CN114291174B - Anti-falling adjusting system based on transporting equipment for transportation - Google Patents
Anti-falling adjusting system based on transporting equipment for transportation Download PDFInfo
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Abstract
The invention discloses an anti-falling adjusting system based on transport equipment for transportation, which belongs to the technical field of transport machinery, solves the technical problem that a load on a carrying plate is easy to fall off, and can reflect the pressure layout of the load on the carrying plate from another layer by acquiring the pressure values of four corners on the carrying plate in real time; the invention is provided with the adjusting module which can adjust the angle between the carrying plate and the transporting equipment for transportation; when the load is not uniformly distributed on the loading plate, the state of the load on the loading plate can be intuitively known by calculating the front and back adjustment coefficients and the left and right adjustment coefficients and comparing the adjustment coefficients with the adjustment coefficient threshold value; when the transporting equipment is used for transporting and climbing stairs, the adjusting module automatically adjusts the included angle between the carrying plate and the transporting equipment, and the carrying plate is adjusted to be an angle which can not drop by combining with the controller, so that the problem that the load drops on the carrying plate is solved on a large layer, and manual intervention is not needed.
Description
Technical Field
The invention belongs to the technical field of conveying machinery, and relates to an anti-falling adjusting system based on conveying equipment for transportation.
Background
The crawler-type carrying stair climbing machine is used as representative equipment of carrying equipment for transportation, and is a carrying stair climbing device which is flexible, simple to operate and labor-saving. The carrying plate has large carrying weight, can adapt to various stair sizes by adopting the crawler-type stair climbing device, and operates stably.
The existing crawler-type loading stair climbing machine reduces manpower to a certain extent and can be suitable for various stair sizes, but the technical aspect of load drop prevention on a loading plate is not researched too deeply, a good mode for coordinating and adjusting the load on the loading plate is not provided, most of the loads depend on manpower or are bound on the loading plate through a binding band, and the actions are also increased by manpower in a phase-changing manner.
Therefore, a drop-preventing adjustment system based on a transport conveyance facility is proposed.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an anti-falling adjusting system based on transport equipment, which solves the technical problem that the load on a carrying plate is easy to fall.
In order to achieve the above object, an embodiment according to a first aspect of the present invention provides an anti-drop adjustment system based on a transportation device, including a data acquisition module, a transportation device, a carrier plate, an adjustment module, an adjustment alarm module, and a controller;
the data acquisition module comprises a pressure acquisition unit and an inclination angle acquisition unit;
the controller is electrically connected with the data acquisition module and is used for receiving signals of the data acquisition module in real time;
the controller calculates a front-back adjustment coefficient Xq and a left-right adjustment coefficient Xz by using a calculation formula;
the controller sets an adjustment coefficient threshold value Xzq, when Xz is larger than or equal to Xzq, the controller sends an adjustment alarm signal to the adjustment alarm module, the adjustment alarm module gives an alarm, and an operator adjusts the object loaded on the loading plate;
when Xz is less than Xzq and Xq is more than or equal to Xzq, the controller sends an adjusting signal to the adjusting module, the adjusting module adjusts an included angle between the carrying plate and the transport and handling equipment and sends the signal to the data acquisition module; the data acquisition signals continuously acquire pressure values F1, F2, F3 and F4 of four corners of the object carrying plate, meanwhile, a front-back adjustment coefficient Xq is calculated through the controller, and the adjustment action of the adjustment module is stopped until the Xq is smaller than Xzq.
Further, four angles of year thing board are carried in the embedding of pressure acquisition unit, carry thing board and haulage equipment swing joint for the transportation, and install inclination acquisition unit in the centre of carrying thing board and haulage equipment for the transportation, carry still to install adjustment module between thing board and the haulage equipment for the transportation, adjustment module is used for the adjustment to carry the angle between thing board and the haulage equipment for the transportation.
Further, the controller is further configured to determine an operating state of the transport equipment, and the operating state of the transport equipment is divided into a load waiting operating state and a load operating state.
Further, the process of the controller determining the operating state of the transport conveyance apparatus includes:
the controller sends a first angle acquisition signal to the data acquisition module to acquire an included angle theta between a chassis of the transport equipment for transportation and the horizontal ground, and the controller sets an included angle threshold theta 0;
when theta is smaller than theta 0, the controller judges that the transporting and carrying equipment is in a load waiting working state;
when theta is larger than or equal to theta 0, the controller judges that the transporting and carrying equipment is in a load working state.
Further, when the transporting and carrying equipment is in a load waiting working state;
the controller sends pressure acquisition signals to the data acquisition module, and the acquired pressure values of the four corners of the loading plate are marked as F1, F2, F3 and F4;
the controller calculates a back-and-forth adjustment coefficient Xq by using a calculation formula, wherein the calculation formula of the back-and-forth adjustment coefficient Xq is as follows:
wherein α is a correction coefficient, and 0< α < 1;
the controller calculates a left and right adjustment coefficient Xz by using a calculation formula, wherein the calculation formula of the left and right adjustment coefficient Xz is as follows:
wherein β is a correction coefficient, and 0< β < 1.
Further, when the transporting and carrying equipment is in a load working state;
the controller sends pressure acquisition signals to the data acquisition module, and the received pressure values of the four corners of the loading plate are marked as F1', F2', F3 'and F4'; marking an included angle between a chassis of the transporting and carrying equipment for transportation and the horizontal ground as theta'; marking the angle between the received carrying plate and the transport conveying equipment as gamma';
the controller calculates the front and back adjustment coefficient Xq 'by using a calculation formula, wherein the calculation formula of the front and back adjustment coefficient Xq' is as follows:
wherein α 'is a correction coefficient, and 0< α' < 1;
setting an adjustment coefficient threshold value X' by the controller; when Xq 'is not less than X', the controller sends an adjusting signal to the adjusting module, and the adjusting module adjusts an included angle between the carrying plate and the transporting and carrying equipment.
Further, when the adjusting module adjusts the included angle between the carrying plate and the transporting and transporting equipment, the angle mark between the carrying plate and the transporting and transporting equipment is recorded as gamma' in real time;
in the process of gradually increasing gamma 'recorded in real time, data acquisition signals continuously acquire the numerical values of F1', F2', F3' and F4', and meanwhile, a front-back adjustment coefficient Xq' is calculated through a controller until Xq '< X', and the adjustment action of an adjustment module is stopped;
and if the calculated Xq 'is still larger than X' until the gamma 'is equal to theta', 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 invention has the beneficial effects that:
according to the invention, the pressure sensors are embedded in the carrying plate, so that the pressure values of four corners on the carrying plate can be obtained in real time, and the pressure distribution of the load on the carrying plate can be reflected from the other layer; the adjusting module is arranged between the carrying plate and the transporting equipment and can adjust and adjust the angle between the carrying plate and the transporting equipment; when the load is not uniformly distributed on the loading plate, the state of the load on the loading plate can be intuitively known in a mode of calculating a front-back adjustment coefficient and a left-right adjustment coefficient and comparing the coefficients with an adjustment coefficient threshold value;
when the transporting and carrying equipment climbs the building, the adjusting module automatically adjusts the included angle between the carrying plate and the transporting and carrying equipment and adjusts the carrying plate to be an angle which can not fall off by combining with the controller, so that the problem that the load on the carrying plate falls off is solved greatly, manual intervention is not needed, and labor is saved.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a flow chart of the present invention.
Detailed Description
The technical solutions of the present invention will be described below clearly and completely in conjunction with the embodiments, and it is obvious 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1, the anti-drop adjustment system based on the transportation carrying equipment comprises a data acquisition module, the transportation carrying equipment, a carrying plate, an adjustment module, an adjustment alarm module and a controller;
the data acquisition module comprises a pressure acquisition unit and an inclination angle acquisition unit; the pressure acquisition unit comprises four or more pressure sensors, the pressure acquisition unit is embedded into four corners of the object carrying plate, and the four pressure sensors are symmetrically arranged on the surface of the object carrying plate;
the carrying plate is movably connected with the transporting and carrying equipment, and an inclination angle acquisition unit is arranged between the carrying plate and the transporting and carrying equipment, wherein the inclination angle acquisition unit is specifically an angle sensor which is used for measuring an included angle between the carrying plate and the transporting and carrying equipment;
it should be noted that an adjusting module is further installed between the carrying plate and the transporting and transporting equipment, and the adjusting module is used for adjusting an angle between the carrying plate and the transporting and transporting equipment;
the chassis of the transport carrying equipment is also provided with an inclination angle acquisition unit, namely an angle sensor, and the angle sensor is used for acquiring an included angle between the chassis of the transport carrying equipment and the horizontal ground;
it should be noted that the controller is electrically connected to the data acquisition module, and the controller is configured to receive a signal of the data acquisition module in real time and perform drop prevention adjustment according to the signal sent by the data acquisition module;
specifically, the process of performing real-time anti-drop adjustment on the signal sent by the data acquisition module by the controller comprises the following steps:
the first step is as follows: firstly, acquiring the working state of transport handling equipment;
the transportation carrying equipment can be divided into a non-stair climbing state, namely a load waiting working state, and a load working state during stair climbing according to a working mode; the load state can also be understood as the state before the stair climbing work is not carried out; wherein the process of distinguishing the working state of the transporting and carrying equipment is as follows:
step S10: when the transport equipment is in a starting state, the controller sends a first angle acquisition signal to the data acquisition module, and after the data acquisition module receives the first angle acquisition signal, the data acquisition module controls an angle sensor of the inclination angle acquisition unit to acquire an included angle between the transport equipment chassis and the horizontal ground;
step S11: the data acquisition module sends the acquired included angle between the chassis of the transport equipment for transportation and the horizontal ground to the controller;
step S12: the controller marks an included angle between the chassis of the transport carrying equipment for transportation and the horizontal ground after receiving the included angle sent by the data acquisition module; setting an included angle threshold value theta 0 by the controller;
it should be noted that the included angle threshold θ 0 is not necessarily zero, and the value of the included angle threshold θ 0 is set by the controller in consideration of the fact that the road surface is in an inclined state when the road surface is constructed;
step S13: when theta is smaller than theta 0, the controller judges that the transporting and carrying equipment is in a load waiting working state;
when theta is larger than or equal to theta 0, the controller judges that the transporting and carrying equipment is in a load working state;
the second step: adopting different anti-falling adjustment according to different transport equipment states;
when the transporting and carrying equipment is in a load waiting working state;
step S210: the controller sends a pressure acquisition signal to the data acquisition module, and the data acquisition module controls the pressure sensors of the pressure acquisition unit to acquire pressure numerical values of four corners of the carrying plate after receiving the pressure acquisition signal;
step S211: the data acquisition module transmits the acquired pressure numerical values of the four corners of the carrying plate to the controller;
step S212: the controller marks the pressure values of the four corners of the received carrying plate as: f1, F2, F3, F4;
the pressure sensor for acquiring the pressure value F1 and the sensor for acquiring the pressure value F2 are symmetric with respect to the transport facility; the pressure sensor for acquiring the pressure value F3 and the sensor for acquiring the pressure value F4 are symmetrical left and right relative to the transport conveying equipment;
step S213: the controller calculates a back-and-forth adjustment coefficient Xq by using a calculation formula, wherein the calculation formula of the back-and-forth adjustment coefficient Xq is as follows:
wherein α is a correction coefficient, and 0< α < 1;
the controller calculates the left and right adjustment coefficients Xz by using a calculation formula, wherein the calculation formula of the left and right adjustment coefficients Xz is as follows:
wherein β is a correction factor, and 0< β < 1;
step S214: the controller sets an adjustment coefficient threshold Xzq; when Xz is larger than or equal to Xzq, the relation between Xq and Xzq does not need to be judged, the controller sends an adjusting alarm signal to the adjusting alarm module, the adjusting alarm module gives an alarm, and an operator adjusts the object loaded on the loading plate;
when Xz and Xq are both less than Xzq, the controller does not make any instruction;
when Xz is less than Xzq and Xq is more than or equal to Xzq, the controller sends an adjusting signal to the adjusting module, the adjusting module adjusts an included angle between the carrying plate and the transporting and carrying equipment and sends the signal to the data acquisition module; and continuously acquiring numerical values of F1, F2, F3 and F4 by the data acquisition signal, and calculating a front and back adjustment coefficient Xq by the controller until Xq is less than Xzq, and stopping the adjustment action of the adjustment module.
When the transporting and carrying equipment is in a load working state;
step S220: the controller sends a pressure acquisition signal, a first angle acquisition signal and a second angle acquisition signal to the data acquisition module, and the data acquisition module controls a pressure sensor of the pressure acquisition unit and an angle sensor of the inclination angle acquisition unit to acquire a pressure value and an angle value after receiving the pressure acquisition signal, the first angle acquisition signal and the second angle acquisition signal;
step S221: the controller marks the received pressure values of the four corners of the carrying plate as: f1', F2', F3', F4'; marking the received included angle between the chassis of the transport carrying equipment and the horizontal ground as theta'; marking the angle between the received carrying plate and the transport conveying equipment as gamma';
step S222: the controller calculates a back-and-forth adjustment coefficient Xq 'by using a calculation formula, wherein the calculation formula of the back-and-forth adjustment coefficient Xq' is as follows:
wherein α 'is a correction coefficient, and 0< α' < 1;
step S223: setting an adjustment coefficient threshold value X' by the controller; when Xq '< X', the controller does not make any instruction;
when Xq ' is more than or equal to X ', the controller sends an adjusting signal to the adjusting module, the adjusting module adjusts an included angle between the carrying plate and the transporting and carrying equipment, and records an angle mark between the carrying plate and the transporting and carrying equipment as gamma ' in real time;
when the real-time recorded gamma 'is gradually increased, the data acquisition signals continuously acquire the numerical values of F1', F2', F3' and F4', and meanwhile, the controller calculates the front and back adjustment coefficients Xq' until Xq '< X', and the adjustment action of the adjustment module is stopped;
if the calculated Xq 'is still larger than X' until gamma 'is equal to theta', the controller sends an adjusting alarm signal to the adjusting alarm module, the adjusting alarm module gives an alarm, and an operator adjusts the object loaded on the loading plate.
It should be noted that the surface of the carrier plate is provided with a non-slip mat having a large friction force.
As shown in fig. 2, the anti-drop adjustment method based on the transportation carrying device specifically includes the following steps:
the method comprises the following steps: acquiring the working state of the transporting and carrying equipment;
the working state of the transport handling equipment is divided into a load waiting working state and a load working state;
step two: when the transporting and carrying equipment is in a load waiting working state, executing a third step; and when the transporting and carrying equipment is in a load working state, executing a fifth step:
step three: the controller sends a pressure acquisition signal to the data acquisition module to acquire pressure numerical values of four corners of the carrying plate; calculating a front-back adjustment coefficient and a left-right adjustment coefficient;
step four: the controller sets an adjusting logic to adjust the transportation carrying equipment;
step five: the controller sends a pressure acquisition signal, a first angle acquisition signal and a second angle acquisition signal to the data acquisition module, and acquires pressure values of four corners of the carrying plate, an included angle between the chassis of the transport carrying equipment and the horizontal ground and an angle between the carrying plate and the transport carrying equipment; calculating a front and back adjustment coefficient;
step six: the controller sets an adjustment logic to adjust the transport equipment.
It should be noted that, the first adjustment logic is:
when Xz is larger than or equal to Xzq, the relation between Xq and Xzq does not need to be judged, the controller sends an adjusting alarm signal to the adjusting alarm module, the adjusting alarm module gives an alarm, and an operator adjusts the object loaded on the loading plate;
when Xz and Xq are both less than Xzq, the controller does not make any instruction;
when Xz is less than Xzq and Xq is more than or equal to Xzq, the controller sends an adjusting signal to the adjusting module, the adjusting module adjusts an included angle between the carrying plate and the transport and handling equipment and sends the signal to the data acquisition module; continuously acquiring numerical values of F1, F2, F3 and F4 by data acquisition signals, simultaneously calculating a front and back adjustment coefficient Xq by a controller, and stopping the adjustment action of an adjustment module until the Xq is less than Xzq;
the second adjustment logic is:
when Xq '< X', the controller does not make any instruction;
when Xq ' is more than or equal to X ', the controller sends an adjusting signal to the adjusting module, the adjusting module adjusts an included angle between the carrying plate and the transport equipment, and the angle between the carrying plate and the transport equipment is recorded in real time and is marked as gamma ';
when the real-time recorded gamma 'is gradually increased, the data acquisition signals continuously acquire the numerical values of F1', F2', F3' and F4', and meanwhile, the controller calculates the front and back adjustment coefficients Xq' until Xq '< X', and the adjustment action of the adjustment module is stopped;
if the calculated Xq 'is still larger than X' until gamma 'is equal to theta', the controller sends an adjusting alarm signal to the adjusting alarm module, the adjusting alarm module gives an alarm, and an operator adjusts the object loaded on the loading plate.
The above formulas are all calculated by removing dimensions and taking numerical values thereof, the formula is a formula which is obtained by acquiring a large amount of data and performing software simulation to obtain the closest real situation, and the preset parameters and the preset threshold value in the formula are set by the technical personnel in the field according to the actual situation or obtained by simulating a large amount of data.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.
Claims (4)
1. The anti-falling adjusting system based on the transporting and carrying equipment is characterized by comprising a data acquisition module, the transporting and carrying equipment, a carrying plate, an adjusting module, an adjusting and alarming module and a controller;
the data acquisition module comprises a pressure acquisition unit and an inclination angle acquisition unit;
the controller is electrically connected with the data acquisition module and is used for receiving signals of the data acquisition module in real time;
the controller is also used for judging the working state of the transport and carrying equipment, and the working state of the transport and carrying equipment is divided into a load waiting working state and a load working state;
the process that the controller judges the working state of the transport equipment comprises the following steps:
the controller sends a first angle acquisition signal to the data acquisition module to acquire an included angle theta between a chassis of the transport equipment for transportation and the horizontal ground, and the controller sets an included angle threshold theta 0;
when theta is smaller than theta 0, the controller judges that the transporting and carrying equipment is in a load waiting working state;
when theta is larger than or equal to theta 0, the controller judges that the transporting and carrying equipment is in a load working state;
when the transporting and carrying equipment is in a load waiting working state;
the controller sends pressure acquisition signals to the data acquisition module, and the acquired pressure values of the four corners of the loading plate are marked as F1, F2, F3 and F4;
the controller calculates the forward and backward adjustment coefficient Xq by using a calculation formula, wherein the calculation formula of the forward and backward adjustment coefficient Xq is as follows:
wherein α is a correction coefficient, and 0< α < 1;
the controller calculates a left and right adjustment coefficient Xz by using a calculation formula, wherein the calculation formula of the left and right adjustment coefficient Xz is as follows:
wherein β is a correction factor, and 0< β < 1;
the controller sets an adjustment coefficient threshold value Xzq, when Xz is larger than or equal to Xzq, the controller sends an adjustment alarm signal to the adjustment alarm module, the adjustment alarm module gives an alarm, and an operator adjusts the object loaded on the loading plate;
when Xz is less than Xzq and Xq is more than or equal to Xzq, the controller sends an adjusting signal to the adjusting module, the adjusting module adjusts an included angle between the carrying plate and the transporting and carrying equipment and sends the signal to the data acquisition module; the data acquisition signals continuously acquire pressure values F1, F2, F3 and F4 of four corners of the loading plate, and meanwhile, a front-back adjustment coefficient Xq is calculated through the controller until the Xq is less than Xzq, and the adjustment action of the adjustment module is stopped.
2. The anti-falling adjusting system based on the transporting carrying equipment as claimed in claim 1, wherein the pressure collecting units are embedded into four corners of the carrying board, the carrying board is movably connected with the transporting carrying equipment, the inclination collecting unit is installed between the carrying board and the transporting carrying equipment, and an adjusting module is further installed between the carrying board and the transporting carrying equipment and used for adjusting the angle between the carrying board and the transporting carrying equipment.
3. The transport conveyance apparatus-based fall prevention adjustment system of claim 1, wherein when the transport conveyance apparatus is in a load-operating state;
the controller sends pressure acquisition signals to the data acquisition module, and the received pressure values of the four corners of the loading plate are marked as F1', F2', F3 'and F4'; marking an included angle between a chassis of the transporting and carrying equipment for transportation and the horizontal ground as theta'; marking the angle between the received carrying plate and the transport conveying equipment as gamma';
the controller calculates the front and back adjustment coefficient Xq 'by using a calculation formula, wherein the calculation formula of the front and back adjustment coefficient Xq' is as follows:
wherein α 'is a correction coefficient, and 0< α' < 1;
setting an adjustment coefficient threshold value X' by the controller; when Xq 'is not less than X', the controller sends an adjusting signal to the adjusting module, and the adjusting module adjusts an included angle between the carrying plate and the transporting and carrying equipment.
4. The anti-falling adjusting system based on the transporting and carrying equipment as claimed in claim 3, wherein when the adjusting module adjusts the included angle between the carrying plate and the transporting and carrying equipment, the angle mark between the carrying plate and the transporting and carrying equipment is recorded as gamma' in real time;
in the process of gradually increasing gamma 'recorded in real time, data acquisition signals continuously acquire numerical values of F1', F2', F3' and F4', and meanwhile, a front and back adjustment coefficient Xq' is calculated through a controller until Xq '< X', and the adjustment action of an adjustment module is stopped;
if the calculated Xq ' is still larger than X ' until gamma is equal to theta ', the controller sends an adjusting alarm signal to the adjusting alarm module, and the adjusting alarm module gives an alarm.
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