CN105217413A - Become the gradient oblique operation container automatic leveling device and method - Google Patents

Abstract

An automatic leveling device and method for a variable-slope inclined running container, which is suitable for the inclined running container body or man-vehicle whose slope changes or changes the trajectory due to the influence of the shape of the building or the working condition of the roadway. The device includes a box body, a movable floor, an automatic leveling assembly, and a trolley or a knapsack-type carrier. By changing the angle of the lifting platform on the trolley or knapsack-type carrier, it can adapt to the automatic adjustment of the variable-slope oblique running container under various working conditions. Leveling, when the inclined running container runs on the guide rail section with variable slope, the position and attitude sensor detects the angle change of the car body, and transmits the signal to the automatic leveling control system. The control system controls the movement of the servo motor after analyzing the signal, and automatically adjusts The action of the flat component compensates the angle change of the car body, so that the car body is always in a horizontal posture, and realizes the operation of the obliquely running container on the variable-slope track. The utility model has the advantages of simple structure, safety and reliability, small space occupation, good leveling performance, real-time micro-adjustment, and wide application range.

Description

Automatic leveling device and method for a variable-slope inclined running container

technical field

The invention relates to the field of elevators, in particular to an automatic leveling device and method for a variable-slope oblique operation container , especially suitable for oblique operation containers affected by mine roadway conditions or building shapes that change the slope or change the trajectory .

Background technique

With the continuous emergence of modern high-rise buildings, the importance and superiority of elevators as a convenient and fast vertical transportation tool are increasingly reflected. With the rapid development of elevator technology, the emergence of special elevators used in different environments and places facilitates people's lives. In order to provide convenience for mine roadways, sightseeing spots, buildings located on hillsides and hilltops, areas where residential buildings are built on hillsides due to urban area constraints, complex underground roadways, and transportation for maintenance personnel and goods below the rated load. facility, presenting a need for running containers diagonally. Most of the existing obliquely running containers are obliquely running containers with a fixed slope and always running along a straight track. However, it is difficult to realize the arrangement of the fixed-slope elevator running track for the obliquely running container track affected by the special building shape or roadway working conditions.

When the inclined running container runs on the variable slope track, in order to ensure the comfort of passengers riding on the container, it is necessary to ensure that the cabin can maintain a real-time level. The existing cabin leveling mechanism generally uses a hydraulic cylinder for leveling, which has the following disadvantages: 1. It needs a hydraulic power source (hydraulic pump station), which takes up a lot of space and is heavy; 2. The hydraulic system has hysteresis, and the real-time leveling effect is not good ;3. The continuous micro-adjustment of the hydraulic cylinder (arc section operation) has poor transformation effect, and the control of small flow changes is difficult to realize; 4. The system has high requirements for the pressure maintenance of the hydraulic cylinder, and the leaking compartment is prone to instability when the station is stopped for a long time.

Contents of the invention

Technical problem: The object of the present invention is to solve the problems existing in the prior art, and provide an automatic leveling device and method for a variable-slope oblique running container with a simple and compact structure, safe and reliable, small space occupation, and good leveling effect.

Technical solution: The automatic leveling device for a variable-slope oblique running container of the present invention includes a movable bottom plate arranged at the bottom of the car body, and a pose sensor connected to the automatic leveling control system is arranged on the movable bottom plate, and the bottom surface of the movable bottom plate There is a lower limit switch that limits the lowest position of automatic leveling; a trolley or backpack-type carrier is provided under the movable bottom plate, and there are two hinged pillars on one side between the movable bottom plate and the trolley or backpack-type carrier. The side is connected with an automatic leveling component;

The automatic leveling assembly includes an active support frame and a driven support frame arranged side by side connected by a coupling, and the active support frame includes a diamond-shaped telescopic support assembly 1, a lead screw 1, a special-shaped nut 1, and a reduction box seat and the upper limit switch; the driven support frame includes a diamond-shaped telescopic support assembly 2, a lead screw 2, a fixed block assembly and a special-shaped nut 2; the support assembly 1 and the support assembly 2 include an upper connection seat, and the two sides of the upper connection seat There are two left and right upper support arms hinged, the lower ends of the left and right upper support arms are respectively hinged with the left and right lower support arms, and the lower ends of the left and right lower support arms are hinged on the lower connecting seat. A special-shaped nut 1 is provided between the support arm and the lower support arm on the left side, and a special-shaped nut 2 is provided between the upper support arm on the left side of the support assembly 2 and the lower support arm on the left side; the support assembly 1 and the support assembly Lead screw one and lead screw two are connected through a coupling between the two, and the lead screw one between the upper support arm on the right side of the active support frame and the lower support arm on the right side is provided with a reduction box seat, and the support assembly A servo motor is provided on the lead screw 1 connected to one side of the support component 2, and a reduction box is provided between the servo motor and the lead screw 1, and an upper limit switch is provided on the lower support arm of the support component 1, and the right side of the support component 2 A fixed block assembly is arranged between the upper support arm on the side and the lower support arm on the right side.

The fixed block assembly includes a fixed block passing through the right end of the screw screw 2, a thrust bearing and a radial bearing arranged between the screw screw 2 and the fixed block, and a bearing end cover is provided at the right end of the radial bearing.

The tackle includes a lifting platform and guide wheels arranged at the bottom of the lifting platform.

The backpack-type carrier includes a lifting platform and a guide shoe arranged at the bottom of the lifting platform.

A method for automatic leveling of a variable-slope oblique running container using the above-mentioned device,

When the oblique running container is running: the posture sensor installed on the movable floor is used to monitor the posture of the car body in real time. When the angle of the car body changes, the angle change signal is immediately transmitted to the automatic leveling control system. After the signal is analyzed and processed by the automatic leveling control system, the movement of the servo motor is controlled. The servo motor drives the lead screw to rotate through the reduction box, and the lead screw One drives the lead screw two to rotate through the coupling, and the lead screw one and the lead screw two drive the diamond-shaped telescopic support component one and the support component two to fold up and down to extend or shrink, and drive the movable bottom plate to rotate around the hinged pillar to compensate for the angle change of the box body , so that the car body is always in a horizontal posture.

Beneficial effects: due to the adoption of the above technical solution, the present invention has the following advantages compared with the prior art:

(1) Realize the operation of the inclined running container on the variable slope track: by changing the structure of the trolley or the bearing frame at the bottom of the car body, the inclined running container can adapt to the operation on different slopes and ensure the real-time level of the car body;

(2) The power source is convenient, the system has high efficiency, simple structure, and small space occupation: compared with the hydraulic system, the electric leveling system does not require a hydraulic pump station to achieve multiple energy conversions, high energy utilization rate, and does not occupy a limited space in the cabin. space;

(3) Good leveling performance, real-time micro-adjustment can be realized: the servo motor is used to drive the screw to adjust, and the servo motor can realize high-precision speed control at continuous gradient changes such as circular arc track sections, and micro-adjustment can be realized with the reduction box;

(4) The structure is simple and reliable, safe and effective: the supporting structure is simple and effective, using four-point support, good anti-eccentric load performance, single-motor control, ensuring the synchronization of the mechanism; adding an outer frame, and using a structural profile frame to fix the car body on the The movable floor improves the overall strength and stability of the car body, so that the car body can overcome the overturning of the car body caused by the horizontal acceleration during the acceleration and deceleration stages. At the same time, the frames are distributed on all sides of the box body, which does not affect the functions of the container such as sightseeing.

Description of drawings

Fig. 1 is the front view of the installation of the overall system of the present invention at a slope of 0～22°;

Fig. 2 is the front view of the installation of the overall system of the present invention at a slope of 22～45°;

Fig. 3 is the front view of the installation of the overall system of the present invention at a slope of 45-67°;

Fig. 4 is the front view of the installation of the overall system of the present invention at a slope of 67～90°;

Fig. 5 is a partial front view of the overall system of the present invention at the lowest adjustment position;

Figure 6 is a partial front view of the overall system of the present invention at an intermediate adjustment position;

Figure 7 is a partial front view of the overall system of the present invention at the highest adjustment position;

Figure 8 is a partial left view of the overall system of the present invention at the lowest adjustment position;

Fig. 9 is a partial left view of the whole system of the present invention in the intermediate adjustment position;

Fig. 10 is a partial left view of the overall system of the present invention at the highest adjustment position;

Figure 11 is a front view of the automatic leveling assembly of the present invention;

Fig. 12 is a top view of the self-leveling assembly of the present invention;

Fig. 13 is a top view of a partial section of the active support frame of the present invention;

Fig. 14 is a top view of a partial section of the driven support frame of the present invention.

In the figure : 1-car body; 2-movable floor; 3-automatic leveling assembly; 4-sledge; 5-knapsack bearing frame; 1-1-pose sensor; -Driven support frame; 3-3-lead screw one; 3-4-support component one; 3-5-coupling; 3-6-support component two; 3-7-lead screw two; 3-8- Upper connection seat; 3-9-upper support arm; 3-10-lower support arm; 3-11-upper limit switch; 3-12-servo motor; 3-13-lower connection seat; 3-14-fixed block assembly ;3-15-special-shaped nut one; 3-16-pin; 3-17-reduction box seat; 3-18-reduction box; 3-19-special-shaped nut two; Components; 3-22-bearing end cover; 3-23-radial bearing; 3-24-thrust bearing; 3-25-lower limit switch.

detailed description:

Embodiments of the present invention will be further described below in conjunction with the accompanying drawings :

The automatic leveling device of the variable-slope oblique operation container of the present invention, the automatic leveling device of the variable-slope oblique operation container, is mainly composed of the movable bottom plate 2, the automatic leveling assembly 3 and the pulley 4 or the backpack type that are arranged under the box body 1. Frame 5 constitutes. A movable floor 2 is arranged at the bottom of the car body 1, and a pose sensor 1-1 connected to the automatic leveling control system is provided on the movable floor 2, and a lower limit switch that limits the lowest position of automatic leveling is provided on the bottom surface of the movable floor 2 3-25; a trolley 4 or a knapsack-type bearing frame 5 is provided below the movable bottom plate 2, and two hinged pillars are connected on one side between the movable bottom plate 2 and the trolley 4 or knapsack-type bearing frame 5, and a Automatic leveling component 3;

The automatic leveling assembly 3 includes an active support frame 3-1 and a driven support frame 3-2 arranged side by side through a coupling 3-5, and the active support frame 3-1 includes a diamond-shaped telescopic support assembly One 3-4, lead screw one 3-3, special-shaped nut one 3-15, reduction box seat 3-17 and upper limit switch 3-11; driven support frame 3-2 includes diamond-shaped telescopic support assembly two 3-6 , lead screw two 3-7, fixed block assembly 3-14 and special-shaped nut two 3-19; described support assembly one 3-4 and support assembly two 3-6 all include upper connecting seat 3-8, upper connecting seat The left and right upper support arms 3-9 are hinged on both sides of the 3-8, the lower ends of the left and right upper support arms 3-9 are respectively hinged to the left and right lower support arms 3-10, and the left and right lower support arms 3-10 are hinged. The lower end is hinged on the lower connecting seat 3-13, and a special-shaped nut 3-15 is arranged between the upper support arm 3-9 on the left side of the support assembly 3-4 and the lower support arm 3-10 on the left side to support A special-shaped nut 2 3-19 is provided between the upper support arm 3-9 on the left side of the component 3-6 and the lower support arm 3-10 on the left side; the support component 1 3-4 and the support component 2 3- 6 through the coupling 3-5 to connect the lead screw 1 3-3 and the lead screw 2 3-7, the upper support arm 3-9 on the right side of the active support frame 3-1 and the lower support arm on the right side Lead screw one 3-3 between 3-10 is provided with reduction box seat 3-17, and support assembly one 3-4 is connected with support assembly two 3-6 and lead screw one 3-3 on one side is provided with servo motor 3 -12, a reduction box 3-18 is provided between the servo motor 3-12 and the lead screw 1 3-3, and an upper limit switch 3-11 is provided on the lower support arm 3-10 of the support assembly 1 3-4, A fixed block assembly 3-14 is provided between the upper support arm 3-9 on the right side of the support assembly 2 3-6 and the lower support arm 3-10 on the right side.

Described fixed block assembly 3-14 comprises the fixed block 3-20 that passes through the right end of leading screw two 3-7, the thrust bearing 3-24 that is arranged between leading screw two 3-7 and fixed block 3-20 and Centripetal bearing 3-23, the right end of centripetal bearing 3-23 is provided with bearing end cover 3-22.

The tackle 4 includes a lifting platform 4-1 and a guide wheel 4-2 located at the bottom of the lifting platform 4-1, the automatic leveling assembly 3 is hinged to the left end of the lifting platform 4-1, and the right end of the movable floor 2 is provided with Two articulated pillars are hinged with the right end of the lifting platform 4-1.

The backpack-type carrier 5 includes a lifting platform 4-1 and a guide shoe 4-3 arranged at the bottom of the lifting platform 4-1.

According to the method for automatic leveling of the inclined running container with variable slope of the present invention, when the running container runs diagonally: the posture sensor 1-1 installed on the movable floor 2 monitors the attitude of the car body 1 in real time. When the car body 1 runs to the guide rail section with variable slope, the car body 1 tilts. When the position sensor 1-1 detects that the car body 1 has an angle change, it immediately transmits the angle change signal to the automatic leveling control system. After the signal analysis and processing of the flat control system, the servo motor 3-12 is controlled to move, the servo motor 3-12 drives the lead screw 3-3 to rotate through the reduction box 3-18, and the lead screw 3-3 is driven by the shaft coupling 3-5 Lead screw 2 3-7 rotates, lead screw 1 3-3 and lead screw 2 3-7 drive the diamond-shaped telescopic support component 1 3-4 and support component 2 3-6 to fold up and down to extend or shrink, and drive the movable bottom plate 2 to rotate The hinged pillar rotates to compensate for the angle change of the box body 1, so that the box body 1 is always in a horizontal posture.

Embodiment 1, as shown in Figure 1 and Figure 5 , when the slope changes obliquely to the running container at an inclination angle of 0 to 45°, the pulley 4 is used to adapt to various working conditions by changing the angle of the lifting platform 4-1 on the pulley 4 The lower variable slope runs the container obliquely. The movable floor 2 at the bottom of the car body 1 is provided with a pose sensor 1-1 for real-time monitoring of the pose change of the car body, an automatic leveling assembly 3 is hinged under the movable floor 2, and a pulley 4 is arranged below the automatic leveling assembly 3, The trolley 4 is composed of a lifting platform 4-1 and a guide wheel 4-2. The left end of the automatic leveling assembly 3 and the lifting platform 4-1 is hinged through two hinged pillars, and the two hinged pillars at the right end of the movable floor 2 are connected to the lifting platform 4. The right end of -1 is hinged.

As shown in Figures 6-14 , the automatic leveling assembly 3 includes an active support frame 3-1 and a driven support frame 3-2 connected side by side through a coupling 3-5, and the coupling 3-5 makes the active support The power of the servo motor 3-12 on the frame 3-1 is transmitted to the driven support frame 3-2; wherein the active support frame 3-1 includes a diamond-shaped telescopic support assembly 3-4, a lead screw 3-3, and a special-shaped nut 1 3-15, reduction box seat 3-17 and upper limit switch 3-11; driven support frame 3-2 includes diamond-shaped telescopic support assembly 2 3-6, leading screw 2 3-7, fixed block assembly 3-14, Special-shaped nut two 3-19; Wherein support assembly one 3-4 and support assembly two 3-6 all comprise upper connection seat 3-8, upper connection seat 3-8 both sides movably connect left and right two upper support arms 3-9, The lower ends of the left and right upper support arms 3-9 are respectively movably connected with the left and right lower support arms 3-10, and the lower ends of the left and right lower support arms 3-10 are movably connected with the lower connecting seat 3-13, wherein a support assembly 3- 4 A special-shaped nut 1 3-15 is arranged between the upper support arm 3-9 on the left side and the lower support arm 3-10 on the left side, and the upper support arm 3-9 on the left side of the support assembly 2 and the lower support arm on the left side 3-6 special-shaped nuts 2 3-19 are arranged between 3-10; lead screw 1 3-19 connected by shaft coupling 3-5 is horizontally provided on support assembly 1 3-4 and driven support frame 3-2 respectively. 3 and leading screw two 3-7, the leading screw one 3-3 between the upper support arm 3-9 on the right side of the active support frame 3-1 and the lower support arm 3-10 on the right side is provided with a reduction box seat 3 -17, the supporting assembly one 3-4 is connected to one side of the supporting assembly two leading screw one 3-3 is provided with a servo motor 3-12, and a reduction box 3 is arranged between the servo motor 3-12 and the leading screw one 3-3 -18, the lower support arm 3-10 of the support assembly one 3-4 is provided with an upper limit switch 3-11, between the upper support arm 3-9 on the right side of the support assembly two and the lower support arm 3-10 on the right side A fixed block assembly 3-14 is provided, and a lower limit switch 3-25 is provided under the movable bottom plate 2; when the automatic leveling assembly 3 rises to the limit position and touches the upper limit switch 3-11, the servo motor 3-12 stops running ; When the automatic leveling assembly 3 drops to the limit position and touches the lower limit switch 3-25, the servo motor 3-12 stops running, thereby avoiding the overload operation of the servo motor 3-12;

The fixed block assembly 3-14 includes a fixed block 3-20 passing through the right end of the lead screw 2 3-7, and the pin 3-16 fixes the fixed block 3-20 on the driven support frame 3-2. Thrust bearing 3-24 and centripetal bearing 3-23 are perforated between leading screw 2 3-7 and fixed block 3-20, thrust bearing 3-24 mainly bears axial load, and centripetal bearing 3-23 mainly bears diameter to the load. The right end of the centripetal bearing 3-23 is provided with a bearing end cover 3-22, which is fixed on the fixed block 3-20 by a screw assembly 3-21, and the bearing is encapsulated to prevent dust and other sundries from interfering;

Embodiment 2, as shown in Fig. 2 , Fig. 3 , and Fig. 4 , when the slope changes obliquely to the operating container at a large inclination angle of 45-90°, the backpack-type carrier 5 is used to lift the platform by changing the backpack-type carrier 5 The angle of 4-1 is suitable for running containers with variable slopes and obliquely under various working conditions. Its structure is basically the same as that of Embodiment 1, and the similarities are omitted. The difference is that the backpack-type carrier 5 includes a lifting platform 4-1 and a guide shoe 4-3 located at the bottom of the lifting platform 4-1, and the automatic leveling assembly 3 is connected to the left end of the lifting platform 4-1. Hinged, the right end of the movable bottom plate 2 is provided with two hinged pillars and the right end of the lifting platform 4-1 is hinged.

Claims (5)

1. one kind becomes the gradient oblique operation container automatic leveling device, it is characterized in that: it comprises the removable bottom (2) being located at envelope (1) bottom, described removable bottom (2) is provided with the Position and attitude sensor (1-1) that automatic leveling controlling system is connected above, and the bottom surface of removable bottom (2) is provided with the lower position switch (3-25) of restriction automatic leveling extreme lower position; The below of removable bottom (2) is provided with coaster (4) or Backpack type carrier (5), and between described removable bottom (2) and coaster (4) or Backpack type carrier (5), side chain is connected to two hinged pillars, and opposite side is connected with automatic leveling assembly (3);

Described automatic leveling assembly (3) comprises the active bracing frame (3-1) and driven bracing frame (3-2) that are arranged side by side and are connected by coupler (3-5), and described active bracing frame (3-1) comprises rhombus flexible supporting component one (3-4), leading screw one (3-3), profile nut one (3-15), deceleration block (3-17) and upper limit position switch (3-11), driven bracing frame (3-2) comprises rhombus flexible supporting component two (3-6), leading screw two (3-7), fixed block assembly (3-14) and profile nut two (3-19), described supporting component one (3-4) and supporting component two (3-6) include upper connecting base (3-8), upper connecting base (3-8) both sides are hinged with the upper hold-down arm (3-9) in two, left and right, lower end two, the hinged left and right lower support arm (3-10) respectively of the upper hold-down arm (3-9) in two, left and right, the lower end of two the lower support arms (3-10) in left and right is hinged on lower connecting base (3-13), profile nut one (3-15) is provided with between the upper hold-down arm (3-9) in described supporting component one (3-4) left side and the lower support arm (3-10) in left side, profile nut two (3-19) is provided with between the upper hold-down arm (3-9) in supporting component two (3-6) left side and the lower support arm (3-10) in left side, leading screw one (3-3) and leading screw two (3-7) is connected by coupler (3-5) between described supporting component one (3-4) and supporting component two (3-6), leading screw one (3-3) between the upper hold-down arm (3-9) on described active bracing frame (3-1) right side and the lower support arm (3-10) on right side is provided with deceleration block (3-17), the leading screw one (3-3) that supporting component one (3-4) connects supporting component two (3-6) side is provided with servomotor (3-12), drop-gear box (3-18) is provided with between servomotor (3-12) and leading screw one (3-3), the lower support arm (3-10) of described supporting component one (3-4) is provided with upper limit position switch (3-11), fixed block assembly (3-14) is provided with between the upper hold-down arm (3-9) on supporting component two (3-6) right side and the lower support arm (3-10) on right side.

2. the change gradient according to claim 1 oblique operation container automatic leveling device, it is characterized in that: described fixed block assembly (3-14) comprises the fixed block (3-20) being arranged in leading screw two (3-7) right-hand member, be located at the thrust baring (3-24) between leading screw two (3-7) and fixed block (3-20) and radial bearing (3-23), radial bearing (3-23) right-hand member is provided with roller bearing end cap (3-22).

3. the change gradient according to claim 1 oblique operation container automatic leveling device, is characterized in that: described coaster (4) comprises to be lifted platform (4-1) and be located at the guide wheel (4-2) lifting platform (4-1) bottom.

4. the change gradient according to claim 1 oblique operation container automatic leveling device, is characterized in that: described Backpack type carrier (5) comprise lift platform (4-1) and be located at lift platform (4-1) bottom lead boots (4-3).

5. use the self-levelling method of the change gradient oblique operation container of device described in claim 1, it is characterized in that:

When oblique operation container runs: by being located at the attitude of Position and attitude sensor (1-1) Real-Time Monitoring envelope (1) above removable bottom (2), when the envelope (1) of oblique operation container moves to the guide rail section becoming the gradient, envelope (1) run-off the straight, Position and attitude sensor (1-1) monitors envelope (1) when having angle to change, at once angular rate signal is transferred to automatic leveling controlling system, after automatic leveling controlling system signal analysis and processing, control servomotor (3-12) motion, servomotor (3-12) drives leading screw one (3-3) to rotate by drop-gear box (3-18), leading screw one (3-3) drives leading screw two (3-7) to rotate by coupler (3-5), the supporting component one (3-4) that leading screw one (3-3) and leading screw two (3-7) drive rhombus flexible and supporting component two (3-6) are folding up and down to be extended or shrinks, removable bottom (2) is driven to rotate around hinged pillar, compensate the angle change of envelope (1), envelope (1) is made to be in horizontal attitude all the time.