CN114229719A - Telescopic fork device for hoisting container and control method - Google Patents
Telescopic fork device for hoisting container and control method Download PDFInfo
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- CN114229719A CN114229719A CN202111560109.7A CN202111560109A CN114229719A CN 114229719 A CN114229719 A CN 114229719A CN 202111560109 A CN202111560109 A CN 202111560109A CN 114229719 A CN114229719 A CN 114229719A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims abstract description 30
- 230000006698 induction Effects 0.000 claims abstract description 8
- 238000012856 packing Methods 0.000 claims abstract 2
- 238000005070 sampling Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a telescopic fork device for hoisting a container and a control method, and belongs to the field of mechanical automation control equipment and methods. The moving trolley is provided with a front-back displacement sensor; four distance measuring sensors are symmetrically arranged on two sides of the trolley respectively; an up-down lifting platform is arranged on the movable trolley, and a telescopic fork is hoisted in the left-right direction below the lifting platform; the up-down lifting platform is provided with a displacement sensor for measuring the height of the platform; a displacement sensor is arranged on the telescopic fork to measure the position of the telescopic fork; a rotatable lifting appliance is lifted below the telescopic fork; installing downward ranging sensors at the left and right positions of the lifting appliance; a descending in-place induction sensor is arranged in the middle of the lifting appliance. The utility model relates to a packing box transport of commodity circulation trade, especially heavily block automatic power changing field realizes that automatic swiftly with battery box change for full-charge battery box on the truck. The efficiency is improved, and the labor is saved.
Description
Technical Field
The invention relates to the technical field of mechanical automation control, in particular to a telescopic fork device for lifting a container and a control method.
Background
At present, the logistics industry relates to the carrying of containers, or the heavy truck automatically exchanges electricity, to the carrying of rule box, because the case weight, the carrying butt joint requires highly to the location, and the manual work adopts fork truck can not accomplish smoothly, must adopt the robot to accomplish.
Disclosure of Invention
The invention provides a telescopic fork device for hoisting a container and a control method thereof aiming at the requirements.
The invention adopts the following technical scheme:
the invention relates to a telescopic fork device for hoisting a container, which comprises two rails and a trolley moving back and forth on the rails, wherein an up-down lifting platform is arranged on the trolley, and a telescopic fork is hoisted in the left-right direction below the lifting platform; the method is characterized in that: a front-back direction displacement sensor is arranged on the mobile trolley; four distance measuring sensors are symmetrically arranged on two sides of the trolley respectively; the up-down lifting platform is provided with a displacement sensor for measuring the height of the platform; a displacement sensor is arranged on the telescopic fork to measure the position of the telescopic fork; hoisting a lifting appliance below the telescopic fork; installing downward ranging sensors at the left and right positions of the lifting appliance; a descending in-place induction sensor is arranged in the middle of the lifting appliance;
the moving trolley is provided with a front-back direction displacement sensor which is a rack, a gear matched with the rack and an absolute value rotary encoder coaxial with the gear; the up-down lifting platform is provided with a displacement sensor which is a screw rod and an absolute value rotary encoder coaxially connected with the screw rod; the telescopic fork is provided with a displacement sensor which is an absolute value rotary encoder coaxially connected with the motor.
The left side and the right side of the trolley are respectively provided with four distance measuring sensors which are arranged in a bilateral symmetry mode, the center distance of the two middle sensors is smaller than the difference value between the front depth and the back depth of the container and the distance between the containers, and the center distance of the two outer sensors is slightly larger than the front depth and the back depth of the container.
The lifting hook below the lifting appliance can rotate outwards, the lifting hook is provided with a falling-in-place induction sensor at the same horizontal position, and the center distance of downward distance measuring sensors arranged at the left side and the right side of the lifting appliance is slightly larger than the left width and the right width of the container.
The control method comprises the following steps:
firstly, a plurality of containers which are not used are sequentially and regularly arranged on one side of a track at the same interval, the original point position of a trolley is on the same straight line with the central line of the middle container of the containers, a vacant position is reserved, a control system samples the data of four distance measuring sensors on the side, the sum of the average value of two distance measuring values in the middle and the sum of the center distance of the distance measuring sensors on the two sides of the trolley and the left and right width of the containers is the y-axis coordinate of the containers (the right side is positive, the left side is negative), and the data of the two distance measuring sensors on the outer side are sampled and both the data of the two distance measuring sensors are beyond the measuring range;
secondly, the truck-mounted used container is stopped at the other side of the track, and the center of the truck-mounted used container and the origin of the trolley are approximately on the same straight line;
thirdly, the control system samples data of four distance measuring sensors at the truck side, the data of the two distance measuring sensors in the middle are smaller than a first set value (such as 400mm), then the difference value of the distance measuring values of the two distance measuring sensors in the middle of the four distance measuring sensors at the side is compared, if the difference value is smaller than a second set value, the truck is shown to be at the correct position, the sum of the average value of the two distance measuring values and the sum of the center distance of the distance measuring sensors at the two sides of the truck and the half of the left-right width of a container is the y-axis coordinate of the container on the truck (the right side is positive, the left side is negative), and the next operation can be carried out;
step four, if any one of the two middle distance measuring values is larger than a first set value or the difference value of the two middle distance measuring values is larger than or equal to a second set value in the step three, the fact that the truck is incorrectly parked and needs to be parked again is indicated, and then the step two is carried out;
step five, the control system samples two outer distance measurement values, if the sampling values are both larger than a first set value, the x-axis coordinate of the truck is 0;
step six, if one of the sampling values is smaller than a first set value in the step five, the trolley moves slowly to the direction of the distance measuring sensor larger than the first set value until two distance measuring values on the outer side are both larger than the first set value, the displacement value of the x axis is the x axis coordinate of the truck cargo box, the forward moving coordinate of the trolley is positive, and the backward moving coordinate of the trolley is negative;
step seven, the telescopic fork rapidly extends a certain distance (the difference value of the y-axis coordinate of the container minus the set slow-speed distance) to the side direction of the truck, the slow-speed extension is changed to set the slow-speed distance, the value of a ranging sensor in the front of the extension direction below the lifting appliance is read as the z-axis coordinate of the container, and the downward direction is positive;
step eight, the control system compares whether the ranging values of the downward ranging sensors on the two sides of the lifting appliance are both larger than a third set value, if not, the lifting appliance is stopped to alarm, and manual processing is switched;
step nine, the lifting appliance descends quickly by the distance of the difference value of the z-axis coordinate minus the slow descending distance, and then descends slowly by a certain distance until the lifting appliance is lowered to the position for sensing;
step ten, the lifting appliance rotates outwards by 90 degrees and just rotates to the lower part of the front beam and the rear beam of the container;
step eleven, slowly lifting the lifting appliance to the original point position of the z axis;
step twelve, the telescopic fork is retracted to the middle position and the y-axis origin position;
step thirteen, the device slowly moves to the x-axis coordinate of the empty position at the side of the unused cargo box along the x-axis direction, if the x-axis coordinate of the current position is smaller than the x-axis coordinate of the target position, the device moves forwards, otherwise, the device moves backwards, the moving distance is the absolute value of the difference value of the x-axis coordinates of the two positions, and the device stops after reaching the displacement;
step fourteen, the control system samples whether the four distance measuring sensors on the side of the cargo container which are not used by the trolley do not have distance measuring values or are larger than a fourth set value, if not, the trolley is shut down to give an alarm, and manual processing is switched;
fifteen, slowly descending the lifting appliance for a certain distance until the lifting appliance is lowered to a position for sensing;
sixthly, rotating the lifting appliance inwards by 90 degrees to enable the lifting hook to be separated from the beam of the container;
seventhly, slowly raising the lifting appliance for a certain distance, and rapidly raising the lifting appliance to the original point of the z axis to stop;
eighteen, retracting the telescopic fork to the middle position and the y-axis original point position;
nineteen, moving the device to an x-axis coordinate position of an unused container to be taken along the x-axis direction;
twenty, if the x-axis coordinate of the current position is smaller than the x-axis coordinate of the target position, the device moves forwards, otherwise, the device moves backwards, the moving distance is the absolute value of the difference value of the x-axis coordinates of the two positions, and the device stops when the position is reached;
twenty one, controlling a system to sample whether the two distance measuring sensors on the outer side of the cargo box, which is not used by the trolley, have no distance measuring value or are greater than a fourth set value, if not, stopping the trolley for alarming, and turning to manual processing;
twenty-two, the distance of the difference value of the slow-speed distance subtracted from the absolute value of the y-axis coordinate of the container rapidly extending out of the telescopic fork to the truck side is changed into the slow-speed extending-out distance, and the values of the ranging sensors on the two sides of the lifting appliance are read, and are both larger than the fifth set value? If not, alarming and stopping the machine, and turning to manual processing;
twenty-third, the lifting appliance descends quickly by the distance of subtracting the slow descending distance difference from the z-axis coordinate, and then descends slowly by a certain distance until the lifting appliance is positioned;
twenty-four steps, the lifting appliance rotates outwards by 90 degrees and just rotates to the lower part of the front beam and the rear beam of the container;
twenty-five, slowly lifting the lifting appliance to the original point position of the z axis;
twenty-six, retracting the telescopic fork to the middle position and the y-axis origin position;
twenty-seventh, the device moves to the x-axis coordinate of the truck at a slow speed along the x-axis direction, if the x-axis coordinate of the current position is smaller than the x-axis coordinate of the target position, the device moves forwards, otherwise, the device moves backwards, the moving distance is the absolute value of the difference value of the x-axis coordinates of the two positions, and the device stops when the position is reached;
twenty-eight steps, are four distance measuring sensors on the truck side of the device all greater than the fourth setting value? Otherwise, alarming and stopping the machine, and turning to manual processing;
twenty-nine, slowly lowering the lifting appliance for a certain distance until the lifting appliance is lowered to a position to be sensed, wherein the Z-axis coordinate of the truck container is less than or equal to that of the truck container;
thirty, rotating the lifting appliance inwards by 90 degrees to enable the lifting hook to be separated from the beam of the container;
thirty-one, slowly lifting the lifting appliance for a certain distance, and quickly lifting the lifting appliance to the original point position of the z axis to stop;
step thirty-two, the telescopic fork is retracted to the middle position and the origin of the y axis; the action is ended.
Advantageous effects
The invention provides a telescopic fork device for hoisting a container, which is used for realizing quick and automatic replacement of a battery box in the logistics transportation industry, particularly in the field of replacement of new energy heavy trucks.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a schematic view of a system for using the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic view of the control system of the present invention;
FIG. 4 is a block diagram of an embodiment of the present invention;
in the figure, a is a cargo box or a battery box on a truck; b is the device of the invention; c is an unused container placement area; d is a vacant location for unused cargo areas; 1 is a track; 2 is an x-axis driving system; 3 is an x-axis displacement sensor; 41. 42, 43 and 44 are four distance measuring sensors arranged at the lower position of the left side of the device; 45. 46, 47 and 48 are four distance measuring sensors which are symmetrically arranged at the lower part of the right side of the device; 5 is a lifting platform; 6 is a telescopic fork; 7 is a telescopic fork driving and displacement measuring system; 8 is a lifting appliance; 91. 92, a distance measuring sensor for the left side and the right side of the lifting appliance downwards; 10 is a lifting driving mechanism; 11 is a platform lifting displacement sensor; 12 is a lifting hook; 13 is a hook in-position induction sensor; 14 is a cargo box.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
As shown in fig. 1 and 2: the invention relates to a telescopic fork device for hoisting a container, which comprises two rails and a trolley moving back and forth on the rails, wherein an up-down lifting platform is arranged on the trolley, and a telescopic fork is hoisted in the left-right direction below the lifting platform; the method is characterized in that: a front-back direction displacement sensor is arranged on the mobile trolley; four distance measuring sensors are symmetrically arranged on two sides of the trolley respectively; the up-down lifting platform is provided with a displacement sensor for measuring the height of the platform; a displacement sensor is arranged on the telescopic fork to measure the position of the telescopic fork; hoisting a lifting appliance below the telescopic fork; installing downward ranging sensors at the left and right positions of the lifting appliance; a descending in-place induction sensor is arranged in the middle of the lifting appliance;
the moving trolley is provided with a front-back direction displacement sensor which is a rack, a gear matched with the rack and an absolute value rotary encoder coaxial with the gear; the up-down lifting platform is provided with a displacement sensor which is a screw rod and an absolute value rotary encoder coaxially connected with the screw rod; the telescopic fork is provided with a displacement sensor which is an absolute value rotary encoder coaxially connected with the motor.
The left side and the right side of the trolley are respectively provided with four distance measuring sensors which are arranged in a bilateral symmetry mode, the center distance of the two middle sensors is smaller than the difference value between the front depth and the back depth of the container and the distance between the containers, and the center distance of the two outer sensors is slightly larger than the front depth and the back depth of the container.
The lifting hook below the lifting appliance can rotate outwards, the lifting hook is provided with a falling-in-place induction sensor at the same horizontal position, and the center distance of downward distance measuring sensors arranged at the left side and the right side of the lifting appliance is slightly larger than the left width and the right width of the container.
As shown in fig. 3 and 4: the invention discloses a control method of a telescopic fork device for lifting a container, which comprises the following steps:
firstly, a plurality of containers which are not used are sequentially and regularly arranged on one side of a track at the same interval, the original point position of a trolley is on the same straight line with the central line of the middle container of the containers, a vacant position is reserved, a control system samples the data of four distance measuring sensors on the side, the sum of the average value of two distance measuring values in the middle and the sum of the center distance of the distance measuring sensors on the two sides of the trolley and the left and right width of the containers is the y-axis coordinate of the containers (the right side is positive, the left side is negative), and the data of the two distance measuring sensors on the outer side are sampled and both the data of the two distance measuring sensors are beyond the measuring range;
secondly, the truck-mounted used container is stopped at the other side of the track, and the center of the truck-mounted used container and the origin of the trolley are approximately on the same straight line;
thirdly, the control system samples data of four distance measuring sensors at the truck side, the data of the two distance measuring sensors in the middle are smaller than a first set value (such as 400mm), then the difference value of the distance measuring values of the two distance measuring sensors in the middle of the four distance measuring sensors at the side is compared, if the difference value is smaller than a second set value, the truck is shown to be at the correct position, the sum of the average value of the two distance measuring values and the sum of the center distance of the distance measuring sensors at the two sides of the truck and the half of the left-right width of a container is the y-axis coordinate of the container on the truck (the right side is positive, the left side is negative), and the next operation can be carried out;
step four, if any one of the two middle distance measuring values is larger than a first set value or the difference value of the two middle distance measuring values is larger than or equal to a second set value in the step three, the fact that the truck is incorrectly parked and needs to be parked again is indicated, and then the step two is carried out;
step five, the control system samples two outer distance measurement values, if the sampling values are both larger than a first set value, the x-axis coordinate of the truck is 0;
step six, if one of the sampling values is smaller than a first set value in the step five, the trolley moves slowly to the direction of the distance measuring sensor larger than the first set value until two distance measuring values on the outer side are both larger than the first set value, the displacement value of the x axis is the x axis coordinate of the truck cargo box, the forward moving coordinate of the trolley is positive, and the backward moving coordinate of the trolley is negative;
step seven, the telescopic fork rapidly extends a certain distance (the difference value of the y-axis coordinate of the container minus the set slow-speed distance) to the side direction of the truck, the slow-speed extension is changed to set the slow-speed distance, the value of a ranging sensor in the front of the extension direction below the lifting appliance is read as the z-axis coordinate of the container, and the downward direction is positive;
step eight, the control system compares whether the ranging values of the downward ranging sensors on the two sides of the lifting appliance are both larger than a third set value, if not, the lifting appliance is stopped to alarm, and manual processing is switched;
step nine, the lifting appliance descends quickly by the distance of the difference value of the z-axis coordinate minus the slow descending distance, and then descends slowly by a certain distance until the lifting appliance is lowered to the position for sensing;
step ten, the lifting appliance rotates outwards by 90 degrees and just rotates to the lower part of the front beam and the rear beam of the container;
step eleven, slowly lifting the lifting appliance to the original point position of the z axis;
step twelve, the telescopic fork is retracted to the middle position and the y-axis origin position;
step thirteen, the device slowly moves to the x-axis coordinate of the empty position at the side of the unused cargo box along the x-axis direction, if the x-axis coordinate of the current position is smaller than the x-axis coordinate of the target position, the device moves forwards, otherwise, the device moves backwards, the moving distance is the absolute value of the difference value of the x-axis coordinates of the two positions, and the device stops after reaching the displacement;
fourteen, does the control system sample whether the four distance measuring sensors on the side of the cargo container are not used by the trolley and have no distance measuring value (or are larger than a fourth set value) or not? If not, stopping the machine to alarm, and turning to manual processing;
fifteen, slowly descending the lifting appliance for a certain distance until the lifting appliance is lowered to a position for sensing;
sixthly, rotating the lifting appliance inwards by 90 degrees to enable the lifting hook to be separated from the beam of the container;
seventhly, slowly raising the lifting appliance for a certain distance, and rapidly raising the lifting appliance to the original point of the z axis to stop;
eighteen, retracting the telescopic fork to the middle position and the y-axis original point position;
nineteen, moving the device to an x-axis coordinate position of an unused container to be taken along the x-axis direction;
twenty, if the x-axis coordinate of the current position is smaller than the x-axis coordinate of the target position, the device moves forwards, otherwise, the device moves backwards, the moving distance is the absolute value of the difference value of the x-axis coordinates of the two positions, and the device stops when the position is reached;
twenty one, does the control system sample whether the two distance measuring sensors on the outer side of the container side of the trolley are not used and have no distance measuring value (or are greater than the fourth set value)? If not, stopping the machine to alarm, and turning to manual processing;
twenty-two, the distance of the difference value of the slow-speed distance subtracted from the absolute value of the y-axis coordinate of the container rapidly extending out of the telescopic fork to the truck side is changed into the slow-speed extending-out distance, and the values of the ranging sensors on the two sides of the lifting appliance are read, and are both larger than the fifth set value? If not, alarming and stopping the machine, and turning to manual processing;
twenty-third, the lifting appliance descends quickly by the distance of subtracting the slow descending distance difference from the z-axis coordinate, and then descends slowly by a certain distance until the lifting appliance is positioned;
twenty-four steps, the lifting appliance rotates outwards by 90 degrees and just rotates to the lower part of the front beam and the rear beam of the container;
twenty-five, slowly lifting the lifting appliance to the original point position of the z axis;
twenty-six, retracting the telescopic fork to the middle position and the y-axis origin position;
twenty-seventh, the device moves to the x-axis coordinate of the truck at a slow speed along the x-axis direction, if the x-axis coordinate of the current position is smaller than the x-axis coordinate of the target position, the device moves forwards, otherwise, the device moves backwards, the moving distance is the absolute value of the difference value of the x-axis coordinates of the two positions, and the device stops when the position is reached;
twenty-eight steps, are four distance measuring sensors on the truck side of the device all greater than the fourth setting value? Otherwise, alarming and stopping the machine, and turning to manual processing;
twenty-nine, slowly lowering the lifting appliance for a certain distance until the lifting appliance is lowered to a position to be sensed, wherein the Z-axis coordinate of the truck container is less than or equal to that of the truck container;
thirty, rotating the lifting appliance inwards by 90 degrees to enable the lifting hook to be separated from the beam of the container;
thirty-one, slowly lifting the lifting appliance for a certain distance, and quickly lifting the lifting appliance to the original point position of the z axis to stop;
step thirty-two, the telescopic fork is retracted to the middle position and the origin of the y axis; the action is ended.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (4)
1. The utility model provides a hoist and mount packing box's flexible fork device which characterized in that: the method comprises the following steps: the lifting device comprises two rails and a trolley moving back and forth on the rails, wherein an up-down lifting platform is arranged on the moving trolley, and a telescopic fork is hoisted in the left-right direction below the lifting platform; the method is characterized in that: a front-back direction displacement sensor is arranged on the mobile trolley; four distance measuring sensors are symmetrically arranged on two sides of the trolley respectively; the up-down lifting platform is provided with a displacement sensor for measuring the height of the platform; a displacement sensor is arranged on the telescopic fork to measure the position of the telescopic fork; hoisting a lifting appliance below the telescopic fork; installing downward ranging sensors at the left and right positions of the lifting appliance; a descending in-place induction sensor is arranged in the middle of the lifting appliance;
the moving trolley is provided with a front-back direction displacement sensor which is a rack, a gear matched with the rack and an absolute value rotary encoder coaxial with the gear; the up-down lifting platform is provided with a displacement sensor which is a screw rod and an absolute value rotary encoder coaxially connected with the screw rod; the telescopic fork is provided with a displacement sensor which is an absolute value rotary encoder coaxially connected with the motor.
2. The telescopic fork device for hoisting the container as claimed in claim 1, wherein: the left side and the right side of the trolley are respectively provided with four distance measuring sensors which are arranged in a bilateral symmetry mode, the center distance of the two middle sensors is smaller than the difference value between the front depth and the back depth of the container and the distance between the containers, and the center distance of the two outer sensors is slightly larger than the front depth and the back depth of the container.
3. The telescopic fork device for hoisting the container as claimed in claim 1, wherein: the lifting hook below the lifting appliance can rotate outwards, the lifting hook is provided with a drop-in-place induction sensor at the same horizontal position, and the center distance of downward distance measuring sensors arranged at the left side and the right side of the lifting appliance is slightly larger than the left-right width of the container.
4. The method for controlling the telescopic fork device for lifting containers as claimed in any one of claims 1 to 3, wherein the method comprises the following steps: the control method comprises the following steps:
firstly, a plurality of containers which are not used are sequentially and regularly arranged on one side of a track at the same interval, the original point position of a trolley is on the same straight line with the central line of the middle container of the containers, a vacant position is reserved, a control system samples the data of four distance measuring sensors on the side, the sum of the average value of two distance measuring values in the middle and the sum of the center distance of the distance measuring sensors on the two sides of the trolley and the left and right width of the containers is the y-axis coordinate of the containers, and the data of the two distance measuring sensors on the outer sides of the sampling are required to exceed the measuring range;
secondly, the truck-mounted used container is stopped at the other side of the track, and the center of the truck-mounted used container and the origin of the trolley are approximately on the same straight line;
thirdly, the control system samples data of four distance measuring sensors at the truck side, the data of the middle two distance measuring sensors are smaller than a first set value, the difference value of the distance measuring values of the middle two distance measuring sensors at the side is compared, if the difference value is smaller than a second set value, the truck is represented to be at the correct position, the sum of the average value of the two distance measuring values and the sum of the center distance of the distance measuring sensors at the two sides of the truck and the half of the left-right width sum of the container is the y-axis coordinate of the container on the truck, and the next operation can be carried out;
step four, if any one of the two middle distance measuring values is larger than a first set value or the difference value of the two middle distance measuring values is larger than or equal to a second set value in the step three, the fact that the truck is incorrectly parked and needs to be parked again is indicated, and then the step two is carried out;
step five, the control system samples two outer distance measurement values, if the sampling values are both larger than a first set value, the x-axis coordinate of the truck is 0;
step six, if one of the sampling values is smaller than a first set value in the step five, the trolley moves slowly to the direction of the distance measuring sensor larger than the first set value until two distance measuring values on the outer side are both larger than the first set value, the displacement value of the x axis is the x axis coordinate of the truck cargo box, the forward moving coordinate of the trolley is positive, and the backward moving coordinate of the trolley is negative;
step seven, the telescopic fork rapidly extends a certain distance to the side direction of the truck, the telescopic fork is extended slowly to set a slow-speed distance, the value of a distance measurement sensor in the front of the extending direction below the lifting appliance is read as the z-axis coordinate of the container, and the downward direction is positive;
step eight, the control system compares whether the ranging values of the downward ranging sensors on the two sides of the lifting appliance are both larger than a third set value, if not, the lifting appliance is stopped to alarm, and manual processing is switched;
step nine, the lifting appliance descends quickly by the distance of the difference value of the z-axis coordinate minus the slow descending distance, and then descends slowly by a certain distance until the lifting appliance is lowered to the position for sensing;
step ten, the lifting appliance rotates outwards by 90 degrees and just rotates to the lower part of the front beam and the rear beam of the container;
step eleven, slowly lifting the lifting appliance to the original point position of the z axis;
step twelve, the telescopic fork is retracted to the middle position and the y-axis origin position;
step thirteen, the device slowly moves to the x-axis coordinate of the empty position at the side of the unused cargo box along the x-axis direction, if the x-axis coordinate of the current position is smaller than the x-axis coordinate of the target position, the device moves forwards, otherwise, the device moves backwards, the moving distance is the absolute value of the difference value of the x-axis coordinates of the two positions, and the device stops after reaching the displacement;
step fourteen, the control system samples whether the four distance measuring sensors on the side of the cargo container which are not used by the trolley do not have distance measuring values or are larger than a fourth set value, if not, the trolley is shut down to give an alarm, and manual processing is switched;
fifteen, slowly descending the lifting appliance for a certain distance until the lifting appliance is lowered to a position for sensing;
sixthly, rotating the lifting appliance inwards by 90 degrees to enable the lifting hook to be separated from the beam of the container;
seventhly, slowly raising the lifting appliance for a certain distance, and rapidly raising the lifting appliance to the original point of the z axis to stop;
eighteen, retracting the telescopic fork to the middle position and the y-axis original point position;
nineteen, moving the device to an x-axis coordinate position of an unused container to be taken along the x-axis direction;
twenty, if the x-axis coordinate of the current position is smaller than the x-axis coordinate of the target position, the device moves forwards, otherwise, the device moves backwards, the moving distance is the absolute value of the difference value of the x-axis coordinates of the two positions, and the device stops when the position is reached;
twenty one, controlling a system to sample whether the two distance measuring sensors on the outer side of the cargo box, which is not used by the trolley, have no distance measuring value or are greater than a fourth set value, if not, stopping the trolley for alarming, and turning to manual processing;
twenty-two, rapidly extending the telescopic fork to the truck side to obtain the distance of the difference value of the slow-speed distance subtracted from the absolute value of the y-axis coordinate of the container, changing the slow-speed extending distance, reading the values of the ranging sensors on the two sides of the lifting appliance, and if the values are not larger than a fifth set value, alarming and stopping, and turning to manual processing;
twenty-third, the lifting appliance descends quickly by the distance of subtracting the slow descending distance difference from the z-axis coordinate, and then descends slowly by a certain distance until the lifting appliance is positioned;
twenty-four steps, the lifting appliance rotates outwards by 90 degrees and just rotates to the lower part of the front beam and the rear beam of the container;
twenty-five, slowly lifting the lifting appliance to the original point position of the z axis;
twenty-six, retracting the telescopic fork to the middle position and the y-axis origin position;
twenty-seventh, the device moves to the x-axis coordinate of the truck at a slow speed along the x-axis direction, if the x-axis coordinate of the current position is smaller than the x-axis coordinate of the target position, the device moves forwards, otherwise, the device moves backwards, the moving distance is the absolute value of the difference value of the x-axis coordinates of the two positions, and the device stops when the position is reached;
twenty-eight steps, are four distance measuring sensors on the truck side of the device all greater than the fourth setting value? Otherwise, alarming and stopping the machine, and turning to manual processing;
twenty-nine, slowly lowering the lifting appliance for a certain distance until the lifting appliance is lowered to a position to be sensed, wherein the Z-axis coordinate of the truck container is less than or equal to that of the truck container;
thirty, rotating the lifting appliance inwards by 90 degrees to enable the lifting hook to be separated from the beam of the container;
thirty-one, slowly lifting the lifting appliance for a certain distance, and quickly lifting the lifting appliance to the original point position of the z axis to stop;
step thirty-two, the telescopic fork is retracted to the middle position and the origin of the y axis; the action is ended.
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| JPH06211486A (en) * | 1993-01-12 | 1994-08-02 | Fujita Corp | Trolley traveling, lifting device |
| CN103523675A (en) * | 2013-10-29 | 2014-01-22 | 天津五洲国际集装箱码头有限公司 | Rail-mounted gantry crane automatic yard operation control system and automatic loading and unloading method |
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Effective date of registration: 20241225 Address after: 224001 No. 1, middle hope Avenue, Tinghu District, Yancheng City, Jiangsu Province Patentee after: YANCHENG INSTITUTE OF TECHNOLOGY Country or region after: China Patentee after: YANCHENG ZHENGBANG ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. Address before: 224005 No.8, Xingye Road, Yangxu village industrial concentration area, panhuang street, Yandu District, Yancheng City, Jiangsu Province Patentee before: YANCHENG ZHENGBANG ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. Country or region before: China |