CN113716503A - Intelligent lifting device based on farm house inspection and control method thereof - Google Patents
Intelligent lifting device based on farm house inspection and control method thereof Download PDFInfo
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- CN113716503A CN113716503A CN202111279457.7A CN202111279457A CN113716503A CN 113716503 A CN113716503 A CN 113716503A CN 202111279457 A CN202111279457 A CN 202111279457A CN 113716503 A CN113716503 A CN 113716503A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention relates to the technical field of agricultural house inspection equipment, which is used for solving the problem that a lifting platform of the conventional agricultural house inspection lifting device does not extend towards two sides, in particular to an intelligent lifting device based on agricultural house inspection and a control method thereof, wherein the intelligent lifting device comprises a main machine body, a plurality of climbing handles and a plurality of idler wheels, wherein the plurality of climbing handles are divided into two groups and are uniformly arranged on the left side and the right side of the main machine body; according to the invention, the extension mechanism controls the two extension plates to extend towards two sides, so that a tester can test the farmhouse on the extension plates, and the test safety of the tester is greatly improved.
Description
Technical Field
The invention relates to the technical field of rural house inspection equipment, in particular to an intelligent lifting device based on rural house inspection and a control method thereof.
Background
The farmhouse mostly refers to the house of the peasant in the country or the house with the customs in the country, and the lifting device is needed to be used when the farmhouse is patrolled and examined, so that the detection personnel can conveniently detect the house at a high place after the detection platform is highly lifted.
The existing lifting device for inspecting the farm shed only has the function of controlling the height of the detection platform, however, in general, when the lifting device is actually used, a gap is left between the edge of the detection platform and a detection position after the detection platform is lifted, and the edge of the detection platform cannot extend to the side edge, so that potential safety hazards exist during detection; in addition, when two wait to examine the distance of considering to be worth doing is very close, only can detect the completion back in a farming house, adjustment host computer body position, make testing platform be close to another farming house detect the position after, just can detect next farming house, when complex operation, host computer body removes the in-process and detects personnel and be located the high altitude, the probability greatly increased who takes place the incident.
In view of the above technical drawbacks, a solution is proposed.
Disclosure of Invention
The invention aims to solve the problem that a lifting platform of the conventional farm house inspection lifting device does not extend towards two sides, and provides an intelligent lifting device based on farm house inspection and a control method thereof.
The purpose of the invention can be realized by the following technical scheme:
the intelligent lifting device based on the inspection of the farm shed comprises a main machine body, a plurality of climbing handles and a plurality of idler wheels, wherein the plurality of climbing handles are divided into two groups which are uniformly arranged on the left side and the right side of the main machine body, the plurality of idler wheels are divided into four groups which are arranged at four corners of the bottom surface of the main machine body, two symmetrical first electric push rods are fixedly arranged on the bottom wall in the main machine body, a lifting platform is fixedly arranged between the output ends of the two first electric push rods, two groups of supporting columns are fixedly arranged at the top of the lifting platform, and an extension mechanism is arranged between the tops of the two groups of supporting columns;
the extension mechanism comprises a mounting seat, the bottom of the mounting seat is fixedly connected with the top of the strut, a groove is formed in the mounting seat, two symmetrical second clamping grooves are formed in the inner top wall and the inner bottom wall of the groove, a second limiting roller is movably connected between the inner walls of the second clamping grooves, a transverse moving plate is arranged between the two second limiting rollers positioned on the same side, a mounting plate is fixedly mounted between the inner top wall and the inner bottom wall of the groove, second electric push rods are fixedly mounted on two side surfaces of the mounting plate, the output ends of the two second electric push rods are respectively fixedly connected with the side surfaces of the two transverse moving plates, an extension plate is fixedly mounted on the side surface of the transverse moving plate far away from the mounting plate, and one side of the extension plate far away from the transverse moving plate penetrates through the inner side wall of the groove and extends to the outside of the mounting seat;
the bottom wall in the main body is provided with a jacking mechanism; the jacking mechanism is used for jacking the main machine body to enable the main machine body to be separated from the ground for a certain distance.
The internal portion of host computer is provided with the treater, treater communication connection has the collection module that is used for data acquisition, extends analysis module, speed-up detection module, is used for data storage's data storage module and controller, the equal electric connection of controller output and the input of first electric putter, second electric putter, pneumatic cylinder.
As a preferred embodiment of the present invention, two symmetrical straight plates are fixedly installed between the front surface of the installation base and the top surface of the lifting platform, evenly distributed handles are fixedly installed between the front surfaces of the two straight plates, two symmetrical guard rails are fixedly installed on both the front and rear sides of the top surface of the installation base, and the two guard rails located on the front side are respectively installed on the left and right sides of the handles.
As a preferred embodiment of the invention, the number of each group of the pillars is two, the outer surfaces of the pillars are movably connected with mounting sleeves, the mounting sleeves and the pillars are fixed by bolts and nuts, and through holes are uniformly distributed between the side surfaces of the pillars; and mounting rods are hinged between the bottom surface of the extension plate and the side surfaces of the two mounting sleeves positioned on the same side.
As a preferred embodiment of the invention, the jacking mechanism comprises a hydraulic cylinder and two symmetrical vertical plates, the bottoms of the hydraulic cylinder and the vertical plates are fixedly connected with the inner bottom wall of the main body, the output end of the hydraulic cylinder is fixedly connected with a top plate, symmetrical sliding grooves are fixedly arranged on the side surfaces, close to the two vertical plates, of the two vertical plates, a movable block is slidably connected to one side, close to the hydraulic cylinder, of each sliding groove, the side surface, far away from the sliding grooves, of each movable block is fixedly connected with the side surface of the top plate, ejector rods are fixedly arranged at the four corners of the bottom surface of the top plate, the bottoms of the ejector rods penetrate through the inner bottom wall of the main body and extend to the outside of the main body, and a bottom plate is fixedly arranged between the bottoms of the four ejector rods.
As a preferred embodiment of the present invention, the extension analysis module is used for detecting and analyzing an extension mode of the extension mechanism, and the specific analysis process includes the following steps:
step S1: acquiring distance values between detection positions of the to-be-detected farmhouse on two sides, marking the distance values as L1, marking the distance values between two ends of the two extension plates as L2 when the extension plates extend to the limit positions, and judging that the extension mode of the extension mechanism is one-way extension if L1 is larger than L2 after detection is finished; if L1 is less than or equal to L2, the next step is carried out;
step S2: marking the height value of the detection position as H1, wherein the height value of the detection position is the length value of the distance between the detection position and the ground, obtaining an extension safety coefficient YSa of the equipment through calculation, comparing the extension safety coefficient YSa with an extension safety threshold YSmin, and judging the extension mode of the extension mechanism through the comparison result.
As a preferred embodiment of the present invention, the comparison process of the extension safety factor YSa and the extension safety threshold YSmin in step S2 is:
if YSa is less than or equal to YSmin, the danger of the extension mechanism in the two-way extension process is judged, and the extension mode of the extension mechanism is judged to be one-way extension;
if YSa is greater than YSmin, the extension mechanism is judged to be safe in the bidirectional extension process, and the extension mode of the extension mechanism is judged to be bidirectional extension.
As a preferred embodiment of the present invention, the speed-up detection module is configured to detect and analyze a speed of the lifting platform in a lifting process, and the specific detection process includes the following steps:
step P1: acquiring a speed value of the lifting platform in the lifting process of the lifting platform, marking the speed value of the lifting platform before the bottom plate is contacted with the ground as V1, marking the speed value of the lifting platform after the bottom plate is contacted with the ground as V2, and analyzing and calculating V1 and V2 to obtain a speed safety coefficient SDa of the equipment;
step P2: and comparing the speed safety coefficient SDa with speed safety thresholds SDmin and SDmax, and detecting whether the lifting speed of the lifting platform is abnormal or not according to a comparison result.
As a preferred embodiment of the present invention, the comparing process of the speed safety factor SDa and the speed safety thresholds SDmin, SDmax in step P2 includes:
if SDa is less than or equal to SDmin or SDa is more than or equal to SDmax, judging that the speed of the equipment in the ascending process is abnormal, and sending a stop signal to the processor by the speed-up detection module;
if SDmin is less than SDa and less than SDmax, the speed of the equipment in the ascending process is judged to be normal, and the ascending detection module sends an ascending normal signal to the processor.
The control method of the intelligent lifting device based on the farm house patrol inspection comprises the following steps:
the method comprises the following steps: judging the extension mode through an extension analysis module, and if the judgment result is bidirectional extension, performing a second step; if the judgment result is unidirectional extension, performing the third step;
step two: moving the main machine body to the middle of the two farmhouses, and performing the fourth step;
step three: moving the main machine body to the side edge of one of the walls of the farm house, and performing the fourth step;
step four: starting the jacking mechanism to jack the main machine body to separate the roller at the bottom of the main machine body from the ground, and then starting the two first electric push rods to simultaneously extend out to jack the lifting table to raise the height of the extension mechanism;
step five: when the mounting seat rises to the detection position of the farm shed to be detected, the two first electric push rods are controlled to be closed simultaneously through the controller, at the moment, the extension of the extension plate is controlled according to the extension mode judgment result, if the extension mode judgment result is unidirectional extension, the controller starts the second electric push rod close to one side of the farm shed to be detected to extend, and the second electric push rod pushes the extension plate to extend until the side edge of the extension plate is contacted with the detection position; if the extension mode decision result is two-way extension, then start two second electric putter through the controller and stretch out simultaneously, two extension boards are outwards extended simultaneously, contact with the detection position of waiting to examine the farming house respectively until the edge of two extension boards, close second electric putter.
Compared with the prior art, the invention has the beneficial effects that:
1. the two extension plates are controlled by the extension mechanism to extend towards two sides, after the height of the mounting seat rises, the extension plates are extended until the edges of the extension plates contact with the detection position, so that a detector can detect the farm house on the extension plates, safety accidents caused by gaps between the edges of the mounting seat and the detection position after the mounting seat rises are avoided, and the detection safety of the detector is greatly improved;
2. the two extension plates can extend towards two sides simultaneously, when the distance between two farmhouses to be detected is small, the main machine body is moved between the two farmhouses, the two extension plates extend out simultaneously after the mounting seat rises, the two extension plates are respectively contacted with detection positions of the two farmhouses, two detection personnel can detect the two farmhouses simultaneously, even if only one detection personnel detects, the other farmhouse can be detected only by moving the extension plates from one side to the other side after the detection of one farmhouse is finished, the main machine body is fixed in the process, the stability of the equipment is high, the use safety of the equipment is improved while the detection efficiency is improved;
3. extend analysis module and can judge the extension mode before the elevating platform rises, wait to examine distance between the farming house and detect the height of position through two and judge whether can adopt two-way extension mode, thereby the extension board of both sides can contact with the detection position of both sides farming house respectively when guaranteeing to adopt two-way extension, the phenomenon that extension board extension length is not enough takes place when having avoided two-way extension, security performance when simultaneously carrying out the analysis to two-way extension through extending factor of safety, security when guaranteeing that equipment carries out two-way extension.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a front cross-sectional view of the structure of the present invention;
FIG. 3 is a front cross-sectional view of the construction of the support post of the present invention;
FIG. 4 is a front view of the construction of the jacking mechanism of the present invention;
FIG. 5 is a top view of the structure of the base plate of the present invention;
FIG. 6 is a front sectional view of the structure of the mounting base of the present invention;
FIG. 7 is a schematic block diagram of a control method of the present invention.
1. A main body; 2. an extension mechanism; 201. a mounting seat; 202. a straight plate; 203. a grip; 204. a guardrail; 205. a groove; 206. a second card slot; 207. a second limit roller; 208. transversely moving the plate; 209. mounting a plate; 210. a second electric push rod; 211. an extension plate; 212. mounting a rod; 3. a jacking mechanism; 301. a hydraulic cylinder; 302. a vertical plate; 303. a top plate; 304. a chute; 305. a movable block; 306. a top rod; 307. a base plate; 4. climbing a handle; 5. a roller; 6. a first electric push rod; 7. a lifting platform; 8. a first limit roller; 9. a first card slot; 10. a pillar; 11. installing a sleeve; 12. and a through hole.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-6, an intelligent lifting device based on inspection of an agricultural shed comprises a main body 1, climbing handles 4 uniformly distributed are fixedly installed on two side surfaces of the main body 1, an inspector climbs to the top of the main body 1 from the side surfaces of the main body 1 through the climbing handles 4 and then climbs to the top of a mounting seat 201 from the top of the main body 1 through a grip 203, rollers 5 are respectively arranged at four corners of the bottom of the main body 1, two symmetrical first electric push rods 6 are fixedly installed on the inner bottom wall of the main body 1, a lifting table 7 is fixedly installed between output ends of the two first electric push rods 6, the lifting table 7 is pushed to move upwards when the first electric push rods 6 extend out, so that the mounting seat 201 is lifted, the top of the lifting table 7 passes through the inner top wall of the main body 1 and extends to the outside of the main body 1, first limit rollers 8 are respectively installed on the left side surface and the right side surface of the lifting table 7, first draw-in groove 9 has all been seted up to two inside walls of the host computer body 1, first spacing roller 8 is used for spacing elevating platform 7 in both sides, two first spacing rollers 8 respectively with two first draw-in grooves 9 swing joint, 7 top fixed mounting of elevating platform has two sets of pillars 10, the quantity of every group pillar 10 is two, the surface swing joint of pillar 10 has the installing sleeve 11, pass through the bolt between installing sleeve 11 and the pillar 10, the nut is fixed, after extension board 211 outwards extends, drive installing sleeve 11 through installing rod 212 and upward move on pillar 10, extension board 211 extends and accomplishes the back, through the bolt, the nut is fixed installing sleeve 11 and installing rod 212, utilize installing rod 212 to carry out the auxiliary stay to extension board 211, evenly distributed's through-hole 12 has been seted up between the side of pillar 10, be provided with extension mechanism 2 between the top of two sets of pillars 10.
The extension mechanism 2 comprises a mounting seat 201, the bottom of the mounting seat 201 is fixedly connected with the top of the pillar 10, two symmetrical straight plates 202 are fixedly arranged between the front surface of the mounting seat 201 and the top surface of the lifting platform 7, handles 203 which are uniformly distributed are fixedly arranged between the front surfaces of the two straight plates 202, two symmetrical guardrails 204 are fixedly arranged on the front side and the rear side of the top surface of the mounting seat 201, the two guardrails 204 positioned on the front side are respectively arranged on the left side and the right side of the handles 203, a groove 205 is formed in the mounting seat 201, two symmetrical second clamping grooves 206 are formed in the top wall and the inner bottom wall of the groove 205, a second limiting roller 207 is movably connected between the inner walls of the second clamping grooves 206, a transverse moving plate 208 is arranged between the two second limiting rollers 207 positioned on the same side, when a second electric push rod 210 extends out, the transverse moving plate 208 is pushed to move towards the direction far away from the mounting plate 209, when the transverse moving plate 208, the second limiting roller 207 rolls in the second clamping groove 206 to limit the transverse moving plate 208, a mounting plate 209 is fixedly mounted between the inner top wall and the inner bottom wall of the groove 205, second electric push rods 210 are fixedly mounted on two sides of the mounting plate 209, output ends of the two second electric push rods 210 are fixedly connected with the sides of the two traverse plates 208 respectively, an extension plate 211 is fixedly mounted on the side, far away from the mounting plate 209, of the traverse plate 208, the extension plate 211 stretches out and then shortens the distance between the extension plate 211 and a detection position until the edge of the extension plate 211 contacts with the detection position, a detection person can directly stand on the extension plate 211 to perform detection work, one side, far away from the traverse plate 208, of the extension plate 211 penetrates through the inner side wall of the groove 205 and extends to the outside of the mounting seat 201, mounting rods 212 are hinged between the bottom surface of the extension plate 211 and the sides of the two mounting sleeves 11 on the same side, and the obliquely arranged mounting rods 212 can provide auxiliary support for the extended extension plate 211, so that the detection person stands on the extension plate 211 to perform detection with higher stability.
The inner bottom wall of the main machine body 1 is provided with a jacking mechanism 3, the jacking mechanism 3 comprises a hydraulic cylinder 301 fixedly connected with the inner bottom wall of the main machine body 1 and two symmetrical vertical plates 302, the output end of the hydraulic cylinder 301 is fixedly provided with a top plate 303, the side surfaces of the two vertical plates 302 close to each other are fixedly provided with two symmetrical sliding grooves 304, one side of each sliding groove 304 close to the hydraulic cylinder 301 is slidably connected with a movable block 305, the side surface of each movable block 305 far away from the corresponding sliding groove 304 is fixedly connected with the side surface of the top plate 303, four corners of the bottom surface of the top plate 303 are fixedly provided with push rods 306, the bottom of each push rod 306 penetrates through the inner bottom wall of the main machine body 1 and extends to the outside of the main machine body 1, a bottom plate 307 is fixedly arranged between the bottoms of the four push rods 306, reinforcing column heads which are uniformly distributed are fixedly arranged at the bottom of the bottom plate 307, after the lifting device is moved to a position to be detected, the hydraulic cylinder 301 is started (note that when the hydraulic cylinder 301 is not used, the hydraulic rod is in an extended state), so that the top plate 303 and the bottom plate 307 move downwards at the same time, and the bottom plate 307 cannot continue to descend after moving downwards to contact with the ground, therefore, the continuous contraction of the hydraulic cylinder 301 is converted into the pulling up of the inner bottom wall of the main body 1 fixedly connected by the hydraulic cylinder, namely, the pulling up of the whole main body 1 is equivalent to the separation of the roller 5 from the ground, so as to realize the auxiliary lifting of the main body 1, here, the separation of the roller 5 from the ground is used for ensuring the placing stability of the main body 1 in the detection process, meanwhile, a plurality of reinforcing column heads at the bottom of the bottom plate 307 contact the ground in the contraction process of the hydraulic cylinder, and are inserted into the ground under the action of gravity of the whole main body, so as to further improve the placing stability of the main body 1.
Example 2
Referring to fig. 7, a processor is disposed inside the main body 1, the processor is in communication connection with an acquisition module, an extension analysis module, an acceleration detection module, a data storage module and a controller, an output end of the controller is electrically connected to input ends of the first electric push rod 6, the second electric push rod 210 and the hydraulic cylinder 301, the acquisition module is configured to acquire movement data of the extension plate 211 and speed data of the lifting platform 7, and the data storage module is configured to store the data.
The extension analysis module is used for detecting and analyzing the extension mode of the extension mechanism 2, and the specific analysis process comprises the following steps:
step S1: acquiring distance values between detection positions of the farmhouse to be detected on two sides and marking the distance values as L1, marking the distance values between two ends of the two extension plates 211 as L2 when the extension plates 211 extend to the limit positions, if L1 is larger than L2, the distance values indicate that the two extension plates 211 cannot be contacted with the detection positions when extending to the limit distances, therefore, the two-way extension cannot be carried out, the detection is finished, and the extension mode of the extension mechanism 2 is judged to be one-way extension; if L1 is not more than L2, it indicates that the side surfaces of the two extension plates 211 can contact the detection position when the two extension plates 211 extend to the extreme position, and the safety of the two-way extension needs to be further analyzed for the next step;
step S2: marking the height value of the detection position as H1, wherein the height value of the detection position is the distance length value between the detection position and the ground through a formula
Obtaining an extension safety factor YSa of the equipment, and it should be noted that the extension safety factor YSa represents a numerical value of a safety degree when the inspector stands on the extension board 211 to perform inspection after the extension board 211 is extended outward, and the higher the extension safety factor, the higher the safety degree when the inspector stands on the extension board 211 to perform inspection, where α 1 and α 2 are proportionality coefficients, and α 1 > α 2 > 0, comparing the extension safety factor YSa with an extension safety threshold YSmin:
if YSa is not more than YSmin, it indicates that the rising height of the mounting base 201 is too high or the extension length of the extension plate 211 is too long, and it is not suitable to extend in a bidirectional extension manner, and it is determined that the bidirectional extension process of the extension mechanism 2 is dangerous, and it is determined that the extension manner of the extension mechanism 2 is unidirectional extension;
if YSa > YSmin, it is determined that the extension mechanism 2 is in the bidirectional extension process and the extension mode of the extension mechanism 2 is bidirectional extension.
The speed-up detection module is used for detecting and analyzing the speed of the lifting platform 7 in the lifting process, and the specific detection process comprises the following steps:
step P1: acquiring the speed value of the lifting platform 7 in the lifting process of the lifting platform 7, marking the speed value of the lifting platform 7 before the bottom plate 307 is contacted with the ground as V1, marking the speed value of the lifting platform 7 after the bottom plate 307 is contacted with the ground as V2, and calculating the speed value of the lifting platform 7 according to the formula
Obtaining a speed safety coefficient SDa of the equipment, wherein the speed safety coefficient is a numerical value representing the stability degree of the equipment in the ascending process of the lifting platform 7, wherein both beta 1 and beta 2 are proportional coefficients, beta 1 is greater than beta 2 and greater than 0, k is a correction factor, and the value of k is 2.35;
step P2: comparing the speed safety factor SDa with the speed safety thresholds SDmin, SDmax:
if SDa is less than or equal to SDmin or SDa is more than or equal to SDmax, judging that the speed of the equipment in the rising process is abnormal, sending a stop signal to a processor by a speed-up detection module, wherein SDa is less than or equal to SDmin and indicates that the rising speed of the lifting platform 7 is too high, and SDa is more than or equal to SDmax and indicates that the rising speed of the lifting platform 7 is too low;
if SDmin is less than SDa and less than SDmax, judging that the speed of the equipment in the ascending process is normal, and sending a normal ascending signal to the processor by the ascending detection module;
step P3: when the processor receives the stop signal, the processor sends the stop signal to the controller, and the controller receives the stop signal and then controls the two second electric push rods 210 to stop working at the same time; the boosting process continues when the processor receives a boost normal signal.
Example 3
The control method of the intelligent lifting device based on the farm house patrol inspection comprises the following steps:
the method comprises the following steps: judging the extension mode through an extension analysis module, and if the judgment result is bidirectional extension, performing a second step; if the judgment result is unidirectional extension, performing the third step;
step two: the main machine body 1 is operated to the middle of the two farmhouses, and the fourth step is carried out;
step three: moving the main machine body 1 to the side edge of one of the walls of the farm house, and performing the step four;
step four: starting the hydraulic cylinder 301 to contract, enabling the components consisting of the top plate 303, the ejector rod 306 and the bottom plate 307 to synchronously move downwards, after the bottom surface of the bottom plate 307 is contacted with the ground, continuing to contract the hydraulic cylinder 301, because the bottom plate 307 is contacted with the ground and can not move downwards any more, pulling up the inner bottom wall of the main machine body 1 fixedly connected with the hydraulic cylinder by the hydraulic cylinder, namely pulling the whole main machine body 1 away from the ground, separating the roller 5 at the bottom of the main machine body 1 from the ground, and then starting the two first electric push rods 6 to simultaneously extend out to jack up the lifting platform 7 so as to enable the height of the extension mechanism 2 to rise;
step five: when the mounting seat 201 rises to a detection position of the farm shed to be detected, the two first electric push rods 6 are controlled to be closed simultaneously through the controller, at the moment, the extension of the extension plate 211 is controlled according to the extension mode judgment result, if the extension mode judgment result is unidirectional extension, the controller starts the second electric push rod 210 close to one side of the farm shed to be detected to extend, and the second electric push rod 210 pushes the extension plate 211 to extend until the side edge of the extension plate 211 is contacted with the detection position; if the extension mode decision result is two-way extension, then start two second electric putter 210 through the controller and stretch out simultaneously, two extension boards 211 are outwards extended simultaneously, contact with the detection position of waiting to examine the farming house respectively until the edge of two extension boards 211, close second electric putter 210.
When the device is used, the extension mode is judged through the extension analysis module, the hydraulic cylinder 301 of the jacking mechanism 3 is contracted to enable the bottom plate 307 to descend in height until the main machine body 1 is jacked up, the two first electric push rods 6 are started to simultaneously extend out to jack up the lifting table 7, when the mounting seat 201 is lifted to the detection position of the farm shed to be detected, the two first electric push rods 6 are controlled to simultaneously close through the controller, the corresponding second electric push rod 210 is started to push the extension plate 211 to extend out until the side edge of the extension plate 211 is contacted with the detection position, and the second electric push rod 210 is closed.
The formulas are obtained by acquiring a large amount of data and performing software simulation, and the coefficients in the formulas are set by the technicians in the field according to actual conditions; such as: formula (II)
(ii) a Collecting multiple groups of sample data and setting a corresponding rating coefficient for each group of sample data by a person skilled in the art; substituting the set rating coefficient and the collected sample data into formulas, forming a linear equation set by any two formulas, screening the calculated coefficients and taking the mean value to obtain values of alpha 1 and alpha 2 which are 1.87 and 1.62 respectively;
the size of the coefficient is a specific numerical value obtained by quantizing each parameter, so that the subsequent comparison is convenient, and the size of the coefficient depends on the number of sample data and a corresponding rating coefficient is preliminarily set for each group of sample data by a person skilled in the art; the proportional relation between the parameters and the quantized numerical values is not affected, for example, the extension safety factor is in direct proportion to the numerical value of the height value of the detection position.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The intelligent lifting device based on the farm house inspection comprises a main machine body (1), a plurality of climbing handles (4) and a plurality of idler wheels (5), wherein the plurality of climbing handles (4) are divided into two groups which are uniformly arranged at the left side and the right side of the main machine body (1), the plurality of idler wheels (5) are divided into four groups which are arranged at four corners of the bottom surface of the main machine body (1), the intelligent lifting device is characterized in that two symmetrical first electric push rods (6) are fixedly arranged on the inner bottom wall of the main machine body (1), a lifting table (7) is fixedly arranged between the output ends of the two first electric push rods (6), two groups of pillars (10) are fixedly arranged at the top of the lifting table (7), and an extension mechanism (2) is arranged between the tops of the two groups of pillars (10);
the extension mechanism (2) comprises a mounting seat (201), the bottom of the mounting seat (201) is fixedly connected with the top of the strut (10), a groove (205) is formed in the mounting seat (201), two symmetrical second clamping grooves (206) are formed in the inner top wall and the inner bottom wall of the groove (205), a second limiting roller (207) is movably connected between the inner walls of the second clamping grooves (206), a transverse moving plate (208) is arranged between the two second limiting rollers (207) positioned on the same side, a mounting plate (209) is fixedly mounted between the inner top wall and the inner bottom wall of the groove (205), second electric push rods (210) are fixedly mounted on two side faces of the mounting plate (209), the output ends of the two second electric push rods (210) are respectively fixedly connected with the side faces of the two transverse moving plates (208), and an extension plate (211) is fixedly mounted on the side face, far away from the mounting plate (209), of the transverse moving plate (208), one side of the extension plate (211) far away from the traverse plate (208) passes through the inner side wall of the groove (205) and extends to the outside of the mounting seat (201);
the inner bottom wall of the main machine body (1) is provided with a jacking mechanism (3);
the host computer body (1) is inside to be provided with the treater, treater communication connection has the collection module that is used for data acquisition, extends analysis module, speed-up detection module, is used for data storage's data storage module and controller, the equal electric connection of input of controller output and first electric putter (6), second electric putter (210), pneumatic cylinder (301).
2. The intelligent lifting device based on the rural power patrol inspection according to claim 1, wherein two symmetrical straight plates (202) are fixedly installed between the front surface of the installation seat (201) and the top surface of the lifting platform (7), evenly distributed handles (203) are fixedly installed between the front surfaces of the straight plates (202), two symmetrical guardrails (204) are fixedly installed on the front side and the rear side of the top surface of the installation seat (201), and the two guardrails (204) on the front side are respectively installed on the left side and the right side of the handles (203).
3. The intelligent lifting device based on the farmhouse inspection tour according to claim 1, wherein the number of the pillars (10) in each group is two, the outer surface of each pillar (10) is movably connected with a mounting sleeve (11), the mounting sleeves (11) and the pillars (10) are fixed through bolts and nuts, and through holes (12) are uniformly distributed among the side surfaces of the pillars (10); and mounting rods (212) are hinged between the bottom surface of the extension plate (211) and the side surfaces of the two mounting sleeves (11) positioned on the same side.
4. The intelligent lifting device based on the rural power patrol inspection according to claim 1, wherein the extension analysis module is used for detecting and analyzing the extension mode of the extension mechanism (2), and the specific analysis process comprises the following steps:
step S1: acquiring distance values between detection positions of the to-be-detected farmhouse on two sides and marking the distance values as L1, marking the distance values between two ends of the two extension plates (211) as L2 when the extension plates (211) extend to the limit positions, and judging that the extension mode of the extension mechanism (2) is one-way extension if L1 is larger than L2 after detection is finished; if L1 is less than or equal to L2, the next step is carried out;
step S2: marking the height value of the detection position as H1, wherein the height value of the detection position is the distance length value between the detection position and the ground, obtaining an extension safety coefficient YSa of the equipment through calculation, comparing the extension safety coefficient YSa with an extension safety threshold YSmin, and judging the extension mode of the extension mechanism (2) through the comparison result.
5. The intelligent lifting device based on the farmhouse inspection tour according to claim 4, wherein the comparison process between the extension safety factor YSa and the extension safety threshold YSmin in the step S2 is as follows:
if YSa is less than or equal to YSmin, the danger of the extension mechanism (2) in the two-way extension process is judged, and the extension mode of the extension mechanism (2) is judged to be one-way extension;
if YSa is greater than YSmin, the bidirectional extension process of the extension mechanism (2) is judged to be safe, and the extension mode of the extension mechanism (2) is judged to be bidirectional extension.
6. The intelligent lifting device based on the farmhouse inspection tour according to claim 1, wherein the speed-up detection module is used for detecting and analyzing the speed of the lifting platform (7) in the lifting process, and the specific detection process comprises the following steps:
step P1: acquiring a speed value of the lifting platform (7) in the lifting process of the lifting platform (7), marking the speed value of the lifting platform (7) before the bottom plate (307) is contacted with the ground as V1, marking the speed value of the lifting platform (7) after the bottom plate (307) is contacted with the ground as V2, and analyzing and calculating V1 and V2 to obtain a speed safety coefficient SDa of the equipment;
step P2: and comparing the speed safety coefficient SDa with speed safety thresholds SDmin and SDmax, and detecting whether the ascending speed of the lifting platform (7) is abnormal or not according to the comparison result.
7. The intelligent lifting device based on the farmhouse inspection tour according to claim 6, wherein the comparison between the speed safety factor SDa and the speed safety thresholds SDmin and SDmax in the step P2 comprises:
if SDa is less than or equal to SDmin or SDa is more than or equal to SDmax, judging that the speed of the equipment in the ascending process is abnormal, and sending a stop signal to the processor by the speed-up detection module;
if SDmin is less than SDa and less than SDmax, the speed of the equipment in the ascending process is judged to be normal, and the ascending detection module sends an ascending normal signal to the processor.
8. The control method of the intelligent lifting device based on the farm house patrol inspection is characterized by comprising the following steps of:
the method comprises the following steps: judging the extension mode through an extension analysis module, and if the judgment result is bidirectional extension, performing a second step; if the judgment result is unidirectional extension, performing the third step;
step two: the main machine body (1) is operated to the middle of the two farmhouses, and the fourth step is carried out;
step three: moving the main machine body (1) to the side edge of one of the walls of the farm house, and performing the fourth step;
step four: starting the jacking mechanism to jack up the lifting table (7) to enable the height of the extension mechanism (2) to rise;
step five: when the mounting seat (201) rises to a detection position of the farm shed to be detected, the two first electric push rods (6) are controlled to be closed simultaneously through the controller, at the moment, the extension of the extension plate (211) is controlled according to the extension mode judgment result, if the extension mode judgment result is unidirectional extension, the controller is started to enable the second electric push rod (210) close to one side of the farm shed to be detected to extend, and the second electric push rod (210) pushes the extension plate (211) to extend until the side edge of the extension plate (211) is contacted with the detection position; if the extension mode judgment result is bidirectional extension, the two second electric push rods (210) are started to simultaneously extend through the controller, the two extension plates (211) simultaneously extend outwards until the edges of the two extension plates (211) are respectively contacted with the detection positions of the two farmhouses to be detected, and the second electric push rods (210) are closed.
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Application publication date: 20211130 |