FI80414B - AUTOMATSTYRNINGSSYSTEM FOER STYRNING AV EN LYFTTRANSPORTVAGN UNDER ETT LASTBAERANDE TRANSPORTUNDERLAG ELLER BORT FRAON DETSAMMA. - Google Patents

Description

1 80414

The present invention relates to an automatic control system for guiding a soot removal trailer, i.e. a trailer, below or below a load-bearing transport platform, i.e. a cassette, in the middle of the tunnel formed by the cassette, in particular in the preamble of the appended claim 1.

The trailer lifts the foot cassette and moves it from place to place, often for shorter distances. Driving the trailer under the cassette is an important part of this transport operation. The problem with underrun is that it is difficult for the driver to get the carriage guided all the way centrally to the cassette under the cassette. The problem is caused by the lack of visibility in the part of the carriage under the cassette and the steering wheel axle, as well as the small driving clearance between the cassette and the trailer.

If the trolley is driven eccentrically under the cassette, it will cause an uneven load on the parts of the trolley wheel axle as well as an imbalance in the trolley travel. In the worst case, the carriage can be guided to the edge under the cassette so that the wheels of the carriage hit the foot structures of the cassette and the tires are damaged. The requirement for underrun accuracy also slows down the entire driving event.

Such a control system is known from P1 patent application Θ41,504. It works with distance sensors on the sides and front of the trailer. The difference between the distance values obtained is transmitted to the wheel axle flange, which corrects the direction of the wheels. A sensor on the front panel indicates that the trailer is arriving under the tunnel. When reversing the trailer, the control under the cassette is the same.

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However, the known control system does not work completely satisfactorily, and the retrieval of the trailer in the middle of the cassette is fumbling and slow.

The object of the present invention is to provide a safe and reliable control system which, on the basis of information provided by simple sensors, guides the trailer step by step directly under the cassette so that the longitudinal center lines of the trailer and the cassette essentially coincide.

This is achieved by providing the control system according to the preamble of claim 1 with the features set out in the characterizing part of the claim.

Thus, according to the invention, the automatic control system comprises a slider transverse to the longitudinal direction of the trailer, which is arranged at the front end of the trailer. The carriage and the slide move relative to each other. The length of the slider is the same as the inside width of the cassette in the operating mode of the control system, except for a small operating clearance, and at most the width of the leading edge in the non-operating mode to protect it from contact with surrounding obstacles. The control system also includes detection sensors that detect the position of the slide and thus the carriage relative to the center line. During the entire run-in phase, the slider extends across the cassette and its outer ends slide near the inner walls of the cassette as the carriage moves forward. As the carriage moves inward at an oblique angle and collides with the second inner wall of the cassette, the slider slides in the opposite direction to the carriage. The detection sensors connected to the slider detect on which side of the carriage center the slider has moved and transmit this information to the control system and further to the wheel axle or rather the wheel axle turning device which receives the command to turn the wheels in the opposite direction.

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The slide is preferably formed of two identical slide parts which are connected to each other by a coupling piece. By means of the switch piece, the slides are either far apart in the operating mode or close to each other in the non-operating mode. The slides are preferably sideways inside the pipe body where they slide. The pipe section is located at the front end of the trailer, which is narrower than the rear section. The detection sensors are arranged in connection with the pipe piece and detect on which side of the center the slider is located and transmit a corresponding command to the wheel turning device.

The control system preferably comprises two photocells located at the front end of the trailer, on the sides of this full-width part, behind the slides. When both photocells give an indication of the obstacle in front of them, i.e. the side walls of the cassette, the electric control system is preferably switched on and the slides move away from each other in the operating position.

The control system further preferably includes a weight sensor which, when the control system is switched on, detects the weight of the cassette when it loads the trailer in the lifting situation and the weight loss in the cassette lowering situation, respectively, and instructs the control system to be switched off and on.

The control system is preferably adapted to operate cyclically so that it is alternately in detection mode and alternately in pause mode according to the desired time control. In this case, the wheel axle receives a control command in detection mode if there is a need for direction correction, and in pause mode it returns directly to t mode.

The automatic control system designed in this way is easy-to-build and reliable. Since the correction controls take place step by step over a short period of time and alternate with the 0 control during the corresponding period, the movements are calm and do not strain the structures unnecessarily.

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A preferred embodiment of the invention will now be described in more detail with reference to the accompanying figures, in which Figure 1 shows a side view of the front end of a trailer with a control system according to the invention, driven in part by a dashed cassette, Figure 2 shows a top view similar to Figure 1; 2 along the line III-11 I, Fig. 4 shows the same as Fig. 2 (certain details not shown) but the trailer in front of the cassette before driving under the cassette, and Fig. 5 shows the slides and the coupling between them and the slide tube piece, all sub-elements disassembled.

In the figure, the same parts are denoted by the same reference numerals. The trailer is marked with reference number 1, cassette with number 2, slides with number 3, guide rollers at the ends of the slides with number 4, slide tube piece number 5, identification sensors fitted to the tube body number 6, switch between slides number 7, trailer front electric system with photocells on the front 9 and the axle of the trailer wheels at number 10.

Figure 4 shows the trailer just before the underrun phase. The automatic control system is thus not yet switched on and the slides 3 with the guide rollers 4 inside the pipe piece 5. When driving the trailer towards the cassette opening, the narrower front of the trailer results in movement. The narrower front easily hits inside the mouth. It is only when both photocells 8 of the trailer are at the side surfaces of the cassette that a command is issued from the photocells, on the basis of which the electric control system 9 switches on and the slides move away from the detection width by the hydraulic cylinder 7 connecting them.

As the trailer travels in the cassette tunnel in a direction likely to deviate from the centerline, the guide rollers 4 at the ends of the slides 3 run along the tunnel walls and the slides 3 slide in the opposite direction to the direction of travel of the trailer. If the carriage is driven diagonally to the left, the slider of the trailer pipe section 5 slides to the right. In this case, the left slider comes in front of the left detection sensor 6, whereby the electric control system is notified that the carriage is on the left side of the center line and a control command is sent to the wheel pivot shaft 10 to turn the wheels to the right.

The electronic control system operates cyclically so that it is in the detection mode every other cycle and in the pause mode every other. The length of the episodes can be adjusted. In this case, the wheels of the trailer are turned in the repair direction during one detection period and turned directly during the next break period. During the next detection period, the wheels are likely to be told to turn further to the right, but the direction of the carriage and thus the direction of repair may vary during running-in. The detection sensors are microswitches and can be, for example, inductively or mechanically operated. Their function is to inform the electronic steering system only on which side of the carriage and thus also on the cassette center line the slides 3 are located in each case, whereby a corresponding control command is sent to the pivot axis 10 of the wheels.

The automatic control system is active, alternately in detection mode and alternately in pause mode, throughout the run-in. The driver sees because the trailer is completely under the cassette and stops it at that point. When the trailer platform is lifted from the driver's control and the cassette becomes supported by the platform, the automatic control system switches off the 6 80414 min. This is caused by a weight sensor that detects the weight of the cartridge. Similarly, when the cassette is taken to its destination and lowered to the ground, the weight sensor turns on the system when the pallet load ceases. In this case, the control system works when the trolley is driven out from under the cassette in exactly the same way as during the run-in. When there is no longer a wall or foot section of the cassette in front of the photocells, the control system is switched off and at the same time the slides retract into their inner position inside the tube piece. In this position, they are shown sliding by means of detents, not shown, in the pipe piece.

The individual sub-solutions can still be modified without departing from the idea of the invention. For example, it is obvious that the hydraulic cylinder between the slides, which keeps the slides in either the inner or outer position, can be exchanged for another clutch piece. The entire skating system can be modified in many ways. But it is essential that the body extending over the cassette and the front of the carriage move relative to each other and that this movement informs the steering system in which direction the wheels must be turned to correct the direction.

Claims (9)

An automatic control unit for mounting a lifting trolley <1> under a low-carrying crane port support (2) or away from the deteam, possibly centrally in relation to the crane port support, including a sensor located in the lifting transport trolleys at the front end, which scans the crane port, and a control system, by means of which the sensors are transmitted to the transfer device (10) for the lifting carriage wheels as steering orders, characterized in that the sensor consists of a longitudinal slide (3) of the longitudinal axis of the lifting carriage (1) in relation to the longitudinal axis of the lifting carriage (1). mode of operation is essentially the same as the inner width of the crane port or cassette and in the non-functional mode position at most the same as the width of the leading edge of the lifting carriage (1). 2. A system according to claim 1, characterized in that the slide is comprised of two coaxial sliding members (3), which are either spaced apart from each other in the functional position or in close proximity to each other in the non-functional position. System according to claim 1 or 2, characterized in that a guide roller <4) is provided at each outer end of the slide (3). System according to any one of the preceding claims, characterized in that the slides (3) are arranged to move in a pipe body (5) located in the leading edge of the lift transport carriages (j) at the narrowest point. System according to claim 4, characterized in that the sensors (6) are arranged in the tube body (5). System according to any one of the preceding claims, characterized in that a preferred electrical control system (9) is arranged to be connected to pi and the slides (3) arranged to occupy the position on order of two light cells (Θ), which are located in the front end of the lift truck, at the sides of its finished part, behind the slides. 7. A system according to any of the preceding claims, characterized in that the automatic control unit is arranged to be switched off responsibly, i.e., the lifting trolley is corded under the transport support, by the action of the weight sensor, such that when the transport support is loaded on the lifting transport carriage (1). steering away responsive di load ceases when the transport base is lowered, control pi is switched on. · A system according to any of the preceding claims, characterized in that it alternates between the sensor position and the pause position according to the desired timing, whereby the wheel axle automatically receives a control order at the sensor position and at the pause position it automatically switches to the straight position.