CN114313888B - Air cushion carrying method with automatic air pressure control function - Google Patents
Air cushion carrying method with automatic air pressure control function Download PDFInfo
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- CN114313888B CN114313888B CN202111551763.1A CN202111551763A CN114313888B CN 114313888 B CN114313888 B CN 114313888B CN 202111551763 A CN202111551763 A CN 202111551763A CN 114313888 B CN114313888 B CN 114313888B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses an air cushion carrying method with automatic air pressure control. The conveying method comprises the following steps: 1. and air cushion carrying devices are arranged at four corners of the bottom of the carried equipment. A first set of gravity equations is established. The two first air cushion carrying devices are moved to the gravity center direction by a preset distance. And establishing a second gravity equation set. And (3) combining the first gravity equation set and the second gravity equation set to obtain the distance from the two ends of the transported equipment to the gravity center position of the transported equipment. 3. Carrying out air cushion carrying on the carried equipment by using four or six air cushion carrying devices; according to the invention, the gravity center position of the carried equipment is calculated through twice weight measurement, and the supporting points of the air cushion carrying devices are adjusted according to the center position of the carried equipment, so that the gravity of each air cushion carrying device is close, the possibility of vibration is reduced, and the air cushion carrying process is more stable and safer.
Description
Technical Field
The invention belongs to the technical field of air-float carrying, and particularly relates to an air-cushion carrying method with automatic air pressure control.
Background
Currently, air cushion handling devices are gradually used for handling heavy equipment, such as equipment with relatively large length-width ratio, including high-speed railway carriages, subway carriages, large machine tools and the like. The carrying capacity of the air cushion carrying device is five parts per million of the weight of carrying equipment, which means that the carrying of a weight of 20t can be pushed by only 10kg of force. The air cushion carrying device is utilized to carry the heavy objects, so that the labor cost and the time cost during installation can be effectively reduced, the damage to the ground in the installation process is reduced, and meanwhile, the personal safety of installation and operation and maintenance personnel can be effectively ensured. However, the conventional air cushion carrying device brings a plurality of new problems, mainly that the existing air cushion carrying device is harsh to the use condition. When the air source pressure is unstable, the air pressure balance of the air cushion carrying device is affected, so that the air cushion is vibrated or the air cushion function is invalid; when a crack exists in a place, the air pressure balance of the air cushion carrying device can be destroyed; when a plurality of air cushion carrying devices carry the same weight, the gravity borne by one air cushion carrying device is easy to exceed the other gravity when the weight is actually carried because the gravity center of the weight is uncertain, and at the moment, if the same air supply pressure is adopted, vibration can be necessarily generated at one end with smaller stress.
Disclosure of Invention
The invention aims to provide an air cushion conveying method with automatic air pressure control.
The invention relates to an air cushion carrying device with automatic air pressure control and a device carrying method, which specifically comprises the following steps:
step one, installing air cushion carrying devices at four corners of the bottom of the carried equipment. The air cushion carrying device can weigh the pressure received by the air cushion carrying device under the non-working state (namely, the state of not introducing high-pressure gas); taking two air cushion conveying devices at the lighter end of the conveyed equipment as first air cushion conveying devices; taking two air cushion conveying devices at the heavier end of the conveyed equipment as second air cushion conveying devices; the first set of gravity equations is established as follows:
wherein F is 1 The sum of the weights of the two first air cushion carrying devices; f (F) 2 The sum of the weights of the two second air cushion carrying devices at the moment; a is the distance from the lighter end part of the carried equipment to the gravity center position of the carried equipment; b is the distance from the heavier end of the carried equipment to the gravity center position of the carried equipment; g is the weight of the handled equipment.
And secondly, moving the two first air cushion carrying devices to the gravity center direction by a preset distance x. The second set of gravity equations is established as follows:
wherein F is 3 The sum of the weights of the two first air cushion carrying devices; f (F) 4 The sum of the weights of the two second air cushion handling devices at this time.
The first gravity equation set and the second gravity equation set are combined to obtain distances a and b from two ends of the carried equipment to the gravity center position of the carried equipment, wherein the distances a and b are as follows:
and step three, installing four or six air cushion conveying devices at the bottom of the conveyed equipment.
In the case of using four air cushion handling devices, the four air cushion handling devices are divided into two groups of two; the two air cushion carrying devices in the same group are respectively arranged at the edges of the two sides of the bottom of the carried equipment; mounting a first set of air cushion handling devices at the heavier end of the handled equipment; the second group of air cushion conveying devices are arranged on one side of the gravity center of the conveyed equipment far away from the first group of air cushion conveying devices, and the distance from the second group of air cushion conveying devices to the gravity center of the conveyed equipment is 0.75 b-1.25 b.
In the case of using six air cushion handling devices, the six air cushion handling devices are divided into three groups of two; the two air cushion carrying devices in the same group are respectively arranged at the edges of the two sides of the bottom of the carried equipment; mounting a first set of air cushion handling devices at the heavier end of the handled equipment; the second group of air cushion carrying devices are arranged at the gravity center position of the carried equipment; the third group of air cushion conveying devices are arranged on one side of the gravity center of the conveyed equipment far away from the first group of air cushion conveying devices, and the distance from the second group of air cushion conveying devices to the gravity center of the conveyed equipment is 0.75 b-1.25 b.
And fourthly, connecting high-pressure gas to each air cushion conveying device supporting the conveyed equipment, lifting the conveyed equipment and conveying the conveyed equipment to a target position.
Preferably, the expression of the number N of uses of the air cushion handling device in the step three is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,is an upward rounding operation; t (T) P For single cushionThe air floatation of the carrying device is used for maximally supporting the load.
If N is less than or equal to 4, the using number N of the air cushion carrying devices is set to be 4. If N is more than or equal to 6, different air floatation maximum supporting loads T are selected P And the air cushion conveying device is used for adjusting the number N of the air cushion conveying devices to be 4 or 6.
Preferably, the air cushion handling device is capable of measuring its distance to the ground; in the fourth step, each air cushion carrying device independently controls the air inlet pressure, and the specific process is as follows:
taking the air inlet pressure of the air cushion carrying device as an output signal and taking the distance error e (t) as an input signal to construct a PID controller; the distance error e (t) is the difference between the distance D (t) measured by the air cushion carrying device and the target distance D; calculating an error change rate according to the dynamically changed distance error e (t); proportional coefficient K of PID controller according to distance error e (t) and error change rate ec at different time p Integral coefficient K i And differential coefficient K d And (5) setting.
Pressurizing each air cushion carrying device according to the actual bearing of each air cushion carrying device, and setting the current air inlet pressure as an initial value; after the air cushion carrying device finishes the air film jacking, the air inlet pressure of the air cushion carrying device is dynamically adjusted through the PID controller, so that the distance measured by the air cushion carrying device is kept stable.
Preferably, the air cushion handling device comprises a bearing plate, a base, a distance measuring sensor, an air cushion unit and a pressure sensor. The top surface of the base is provided with one or more pressure sensors; the bearing plate is fixed on the pressure sensor. The ranging sensor and the air cushion unit are both installed at the bottom of the base. The detection part of the ranging sensor is arranged downwards. The base bottom is provided with one or more support portions.
Preferably, the middle part of the top surface of the base is provided with a mounting groove, and a plurality of guide holes surrounding the mounting groove are formed. Guide sleeves are arranged in the guide holes. The bottom surface of the bearing plate is fixed with a plurality of guide posts. The guide posts are respectively and slidably connected with the guide sleeves in the guide holes on the base. The pressure sensor is arranged in the mounting groove. The detection part of the pressure sensor is arranged vertically upwardsIs arranged and fixed with the center of the bottom surface of the bearing plate. In the initial state, the distance v between the bearing plate and the base is less than or equal to D max The method comprises the steps of carrying out a first treatment on the surface of the Wherein D is max The deformation amount when the maximum measuring range is reached for the pressure sensor.
Preferably, in the first step, four weighing maximum ranges are used, wherein the maximum weighing range is T G The air cushion carrying device weighs the carried equipment; wherein, the liquid crystal display device comprises a liquid crystal display device,
preferably, in the first step, the air cushion handling device is mounted at the heavy end of the equipment to be handled, and it is checked whether the weighing range of the air cushion handling device is exceeded.
Preferably, in the case of a: b <1.25, a set of air cushion handling devices located on the lighter side of the centre of gravity of the handled equipment is provided at the lighter end corners of the handled equipment.
Preferably, in the case that a: b is equal to or greater than 1.25, the distance from the air cushion conveying device of the group positioned on the lighter side of the center of gravity of the conveyed equipment to the center of gravity of the conveyed equipment is equal to b.
The invention has the beneficial effects that:
1. according to the invention, the gravity center position of the carried equipment is calculated through twice weight measurement, and the supporting points of the air cushion carrying devices are adjusted according to the center position of the carried equipment, so that the gravity of each air cushion carrying device is close, the possibility of vibration is reduced, and the air cushion carrying process is more stable and safer.
2. The invention controls the air inlet pressure of the air cushion carrying module in real time through the PID, so that the air cushion carrying device always works in the optimal air pressure range, and the possibility of vibration is further reduced. In addition, when the conventional air cushion carrying device works, when the ground surface has micro cracks or fissures, the inlet pressure is unchanged, and a part of air supply flows out from the fissures, which is equivalent to the effect of reducing the air flow on the flat ground, namely, the carrying capacity is reduced, and at the moment, the air cushion carrying module is easy to fail. The air cushion carrying module automatically compensates the air pressure within the allowable range of the air pressure, so that the ground adaptability of the air cushion carrying device is improved.
3. The air cushion carrying device used by the invention has the weighing function, can measure the actual carrying weight of each air cushion module, can intuitively judge whether each air cushion carrying module is overloaded, and can give an alarm if the air cushion carrying module is overloaded, thereby protecting the air cushion carrying device and reducing the occurrence of safety accidents.
4. The invention improves the service life of the rubber air bag of the air cushion module. When the traditional air cushion carrying device is used for carrying, if the air bag flow is insufficient and is forced to operate, the air bag is rubbed with the ground in a large area, the air bag is deformed in the opposite direction, if the operation is often carried out in this way, the air bag is seriously worn, the cloth clamping leakage condition occurs, and the air bag can be exploded after being used for a long time, so that potential safety hazards are generated. If the air flow of the suspension carrying air cushion is low, the air bag is not suspended, and under the condition of contacting with the ground, the weight is forced to be pushed, so that the air bag is torn. The invention has the function of automatic pressure regulation, and can compensate the air pressure of the air bag when the air pressure is insufficient, thereby avoiding the contact between the air bag and the ground, prolonging the service life of the air bag and reducing the safety risk.
5. The invention saves labor force. In the actual carrying process, the conventional air cushion carrying device needs to manually adjust the air inlet pressure, and when the air cushion carrying module has an air pressure automatic control function, special arrangement of professional safety personnel is not needed, so that the operation flow is simplified, and the labor force is saved.
Drawings
Fig. 1 is a perspective view of an air cushion handling device used in the present invention.
Fig. 2 is a schematic bottom view of an air cushion handling device used in the present invention.
Fig. 3 is a schematic side view of an air cushion handling device used in the present invention.
FIG. 4 is a schematic cross-sectional view of section A-A of FIG. 2.
Fig. 5 is a schematic cross-sectional view of section B-B of fig. 3.
Fig. 6 is a diagram showing a positional relationship between each air cushion handling device and a device to be handled in step three according to an embodiment of the present invention.
Fig. 7 is a diagram showing a positional relationship between each air cushion handling device and a device to be handled in the fourth step of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
An air cushion carrying method with automatic air pressure control is applied to air cushion carrying of strip-shaped equipment. The long-strip-shaped equipment comprises heavy equipment with relatively large length-width ratio, such as a high-speed railway carriage, a subway carriage, a large machine tool and the like. Gravity distribution non-uniformity of the strip-shaped equipment along the width direction is negligible, and gravity distribution non-uniformity along the length direction can seriously affect the stability of air floatation conveying.
As shown in fig. 1, 2, 3, 4 and 5, the air cushion handling method uses a plurality of air cushion handling devices to perform handling. The air cushion carrying device comprises a bearing plate 1, a base 2, a distance measuring sensor 3, an air cushion unit 4, a guide post 5, a guide sleeve 6 and a pressure sensor 7. The mounting groove has been seted up at the middle part of base 2 top surface, and the guiding hole has all been seted up in the four corners. Guide sleeves 6 are arranged in the guide holes. Four corners of the bottom surface of the bearing plate 1 are fixed with guide posts which are vertically arranged. The guide posts are respectively connected with the guide sleeves in the guide holes on the base 2 in a sliding way. A pressure sensor 7 is arranged in the mounting groove. The detection part of the pressure sensor 7 is arranged vertically upwards and is fixed with the center of the bottom surface of the bearing plate 1. In the initial state (i.e. the state that the bearing plate 1 is not under pressure), the distance v between the bearing plate 1 and the base 2 is less than or equal to D max The method comprises the steps of carrying out a first treatment on the surface of the Wherein D is max The deformation amount when the maximum range is reached is borne for the pressure sensor 7, so that when the pressure borne by the pressure sensor 7 is overlarge, the bearing plate is contacted with the base, and the pressure is directly borne by the base 2, so that gravity is conducted to the ground through the base, and the pressure sensor is protected.
The air cushion unit 4 is installed at the center of the bottom surface of the base 2. The ranging sensor 3 is installed on the bottom surface of the base 2 and is downward arranged to detect the suspension height of the air cushion carrying device. The four corners of the bottom surface of the base 2 are uniformly formed with supporting feet. Four support feet surround the air cushion unit 4.
The air cushion carrying method with the automatic air pressure control uses four or six air cushion carrying devices to carry, and the specific process is as follows:
firstly, judging whether the sum of the maximum weighing ranges of four air cushion conveying devices is greater than or equal to the total weight of the conveyed equipment, and setting the maximum weighing range of a single air cushion conveying device as T G The total weight of the transported equipment is G, the requirement ofIn the present embodiment, set +.>Under the condition of ensuring that the gravity center of the transported equipment is deviated, each air cushion transporting device is not easy to reach the maximum weighing range.
Lifting the heavier end (namely, the end close to the gravity center of the device) of the equipment to be conveyed, and respectively placing an air cushion conveying device at two corners of the equipment to be conveyed; if the pressure sensor in the air cushion carrying device reaches the maximum range (the pressure sensor automatically alarms when reaching the maximum range), the operation is stopped, and the air cushion carrying device with the pressure sensor with the larger range is replaced for testing.
Lifting a lighter end (namely, an end far away from the gravity center of the device) of the equipment to be conveyed, and respectively placing an air cushion conveying device at two corners of the equipment to be conveyed; so that the four corners of the transported equipment are supported by the four air cushion transporting devices. The sum of the gravity detected by the pressure sensors in the four air cushion carrying devices is the total weight G of the carried equipment.
Taking two air cushion conveying devices at the lighter end of the conveyed equipment as first air cushion conveying devices; taking two air cushion conveying devices at the heavier end of the conveyed equipment as second air cushion conveying devices; establishing a first gravity equation set as shown in formula (1):
wherein F is 1 The sum of the weights of the two first air cushion carrying devices; f (F) 2 The sum of the weights of the two second air cushion carrying devices at the moment; a is the distance from the lighter end of the carried equipment to the gravity center position of the carried equipment; b is the distance from the heavier end of the carried equipment to the gravity center position of the carried equipment.
Step four, lifting one lighter end of the carried equipment, and moving the two first air cushion carrying devices to the gravity center direction for x distances; then, the conveyed apparatus is supported again on the two first air cushion conveying devices, and at this time, the axial distance c=a-x from the two first air cushion conveying devices to the center of the conveyed apparatus. Establishing a second gravity equation set as shown in formula (2):
wherein F is 3 The sum of the weights of the two first air cushion carrying devices; f (F) 4 The sum of the weights of the two second air cushion handling devices at this time.
The first gravity equation set and the second gravity equation set are combined to obtain the expression of a distance a from the lighter end of the transported equipment to the gravity center position of the transported equipment and a distance b from the heavier end of the transported equipment to the gravity center position of the transported equipment, wherein the expression is as follows:
due to F 1 、F 2 、F 3 、F 4 The measured values are the actual measured values of the air cushion carrying device, and x is the moving distance determined during field operation, so that the values of a and b can be calculated; and determining the gravity center position of the conveyed equipment according to the values of a and b.
And fifthly, checking the number of the air cushion carrying devices required. The number N of the air cushion handling devices is calculated as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,is an upward rounding operation; t (T) P The air floatation of the single air cushion carrying device is used for maximally supporting the load.
If N is less than or equal to 4, the using number N of the air cushion carrying devices is set to be 4. If N is more than or equal to 6, different air floatation maximum supporting loads T are selected P The number N of the air cushion handling devices is adjusted to 4 or 6. Specifically, when N is more than or equal to 8, an air cushion carrying device with larger load is recommended.
In the case of n=4, the four air cushion handling devices are divided into two groups of two; the two groups of air cushion carrying devices are respectively arranged on the opposite sides of the gravity center of the carried equipment, and the two air cushion carrying devices in the same group are respectively arranged at the edges of the two sides of the bottom of the carried equipment; if F 2 :F 1 <1.25, respectively installing four air cushion carrying devices at four corners of the bottom of the carried equipment; if F 2 :F 1 More than or equal to 1.25, installing a first group of air cushion conveying devices at the edges of two sides of the heavier end of the conveyed equipment, and installing a second group of air cushion conveying devices at the position with the axial distance b from the gravity center of the conveyed equipment, so that the weights of the loads of the two groups of air cushion conveying devices are equal, namely a=b; the second group of air cushion carrying devices can also be adjusted in position along the length direction of the carried equipment, and the difference ratio of the load weights of the two groups of air cushion carrying devices is only required to be within 25 percent.
In the case of n=6, the six air cushion handling devices are grouped into three groups of two; the two air cushion carrying devices in the same group are respectively arranged at the edges of the two sides of the bottom of the carried equipment; the first group of air cushion carrying devices are arranged at the heavier end part of the carried equipment; the second group of air cushion carrying devices are arranged at the gravity center position of the carried equipment; the third group of air cushion carrying devices are arranged on one side of the gravity center of the carried equipment close to the lighter end part, and the axial distance from the gravity center of the carried equipment is b. The third group of air cushion carrying devices can also be adjusted in position along the length direction of the carried equipment, and the difference ratio of the load weights of the first group of air cushion carrying devices and the third group of air cushion carrying devices is only required to be within 25 percent.
Step six, opening an air pressure automatic control system to supply air for each air cushion carrying device, and independently controlling the air inlet pressure of each air cushion carrying device in real time, and after being supported by an air film, carrying the carried device to a target position to finish carrying work.
The process of pressure control of each air cushion carrying device is as follows:
and 6-1, ventilating each air cushion carrying device by an operator according to the actual bearing of each air cushion carrying device, setting the air pressure on a recommended initial value, and starting an air inlet air pressure PID automatic control module after the air cushion carrying device finishes air film jacking. The actual load bearing of each air cushion handling device is measured by the pressure sensor inside the air cushion handling device before ventilation.
6-2, taking the air inlet pressure of the air cushion carrying device as an output signal, taking the error e (t) between the air cushion carrying device and the ground distance and the actual sampling value of the ranging sensor as an input signal when the air film works in an ideal state, and setting the proportionality coefficient K of the PID controller p Integral coefficient K i And differential coefficient K d A PID controller is obtained for controlling the distance between the air cushion handling device and the ground.
The setting process is as follows: and adjusting the air inlet pressure of the air cushion carrying device for a plurality of times from small to large, and carrying out a ranging test between the air cushion carrying device and the ground after each adjustment. In the test, the distance error e (t) =d-D (t) at time t; wherein D is a target distance, namely the distance between the air cushion carrying device and the ground when the air film works in an ideal state; d (t) is the sampling value of the distance measuring sensor at the moment t. Error rate ec= (e (t) 1 )-e(t 2 ))/(t 1 -t 2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein e (t) 1 )、e(t 2 ) Respectively t 1 Time t 2 Error in time; t is t 1 Time t 2 The time instants are two adjacent sampling time instants. (t) 1 -t 2 ) At t 1 From time to t 2 The duration of the time. According toDistance error e (t) and error rate ec at different moments in time versus the example coefficient K p Integral coefficient K i And differential coefficient K d And (5) setting.
6-3. Calculate distance error e=d-D s The method comprises the steps of carrying out a first treatment on the surface of the Wherein d s Is the actual measurement value of the ranging sensor in the control process. The distance error e is input into the PID controller obtained in the second step, so that the intake air pressure is continuously regulated.
Claims (9)
1. An air cushion carrying method with automatic air pressure control is characterized in that: step one, installing air cushion carrying devices at four corners of the bottom of the carried equipment; the air cushion carrying device can weigh the pressure received by the air cushion carrying device under the non-working state; taking two air cushion conveying devices at the lighter end of the conveyed equipment as first air cushion conveying devices; taking two air cushion conveying devices at the heavier end of the conveyed equipment as second air cushion conveying devices; the first set of gravity equations is established as follows:
wherein F is 1 The sum of the weights of the two first air cushion carrying devices; f (F) 2 The sum of the weights of the two second air cushion carrying devices at the moment; a is the distance from the lighter end part of the carried equipment to the gravity center position of the carried equipment; b is the distance from the heavier end of the carried equipment to the gravity center position of the carried equipment; g is the weight of the transported equipment;
step two, moving the two first air cushion carrying devices to a gravity center direction by a preset distance x; the second set of gravity equations is established as follows:
wherein F is 3 The sum of the weights of the two first air cushion carrying devices; f (F) 4 For weighing the two second air-cushion handling devices at this timeSum of the amounts;
the first gravity equation set and the second gravity equation set are combined to obtain distances a and b from two ends of the carried equipment to the gravity center position of the carried equipment, wherein the distances a and b are as follows:
step three, installing four or six air cushion carrying devices at the bottom of the carried equipment;
in the case of using four air cushion handling devices, the four air cushion handling devices are divided into two groups of two; the two air cushion carrying devices in the same group are respectively arranged at the edges of the two sides of the bottom of the carried equipment; mounting a first set of air cushion handling devices at the heavier end of the handled equipment; the second group of air cushion conveying devices are arranged on one side of the gravity center of the conveyed equipment far away from the first group of air cushion conveying devices, and the distance from the second group of air cushion conveying devices to the gravity center of the conveyed equipment is 0.75 b-1.25 b;
in the case of using six air cushion handling devices, the six air cushion handling devices are divided into three groups of two; the two air cushion carrying devices in the same group are respectively arranged at the edges of the two sides of the bottom of the carried equipment; mounting a first set of air cushion handling devices at the heavier end of the handled equipment; the second group of air cushion carrying devices are arranged at the gravity center position of the carried equipment; the third group of air cushion conveying devices are arranged on one side of the gravity center of the conveyed equipment far away from the first group of air cushion conveying devices, and the distance from the second group of air cushion conveying devices to the gravity center of the conveyed equipment is 0.75 b-1.25 b;
and fourthly, pressurizing each air cushion conveying device supporting the conveyed equipment, lifting the conveyed equipment and conveying the conveyed equipment to the target position.
2. The method for handling an air cushion with automatic air pressure control according to claim 1, wherein: the expression of the number N of air cushion handling devices used in step three is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,is an upward rounding operation; t (T) P The air floatation maximum supporting load of the single air cushion carrying device;
if N is less than or equal to 4, setting the using number N of the air cushion carrying devices to be 4; if N is more than or equal to 6, different air floatation maximum supporting loads T are selected P And the air cushion conveying device is used for adjusting the number N of the air cushion conveying devices to be 4 or 6.
3. The method for handling an air cushion with automatic air pressure control according to claim 1, wherein: the air cushion carrying device can measure the distance from the air cushion carrying device to the ground; in the fourth step, each air cushion carrying device independently controls the air inlet pressure, and the specific process is as follows:
taking the air inlet pressure of the air cushion carrying device as an output signal and taking the distance error e (t) as an input signal to construct a PID controller; the distance error e (t) is the difference between the distance D (t) measured by the air cushion carrying device and the target distance D; calculating an error change rate according to the dynamically changed distance error e (t); proportional coefficient K of PID controller according to distance error e (t) and error change rate ec at different time p Integral coefficient K i And differential coefficient K d Setting is carried out;
pressurizing each air cushion carrying device according to the actual bearing of each air cushion carrying device, and setting the current air inlet pressure as an initial value; after the air cushion carrying device is lifted up by the air film, the air inlet pressure of the air cushion carrying device is dynamically adjusted through the PID controller, so that the distance measured by the air cushion carrying device is kept stable.
4. The method for handling an air cushion with automatic air pressure control according to claim 1, wherein: the air cushion carrying device comprises a bearing plate (1), a base (2), a distance measuring sensor (3), an air cushion unit (4) and a pressure sensor (7); the top surface of the base (2) is provided with one or more pressure sensors (7); the bearing plate (1) is fixed on the pressure sensor (7); the ranging sensor (3) and the air cushion unit (4) are both arranged at the bottom of the base (2); the detection part of the ranging sensor (3) is arranged downwards; the bottom of the base (2) is provided with one or more supporting parts.
5. The method for handling an air cushion with automatic air pressure control according to claim 4, wherein: the middle part of the top surface of the base (2) is provided with a mounting groove and a plurality of guide holes surrounding the mounting groove; guide sleeves (6) are arranged in the guide holes; a plurality of guide posts are fixed on the bottom surface of the bearing plate (1); the guide posts are respectively and slidably connected with the guide sleeves in the guide holes on the base (2); a pressure sensor (7) is arranged in the mounting groove; the detection part of the pressure sensor (7) is vertically upwards arranged and is fixed with the center of the bottom surface of the bearing plate (1); in the initial state, the distance v between the bearing plate (1) and the base (2) is less than or equal to D max The method comprises the steps of carrying out a first treatment on the surface of the Wherein D is max The deformation quantity when the maximum measuring range is reached is borne for the pressure sensor (7).
6. The method for handling an air cushion with automatic air pressure control according to claim 1, wherein: in the first step, four weighing maximum ranges are used as T G The air cushion carrying device weighs the carried equipment; wherein, the liquid crystal display device comprises a liquid crystal display device,
7. the method for handling an air cushion with automatic air pressure control according to claim 1, wherein: in the first step, an air cushion carrying device is firstly arranged at the heavier end part of the carried equipment, and whether the situation that the weighing range of the air cushion carrying device is exceeded or not is confirmed.
8. The method for handling an air cushion with automatic air pressure control according to claim 1, wherein: in case a: b <1.25, a set of air cushion handling devices located on the lighter side of the centre of gravity of the handled equipment is provided at the lighter end corners of the handled equipment.
9. The method for handling an air cushion with automatic air pressure control according to claim 1, wherein: and under the condition that a is more than or equal to 1.25, the distance from the group of air cushion conveying devices positioned on the side, close to the lighter center of gravity, of the conveyed equipment to the center of gravity of the conveyed equipment is equal to b.
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| CN210259839U (en) * | 2019-05-06 | 2020-04-07 | 四川荣志机电设备工程有限公司 | Air cushion carrying device |
| CN112374017A (en) * | 2020-11-24 | 2021-02-19 | 浙江华卓机电科技有限公司 | Balanced air cushion haulage equipment of electromechanical device |
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2021
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| JPH10291639A (en) * | 1997-04-21 | 1998-11-04 | Fuji Yusoki Kogyo Co Ltd | Elevating conveyer |
| JPH1179333A (en) * | 1997-09-10 | 1999-03-23 | Kohan Kogyo Kk | Dustproof device for air pallet and air pallet using the dustproof device |
| JP2006151534A (en) * | 2004-11-26 | 2006-06-15 | Toyota Motor Corp | Air cushion type heavy cargo moving apparatus |
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| CN107986023A (en) * | 2017-12-11 | 2018-05-04 | 合肥挺泰环保科技有限公司 | A kind of air cushion handling device |
| KR20190136321A (en) * | 2018-05-30 | 2019-12-10 | 한국기계연구원 | Transporter with air cushion and method of controlling the same |
| CN208452984U (en) * | 2018-07-17 | 2019-02-01 | 山东送变电工程有限公司 | A kind of adjustable air cushion transport car in air cushion position |
| CN210259839U (en) * | 2019-05-06 | 2020-04-07 | 四川荣志机电设备工程有限公司 | Air cushion carrying device |
| CN112374017A (en) * | 2020-11-24 | 2021-02-19 | 浙江华卓机电科技有限公司 | Balanced air cushion haulage equipment of electromechanical device |
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