CN114291174A - Anti-drop adjustment system based on transport handling equipment - Google Patents

Abstract

The invention discloses an anti-dropping adjustment system based on transportation handling equipment, belongs to the technical field of handling machinery, solves the technical problem that the load on the object board is easy to fall, and obtains the pressure values of the four corners of the object board in real time. , from another level, it can also reflect the pressure layout of the load on the carrier board; the present invention is provided with an adjustment module, which can adjust the angle between the carrier board and the transport equipment for transportation; when the distribution of the load on the carrier board When it is not very uniform, by calculating the front and rear adjustment coefficients and the left and right adjustment coefficients and comparing them with the adjustment coefficient thresholds, the state of the load on the loading board can be intuitively understood; when the transportation equipment is climbing stairs , the adjustment module automatically adjusts the angle between the loading board and the transport equipment, and adjusts the loading board to an angle that will not fall in combination with the controller, which greatly solves the problem of the load falling on the loading board. problems without manual intervention.

Description

Anti-drop adjustment system based on transport handling equipment

technical field

The invention belongs to the technical field of conveying machinery, and relates to an anti-drop adjustment system based on conveying equipment for transportation.

Background technique

As a representative equipment for transportation and handling equipment, the crawler-type stair climbing device is a flexible, easy-to-operate and manpower-saving stair-carrying device. The load-bearing board has a large load-bearing capacity, and the crawler-type stair climbing device can adapt to various stair sizes and run smoothly.

The existing crawler-type load stair climber reduces manpower to a certain extent and can also be applied to a variety of stair sizes, but there is not much in-depth research on the technical level of load protection on the load board. And there is no good way to coordinate and adjust the load on the load board. Most of them rely on manpower or are tied to the load board with straps. These measures also increase the manpower in disguise.

To this end, a drop-prevention adjustment system based on a conveying device for transportation is proposed.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an anti-drop adjustment system based on transportation handling equipment, which solves the technical problem that the load on the pallet is easy to fall.

In order to achieve the above object, according to the embodiment of the first aspect of the present invention, an anti-drop adjustment system based on transportation handling equipment is proposed, including a data acquisition module, transportation handling equipment, a loading board, an adjustment module, an adjustment alarm module, and a control system. device;

The data acquisition module includes a pressure acquisition unit and an inclination acquisition unit;

The controller is electrically connected with the data acquisition module, and the controller is used to receive the signal of the data acquisition module in real time;

The controller uses the calculation formula to calculate the front and rear adjustment coefficients Xq and the left and right adjustment coefficients Xz;

The controller sets the adjustment coefficient threshold Xzq, when Xz ≥ Xzq, the controller sends an adjustment alarm signal to the adjustment alarm module, the adjustment alarm module makes an alarm, and the operator adjusts the load object on the loading board;

When Xz<Xzq, and Xq≥Xzq, the controller sends an adjustment signal to the adjustment module, the adjustment module adjusts the angle between the carrier board and the transport equipment, and sends the signal to the data acquisition module; the data acquisition signal is continuously collected The pressure values F1, F2, F3, and F4 of the four corners of the carrier plate, and the front and rear adjustment coefficients Xq are calculated by the controller at the same time, until Xq < Xzq, and the adjustment action of the adjustment module is stopped.

Further, the pressure collection unit is embedded in the four corners of the carrier board, the carrier board is movably connected with the transport equipment, and an inclination acquisition unit is installed between the carrier board and the transport equipment. An adjustment module is also installed between the object carrier and the transportation equipment, and the adjustment module is used to adjust the angle between the object carrier and the transportation equipment.

Further, the controller is also used to determine the working state of the transportation handling equipment, and the working state of the transportation handling equipment is divided into a load waiting state and a load working state.

Further, the process for the controller to determine the working state of the transport equipment includes:

The controller sends the first angle acquisition signal to the data acquisition module to obtain the included angle θ between the chassis of the transportation handling equipment and the level ground, and the controller sets the included angle threshold θ0;

When θ≥θ0, the controller determines that the transportation handling equipment is in a load-waiting state;

When θ<θ0, the controller determines that the transporting equipment is in a loaded working state.

Further, when the transport handling equipment is in a load-ready state;

The controller sends a pressure acquisition signal to the data acquisition module, and marks the acquired pressure values of the four corners of the carrier plate as F1, F2, F3, and F4;

The controller uses the calculation formula to calculate the front and rear adjustment coefficient Xq, wherein the calculation formula of the front and rear adjustment coefficient Xq is:

where α is the correction coefficient, and 0<α<1;

The controller uses the calculation formula to calculate the left and right adjustment coefficient Xz, wherein the calculation formula of the left and right adjustment coefficient Xz is:

β is the correction coefficient, and 0<β<1.

Further, when the transport handling equipment is in a loaded working state;

The controller sends a pressure acquisition signal to the data acquisition module, and marks the received pressure values at the four corners of the carrier plate as F1', F2', F3', and F4'; The included angle is marked as θ′; the angle between the received pallet and the transport equipment is marked as γ′;

The controller uses the calculation formula to calculate the front and rear adjustment coefficient Xq', wherein the calculation formula of the front and rear adjustment coefficient Xq' is:

where α' is the correction coefficient, and 0<α'<1;

The controller sets the adjustment coefficient threshold X'; when Xq'≥X', the controller sends an adjustment signal to the adjustment module, and the adjustment module adjusts the included angle between the loading board and the transport equipment.

Further, when the adjustment module adjusts the included angle between the loading board and the transporting equipment, the real-time recording of the angle between the loading board and the transporting equipment is marked as γ′;

In the process of gradually increasing γ′ recorded in real time, the data acquisition signal continuously collects the values of F1′, F2′, F3′, F4′, and at the same time, the controller calculates the front and rear adjustment coefficient Xq′ until Xq′<X′, Stop the adjustment action of the adjustment module;

If the calculated Xq' is still greater than X' until γ'=θ', the controller sends an adjustment alarm signal to the adjustment alarm module, and the adjustment alarm module gives an alarm.

Compared with the prior art, the beneficial effects of the present invention are:

The present invention can obtain the pressure values of the four corners of the object board in real time by embedding the pressure sensor installed on the object board, and can also reflect the pressure layout loaded on the object board from another level; and the invention provides There is an adjustment module. The adjustment module is installed between the load board and the transportation equipment. The angle between the load board and the transportation equipment can be adjusted. When the distribution of the load on the load board is not very uniform, By calculating the front and rear adjustment coefficients and the left and right adjustment coefficients, and comparing them with the adjustment coefficient thresholds, the state of the load on the loading plate can be intuitively understood;

Moreover, when the transportation handling equipment in the present invention is climbing the stairs, the adjustment module automatically adjusts the angle between the loading board and the transportation handling equipment, and adjusts the loading board in combination with the controller so that it will not fall. It solves the problem of the load falling on the load board to a great extent, and does not require manual intervention, saving labor.

Description of drawings

Fig. 1 is the principle diagram of the present invention;

Figure 2 is a flow chart of the present invention.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in Figure 1, the anti-drop adjustment system based on transportation handling equipment includes a data acquisition module, transportation handling equipment, a loading board, an adjustment module, an adjustment alarm module and a controller;

The data collection module includes a pressure collection unit and an inclination angle collection unit; the pressure collection unit includes four or more than four pressure sensors, the pressure collection units are embedded in the four corners of the object carrier, and the four pressure sensors are about The surface of the carrier plate is installed symmetrically;

The object carrier is movably connected with the transportation equipment, and an inclination acquisition unit is installed between the object carrier and the transportation equipment. The inclination acquisition unit is specifically an angle sensor, and the angle sensor is used to measure the distance between the carrier the angle between the handling equipment for transport;

It should be noted that an adjustment module is also installed between the object carrier and the transportation equipment, and the adjustment module is used to adjust the angle between the object carrier and the transportation equipment;

Wherein, an inclination acquisition unit, namely an angle sensor, is also installed on the chassis of the transportation handling equipment, and the angle sensor is used to obtain the included angle between the chassis of the transportation handling equipment and the horizontal ground;

It should be noted that the controller is electrically connected to the data acquisition module, and the controller is used to receive the signal of the data acquisition module in real time, and to perform anti-drop adjustment according to the signal sent by the data acquisition module;

Specifically, the process that the controller performs real-time anti-drop adjustment on the signal sent by the data acquisition module includes the following steps:

Step 1: First obtain the working status of the transport handling equipment;

It should be noted that, according to the working mode, the transport handling equipment can be divided into the state of waiting for the load without climbing the stairs and the working state of the load that is climbing the stairs; it can also be understood that the load state is the state before the climbing work is performed; The process of distinguishing the working state of the transport handling equipment is as follows:

Step S10: When the transportation handling equipment is in the power-on state, the controller sends the first angle acquisition signal to the data acquisition module, and after the data acquisition module receives the first angle acquisition signal, it controls the angle sensor of the inclination acquisition unit to acquire the transportation handling equipment. The angle between the chassis and the level ground;

Step S11: the data acquisition module sends the acquired angle between the chassis of the transportation handling equipment and the horizontal ground to the controller;

Step S12: the controller receives the included angle between the chassis of the transportation handling equipment and the level ground sent by the data acquisition module and marks it as θ; the controller sets the included angle threshold θ0;

It should be noted that the included angle threshold θ0 is not necessarily zero. Considering that the road surface is inclined during road construction, the value of the included angle threshold θ0 is set by the controller;

Step S13: when θ≥θ0, the controller determines that the transport equipment is in a load-waiting state;

When θ<θ0, the controller determines that the transportation handling equipment is in a loaded working state;

The second step: adopt different anti-drop adjustments according to the status of different transportation equipment;

When the transport handling equipment is in a load-ready state;

Step S210: the controller sends the pressure collection signal to the data collection module, and after the data collection module receives the pressure collection signal, it controls the pressure sensor of the pressure collection unit to obtain the pressure values of the four corners of the object carrier;

Step S211: the data acquisition module sends the acquired pressure values of the four corners of the carrier plate to the controller;

Step S212: The controller marks the received pressure values of the four corners of the carrier plate as: F1, F2, F3, F4;

It should be noted that the pressure sensor that obtains the pressure value F1 and the sensor that obtains the pressure value F2 are symmetrical about the transportation handling equipment; the pressure sensor that obtains the pressure value F3 and the sensor that obtains the pressure value F4 are symmetrical about the transportation handling equipment;

Step S213: The controller uses the calculation formula to calculate the front and rear adjustment coefficient Xq, wherein the calculation formula of the front and rear adjustment coefficient Xq is:

where α is the correction coefficient, and 0<α<1;

The controller uses the calculation formula to calculate the left and right adjustment coefficient Xz, wherein the calculation formula of the left and right adjustment coefficient Xz is:

where β is the correction coefficient, and 0<β<1;

Step S214: the controller sets the adjustment coefficient threshold Xzq; when Xz≥Xzq, there is no need to determine the relationship between Xq and Xzq, the controller sends an adjustment alarm signal to the adjustment alarm module, the adjustment alarm module gives an alarm, and the operator carries out Adjustment of the load object;

When both Xz and Xq are less than Xzq, the controller does not make any instructions;

When Xz<Xzq, and Xq≥Xzq, the controller sends an adjustment signal to the adjustment module, the adjustment module adjusts the angle between the carrier board and the transport equipment, and sends the signal to the data acquisition module; the data acquisition signal is continuously collected The values of F1, F2, F3, and F4, and at the same time, the controller calculates the front and rear adjustment coefficients xq until Xq < Xzq, and stops the adjustment action of the adjustment module.

When the transport handling equipment is in a loaded working state;

Step S220: The controller sends the pressure collection signal, the first angle collection signal and the second angle collection signal to the data collection module, and the data collection module controls the pressure after receiving the pressure collection signal, the first angle collection signal and the second angle collection signal The pressure sensor of the acquisition unit and the angle sensor of the inclination acquisition unit obtain the pressure value and the angle value;

Step S221: The controller marks the received pressure values of the four corners of the object carrier as: F1', F2', F3', F4'; The angle is marked as θ′; the angle between the received pallet and the transport equipment is marked as γ′;

Step S222: The controller uses the calculation formula to calculate the front and rear adjustment coefficient Xq', wherein the calculation formula of the front and rear adjustment coefficient Xq' is:

where α' is the correction coefficient, and 0<α'<1;

Step S223: the controller sets the adjustment coefficient threshold X'; when Xq'<X', the controller does not give any instruction;

When Xq′≥X′, the controller sends an adjustment signal to the adjustment module, and the adjustment module adjusts the angle between the loading board and the transport equipment, and records the angle mark between the loading board and the transport equipment in real time is γ′;

When the real-time recorded γ' gradually increases, the data acquisition signal continuously collects the values of F1', F2', F3', and F4', and at the same time, the controller calculates the front and rear adjustment coefficient Xq' until Xq'<X', Stop the adjustment action of the adjustment module;

If the calculated Xq' is still greater than X' until γ'=θ', the controller sends an adjustment alarm signal to the adjustment alarm module, the adjustment alarm module gives an alarm, and the operator adjusts the load object on the loading board.

It should be noted that an anti-skid pad with high friction force is mounted on the surface of the carrier plate.

As shown in Fig. 2, the anti-drop adjustment method based on the transportation handling equipment specifically includes the following steps:

Step 1: Obtain the working status of the transportation equipment;

The working state of the transport handling equipment is divided into the load waiting state and the load working state;

Step 2: Step 3 is performed when the transportation handling equipment is in a load-ready state; Step 5 is performed when the transportation handling equipment is in a loaded working state:

Step 3: The controller sends a pressure acquisition signal to the data acquisition module to obtain the pressure values of the four corners of the carrier plate; and calculates the front and rear adjustment coefficients and the left and right adjustment coefficients;

Step 4: The controller sets the adjustment logic to adjust a pair of transportation handling equipment;

Step 5: The controller sends the pressure acquisition signal, the first angle acquisition signal and the second angle acquisition signal to the data acquisition module, and obtains the pressure values of the four corners of the loading board, the clamps between the chassis of the transportation equipment and the level ground. angle and the angle between the load plate and the transport handling equipment; and calculate the fore and aft adjustment factors;

Step 6: The controller sets the adjustment logic 2 to adjust the transportation equipment.

Among them, it should be noted that the adjustment logic one is:

When Xz≥Xzq, there is no need to determine the relationship between Xq and Xzq, the controller sends an adjustment alarm signal to the adjustment alarm module, the adjustment alarm module gives an alarm, and the operator adjusts the load object on the loading board;

When both Xz and Xq are less than Xzq, the controller does not make any instructions;

When Xz<Xzq, and Xq≥Xzq, the controller sends an adjustment signal to the adjustment module, the adjustment module adjusts the angle between the carrier board and the transport equipment, and sends the signal to the data acquisition module; the data acquisition signal is continuously collected The values of F1, F2, F3, and F4, and at the same time, the controller calculates the front and rear adjustment coefficient Xq until Xq < Xzq, and stops the adjustment action of the adjustment module;

The second adjustment logic is:

When Xq'<X', the controller does not make any instruction;

When Xq′≥X′, the controller sends an adjustment signal to the adjustment module, and the adjustment module adjusts the angle between the loading board and the transport equipment, and records the angle mark between the loading board and the transport equipment in real time is γ′;

When the real-time recorded γ' gradually increases, the data acquisition signal continuously collects the values of F1', F2', F3', and F4', and at the same time, the controller calculates the front and rear adjustment coefficient Xq' until Xq'<X', Stop the adjustment action of the adjustment module;

If the calculated Xq' is still greater than X' until γ'=θ', the controller sends an adjustment alarm signal to the adjustment alarm module, the adjustment alarm module gives an alarm, and the operator adjusts the load object on the loading board.

The above formulas are calculated by removing the dimension and taking its numerical value. The formula is a formula that is closest to the real situation by collecting a large amount of data and performing software simulation. The preset parameters and preset thresholds in the formula are set by those skilled in the art according to the actual situation. Or a large amount of data simulation is obtained.

The above embodiments are only used to illustrate the technical method of the present invention and not limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced. Without departing from the spirit and scope of the technical method of the present invention.

Claims (7)

1. An anti-drop adjustment system based on transportation handling equipment is characterized in that, comprising a data acquisition module, transportation handling equipment, a loading board, an adjustment module, an adjustment alarm module and a controller; The data acquisition module includes a pressure acquisition unit and an inclination acquisition unit; The controller is electrically connected with the data acquisition module, and the controller is used to receive the signal of the data acquisition module in real time; The controller uses the calculation formula to calculate the front and rear adjustment coefficients Xq and the left and right adjustment coefficients Xz; The controller sets the adjustment coefficient threshold Xzq, when Xz ≥ Xzq, the controller sends an adjustment alarm signal to the adjustment alarm module, the adjustment alarm module makes an alarm, and the operator adjusts the load object on the loading board; When Xz<Xzq, and Xq≥Xzq, the controller sends an adjustment signal to the adjustment module, the adjustment module adjusts the angle between the carrier board and the transport equipment, and sends the signal to the data acquisition module; the data acquisition signal is continuously collected The pressure values F1, F2, F3, and F4 of the four corners of the carrier plate, and the front and rear adjustment coefficients Xq are calculated by the controller at the same time, until Xq < Xzq, and the adjustment action of the adjustment module is stopped. 2 . The anti-dropping adjustment system based on transportation equipment according to claim 1 , wherein the pressure collecting unit is embedded in four corners of a carrier board, and the carrier board moves with the transportation equipment. 3 . connected, and an inclination angle acquisition unit is installed between the loading board and the transportation equipment, and an adjustment module is also installed between the loading board and the transportation equipment, and the adjustment module is used to adjust the loading board and the transportation equipment. Use the angle between the handling equipment. 3. The anti-drop adjustment system based on the transportation equipment according to claim 1, wherein the controller is further used to determine the working state of the transportation equipment, and the working conditions of the transportation equipment are divided into: Load standby status and load working status. 4. The anti-dropping adjustment system based on the transportation equipment according to claim 3, wherein the process of the controller determining the working state of the transportation equipment comprises: The controller sends the first angle acquisition signal to the data acquisition module to obtain the angle θ between the chassis of the transportation handling equipment and the horizontal ground, and the controller sets the angle threshold θ0; When θ≥θ0, the controller determines that the transportation handling equipment is in a load-waiting state; When θ<θ0, the controller determines that the transport equipment is in a loaded working state. 5. The anti-drop adjustment system based on transportation handling equipment according to claim 4, characterized in that, when the transportation handling equipment is in a load standby state; The controller sends a pressure acquisition signal to the data acquisition module, and marks the acquired pressure values of the four corners of the carrier plate as F1, F2, F3, and F4; The controller uses the calculation formula to calculate the front and rear adjustment coefficient Xq, wherein the calculation formula of the front and rear adjustment coefficient Xq is:

where α is the correction coefficient, and 0<α<1; The controller uses the calculation formula to calculate the left and right adjustment coefficient Xz, wherein the calculation formula of the left and right adjustment coefficient Xz is:

Among them, β is the correction coefficient, and 0<β<1. 6. The anti-drop adjustment system based on transportation handling equipment according to claim 4, characterized in that, when the transportation handling equipment is in a loaded working state; The controller sends a pressure acquisition signal to the data acquisition module, and marks the received pressure values at the four corners of the carrier plate as F1', F2', F3', and F4'; The included angle is marked as θ′; the angle between the received pallet and the transport equipment is marked as γ′; The controller uses the calculation formula to calculate the front and rear adjustment coefficient Xq', wherein the calculation formula of the front and rear adjustment coefficient Xq' is:

where α' is the correction coefficient, and 0<α'<1; The controller sets the adjustment coefficient threshold X'; when Xq'≥X', the controller sends an adjustment signal to the adjustment module, and the adjustment module adjusts the included angle between the loading board and the transport equipment. 7 . The anti-drop adjustment system based on the transportation equipment according to claim 6 , wherein, when the adjustment module adjusts the angle between the object board and the transportation equipment, it records the object board and the transportation equipment in real time. 8 . The angle between the handling equipment is marked as γ′; In the process of gradually increasing γ′ recorded in real time, the data acquisition signal continuously collects the values of F1′, F2′, F3′, F4′, and at the same time, the controller calculates the front and rear adjustment coefficient Xq′ until Xq′<X′, Stop the adjustment action of the adjustment module; If the calculated Xq' is still greater than X' until γ'=θ', the controller sends an adjustment alarm signal to the adjustment alarm module, and the adjustment alarm module gives an alarm.

Images