CN112027919A - Transfer trolley control system and control method for hoisting PC (personal computer) component - Google Patents

Transfer trolley control system and control method for hoisting PC (personal computer) component Download PDF

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Publication number
CN112027919A
CN112027919A CN202011058864.0A CN202011058864A CN112027919A CN 112027919 A CN112027919 A CN 112027919A CN 202011058864 A CN202011058864 A CN 202011058864A CN 112027919 A CN112027919 A CN 112027919A
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CN
China
Prior art keywords
arm
component
tray
transfer trolley
grabbing
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Pending
Application number
CN202011058864.0A
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Chinese (zh)
Inventor
张剑
谢忠全
陈贤圣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changsha Yuanda Module Integration Technology Co Ltd
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Changsha Yuanda Module Integration Technology Co Ltd
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Priority to CN202011058864.0A priority Critical patent/CN112027919A/en
Publication of CN112027919A publication Critical patent/CN112027919A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/04—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs the effective length of which is variable in operation, e.g. longitudinally displaceable, extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/06—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
    • B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Abstract

The invention provides a transfer trolley control system and a transfer trolley control method for hoisting a PC (personal computer) component. The transfer trolley comprises a moving chassis, an arm frame system, a folding arm and a grabbing tray, wherein the arm frame system is hinged between the moving chassis and the folding arm, and a first driving mechanism is connected between the arm frame system and the moving chassis; a second driving mechanism is connected between the folding arm and the arm support system; one end of the folding arm, which is far away from the arm support system, is connected with the grabbing tray; the control system comprises a controller, a first inclination angle sensor and a second inclination angle sensor; the controller is respectively electrically connected with the first inclination angle sensor, the second inclination angle sensor, the first driving mechanism and the second driving mechanism. Compared with the prior art, the control system provided by the invention ensures that the transfer trolley is safer to use, and can effectively avoid accidents such as shaking of the PC component, falling of the PC component or tipping of the transfer trolley; the installation quality and efficiency of the PC component can be improved, and the PC component can be suitable for various different construction sites.

Description

Transfer trolley control system and control method for hoisting PC (personal computer) component
Technical Field
The invention relates to the technical field of concrete prefabricated part production, in particular to a transfer trolley control system and a transfer trolley control method for hoisting a PC (polycarbonate) component.
Background
PC components require temporary transport after factory manufacture. Transport is usually done using a trolley hoist or a truck or AGV cart. When the PC component is installed on a construction site, the PC component is generally installed by a truck crane or a tower crane in a hoisting manner.
The transportation range of the crane hoisting is limited, and the crane hoisting can only be transported within the range of the track where the crane travels, can not be transported across the cross in a factory, and can not be operated in a building construction site.
The truck crane or the tower crane is hoisted and installed, different hoists are needed to be used for different PC components to guarantee safe and stable hoisting, the hoisting equipment and products are connected through ropes or chains, and the PC components can swing in the hoisting process, so that the PC components are inconvenient to accurately position and install.
Disclosure of Invention
The invention aims to provide a transfer trolley control system and a control method for hoisting a PC (personal computer) component, which have higher flexibility and safety.
The technical scheme of the invention is as follows: a transfer trolley control system for hoisting a PC component is used for controlling the action of a transfer trolley, the transfer trolley comprises a moving chassis, an arm support system, a folding arm and a grabbing tray, the arm support system is hinged between the moving chassis and the folding arm, and a first driving mechanism is connected between the arm support system and the moving chassis; a second driving mechanism is connected between the folding arm and the arm support system; one end of the folding arm, which is far away from the arm support system, is connected with the grabbing tray;
the transfer trolley control system for hoisting the PC component comprises a controller, a first inclination angle sensor and a second inclination angle sensor, wherein the first inclination angle sensor is used for monitoring the pitching angle of the arm support system relative to the horizontal plane, and the second inclination angle sensor is used for monitoring the rotating angle of the folding arm relative to the horizontal plane; the controller is respectively electrically connected with the first inclination angle sensor, the second inclination angle sensor, the first driving mechanism and the second driving mechanism.
Preferably, a third driving mechanism is connected between the grabbing tray and the folding arm; the transfer trolley control system for hoisting the PC component further comprises a third inclination angle sensor for monitoring the rotation angle of the grabbing tray relative to the horizontal plane, the third inclination angle sensor is arranged on the grabbing tray, and the third inclination angle sensor and the third driving mechanism are respectively and electrically connected with the controller.
Preferably, the controller is arranged on the mobile chassis, the first tilt angle sensor is arranged on the arm support system and close to the joint of the arm support system and the folding arm, and the second tilt angle sensor is arranged on the folding arm and close to the joint of the folding arm and the grabbing tray.
Preferably, the boom system comprises a multi-stage telescopic boom and a telescopic oil cylinder for driving the multi-stage telescopic boom to perform telescopic action, the transfer vehicle control system for hoisting the PC component further comprises a length sensor for monitoring the extending length of the multi-stage telescopic boom in the boom system, one end of the length sensor is arranged on the first stage telescopic boom, and the other end of the length sensor is arranged on the last stage telescopic boom; the length sensor and the telescopic oil cylinder are respectively and electrically connected with the controller.
Preferably, the transfer trolley control system for hoisting the PC component further comprises a weighing sensor for monitoring the weight of the PC component grabbed by the grabbing tray, and the weighing sensor is arranged on the grabbing tray.
Preferably, the load cell is located in the middle of the gripping tray.
The invention also provides a control method of the transfer trolley for PC component hoisting, which adopts the control system of the transfer trolley for PC component hoisting to control and comprises the following steps:
step one, unfolding a folding arm:
starting a second driving mechanism to unfold the folding arm and the grabbing tray from the top of the folded transfer trolley to the horizontal position beside the transfer trolley, and monitoring an included angle theta 2 between the folding arm and the horizontal plane in real time through a second inclination angle sensor in the action process of the folding arm;
step two, lifting the arm support system:
starting a first driving mechanism to lift the arm support system, the folding arm and the grabbing tray to a certain height, and when the arm support system, the folding arm and the grabbing tray are lifted, the second driving mechanism is self-adaptive and leveled, so that the folding arm and the grabbing tray are always located at the horizontal position; in the process of lifting the height of the arm support system, the folding arm and the grabbing tray, monitoring an included angle theta 1 between the arm support system and the horizontal plane in real time through a first tilt angle sensor;
step three, grabbing the PC component:
starting the grabbing tray to grab the PC component, moving the transfer trolley to a position where the PC component is preset to be placed, and controlling the position change of the grabbing tray through rotation of the arm support system and the folding arm according to the position where the PC component is preset to be placed;
step four, placing a PC component:
and controlling the grabbing tray to place a PC component to finish one-time hoisting and transferring.
Preferably, the step two and the step three further include a step of rotating the gripping tray:
starting the third driving mechanism, driving the grabbing tray to rotate relative to the folding arm, and enabling the grabbing surface of the grabbing tray to be parallel to the grabbed surface of the PC component; and the included angle between the grabbing tray and the horizontal plane is monitored in real time through a third inclination angle sensor in the rotation process of the grabbing tray.
Preferably, the step three and the step four further include a step of extending the boom system:
the telescopic oil cylinder is started, the multi-stage telescopic arm is driven to extend, the folding arm and the grabbing tray are lifted to a certain height, and the extending length of the multi-stage telescopic arm is monitored in real time through the length sensor.
Preferably, the controller monitors the operation of the transfer vehicle in real time through the formula (1) and starts overload protection:
M1＝m1×g×cosθ1(L1+ΔL)/2+m2×g×(cosθ1(L1+ΔL)+L2×cosθ2/2)+(m3+m4)×g×(cosθ1(L1+ΔL)+L2×cosθ2) (1)
wherein m is1Is the total weight of the boom system, L1Is the original length of the boom system, θ1Is the measured value of the first tilt sensor, Δ L is the measured value of the length sensor;
m2is the total weight of the folding arm, L2Length of the folding arms, theta2Is the measured value of the second tilt sensor; m is3Is the total weight of the gripping tray; m is4Is the measured value of the weighing sensor; m1The total tipping moment of the upper part of the transfer trolley;
M0the maximum tilting moment allowed for the transfer trolley;
the controller reads the measured values of the sensors and calculates M according to the formula (1)1A value of and M1And M0Making a comparison when M1Less than M0When the vehicle is in a safe state, the vehicle can be normally used; when M is1Approach to M0And when the safety protection device is used, the controller sends an instruction to the corresponding driving mechanism, so that the driving mechanism only acts within a safety range.
Compared with the related technology, the invention has the beneficial effects that: the control system ensures that the transfer trolley is safer to use, and can effectively avoid accidents such as shaking of the PC component, falling of the PC component or tipping of the transfer trolley and the like; the installation quality and efficiency of the PC component can be improved, and the PC component can be suitable for various different construction sites.
Drawings
FIG. 1 is a schematic structural diagram of a transfer vehicle control system for PC component hoisting provided by the invention installed on a transfer vehicle;
FIG. 2 is a block diagram of a transfer vehicle control system for PC component lifting according to the present invention;
FIG. 3 is a schematic view of the transfer car lift arm system of FIG. 1;
fig. 4 is a schematic view of the extended boom system of the transfer car of fig. 1.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.
As shown in fig. 1 and fig. 2, the present embodiment provides a transfer trolley control system for PC component hoisting, which is used for controlling the action of a transfer trolley. The transfer trolley comprises a mobile chassis 1, an arm frame system 2, a folding arm 3 and a grabbing tray 4.
The movable chassis 1 can adopt any one of a movable AGV trolley, a self-made movable trolley or an engineering vehicle, can realize modular assembly, and is suitable for different construction sites for hoisting PC components.
The boom system 2 comprises a multi-stage telescopic boom (not numbered) and a telescopic oil cylinder 8 for driving the multi-stage telescopic boom to perform telescopic action. The first-stage telescopic arm of the arm support system 2 is hinged to the mobile chassis 1, pitching of the arm support system 2 relative to the mobile chassis 1 is achieved through the first driving mechanism 5, and a hinged shaft of the first-stage telescopic arm and the mobile chassis 1 is perpendicular to the length direction of the arm support system 2 and parallel to the horizontal plane. In this embodiment, the first driving mechanism 5 is a luffing cylinder. The multi-stage telescopic arms in the arm support system 2 are sequentially sleeved and sequentially extend out when being extended (the extending structure is shown in fig. 4). And the last stage of telescopic arm in the arm support system 2 is hinged with the folding arm 3. The folding arm 3 rotates relative to the arm frame system 2 through the second driving mechanism 6, and a hinge shaft of the last-stage telescopic arm and the folding arm 3 is perpendicular to the length direction of the arm frame system 2 and parallel to the horizontal plane. In this embodiment, the second driving mechanism 6 is a knuckle arm cylinder.
One end of the folding arm 3, which is far away from the arm support system 2, is hinged with the grabbing tray 4. The grabbing tray 4 realizes the rotation of the grabbing tray 4 relative to the folding arm 3 through a third driving mechanism 7, and the hinged shaft of the grabbing tray 4 and the folding arm 3 is vertical to the length direction of the arm frame system 2 and is parallel to the horizontal plane. In this embodiment, the third driving mechanism 7 is a pallet cylinder.
The length direction of the boom system is also the direction of the telescopic motion of each stage of telescopic boom of the boom system.
The transfer trolley control system for PC component hoisting comprises a controller 9, a first inclination angle sensor 10 for monitoring the pitching angle of the arm support system 2 relative to the horizontal plane, a second inclination angle sensor 11 for monitoring the rotating angle of the folding arm 3 relative to the horizontal plane, a third inclination angle sensor 12 for monitoring the rotating angle of the grabbing tray 4 relative to the horizontal plane, a length sensor 13 for monitoring the extending length of the multi-stage telescopic arm in the arm support system 2, and a weighing sensor 14 for monitoring the weight of the PC component grabbed by the grabbing tray 4.
The controller 9 is arranged on the movable chassis and is respectively and electrically connected with the first inclination angle sensor 10, the second inclination angle sensor 11, the third inclination angle sensor 12, the length sensor 13, the weighing sensor 14, the first driving mechanism 5, the second driving mechanism 6, the third driving mechanism 7 and the telescopic oil cylinder 8.
The first tilt angle sensor 10 is arranged on the boom system 2 and close to the connection position of the boom system 2 and the folding arm 3. The second tilt sensor 11 is arranged on the folding arm 3 and close to the connection position of the folding arm 3 and the grabbing tray 4. The third tilt sensor 12 is provided on the gripping tray 4. One end of the length sensor 13 is arranged on the first-stage telescopic arm, and the other end of the length sensor 13 is arranged on the last-stage telescopic arm. The weighing sensor 14 is arranged on the grabbing tray 4 and is positioned in the middle of the grabbing tray 4.
In this embodiment, the length sensor 13 is a pull sensor.
The selected tilt angle sensor is a single-axis tilt angle sensor based on a capacitive 3D-MEMS technology and is used for measuring the horizontal angle change of the system.
The load cell 14 is a device that converts a mass signal into a measurable electrical signal output. All the three sensors are outsourced components.
The invention also provides a control method of the transfer trolley for PC component hoisting, which adopts the control system of the transfer trolley for PC component hoisting to control and comprises the following steps:
step one, unfolding a folding arm:
the controller sends an instruction to the second driving mechanism to start, and drives the folding arm and the grabbing tray to be unfolded from the top of the transfer trolley to the horizontal position beside the transfer trolley; meanwhile, the second tilt angle sensor monitors the included angle theta between the folding arm and the horizontal plane in real time2(as shown in fig. 3), and sends a monitoring signal to the controller, and when the set value is reached, the controller sends a command to the second driving mechanism to stop the action.
Step two, lifting the arm support system:
the controller sends an instruction to the first driving mechanism to start, the arm support system, the folding arm and the grabbing tray are driven to lift to a certain height, and the second driving mechanism is adaptive to level while lifting, so that the folding arm and the grabbing tray are always located at the horizontal position; meanwhile, the first tilt angle sensor monitors the included angle theta between the folding arm and the horizontal plane in real time when the folding arm rotates relative to the arm support system1(as shown in fig. 3) and sends a monitoring signal to the controller, and when a set value is reached, the controller sends a command to the second controllerThe two driving mechanisms stop operating.
Step three, rotating the grabbing tray:
the controller sends an instruction to a third driving mechanism to drive the grabbing tray to rotate relative to the folding arm, so that the grabbing surface of the grabbing tray is parallel to the grabbed surface of the PC component; and meanwhile, a third tilt angle sensor monitors an included angle between the grabbing tray and the horizontal plane when the grabbing tray rotates relative to the folding arm in real time, monitoring signals are sent to the controller, and when a set value is reached, the controller sends an instruction to the third driving mechanism to stop acting.
Step four, grabbing the PC component:
starting the grabbing tray to grab the PC component, moving the transfer trolley to a position where the PC component is preset to be placed, and controlling the position change of the grabbing tray through rotation of the arm support system and the folding arm according to the position where the PC component is preset to be placed;
step five, extending the arm support system (as shown in fig. 4):
the controller sends an instruction to the telescopic oil cylinder to drive the multi-stage telescopic arm to extend, and the folding arm and the grabbing tray are lifted to a certain height; meanwhile, the length sensor monitors the extending length L of the telescopic arm in real time1And + delta L, sending a monitoring signal to the controller, and sending an instruction to the telescopic oil cylinder to stop acting when a set value is reached.
Step six, placing a PC component:
and controlling the grabbing tray to place a PC component to finish one-time hoisting and transferring.
The controller monitors the operation of the transfer trolley in real time through a formula (1) and starts overload protection: m1＝m1×g×cosθ1(L1+ΔL)/2+m2×g×(cosθ1(L1+ΔL)+L2×cosθ2/2)+(m3+m4)×g×(cosθ1(L1+ΔL)+L2×cosθ2)(1)
Wherein m is1Is the total weight of the boom system, L1Is the original length of the boom system, θ1Is the measurement value of the first tilt sensor, Δ L is the length transmissionThe measured value of the sensor;
m2is the total weight of the folding arm, L2Length of the folding arms, theta2Is the measured value of the second tilt sensor; m is3Is the total weight of the gripping tray; m is4Is the measured value of the weighing sensor; m1The total tipping moment of the upper part of the transfer trolley; m0The maximum tilting moment allowed for the transfer trolley;
the controller reads the measured values of the sensors and calculates M according to the formula (1)1A value of and M1And M0Making a comparison when M1Less than M0When the vehicle is in a safe state, the vehicle can be normally used; when M is1Approach to M0And when the safety protection device is used, the controller sends an instruction to the corresponding driving mechanism, so that the driving mechanism only acts within a safety range.
As shown in FIG. 3, L2When the folding arm is horizontal, the horizontal distance between two hinged points (namely the length of the folding arm), theta2Is the angle between the nominal 0 point of the tilt sensor and the horizontal plane, L2×cosθ2The projection length of the distance between the two hinged points on the horizontal plane, namely the arm length of the tipping moment, and the tilt angle sensor is calibrated at a point 0 in the state shown in figure 3, so that the projection length of the distance between the two hinged points on the horizontal plane is equal to the length of the folding arm.
As shown in fig. 4, cos θ1(L1And + delta L) is the projection length of the distance between two hinged points of the arm support system on the horizontal plane, namely the arm length of the tipping moment.
As shown in fig. 3 and 4, when the PC component 100 is grabbed, the grabbing tray forms a certain angle with the horizontal plane along with the change of the pitching angle of the boom system, and the controller receives the angle information of the grabbing tray and then controls the third driving mechanism to stretch and retract, so that the grabbing tray always keeps a working angle, and thus, the self-adaptive leveling control of the grabbing tray is realized.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A transfer trolley control system for hoisting a PC component is used for controlling the action of a transfer trolley and is characterized in that the transfer trolley comprises a moving chassis (1), an arm frame system (2), a folding arm (3) and a grabbing tray (4), the arm frame system (2) is hinged between the moving chassis (1) and the folding arm (3), and a first driving mechanism (5) is connected between the arm frame system (2) and the moving chassis (1); a second driving mechanism (6) is connected between the folding arm (3) and the arm support system (2); one end of the folding arm (3) far away from the arm support system (2) is connected with the grabbing tray (4);
the transfer trolley control system for hoisting the PC component comprises a controller (9), a first inclination angle sensor (10) for monitoring the pitching angle of the arm support system (2) relative to the horizontal plane, and a second inclination angle sensor (11) for monitoring the rotating angle of the folding arm (3) relative to the horizontal plane; the controller (9) is electrically connected with the first inclination angle sensor (10), the second inclination angle sensor (11), the first driving mechanism (5) and the second driving mechanism (6) respectively.
2. The vehicle control system for PC component hoisting according to claim 1, characterised in that a third drive mechanism (7) is connected between the gripping tray (4) and the folding arm (3); the transfer trolley control system for hoisting the PC component further comprises a third inclination angle sensor (12) used for monitoring the rotation angle of the grabbing tray (4) relative to the horizontal plane, the third inclination angle sensor (12) is arranged on the grabbing tray (4), and the third inclination angle sensor (12) and the third driving mechanism (7) are respectively and electrically connected with the controller (9).
3. The transfer trolley control system for hoisting of PC components according to claim 1, characterized in that the controller (9) is provided on the moving chassis (1), the first tilt sensor (10) is provided on the boom system (2) and close to the connection of the boom system (2) and the knuckle arm (3), and the second tilt sensor (11) is provided on the knuckle arm (3) and close to the connection of the knuckle arm (3) and the grabbing tray (4).
4. The transfer trolley control system for hoisting the PC component as claimed in claim 1, wherein the boom system (2) comprises a multi-stage telescopic arm and a telescopic cylinder (8) for driving the multi-stage telescopic arm to perform telescopic motion, the transfer trolley control system for hoisting the PC component further comprises a length sensor (13) for monitoring the extending length of the multi-stage telescopic arm in the boom system (2), one end of the length sensor (13) is arranged on the first stage telescopic arm, and the other end of the length sensor (13) is arranged on the last stage telescopic arm; the length sensor (13) and the telescopic oil cylinder (8) are respectively electrically connected with the controller (9).
5. The trolley control system for PC component handling according to claim 1, characterised in that it further comprises a load cell (14) for monitoring the weight of PC components gripped by the gripping tray (4), said load cell (14) being provided on the gripping tray (4).
6. The trolley control system for PC component hoisting according to claim 5, characterized in that the load cell (14) is located in the middle of the gripping tray (4).
7. A control method of a transfer trolley for PC component hoisting, which is controlled by the transfer trolley control system for PC component hoisting according to any one of claims 1-6, and is characterized by comprising the following steps:
step one, unfolding a folding arm:
starting a second driving mechanism to unfold the folding arm and the grabbing tray from the top of the folded transfer trolley to the horizontal position beside the transfer trolley, and monitoring the included angle theta between the folding arm and the horizontal plane in real time through a second inclination angle sensor in the action process of the folding arm2；
Step two, lifting the arm support system:
starting a first driving mechanism to lift the arm support system, the folding arm and the grabbing tray to a certain height, and when the arm support system, the folding arm and the grabbing tray are lifted, the second driving mechanism is self-adaptive and leveled, so that the folding arm and the grabbing tray are always located at the horizontal position; in the processes of lifting the height of the arm support system, folding the arm and grabbing the tray, the included angle theta between the arm support system and the horizontal plane is monitored in real time through the first tilt angle sensor1；
Step three, grabbing the PC component:
starting the grabbing tray to grab the PC component, moving the transfer trolley to a position where the PC component is preset to be placed, and controlling the position change of the grabbing tray through rotation of the arm support system and the folding arm according to the position where the PC component is preset to be placed;
step four, placing a PC component:
and controlling the grabbing tray to place a PC component to finish one-time hoisting and transferring.
8. The method for controlling a transfer trolley for PC component lifting as claimed in claim 7, further comprising the step of rotating the gripping tray between the second step and the third step:
starting the third driving mechanism, driving the grabbing tray to rotate relative to the folding arm, and enabling the grabbing surface of the grabbing tray to be parallel to the grabbed surface of the PC component; and the included angle between the grabbing tray and the horizontal plane is monitored in real time through a third inclination angle sensor in the rotation process of the grabbing tray.
9. The method for controlling a transfer trolley for PC component hoisting as claimed in claim 7, further comprising the step of extending the boom system between the third step and the fourth step:
the telescopic oil cylinder is started, the multi-stage telescopic arm is driven to extend, the folding arm and the grabbing tray are lifted to a certain height, and the extending length of the multi-stage telescopic arm is monitored in real time through the length sensor.
10. The control method of a transfer car for PC component hoisting according to claim 7, wherein the controller monitors the operation of the transfer car in real time and activates the overload protection by the formula (1):
M1＝m1×g×cosθ1(L1+ΔL)/2+m2×g×(cosθ1(L1+ΔL)+L2×cosθ2/2)+(m3+m4)×g×(cosθ1(L1+ΔL)+L2×cosθ2) (1)
wherein m is1Is the total weight of the boom system, L1Is the original length of the boom system, θ1Is the measured value of the first tilt sensor, Δ L is the measured value of the length sensor;
m2is the total weight of the folding arm, L2Length of the folding arms, theta2Is the measured value of the second tilt sensor;
m3is the total weight of the gripping tray; m is4Is the measured value of the weighing sensor; m1The total tipping moment of the upper part of the transfer trolley;
M0the maximum tilting moment allowed for the transfer trolley;
the controller reads the measured values of the sensors and calculates M according to the formula (1)1A value of and M1And M0Making a comparison when M1Less than M0When the vehicle is in a safe state, the vehicle can be normally used; when M is1Approach to M0And when the safety protection device is used, the controller sends an instruction to the corresponding driving mechanism, so that the driving mechanism only acts within a safety range.
CN202011058864.0A 2020-09-30 2020-09-30 Transfer trolley control system and control method for hoisting PC (personal computer) component Pending CN112027919A (en)

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CN202011058864.0A CN112027919A (en) 2020-09-30 2020-09-30 Transfer trolley control system and control method for hoisting PC (personal computer) component

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Application Number Priority Date Filing Date Title
CN202011058864.0A CN112027919A (en) 2020-09-30 2020-09-30 Transfer trolley control system and control method for hoisting PC (personal computer) component

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CN112027919A true CN112027919A (en) 2020-12-04

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