an upright post-upper upright post brake, an upright post rotating joint, an angle sensor, an upright post self-aligning switch, a Y-direction electric push rod, an X-direction electric push rod, an upright post-lower upright post ball head, a pneumatic control system and a self-aligning control system; the chassis device comprises a walking control system, a chassis frame, a walking crawler belt, a motor cover, a direct current speed reducing motor, a right direct current speed reducing motor, a left direct current speed reducing motor, a range extender, a battery pack and a charging controller;
the connection relation of the intelligent balance mobile loading and unloading machine is as follows: the upper part of the clamp bracket is connected with the lower part of a clamp rotating joint, the upper part of the clamp rotating joint is connected with the lower end of an auxiliary arm, the upper end of the auxiliary arm is connected with the upper end of an auxiliary arm rotating joint, the lower end of the auxiliary arm rotating joint is connected with a main arm-lower part, the main arm-lower part is connected with a balance block, the main arm-lower part is connected with a load cylinder, the load cylinder is connected with a load cylinder support, the lower part of the load cylinder support is connected with the upper part of an upright post-upper part, the lower part of the upright post-upper part is connected with an upright post brake, the upright post brake is connected with the upper part of the upright post rotating joint, the lower part of the upright post-lower part is connected with an upright post ball head, the upright post rotating joint is further, The X-direction electric push rod is connected, and the pneumatic control system is arranged on the upright post; a clamping cylinder is arranged between the fixed end of the clamp and the movable end of the clamp, the lower part of a clamp bracket is arranged at the upper part of the fixed end of the clamp, the upper part of the clamp bracket is connected with the lower part of a rotary joint of the clamp, and a proximity switch, a clamping switch and a lifting switch are arranged on the clamp bracket; the connection relation of the chassis device is as follows: the lower part of the chassis frame is provided with a walking crawler belt, the walking control system, the self-aligning control system and the walking operating rod are sequentially arranged in the middle of the chassis frame, the motor cover is arranged on the upper part of the chassis frame, the motor cover is internally provided with a direct current speed reducing motor-right and a direct current speed reducing motor-left respectively, and the upper part of the chassis frame is also provided with a range extender, a battery pack and a charging controller respectively;
the method is characterized in that: the self-correcting method of the loading and unloading machine comprises the following steps:
1.1 supplying power to electrical components, including supplying power to an angle sensor, a Y-direction electric push rod and an X-direction electric push rod;
1.2 operating the upright post self-positive switch to be arranged at a manual position, respectively starting a positive and negative rotation button of the X-direction electric push rod and the Y-direction electric push rod, and adjusting X, Y two directions to enable the upright post-lower to be vertical to the horizontal plane, namely the blister of the angle sensor is positioned in the center;
1.3 resetting the alarm value of the angle sensor, wherein the alarm value is as follows: the X direction is more than +/-0.2 degrees, the Y direction is more than +/-0.2 degrees, the angle sensor is grounded and reset, the current state is set to be 0 degree, and the upright post self-correcting switch is arranged at an automatic position;
1.4 operating the chassis of the loader to another loading and unloading position, wherein the vertical column-up and the vertical column-down of the loader are not vertical to the horizontal plane, pressing the vertical column self-alignment switch for 30 seconds, exchanging data with a self-alignment control system by the angle sensor, and controlling the X-direction electric push rod and the Y-direction electric push rod to work until the angle in the two directions of X, Y is within the alarm value of the angle sensor.
2. The intelligent balanced mobile loader column self-alignment method of claim 1, wherein: the allowable range of the flatness of the working site of the loader is within +/-10 degrees.
3. The intelligent balanced mobile loader column self-alignment method of claim 1, wherein: the self-correcting range of the X direction under the upright post is within +/-10 degrees.
4. The intelligent balanced mobile loader column self-alignment method of claim 1, wherein: the self-correcting range of the column-downward Y direction is within +/-10 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810339695.4A CN108657831B (en) | 2018-04-14 | 2018-04-14 | Intelligent balance moving loader upright post self-correcting method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810334584.4A CN108529250A (en) | 2018-04-14 | 2018-04-14 | A kind of intelligent balance moves charging crane column from equipment |
| CN201810339695.4A CN108657831B (en) | 2018-04-14 | 2018-04-14 | Intelligent balance moving loader upright post self-correcting method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810334584.4A Division CN108529250A (en) | 2018-04-14 | 2018-04-14 | A kind of intelligent balance moves charging crane column from equipment |
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| Publication Number | Publication Date |
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| CN108657831A CN108657831A (en) | 2018-10-16 |
| CN108657831B true CN108657831B (en) | 2020-06-30 |
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| CN201810339695.4A Expired - Fee Related CN108657831B (en) | 2018-04-14 | 2018-04-14 | Intelligent balance moving loader upright post self-correcting method |
| CN201810334584.4A Pending CN108529250A (en) | 2018-04-14 | 2018-04-14 | A kind of intelligent balance moves charging crane column from equipment |
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| CN201810334584.4A Pending CN108529250A (en) | 2018-04-14 | 2018-04-14 | A kind of intelligent balance moves charging crane column from equipment |
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| CN (2) | CN108657831B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108394730A (en) * | 2018-04-14 | 2018-08-14 | 昆明小宇科技有限公司 | A kind of intelligent balance movement charging crane |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5090549A (en) * | 1989-10-12 | 1992-02-25 | Krupp Industrietechnik Gesellschaft Mit Beschrankter Haftung | Conveyor system |
| CN204876766U (en) * | 2015-08-29 | 2015-12-16 | 罗涛 | Combination vertical type wire pole |
| CN206085049U (en) * | 2016-08-28 | 2017-04-12 | 深圳市劲拓自动化设备股份有限公司 | Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space |
| CN106585742A (en) * | 2017-01-06 | 2017-04-26 | 中国农业大学 | Self-propelled caterpillar band chassis vehicle remote control system and control method |
| CN107640579A (en) * | 2017-10-30 | 2018-01-30 | 资阳市精工机械有限公司 | One kind unloads brick code base dual-purpose apparatus |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205982848U (en) * | 2016-08-22 | 2017-02-22 | 陈朋 | Piece device is read to movable type |
| CN106078673A (en) * | 2016-08-23 | 2016-11-09 | 无锡市源昌机械制造有限公司 | Robot deposited by hydraulic oil |
-
2018
- 2018-04-14 CN CN201810339695.4A patent/CN108657831B/en not_active Expired - Fee Related
- 2018-04-14 CN CN201810334584.4A patent/CN108529250A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5090549A (en) * | 1989-10-12 | 1992-02-25 | Krupp Industrietechnik Gesellschaft Mit Beschrankter Haftung | Conveyor system |
| CN204876766U (en) * | 2015-08-29 | 2015-12-16 | 罗涛 | Combination vertical type wire pole |
| CN206085049U (en) * | 2016-08-28 | 2017-04-12 | 深圳市劲拓自动化设备股份有限公司 | Omnidirectional movement formula power -assisted machine hand suitable for narrow and small space |
| CN106585742A (en) * | 2017-01-06 | 2017-04-26 | 中国农业大学 | Self-propelled caterpillar band chassis vehicle remote control system and control method |
| CN107640579A (en) * | 2017-10-30 | 2018-01-30 | 资阳市精工机械有限公司 | One kind unloads brick code base dual-purpose apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108529250A (en) | 2018-09-14 |
| CN108657831A (en) | 2018-10-16 |
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