CN111606068B

CN111606068B - Random-direction moving intelligent steering device for movable stacker-reclaimer and control method

Info

Publication number: CN111606068B
Application number: CN202010398395.0A
Authority: CN
Inventors: 张鹏; 王军; 胡斌; 朱红英
Original assignee: NANTONG UP MACHINERY ENGINEERING CO LTD
Current assignee: NANTONG UP MACHINERY ENGINEERING CO LTD
Priority date: 2019-05-14
Filing date: 2020-05-12
Publication date: 2022-03-29
Anticipated expiration: 2040-05-12
Also published as: CN111606068A

Abstract

The invention discloses an arbitrary direction moving intelligent steering device for a mobile stacker-reclaimer and a control method thereof, wherein the device comprises wheels capable of moving in the vertical direction, and each wheel can independently move in the vertical direction, so that each wheel ascends, rotates and finally descends to bear force, finally all the wheels complete steering in such a way, then the wheels are driven forwards, the advancing direction of the stacker-reclaimer is changed, and the in-situ steering operation is completed.

Description

Random-direction moving intelligent steering device for movable stacker-reclaimer and control method

Technical Field

The invention relates to a stacker-reclaimer, in particular to a mobile stacker-reclaimer, and particularly relates to an arbitrary-direction mobile intelligent steering device for the mobile stacker-reclaimer and a control method.

Background

The stacker-reclaimer is relatively common heavy conveying equipment applied to numerous fields, but the stacker-reclaimer in the prior art still has more defects and needs to be further improved;

the stacker-reclaimer is generally used in places such as mines, warehouses, wharfs, coal yards and the like where large goods need to be transported and stored, and is used for grabbing and transporting bulk large goods such as sand, coal, even grains, plastic particles and the like; the stacker-reclaimer can also be divided into a plurality of types, such as a rail-type stacker-reclaimer that moves through a rail, a mobile stacker-reclaimer that moves through a tire, and the like; the mobile stacker-reclaimer needs to move back and forth in a relatively complex stacking site in the working process, and an infinite number of turning operations are necessarily carried out in the process, and the conventional mobile heavy machinery rotates on the spot when carrying out the turning operation.

In addition, the stacker-reclaimer is heavy and relatively heavy, the turning amplitude of the existing stacker-reclaimer cannot be too large, and the turning operation needs to be performed slowly at a low speed; in addition, in some cases, a construction site cannot provide enough space for the stacker-reclaimer to perform steering operation, and in order to improve the working efficiency of the stacker-reclaimer, a new steering device and a corresponding control method need to be designed.

For the reasons, the inventor of the present invention has made an intensive study on the existing mobile stacker-reclaimer, so as to design an arbitrary direction mobile intelligent steering apparatus for a mobile stacker-reclaimer and a control method thereof, which can solve the above problems.

Disclosure of Invention

In order to overcome the problems, the inventor of the invention makes a keen study and designs an intelligent steering device capable of moving in any direction for a mobile stacker-reclaimer and a control method thereof, wherein the device comprises wheels capable of moving in the vertical direction, and each wheel can independently move in the vertical direction, so that each wheel rises firstly, then rotates and finally falls to bear force, and finally all the wheels are steered in such a way, and then the wheels are driven forwards, the advancing direction of the stacker-reclaimer is changed, and the in-situ steering operation is completed, thereby completing the invention.

In particular, the invention aims to provide an arbitrary direction mobile intelligent steering device for a mobile stacker-reclaimer, which comprises a driving wheel unit 1 arranged below the device,

the drive wheel unit 1 can control the wheels 2 thereon to reciprocate in the vertical direction.

Wherein the drive wheel unit 1 comprises two wheels 2 arranged in parallel, the two wheels 2 being connected by a transverse shaft 3.

Wherein the driving wheel unit 1 further comprises a lifting platform 4 positioned above the wheels 2,

wherein, be provided with rotatory plunger 5 between lift platform 4 and cross axle 3, bear the weight of force and control cross axle and wheel 2 through rotatory plunger 5 and turn to.

A hydraulic rod is arranged above the lifting platform 4, and bears gravity through the hydraulic rod and controls the wheels 2 to reciprocate in the vertical direction;

preferably, a pressure sensor is further installed on the lifting platform 4, and the pressure value on the rotary plunger 5 and the wheel 2 is sensed in real time through the pressure sensor.

Wherein, a mounting platform 7 is arranged above the lifting platform 4;

a front hydraulic rod 61 and a rear hydraulic rod 62 are arranged between the lifting platform 4 and the mounting platform 7,

two ends of the front hydraulic rod 61 are respectively hinged with the lifting platform 4 and the mounting platform 7,

and two ends of the rear hydraulic rod 62 are respectively hinged with the lifting platform 4 and the mounting platform 7.

Preferably, the mounting platform 7 is fixedly mounted at the bottom of the stacker-reclaimer.

Wherein an upper hydraulic rod 63 is arranged between the mounting platform 7 and the front hydraulic rod 61,

one end of the upper hydraulic rod 63 is fixed on the bottom surface of the mounting platform 7, and the other end is hinged with the front hydraulic rod 61.

Wherein, the upper hydraulic rod 63 and the front hydraulic rod 61 synchronously extend and retract.

The invention also provides an intelligent steering control method for the mobile stacker-reclaimer moving in any direction, which comprises the following steps:

step 1, controlling wheels 2 in all driving wheel units 1 to stop rotating and advancing at the same time;

step 2, controlling the wheels 2 in each driving wheel unit 1 to turn one by one,

and step 3, after all the wheels 2 are steered, controlling all the wheels 2 to rotate forwards.

Wherein the driving wheel units 1 are provided with at least two rows, each row comprises at least 2 driving wheel units 1,

in each row of the drive wheel units 1, the drive wheel unit located at the front is referred to as a front drive wheel unit,

in each row of the driving wheel units 1, the driving wheel unit located at the rear is called a rear driving wheel unit;

preferably, in step 2, the wheels 2 in the front driving wheel unit are controlled to turn, and then the wheels 2 in the rear driving wheel unit are controlled to turn;

more preferably, the wheels 2 in the rear drive wheel unit are controlled to move forward before said step 2 is performed.

Wherein, in step 2, controlling the wheel 2 to turn comprises the following sub-steps:

in the substep a, the lifting platform 4 and the wheel 2 are driven to move upwards by controlling the front hydraulic rod 61, the rear hydraulic rod 62 and the upper hydraulic rod 63 to contract, so that the wheel 2 is separated from the ground;

the substep b, controlling the steering of the cross shaft 3 and the wheels 2 by rotating the plunger 5;

in the substep c, the lifting platform 4 and the wheel 2 are driven to move downwards by controlling the front hydraulic rod 61, the rear hydraulic rod 62 and the upper hydraulic rod 63 to extend, so that the wheel 2 is in contact with the ground;

preferably, in performing substep c, for the front drive wheel unit, the length of the front hydraulic lever 5 is controlled to be greater than the length of the rear hydraulic lever 6 so that the wheel is offset rearward;

further preferably, in sub-step a, it is determined by means of a pressure sensor that the wheel 2 is out of contact with the ground.

The invention has the advantages that:

according to the random-direction mobile intelligent steering device and the control method for the mobile stacker-reclaimer, provided by the invention, the steering efficiency of the mobile stacker-reclaimer can be improved, and the damage to the ground and tires in the turning process can be reduced.

Drawings

Fig. 1 is a schematic view illustrating an overall structure of a mobile intelligent steering apparatus for a random direction in a mobile stacker-reclaimer according to a preferred embodiment of the present invention;

fig. 2 is a schematic view illustrating a structure of a driving wheel unit in a random direction moving intelligent steering apparatus for a mobile stacker-reclaimer according to a preferred embodiment of the present invention;

fig. 3 is a schematic view illustrating a structure of a mounting platform in a random direction moving intelligent steering apparatus for a mobile stacker-reclaimer according to a preferred embodiment of the present invention;

fig. 4 is a schematic diagram illustrating a structure of a lifting platform of the mobile intelligent steering device for any direction in the mobile stacker-reclaimer according to a preferred embodiment of the present invention;

fig. 5 is a schematic view illustrating a structure of wheels in a random direction moving intelligent steering apparatus for a mobile stacker-reclaimer according to a preferred embodiment of the present invention;

fig. 6 is a flowchart illustrating a method for controlling a mobile intelligent steering in any direction for a mobile stacker-reclaimer according to a preferred embodiment of the present invention.

The reference numbers illustrate:

1-drive wheel Unit

2-wheel of vehicle

3-horizontal axis

4-lifting platform

41-hinged seat

5-Rotary plunger

61-front hydraulic rod

611-hinged sheet

612-Pin

62-rear hydraulic rod

63-hydraulic upper rod

7-mounting platform

71-Hydraulic tank

8-drive mechanism

9-outer sleeve

Detailed Description

The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

According to the intelligent steering device for the mobile stacker-reclaimer moving in any direction provided by the invention,

as shown in fig. 1, the device comprises a plurality of driving wheel units 1 arranged below the device, and the driving wheel units 1 are arranged to work independently, namely, each driving wheel unit 1 is controlled independently and works in cooperation. Preferably, the number of the driving wheel units 1 is at least 4, more preferably 8-16, and the driving wheel units are selected according to the model and the load capacity of the stacker-reclaimer.

In a preferred embodiment, as shown in fig. 4, the driving wheel unit 1 includes two wheels 2 arranged in parallel, the two wheels 2 are connected by a transverse shaft 3, the two wheels 2 can be driven to rotate by a driving mechanism, or can be driven to rotate respectively, and the driving of the wheels can provide walking power for the stacker-reclaimer. The two wheels 2 have substantially the same overall dimensions and comprise a tyre and a hub, the central position of which is connected to the transverse axis 3.

Preferably, the two wheels 2 rotate synchronously and are driven to rotate by a driving mechanism 8, the transverse shaft 3 comprises a central shaft which is fixedly integrated with the two wheels 2 and is positioned at the central position, an external sleeve 9 is sleeved outside the central shaft, the driving mechanism 8 is installed on the sleeve, and the contact position of the transverse shaft 3 connected with other devices is positioned on the sleeve 9.

In a preferred embodiment, as shown in fig. 2, 4 and 5, the driving wheel unit 1 further comprises a lifting platform 4 above the wheels 2, the lifting platform is a work platform made of metal material with extremely high strength, which is a core work platform of the driving wheel unit, a rotary plunger 5 is arranged between the lifting platform 4 and the transverse shaft 3, and the rotary plunger 5 bears gravity and controls the transverse shaft and the wheels 2 to turn.

Preferably, the rotary plunger 5 comprises a sleeve positioned above and a rotary shaft positioned below, the sleeve is fixedly connected with the lifting platform 4 into a whole, the rotary shaft is fixedly connected with the outer sleeve 9 into a whole, and a rotating mechanism for driving the rotary shaft to rotate is arranged in the sleeve and used for controlling the rotation of the rotary shaft to control the steering of the wheel.

A hydraulic rod is arranged above the lifting platform 4, and the hydraulic rod bears gravity and controls the wheels 2 to reciprocate in the vertical direction; the gravity of bucket-wheel stacker reclaimer disperses on each drive wheel unit 1, specifically, the gravity that acts on the hydraulic stem passes through lift platform and delivers to the cross axle, and the cross axle both ends are two wheels promptly, so final gravity all transmits the wheel to, when the wheel contacted with ground, again by the wheel with gravity transmission to ground.

The hydraulic rods can be telescopic, in the normal running process of the stacker-reclaimer, the extension amounts of the hydraulic rods arranged on the driving wheel units 1 are consistent, so that the wheels are contacted with the ground and bear acting force at the same time, when the hydraulic rod in one driving wheel unit 1 is contracted, the lifting platform on the driving wheel unit 1 can drive the two wheels below the driving wheel unit to move upwards relative to the other wheels, so that the two wheels are separated from the ground, the directions of the wheels are adjusted at the moment, and the hydraulic rods are controlled to extend after the direction adjustment is finished, so that the wheels are contacted with the ground and bear the acting force; the operation of the bucket-wheel stacker reclaimer in-situ steering can be realized by performing the operation on each driving wheel unit 1 one by one.

Preferably, a pressure sensor is further installed on the lifting platform 4, the pressure sensor senses pressure values on the rotary plunger 5 and the wheel 2 in real time, and the rotary plunger 5 can be further controlled to rotate only after the pressure sensor determines that the wheel is separated from contact with the ground.

In a preferred embodiment, as shown in fig. 1 and 2, a mounting platform 7 is provided above the lifting platform 4, and the driving wheel unit 1 is connected with the stacker-reclaimer through the mounting platform 7, and preferably, the mounting platform 7 is fixedly integrated with the stacker-reclaimer.

Preferably, each driving wheel unit 1 is provided with at least two hydraulic rods, as shown in fig. 2, at least a front hydraulic rod 61 and a rear hydraulic rod 62 are included, two ends of the front hydraulic rod 61 are respectively hinged with the lifting platform 4 and the mounting platform 7, two ends of the rear hydraulic rod 62 are respectively hinged with the lifting platform 4 and the mounting platform 7, and the hinge is a rotatable connection; preferably, the hinge is a pin connection, which can rotate relatively and can bear large acting force.

Preferably, two hinged seats 41 are arranged on the lifting platform 4, and are respectively used for being hinged with the front hydraulic rod 61 and the rear hydraulic rod 62; specifically, the hinged seat 41 is arranged on the top surface of the lifting platform 4, and the lifting platform 4 is kept horizontal during the rolling process of the wheels, so that the lifting platform is basically parallel to the mounting platform 7, and the stacker-reclaimer is stable as a whole.

The front hydraulic rod 61 and the rear hydraulic rod 62 have basically the same structural form, both ends are provided with a hinge piece 611 capable of being embedded into the hinge seat, and both the hinge seat 41 and the hinge piece 611 are provided with through holes, so that a pin 612 can penetrate through the hinge seat 41 and the hinge piece 611 to be hinged and fixed; similarly, the bottom surface of the mounting platform 7 is also provided with a cross seat 41, which is also hinged and fixed by a pin 612. Preferably, when the stacker-reclaimer normally runs, the included angle between the front hydraulic rod 61 and the rear hydraulic rod 62 is 110 to 120 degrees, and the transverse shaft is located right below the lifting platform 4.

The lifting platform 4 and the mounting platform 7 are connected by arranging at least two hydraulic rods, compared with one hydraulic rod, the lifting platform can realize the basic aim of controlling the wheels to move up and down, and can adjust the relative positions of all the landed wheels in the stacker-reclaimer under the condition that the position of the lifting platform 4 is not changed; by adjusting the relative lengths of the two hydraulic rods in the drive wheel unit 1, the wheels can be moved forward or backward. Through such setting for when some wheels break away from the contact with ground, other wheels with the ground contact can be in more reasonable position, ensure that the stacker-reclaimer is whole steady, prevent to incline or turn on one's side.

In a preferred embodiment, as shown in fig. 2 and 3, an upper hydraulic rod 63 is further arranged between the mounting platform 7 and the front hydraulic rod 61, one end of the upper hydraulic rod 63 is fixed on the bottom surface of the mounting platform 7, and the other end of the upper hydraulic rod 63 is hinged with the front hydraulic rod 61; preferably, the upper hydraulic rod 8 is vertically arranged, and the top of the upper hydraulic rod is fixed on the bottom surface of the mounting platform 7, so that a right-angled triangle structure is formed among the mounting platform 7, the upper hydraulic rod 63 and the front hydraulic rod 61, so that the support fixing structure of the hydraulic rods is more stable and less prone to deformation, and especially, the length change of the front hydraulic rod 61 and the rear hydraulic rod 62, namely the stability and reliability between the front hydraulic rod 61 and the rear hydraulic rod 62 under the condition of controlling the wheel position to move, can be ensured.

Preferably, the upper hydraulic rod mainly plays a role in stable support, and when the front hydraulic rod and the rear hydraulic rod work in a telescopic mode, the upper hydraulic rod works in a synchronous telescopic mode, so that the length of the upper hydraulic rod is ensured to just meet the requirement for adjusting the position of the wheel, and the wheel cannot be prevented from moving up and down or moving back and forth.

In a preferred embodiment, the hydraulic tanks 71 that drive the hydraulic rams are all mounted on the mounting platform 7. Each driving wheel unit 1 is provided with a resolving module which can receive target task instructions transmitted by the stacker-reclaimer, wherein the target task instructions comprise a command on the rotation and the travel of wheels, a command on the up-down movement of the wheels, a command on the steering of the wheels and a command on the front-back displacement of the wheels, and each command comprises specific speed, relative position and time; and then the resolving module resolves a specific operation instruction according to the received command, controls corresponding devices to perform corresponding work, such as controlling the driving power of a driving mechanism to adjust the rotating speed of a central shaft and wheels, and further adjusts the traveling speed, such as controlling a front hydraulic rod 61, a rear hydraulic rod 62 and an upper hydraulic rod to extend and retract together to control the wheels to ascend or descend, such as controlling a rotary plunger to control the wheels to steer, such as controlling the front hydraulic rod 61, the rear hydraulic rod 62 and the upper hydraulic rod to extend or retract at different speeds to control the wheels to move or move backwards and the like.

The invention also provides an intelligent steering control method for the mobile stacker-reclaimer moving in any direction, which comprises the following steps: as shown in fig. 6;

Preferably, the drive wheel units 1 are provided in at least two rows, and each row comprises at least 2 drive wheel units 1,

in each row of the drive wheel units 1, the drive wheel unit located at the forefront is referred to as a front drive wheel unit,

in each row of the driving wheel units 1, the driving wheel unit positioned at the rearmost is called a rear driving wheel unit, and when the driving units are provided with more than 6 driving units, that is, when each row contains more than 3 driving units, the driving units except the front driving unit can be called rear driving units;

preferably, in step 2, the wheels 2 in the front driving wheel unit are controlled to turn, and then the wheels 2 in the rear driving wheel unit are controlled to turn. The directions or positional relationships indicated in the front and rear of the present application are based on the directions or positional relationships in the operating state of the present invention and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, that is, change the front drive wheel unit to the rear drive wheel unit in the present invention, and do not affect the proper expression in the present application.

In a preferred embodiment, in step 2, controlling the steering of the wheel 2 comprises the following sub-steps:

in the substep a, the front hydraulic rod 61, the rear hydraulic rod 62 and the upper hydraulic rod 63 are controlled to contract to drive the lifting platform 4 and the wheel 2 to move upwards, so that the wheel 2 is separated from the ground; wherein the contraction speed of each hydraulic rod is determined according to the actual length, and is preferably constant.

The substep b, controlling the steering of the cross shaft 3 and the wheels 2 by rotating the plunger;

further preferably, in sub-step a, it is determined by means of a pressure sensor that the wheel 2 is out of contact with the ground, the rotation of the rotary piston 5 being further controlled only after the pressure sensor has determined that the wheel is out of contact with the ground.

In a preferred embodiment, for a train of drive wheel units, the steering operation is as follows:

the wheels 2 in the rear drive wheel unit are first controlled to move forward,

controlling the wheel 2 in the front drive wheel unit to turn and to shift backwards before the wheel lands again;

and finally, controlling the wheels 2 in the rear driving wheel unit to turn.

Through setting up the wheel offset that rear drive wheel unit and front drive wheel unit correspond for when front drive wheel unit and rear drive wheel unit correspond the wheel and ground break away from the contact, the influence that the holistic stability of stacker-reclaimer received is littleer, is difficult for rocking or turning on one's side.

The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.

Claims

1. An intelligent steering device capable of moving in any direction for a mobile stacker-reclaimer is characterized by comprising a driving wheel unit (1) arranged below the device,

the driving wheel unit (1) can control the wheels (2) on the driving wheel unit to reciprocate in the vertical direction;

two wheels (2) arranged in parallel are arranged in the driving wheel unit (1), and the two wheels (2) are connected through a transverse shaft (3);

the driving wheel unit (1) further comprises a lifting platform (4) positioned above the wheels (2),

a rotary plunger (5) is arranged between the lifting platform (4) and the transverse shaft (3), and the rotary plunger (5) bears the weight and controls the transverse shaft and the wheels (2) to steer;

for a train of driving wheel units, the steering process is as follows:

firstly, the wheels (2) in the rear driving wheel unit are controlled to move forwards,

controlling the wheel (2) in the front drive wheel unit to turn and to shift backwards before the wheel again lands;

finally, controlling the steering of the wheels (2) in the rear driving wheel unit;

a hydraulic rod is arranged above the lifting platform (4), and the hydraulic rod bears gravity and controls the wheels (2) to reciprocate in the vertical direction;

the lifting platform (4) is also provided with a pressure sensor, and the pressure sensor is used for sensing the pressure values of the rotary plunger (5) and the wheel (2) in real time;

a mounting platform (7) is arranged above the lifting platform (4);

a front hydraulic rod (61) and a rear hydraulic rod (62) are arranged between the lifting platform (4) and the mounting platform (7),

two ends of the front hydraulic rod (61) are respectively hinged with the lifting platform (4) and the mounting platform (7),

two ends of the rear hydraulic rod (62) are respectively hinged with the lifting platform (4) and the mounting platform (7);

the mounting platform (7) is fixedly mounted at the bottom of the stacker-reclaimer;

when the stacker-reclaimer normally runs, the included angle between the front hydraulic rod (61) and the rear hydraulic rod (62) is 110-120 degrees;

the intelligent steering device is controlled through the following steps:

step 1, controlling wheels (2) in all driving wheel units (1) to stop rotating and advancing simultaneously;

step 2, controlling the wheels (2) in each driving wheel unit (1) to turn one by one,

step 3, after all the wheels (2) are steered, controlling all the wheels (2) to rotate forward;

the driving wheel units (1) are provided with at least two rows, each row comprises at least 2 driving wheel units (1),

in each row of driving wheel units (1), the driving wheel unit positioned at the forefront is called a front driving wheel unit,

in each row of driving wheel units (1), the driving wheel unit positioned at the rearmost is called a rear driving wheel unit, and when more than 6 driving units are arranged, namely, each row comprises more than 3 driving units, the driving units except the front driving unit can be called rear driving units;

an upper hydraulic rod (63) is arranged between the mounting platform (7) and the front hydraulic rod (61),

one end of the upper hydraulic rod (63) is fixed on the bottom surface of the mounting platform (7), and the other end of the upper hydraulic rod is hinged with the front hydraulic rod (61);

the upper hydraulic rod (63) and the front hydraulic rod (61) synchronously extend and retract;

in the step 2, the wheels (2) in the front driving wheel unit are controlled to turn, and then the wheels (2) in the rear driving wheel unit are controlled to turn;

in step 2, controlling the steering of the wheel (2) comprises the following sub-steps:

in the substep a, the lifting platform (4) and the wheels (2) are driven to move upwards by controlling the front hydraulic rod (61), the rear hydraulic rod (62) and the upper hydraulic rod (63) to contract, so that the wheels (2) are separated from the ground;

the substep b, controlling the steering of the transverse shaft (3) and the wheels (2) through the rotating plunger;

the substep c, the lifting platform (4) and the wheel (2) are driven to move downwards by controlling the front hydraulic rod (61), the rear hydraulic rod (62) and the upper hydraulic rod (63) to extend, so that the wheel (2) is contacted with the ground;

in performing sub-step c, for the front drive wheel unit, controlling the length of the front hydraulic rod (61) to be greater than the length of the rear hydraulic rod (62) so that the wheel is offset rearward;

in sub-step a, it is determined by means of a pressure sensor that the wheel (2) is out of contact with the ground, and the rotation of the rotary plunger (5) is further controlled only after the pressure sensor has determined that the wheel is out of contact with the ground.