WO2023070897A1 - 一种新型智能液压尾板 - Google Patents

一种新型智能液压尾板 Download PDF

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Publication number
WO2023070897A1
WO2023070897A1 PCT/CN2021/138966 CN2021138966W WO2023070897A1 WO 2023070897 A1 WO2023070897 A1 WO 2023070897A1 CN 2021138966 W CN2021138966 W CN 2021138966W WO 2023070897 A1 WO2023070897 A1 WO 2023070897A1
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WIPO (PCT)
Prior art keywords
carrying platform
signal
hydraulic
lifting
detection signal
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PCT/CN2021/138966
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English (en)
French (fr)
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宋作伟
王泽黎
王坚
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深圳市凯卓立液压设备股份有限公司
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Publication of WO2023070897A1 publication Critical patent/WO2023070897A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/43—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using a loading ramp mounted on the vehicle
    • B60P1/435—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using a loading ramp mounted on the vehicle the ramp being attached to or making part of the side- or tailboards of the vehicle

Definitions

  • the application relates to the field of hydraulic lifting and unloading equipment, in particular to a novel intelligent hydraulic tail lift.
  • the hydraulic tail lift is a hydraulic lifting and unloading equipment installed at the rear of the vehicle and powered by the on-board battery.
  • the staff uses the hydraulic tail lift to control the hydraulic tail lift to open, lower, bow, raise, lift and close the door.
  • the staff when the staff manipulates the hydraulic tail lift to perform an action, the staff first operates the corresponding button to make the hydraulic tail lift start to move. Then, the staff continues to press the corresponding button, so that the hydraulic tailgate continues to move until it turns to another state. During this process, the staff needs to press and hold the corresponding button while observing the status of the hydraulic tail lift. When the staff observes that the hydraulic tailgate rotates to another state, they stop pressing the corresponding button, and then control the hydraulic tailgate to stop.
  • the present application provides a new type of intelligent hydraulic tail lift.
  • a new type of intelligent hydraulic tailgate provided by this application adopts the following technical scheme:
  • a new type of intelligent hydraulic tail lift including a carrying platform, hydraulic device, nine-axis gyroscope and control module;
  • the hydraulic device is arranged at one end of the carrying platform, and is used to receive different control commands to drive the carrying platform to open, lower, bow, raise, lift and close;
  • the nine-axis gyroscope is used to detect the acceleration generated by the carrying platform when it performs the lowering action, bowing the head and closing the door, and outputs an acceleration detection signal.
  • the rotation angle formed between the carrying platform and the hydraulic device during the lifting action outputs an angle detection signal;
  • the control module is connected to the nine-axis gyroscope for receiving the acceleration detection signal, and for outputting a first stop signal when the reverse acceleration reflected by the acceleration detection signal is not zero, and for receiving The angle detection signal is used to output a second stop signal when the rotation angle reflected by the received angle detection signal is within a corresponding angle preset range;
  • the hydraulic device is connected to the control module, and is configured to stop driving the carrying platform to move when receiving the first stop signal or the second stop signal.
  • the nine-axis gyroscope can detect the acceleration generated by the carrying platform when it performs the lowering action, bowing the head and closing the door, and can also collect real-time data when the carrying platform performs the opening action, raising the head and lifting the action.
  • the control module can control the hydraulic device to stop driving the carrying platform to move when the reverse acceleration generated by the carrying platform is not zero, and can control the hydraulic device to stop when the rotation angle formed between the carrying platform and the hydraulic device is within the corresponding angle preset range Drive the carrying platform to move, and then make the carrying platform automatically stop after moving to the target position, so as to realize more precise control of the carrying platform.
  • the hydraulic device includes a lifting assembly and a rotating plate assembly
  • the lifting assembly includes a connecting plate used to connect with the vehicle body.
  • the connecting plate is hinged with two lifting cylinders.
  • the connecting plate is hinged with a lifting cylinder corresponding to the position above each lifting cylinder.
  • the lifting rod is far away from the connecting plate.
  • One end of the plate is hinged to the bearing platform, and the piston rod of the lifting cylinder is hinged to the lifting rod;
  • the rotating plate assembly includes two rotating plate oil cylinders hinged to the connecting plate, and the piston rods of the rotating plate oil cylinders are hinged to the bearing platform.
  • the lifting cylinder drives the lifting rod to start rotating with the hinged position of the lifting rod and the connecting plate as the center of the circle, and at the same time, the carrying platform remains horizontal and touches the ground, thereby completing the lifting operation of the carrying platform, and then pushing the goods to the carrying on the platform.
  • the lifting operation is performed first.
  • the lifting cylinder drives the load-bearing platform to keep it horizontal and move upward until the end of the load-bearing platform close to the car body touches the car body.
  • the rotation operation is performed, and the turntable oil cylinder drives the bearing platform to rotate from a horizontal state to a vertical state and abut against the vehicle body.
  • control device is also included, and the control device is connected to the hydraulic device for outputting different control commands.
  • the staff can control the hydraulic device through the control device to drive the carrying platform to perform opening, lowering, bowing, raising, lifting and closing actions.
  • control device is a remote controller, a wire controller and an operation box.
  • the wire controller can be used for short-range control of the hydraulic device by the staff
  • the remote control can be used for the remote control of the hydraulic device by the staff.
  • control module includes a data interface connected to the nine-axis gyroscope for receiving the acceleration detection signal and the angle detection signal.
  • the data interface enables the nine-axis gyroscope to be connected to the control module to transmit acceleration detection signals and angle detection signals.
  • control module further includes a processing unit, a confirmation unit and a control unit;
  • the processing unit is connected to the data interface, and is used to output a trigger signal when the reverse acceleration reflected by the acceleration detection signal is not zero;
  • the confirmation unit is connected to the processing unit for receiving the trigger signal, calculating the duration of the trigger signal, and outputting a time signal;
  • the control unit is respectively connected to the confirmation unit and the data interface, and is used to output the first stop signal when the duration reflected by the time signal exceeds the time threshold, and is also used to output the first stop signal reflected by the received angle detection signal.
  • a second stop signal is output.
  • control module further includes a preset unit connected to the control unit for setting and outputting the time threshold, and for setting and outputting the angle preset range.
  • the preset unit can set the time threshold and angle preset range, which is convenient for the staff to adjust according to the actual situation.
  • it also includes a proximity detection device and an audible and visual alarm device;
  • the proximity detection device is used to detect whether someone approaches the carrying platform, and outputs an approach signal when someone approaches the carrying platform;
  • the control unit is connected to the proximity detection device, and is configured to output an alarm signal when receiving the proximity signal;
  • the sound and light alarm device is connected to the control unit, and is used for alarming when the alarm signal is received.
  • the sound and light alarm device can remind, so as to prevent the carrying platform from colliding with nearby staff.
  • the nine-axis gyroscope includes a three-axis accelerometer and a three-axis gyroscope;
  • the three-axis accelerometer is used to detect the acceleration generated by the carrying platform when performing the descending action, bowing the head and closing the door, and output an acceleration detection signal;
  • the three-axis gyroscope is used to collect in real time the rotation angle formed between the carrying platform and the hydraulic device when the carrying platform performs opening, head-up and lifting actions, and outputs an angle detection signal.
  • the present application includes at least one of the following beneficial technical effects:
  • the nine-axis gyroscope can detect the acceleration generated by the carrying platform when it performs the lowering action, bowing the head and closing the door, and can also collect in real time the loading of the carrying platform when it performs the opening action, head-up action and lifting action.
  • the control module can control the hydraulic device to stop driving the carrying platform to move when the reverse acceleration generated by the carrying platform is not zero, and can control the hydraulic device to stop when the rotation angle formed between the carrying platform and the hydraulic device is within the corresponding angle preset range Drive the carrying platform to move, and then make the carrying platform automatically stop after moving to the target position, so as to achieve more precise control of the carrying platform;
  • Fig. 1 is a schematic diagram of the system of the new intelligent hydraulic tail lift according to the embodiment of the present application.
  • Fig. 2 is a schematic structural diagram of a novel intelligent hydraulic tailgate according to an embodiment of the present application.
  • a new intelligent carrying platform 1 includes a carrying platform 1 , a hydraulic device 2 , a nine-axis gyroscope 3 and a control module 4 .
  • the posture of the hydraulic device 2 is detected by the nine-axis gyroscope 3, and the control module 4 can control the hydraulic device 2 to drive the carrying platform 1 to move more accurately.
  • the hydraulic device 2 is arranged at the end of the carrying platform 1 close to the vehicle body, and is used to drive the carrying platform 1 to move.
  • the hydraulic device 2 includes a lifting assembly 21 and a rotating plate assembly 22, and the lifting assembly 21 includes a connecting plate 211 fixedly connected to the rear of the car body.
  • Two elevating rods 212 are hinged near two ends of the connecting plate 211 , and the ends of the elevating rods 212 away from the connecting plate 211 are hinged to the carrying platform 1 .
  • the connecting plate 211 is hinged with a lifting cylinder 213 corresponding to the position directly below each lifting rod 212.
  • the cylinder body of the lifting cylinder 213 is hinged on the side of the connecting plate 211 away from the vehicle body, and the piston rod of the lifting cylinder 213 is set in a direction away from the connecting plate 211. , the piston rod of the lifting cylinder 213 is hinged to the position of the lifting rod 212 close to the carrying platform 1 .
  • the rotating plate assembly 22 includes two rotating plate oil cylinders 221 hinged to the connecting plate 211.
  • the cylinder body of the rotating plate oil cylinder 221 is hinged on the side of the connecting plate 211 away from the vehicle body.
  • the two rotating plate oil cylinders 221 are respectively located between the two lifting cylinders 213 At the far away position, the piston rod of the rotary plate cylinder 221 is set towards the direction away from the connecting plate 211 , and the piston rod of the rotary plate cylinder 221 is hinged to the bearing platform 1 .
  • the carrying platform 1 When the user uses it, when the carrying platform 1 is vertically installed and the compartment is closed, the carrying platform 1 can be rotated in a direction away from the vehicle body by first contracting the rotary plate oil cylinder 221, and the carrying platform 1 is connected to the carrying platform 1 around the lifting rod 212. The center of the circle is rotated at the hinged position; the bearing platform 1 is gradually rotated from the vertical state to the horizontal state, and the rotation operation of the bearing platform 1 is completed. Then, by shrinking the lifting cylinder 213, the lifting rod 212 is driven to rotate with the hinged position of the lifting rod 212 and the connecting plate 211 as the center of the circle, and the bearing platform 1 remains horizontal until the bearing platform 1 abuts on the ground, and the load is ended.
  • the goods are pushed onto the carrying platform 1.
  • the lifting operation is performed first, so that the carrying platform 1 moves upward until the end of the carrying platform 1 close to the car body and the car body are in contact with each other, and the goods are pushed.
  • the rotating operation is performed. Until the carrying platform 1 is in a vertical state and abuts against the vehicle body.
  • the hydraulic device 2 is used to receive different control commands to drive the carrying platform 1 to perform opening, lowering, bowing, raising, lifting and closing actions.
  • the novel smart carrying platform 1 in the embodiment of the present application includes a control device 5 .
  • the control device 5 is connected to the hydraulic device 2 for outputting different commands.
  • the control device 5 includes three types: a remote controller 5 , a wire controller 52 and an operation box 53 , so that the staff can perform short-range and remote control on the hydraulic device 2 , so that the staff can control the hydraulic device 2 .
  • the nine-axis gyroscope 3 is used to detect the acceleration generated when the carrying platform 1 performs the lowering action and the head-down action, and outputs an acceleration signal, and is also used for real-time acquisition of the carrying platform 1 when performing the opening action, the head-up action and the lifting action.
  • the rotation angle formed between the bearing platform 1 and the hydraulic device 2 outputs an angle detection signal.
  • the nine-axis gyroscope 3 includes a three-axis accelerometer and a three-axis gyroscope.
  • the three-axis accelerometer is used to detect the acceleration generated when the carrying platform 1 performs the actions of descending, bowing the head and closing the door, and outputs an acceleration detection signal.
  • the three-axis gyroscope is used for real-time acquisition of the rotation angle formed between the carrying platform 1 and the hydraulic device 2 when the carrying platform 1 performs the opening action, head-up action and lifting action, and outputs an angle detection signal.
  • the rotation angle formed between the bearing platform 1 and the hydraulic device 2 can be collected directly, or both the bearing platform 1 and the hydraulic device 2 can be collected.
  • the rotation angle is collected at the same time.
  • Using the nine-axis gyroscope 3 to collect the angle is a mature technology in the related field, so no detailed description will be given here.
  • the method of directly collecting the rotation angle formed between the bearing platform 1 and the hydraulic device 2 it is necessary to specify a collection direction of the rotation angle, so as to avoid the same rotation angle from causing the bearing platform 1 to assume different postures .
  • the connection point between the carrying platform 1 and the hydraulic device 2 is used as the origin to establish an x-y coordinate system.
  • the distance between the carrying platform 1 and the hydraulic device 2 The formed rotation angle should be 210°, while the obtuse angle formed between the carrying platform 1 and the hydraulic device 2 is 150°.
  • the rotation angle formed between the carrying platform 1 and the hydraulic device 2 should be 150°. Therefore, when the method of directly collecting the rotation angle formed between the carrying platform 1 and the hydraulic device 2 is adopted, it is necessary to specify a collection direction of the rotation angle.
  • the control module 4 is connected to the nine-axis gyroscope 3 for receiving the acceleration detection signal, and for outputting the first stop signal when the reverse acceleration reflected by the acceleration detection signal is not zero, and for receiving the angle detection signal, and for When the rotation angle reflected by the received angle detection signal is within a corresponding angle preset range, a second stop signal is output.
  • the control module 4 includes a data interface 41 , a preset unit 42 , a processing unit 43 , a confirmation unit 44 and a control unit 45 .
  • the data interface 41 is connected to the nine-axis gyroscope 3 for receiving and transmitting acceleration detection signals and angle detection signals.
  • the preset unit 42 is used to set the time threshold and the angle preset range under different postures and output them.
  • the processing unit 43 is connected to the data interface 41 for outputting a trigger signal when the reverse acceleration reflected by the acceleration detection signal is not zero. On the contrary, no trigger signal is output.
  • Confirmation unit 44 is connected with described processing unit 43, is used for receiving trigger signal, and calculates the duration of trigger signal, outputs time signal.
  • control unit 45 is respectively connected to the preset unit 42 and the confirmation unit 44 for outputting a first stop signal when the duration reflected by the time signal exceeds the time threshold.
  • the carrying platform 1 may touch some obstacles when rotating, resulting in a greater than reverse acceleration.
  • the reverse acceleration is not zero, which does not mean that the carrying platform 1 has reached the desired state.
  • the carrying platform 1 is in Some obstacles may be touched during the rotation, resulting in a reverse acceleration, and the reverse acceleration generated at this time does not mean that the carrying platform 1 has reached the desired state. Therefore, by calculating the time during which the generated reverse acceleration is not zero and comparing it with the time threshold, the current state of the carrying platform 1 can be reconfirmed, so as to avoid situations where the carrying platform 1 stops without moving to the target position.
  • control unit 45 is also connected to the data interface 41 for outputting a second stop signal when the rotation angle reflected by the received angle detection signal is within a corresponding angle preset range.
  • control unit 45 can not only control the carrying platform 1 to move to the target position, but also detect the contact between the carrying platform 1 and the hydraulic pressure through the nine-axis gyroscope 3 when the attitude of the carrying platform 1 changes after placing goods on the carrying platform 1.
  • the rotation angle formed between the devices 2 changes, and the angle change of the carrying platform 1 caused by the weight of the cargo is adjusted and recovered, so as to avoid the attitude change of the carrying platform 1 caused by the heavy weight of the cargo.
  • the bearing platform 1 is 0° when the door is opened, and the hydraulic device 2 is 45°; the bearing platform 1 is 90° when the door is closed, and the hydraulic device 2 is 45°; the bearing platform 1 is 0° when the head is raised. , the hydraulic device 2 is -45°; the bearing platform 1 is -5° when the head is lowered, and the hydraulic device 2 is -45°; the hydraulic plate is 0° when the lifting attitude is raised, and the hydraulic device 2 is 45°; 1 is 0° and hydraulic unit 2 is -45°.
  • the nine-axis gyroscope 3 collects the rotation angles of the carrying platform 1 and the hydraulic device 2 in real time, and the control unit 45 judges the current attitude of the carrying platform 1 according to the current rotation angles of the carrying platform 1 and the hydraulic device 2, And compare the current rotation angle of the bearing platform 1 and the hydraulic device 2 with the angle value corresponding to the current attitude of the bearing platform 1, judge whether the current attitude of the bearing platform 1 is in the angle preset range, and if so, adjust the bearing platform 1 to the current attitude. the corresponding angle.
  • the hydraulic device 2 is connected to the control unit 45, and is used to stop driving the carrying platform 1 to move when receiving the first stop signal or the second stop signal.
  • the novel intelligent hydraulic tail lift in the embodiment of the present application also includes an approach detection device 6 and an audible and visual alarm device 7 .
  • the approach detection device 6 is used to detect whether someone approaches the carrying platform 1 , and outputs an approach signal when someone approaches the carrying platform 1 .
  • the control unit 45 is connected to the approach detection device 6, and is configured to output an alarm signal when receiving an approach signal.
  • the sound and light alarm device 7 is connected to the control unit 45 for alarming when an alarm signal is received.
  • the sound and light alarm device 7 is a buzzer.
  • the implementation principle of a new type of intelligent hydraulic tailgate in the embodiment of the present application is as follows: by setting the nine-axis gyroscope 3, it is possible to detect the acceleration generated by the carrying platform 1 when performing the descending action, bowing the head and closing the door, and can also collect in real time
  • the rotation angle formed between the carrying platform 1 and the hydraulic device 2 when the carrying platform 1 performs the opening action, head-up action and lifting action makes the reverse acceleration generated by the control module 4 on the carrying platform 1 not zero
  • the rotation angle formed between the carrying platform 1 and the hydraulic device 2 can be controlled within the corresponding angle preset range to control the hydraulic device 2 to stop driving the carrying platform 1 to move, thereby making the carrying
  • the platform 1 stops automatically after moving to the target position, so as to realize more precise control of the carrying platform 1 .

Abstract

一种智能液压尾板，其包括承载平台(1)、液压装置(2)、九轴陀螺仪(3)和控制模块(4)；液压装置(2)用于接收不同的控制指令以驱动承载平台(1)进行移动；九轴陀螺仪(3)用于检测承载平台(1)在执行特定动作时产生的加速度，输出加速度检测信号，还用于实时采集承载平台(1)在执行特定动作时的转动角度，输出角度检测信号；控制模块(4)用于接收加速度检测信号，并用于在加速度检测信号所反映的反向加速度不为零时，输出第一停止信号，还用于在接收到的角度检测信号所反映的转动角度处于相应的角度预设范围中时，输出第二停止信号；液压装置(2)用于在接收到第一停止信号或第二停止信号时，停止驱动承载平台(1)移动。所述智能液压尾板能够实现对承载平台(1)较为精准地控制。

Description

一种新型智能液压尾板 技术领域
本申请涉及液压起重装卸设备的领域，尤其是涉及一种新型智能液压尾板。
背景技术
液压尾板是一种安装在车辆尾部、以车载蓄电池为动力的液压起重装卸设备。工作人员利用液压尾板在进行装卸货物时，操控液压尾板执行开门、下降、低头、抬头、举升和关门等动作。
相关技术中，当工作人员操控液压尾板执行一个动作时，工作人员首先操作对应的按键，使得液压尾板开始动作。而后，工作人员持续摁住对应的按键，使得液压尾板持续动作，直至转动为另一状态。在这过程中，工作人员需要一边摁住对应的按键，一边观察液压尾板的状态。当工作人员观察到液压尾板转动至另一状态时，停止摁住对应的按键，进而控制液压尾板停住。
由于在操控液压尾板的过程中，工作人员需要实时观察液压尾板的状态，容易造成液压尾板的状态与理想的状态之间存在偏差。
发明内容
为了更精准地操控液压尾板，本申请提供了一种新型智能液压尾板。
本申请提供的一种新型智能液压尾板采用如下的技术方案：
一种新型智能液压尾板，包括承载平台、液压装置、九轴陀螺仪和控制模块；
所述液压装置设置于所述承载平台的一端，用于接收不同的控制指令 以驱动所述承载平台进行打开动作、下降动作、低头动作、抬头动作、举升动作和关闭动作；
所述九轴陀螺仪用于检测所述承载平台在执行下降动作、低头动作和关门动作时产生的加速度，输出加速度检测信号，还用于实时采集所述承载平台在执行打开动作、抬头动作和举升动作时所述承载平台与液压装置之间形成的转动角度，输出角度检测信号；
所述控制模块连接所述九轴陀螺仪，用于接收所述加速度检测信号，并用于在所述加速度检测信号所反映的反向加速度不为零时，输出第一停止信号，还用于接收所述角度检测信号，并用于在接收到的角度检测信号所反映的转动角度处于相应的角度预设范围中时，输出第二停止信号；
所述液压装置连接所述控制模块，用于在接收到第一停止信号或第二停止信号时，停止驱动所述承载平台移动。
通过采用上述技术方案，九轴陀螺仪能够检测所述承载平台在执行下降动作、低头动作和关门动作时产生的加速度，还能够实时采集所述承载平台在执行打开动作、抬头动作和举升动作时所述承载平台与液压装置之间形成的转动角度。控制模块能够在承载平台产生的反向加速度不为零时控制液压装置停止驱动承载平台移动，同时能够在承载平台与液压装置之间形成的转动角度处于对应的角度预设范围内控制液压装置停止驱动承载平台移动，进而使得承载平台在移动至目标位置后自动停止，以实现对承载平台较为精准地控制。
可选的，所述液压装置包括升降组件和转板组件；
所述升降组件包括用于与车体连接的连接板，所述连接板铰接有两个 升降油缸，所述连接板对应每个升降油缸上方位置处均铰接有升降缸，所述升降杆远离连接板一端与所述承载平台铰接，所述升降油缸的活塞杆铰接于升降杆；
所述转板组件包括铰接于所述连接板的两个转板油缸，所述转板油缸的活塞杆铰接于所述承载平台。
通过采用上述技术方案，工作人员使用时，当承载平台处于竖直状态时，先启动转板油缸，转板油缸的活塞杆收缩，并带动承载平台向远离车体的方向开始转动，承载平台绕升降杆与承载平台的铰接位置处为圆心开始转动，承载平台由竖直状态转动为水平状态，从而完成承载平台的转动作业。然后启动升降油缸，升降油缸带动升降杆以升降杆与连接板的铰接位置处为圆心开始转动，同时承载平台保持水平并抵接于地面，从而完成承载平台的升降作业，然后将货物推到承载平台上。承载平台运送货物时，先执行升降作业，升降油缸驱动承载平台保持水平并向上运动，直至承载平台靠近车体的一端与车体相互抵接，承载平台与车厢底部处于同一水平面，推动货物进入车厢后，执行转动作业，转板油缸驱动承载平台由水平状态转动成竖直状态并抵接于车体。
可选的，还包括操控装置，所述操控装置与所述液压装置连接，用于输出不同的控制指令。
通过采用上述技术方案，工作人员能够通过操控装置控制液压装置驱动承载平台进行打开动作、下降动作、低头动作、抬头动作、举升动作和关闭动作。
可选的，所述操控装置为遥控器、线控器和操作盒。
通过采用上述技术方案，线控器能够供工作人员对液压装置进行近程操控，遥控器能够供工作人员对液压装置进行远程操控。
可选的，所述控制模块包括数据接口，所述数据接口连接所述九轴陀螺仪，用于接收所述加速度检测信号和角度检测信号。
通过采用上述技术方案，数据接口使得九轴陀螺仪能够与控制模块连接，以传输加速度检测信号和角度检测信号。
可选的，所述控制模块还包括处理单元、确认单元和控制单元；
所述处理单元连接所述数据接口，用于在所述加速度检测信号所反映的反向加速度不为零时，输出触发信号；
所述确认单元连接所述处理单元，用于接收所述触发信号，并计算所述触发信号的持续时间，输出时间信号；
所述控制单元分别连接所述确认单元和数据接口，用于在所述时间信号所反映的持续时间超过时间阈值时，输出第一停止信号，还用于在接收到的角度检测信号所反映的转动角度处于相应的角度预设范围中时，输出第二停止信号。
通过采用上述技术方案，能够避免一些承载平台没有移动至目标位置就停止的情况。
可选的，所述控制模块还包括预设单元，所述预设单元连接所述控制单元，用于设定所述时间阈值并输出，还用于设置所述角度预设范围并输出。
通过采用上述技术方案，预设单元能够设定时间阈值和角度预设范围，便于工作人员根据实际情况进行调整。
可选的，还包括接近检测装置和声光报警装置；
所述接近检测装置用于检测是否有人靠近所述承载平台，并在有人靠近所述承载平台时输出接近信号；
所述控制单元连接所述接近检测装置，用于在接收到所述接近信号时，输出报警信号；
所述声光报警装置连接所述控制单元，用于在接收到所述报警信号时报警。
通过采用上述技术方案，当有人靠近承载平台时，声光报警装置能够进行提醒，以防止承载平台磕碰到附近的工作人员。
可选的，所述九轴陀螺仪包括三轴加速度计和三轴陀螺仪；
所述三轴加速度计用于检测所述承载平台在执行下降动作、低头动作和关门动作时产生的加速度，输出加速度检测信号；
所述三轴陀螺仪用于实时采集所述承载平台在执行打开动作、抬头动作和举升动作时所述承载平台与液压装置之间形成的转动角度，输出角度检测信号。
综上所述，本申请包括以下至少一种有益技术效果：
1.九轴陀螺仪能够检测所述承载平台在执行下降动作、低头动作和关门动作时产生的加速度，还能够实时采集所述承载平台在执行打开动作、抬头动作和举升动作时所述承载平台与液压装置之间形成的转动角度。控制模块能够在承载平台产生的反向加速度不为零时控制液压装置停止驱动承载平台移动，同时能够在承载平台与液压装置之间形成的转动角度处于对应的角度预设范围内控制液压装置停止驱动承载平台移动，进而使得 承载平台在移动至目标位置后自动停止，以实现对承载平台较为精准地控制；
2.通过设置处理单元、确认单元和控制单元，能够避免一些承载平台没有移动至目标位置就停止的情况。
附图说明
图1是本申请实施例的新型智能液压尾板的系统示意图。
图2是本申请实施例的新型智能液压尾板的结构示意图。
附图标记说明：1、承载平台；2、液压装置；21、升降组件；211、连接板；212、升降杆；213、升降油缸；22、转板组件；221、转板油缸；3、九轴陀螺仪；4、控制模块；41、数据接口；42、预设单元；43、处理单元；44、确认单元；45、控制单元；5、操控装置；51、遥控器；52、线控器；53、操作盒；6、接近检测装置；7、声光报警装置。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图1-3及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
本申请实施例公开一种新型智能液压尾板，其设置于车体尾部。参照图1和图2，新型智能承载平台1包括承载平台1、液压装置2、九轴陀螺仪3和控制模块4。通过九轴陀螺仪3对液压装置2的姿态进行检测，控制模块4能够控制液压装置2更精准地驱动承载平台1移动。
具体的，液压装置2设置于承载平台1靠近车体一端，用于驱动承载平台1移动。液压装置2包括升降组件21和转板组件22，升降组件21包 括固定连接于车体尾部的连接板211。连接板211靠近两端位置处铰接有两个升降杆212，升降杆212远离连接板211一端铰接于承载平台1。连接板211对应每个升降杆212正下方位置处均铰接有升降油缸213，升降油缸213的缸体铰接于连接板211远离车体一侧，升降油缸213的活塞杆朝向远离连接板211方向设置，升降油缸213的活塞杆铰接于升降杆212靠近承载平台1位置处。转板组件22包括铰接于连接板211的两个转板油缸221，转板油缸221的缸体铰接于连接板211远离车体一侧，两个转板油缸221分别位于两个升降油缸213相互远离位置处，转板油缸221的活塞杆朝向远离连接板211方向设置，转板油缸221的活塞杆铰接于承载平台1。
用户使用时，当承载平台1竖直设置且封闭车厢时，首先通过收缩转板油缸221，能够使承载平台1趋向远离车体的方向进行转动，且承载平台1绕升降杆212与承载平台1的铰接位置处为圆心进行转动；使承载平台1从竖直状态逐渐转动至水平状态，完成承载平台1的转动作业。随后通过收缩升降油缸213，带动升降杆212以升降杆212与连接板211的铰接位置处为圆心进行转动，且承载平台1保持水平状态不发生改变，直至承载平台1抵接于地面，结束承载平台1的升降作业后将货物推送至承载平台1上。承载平台1进行收起时，先执行升降作业，使承载平台1向上运动，直至承载平台1靠近车体的一端与车体相互抵接后，推动货物，货物移动进车厢后，执行转动作业，直至承载平台1处于竖直状态且与车体相互抵接。
参照图1和图3，可以了解的是，液压装置2用于接收不同的控制指令以驱动所述承载平台1进行打开动作、下降动作、低头动作、抬头动作、 举升动作和关闭动作。具体来说本申请实施例中的新型智能承载平台1包括操控装置5。操控装置5连接液压装置2，用于输出不同的指令。其中，操控装置5包括遥控器5、线控器52和操作盒53三种，使得工作人员能够对液压装置2进行近程操控和远程操控，以便于工作人员对液压装置2进行操控。
参照图1和图2，九轴陀螺仪3用于检测承载平台1执行下降动作、低头动作时产生的加速度，输出加速度信号，还用于实时采集承载平台1在执行打开动作、抬头动作和举升动作时承载平台1与液压装置2之间形成的转动角度，输出角度检测信号。
值得说明的是，当承载平台1执行下降动作、低头动作和关门动作时，承载平台1在转动的过程中，空气的阻力或其他因素可能会产生一定的反向加速度，当反向加速度不为零时，认为承载平台1触碰到了地面或者车厢。
具体的，九轴陀螺仪3包括三轴加速度计和三轴陀螺仪。其中，三轴加速度计用于检测承载平台1在执行下降动作、低头动作和关门动作时产生的加速度，输出加速度检测信号。三轴陀螺仪用于实时采集承载平台1在执行打开动作、抬头动作和举升动作时承载平台1与液压装置2之间形成的转动角度，输出角度检测信号。
在采集承载平台1与液压装置2之间形成的转动角度时，可以采用直接对承载平台1与液压装置2之间形成的转动角度进行采集，也可以采用对承载平台1和液压装置2两者的转动角度同时进行采集。利用九轴陀螺仪3对角度进行采集属于相关领域的成熟技术，故此处不作详细说明。
需要注意的是，若采用直接对承载平台1与液压装置2之间形成的转动角度进行采集的方式，需要规定一个转动角度的采集方向，以避免同一个转动角度使得承载平台1呈现不同的姿态。在一个示例中，假设将承载平台1与液压装置2的连接点作为原点建立x-y坐标系，当承载平台1执行打开动作完毕后，按照坐标系象限的顺序，承载平台1与液压装置2之间形成的转动角度应为210°，同时承载平台1与液压装置2之间形成的钝角为150°。而当承载平台1执行抬头动作后，按照坐标系象限的顺序，承载平台1与液压装置2之间形成的转动角度应为150°。因此，在采用直接对承载平台1与液压装置2之间形成的转动角度进行采集的方式时，需要规定一个转动角度的采集方向。
控制模块4连接九轴陀螺仪3，用于接收加速度检测信号，并用于在加速度检测信号所反映的反向加速度不为零时，输出第一停止信号，还用于接收角度检测信号，并用于在接收到的角度检测信号所反映的转动角度处于相应的角度预设范围中时，输出第二停止信号。
控制模块4包括数据接口41、预设单元42、处理单元43、确认单元44和控制单元45。
其中，数据接口41连接九轴陀螺仪3，用于接收加速度检测信号和角度检测信号并传输。
预设单元42用于设定时间阈值和不同姿态下的角度预设范围并输出。
处理单元43连接数据接口41，用于在加速度检测信号所反映的反向加速度不为零时，输出触发信号。反之，不输出触发信号。
确认单元44连接所述处理单元43，用于接收触发信号，并计算触发信 号的持续时间，输出时间信号。
一方面，控制单元45分别连接预设单元42和确认单元44，用于在时间信号所反映的持续时间超过时间阈值时，输出第一停止信号。值得说明的是，承载平台1在转动时可能会触碰到一些障碍物从而导致产生了大于反向加速度，此时反向加速度不为零并不代表承载平台1达到所需状态承载平台1在转动时可能会触碰到一些障碍物从而导致产生了反向加速度，此时产生的反向加速度并不代表承载平台1达到所需状态。因此，通过计算产生的反向加速度不为零的时长并与时间阈值进行比较，能够再次确认承载平台1当前的状态，以避免一些承载平台1没有移动至目标位置就停止的情况。
另一方面，控制单元45还连接数据接口41，用于在接收到的角度检测信号所反映的转动角度处于相应的角度预设范围中时，输出第二停止信号。
具体的，控制单元45不仅能够控制承载平台1移动至目标位置，还能够当承载平台1上放置货物后，承载平台1的姿态出现变化时，通过九轴陀螺仪3检测到承载平台1与液压装置2之间形成的转动角度发生变化，并将承载平台1因货物重压而导致的角度变化调整恢复，以避免货物重压导致承载平台1的姿态变化。
在一个实施例中，假设开门姿态时承载平台1为0°，液压装置2为45°；关门姿态时承载平台1为90°，液压装置2为45°；抬头姿态时承载平台1为0°，液压装置2为-45°；低头姿态时承载平台1为-5°，液压装置2为-45°；举升姿态时液压板为0°，液压装置2为45°；下降姿态时承载平台1为0°，液压装置2为-45°。在承载平台1转动的过程中， 九轴陀螺仪3实时采集承载平台1和液压装置2的转动角度，控制单元45根据承载平台1和液压装置2当前的转动角度判断承载平台1当前的姿态，并比较承载平台1和液压装置2当前的转动角度与承载平台1当前姿态对应的角度值，判断承载平台1当前的姿态是否处于角度预设范围中，若是则将承载平台1调节至当前姿态所对应的角度。
液压装置2连接控制单元45，用于在接收到第一停止信号或第二停止信号时，停止驱动承载平台1移动。
考虑到承载平台1在转动时，若工作人员靠近承载平台1，承载平台1可能会磕碰到工作人员，造成危险。因此，本申请实施例的新型智能液压尾板还包括接近检测装置6和声光报警装置7。
接近检测装置6用于检测是否有人靠近承载平台1，并在有人靠近承载平台1时，输出接近信号。
控制单元45连接接近检测装置6，用于在接收到接近信号时，输出报警信号。
声光报警装置7连接控制单元45，用于在接收到报警信号时报警。优选的，声光报警装置7为蜂鸣器。
本申请实施例一种新型智能液压尾板的实施原理为：通过设置九轴陀螺仪3，能够检测所述承载平台1在执行下降动作、低头动作和关门动作时产生的加速度，还能够实时采集所述承载平台1在执行打开动作、抬头动作和举升动作时所述承载平台1与液压装置2之间形成的转动角度，使得控制模块4能够在承载平台1产生的反向加速度不为零时控制液压装置2停止驱动承载平台1移动，同时能够在承载平台1与液压装置2之间形成 的转动角度处于对应的角度预设范围内控制液压装置2停止驱动承载平台1移动，进而使得承载平台1在移动至目标位置后自动停止，以实现对承载平台1较为精准地控制。
以上均为本申请的较佳实施例，并非依此限制本申请的保护范围，本说明书(包括摘要和附图)中公开的任一特征，除非特别叙述，均可被其他等效或者具有类似目的替代特征加以替换。即，除非特别叙述，每个特征只是一系列等效或类似特征中的一个例子而已。

Claims (9)

  1. 一种新型智能液压尾板，其特征在于：包括承载平台(1)、液压装置(2)、九轴陀螺仪(3)和控制模块(4)；
    所述液压装置(2)设置于所述承载平台(1)的一端，用于接收不同的控制指令以驱动所述承载平台(1)进行打开动作、下降动作、低头动作、抬头动作、举升动作和关闭动作；
    所述九轴陀螺仪(3)用于检测所述承载平台(1)在执行下降动作、低头动作和关门动作时产生的加速度，输出加速度检测信号，还用于实时采集所述承载平台(1)在执行打开动作、抬头动作和举升动作时所述承载平台(1)与液压装置(2)之间形成的转动角度，输出角度检测信号；
    所述控制模块(4)连接所述九轴陀螺仪(3)，用于接收所述加速度检测信号，并用于在所述加速度检测信号所反映的反向加速度不为零时，输出第一停止信号，还用于接收所述角度检测信号，并用于在接收到的角度检测信号所反映的转动角度处于相应的角度预设范围中时，输出第二停止信号；
    所述液压装置(2)连接所述控制模块(4)，用于在接收到第一停止信号或第二停止信号时，停止驱动所述承载平台(1)移动。
  2. 根据权利要求1所述的新型智能液压尾板，其特征在于：所述液压装置(2)包括升降组件(21)和转板组件(22)；
    所述升降组件(21)包括用于与车体连接的连接板(211)，所述连接板(211)铰接有两个升降油缸(213)，所述连接板(211)对应每个升降油缸(213)上方位置处均铰接有升降缸，所述升降杆(212)远离连接板(211)一端与所 述承载平台(1)铰接，所述升降油缸(213)的活塞杆铰接于升降杆(212)；
    所述转板组件(22)包括铰接于所述连接板(211)的两个转板油缸(221)，所述转板油缸(221)的活塞杆铰接于所述承载平台(1)。
  3. 根据权利要求2所述的新型智能液压尾板，其特征在于：还包括操控装置(5)，所述操控装置(5)与所述液压装置(2)连接，用于输出不同的控制指令。
  4. 根据权利要求3所述的新型智能液压尾板，其特征在于：所述操控装置(5)为遥控器(51)、线控器(52)和操作盒(53)。
  5. 根据权利要求4所述的新型智能液压尾板，其特征在于：所述控制模块(4)包括数据接口(41)，所述数据接口(41)连接所述九轴陀螺仪(3)，用于接收所述加速度检测信号和角度检测信号。
  6. 根据权利要求5所述的新型智能液压尾板，其特征在于：所述控制模块(4)还包括处理单元(43)、确认单元(44)和控制单元(45)；
    所述处理单元(43)连接所述数据接口(41)，用于在所述加速度检测信号所反映的反向加速度不为零时，输出触发信号；
    所述确认单元(44)连接所述处理单元(43)，用于接收所述触发信号，并计算所述触发信号的持续时间，输出时间信号；
    所述控制单元(45)分别连接所述确认单元(44)和数据接口(41)，用于在所述时间信号所反映的持续时间超过时间阈值时，输出第一停止信号，还用于在接收到的角度检测信号所反映的转动角度处于相应的角度预设范围中时，输出第二停止信号。
  7. 根据权利要求6所述的新型智能液压尾板，其特征在于：所述控制 模块(4)还包括预设单元(42)，所述预设单元(42)连接所述控制单元(45)，用于设定所述时间阈值并输出，还用于设置所述角度预设范围并输出。
  8. 根据权利要求7所述的新型智能液压尾板，其特征在于：还包括接近检测装置(6)和声光报警装置(7)；
    所述接近检测装置(6)用于检测是否有人靠近所述承载平台(1)，并在有人靠近所述承载平台(1)时输出接近信号；
    所述控制单元(45)连接所述接近检测装置(6)，用于在接收到所述接近信号时，输出报警信号；
    所述声光报警装置(7)连接所述控制单元(45)，用于在接收到所述报警信号时报警。
  9. 根据权利要求5所述的新型智能液压尾板，其特征在于：所述九轴陀螺仪(3)包括三轴加速度计和三轴陀螺仪；
    所述三轴加速度计用于检测所述承载平台(1)在执行下降动作、低头动作和关门动作时产生的加速度，输出加速度检测信号；
    所述三轴陀螺仪用于实时采集所述承载平台(1)在执行打开动作、抬头动作和举升动作时所述承载平台(1)与液压装置(2)之间形成的转动角度，输出角度检测信号。
PCT/CN2021/138966 2021-10-29 2021-12-17 一种新型智能液压尾板 WO2023070897A1 (zh)

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