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CN118479403B - Automatic deviation-preventing lifting device and method - Google Patents

Automatic deviation-preventing lifting device and method Download PDF

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Publication number
CN118479403B
CN118479403B CN202410951230.XA CN202410951230A CN118479403B CN 118479403 B CN118479403 B CN 118479403B CN 202410951230 A CN202410951230 A CN 202410951230A CN 118479403 B CN118479403 B CN 118479403B
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China
Prior art keywords
sensor
lifting
sliding seat
matched
control unit
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CN202410951230.XA
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Chinese (zh)
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CN118479403A (en
Inventor
窦宝超
赵涛
高松
张帅
刘庆磊
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China Scientific Research Shandong Heavy Industry Machinery Equipment Co ltd
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China Scientific Research Shandong Heavy Industry Machinery Equipment Co ltd
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Priority to CN202410951230.XA priority Critical patent/CN118479403B/en
Publication of CN118479403A publication Critical patent/CN118479403A/en
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Publication of CN118479403B publication Critical patent/CN118479403B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/148—Whole unit including fork support moves sideways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/149—Whole unit including fork support rotates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention belongs to the field of lifting devices, in particular to an automatic deviation-preventing lifting device and a method, and relates to an automatic deviation-preventing lifting device, the device comprises a fork arm, a translation sliding seat, a lifting sliding seat, a pair of opposite arms and two groups of hydraulic cylinder units which are fixed on a frame, and two sensing units which are respectively arranged on the front side surface and the rear side surface of the lifting sliding seat. The fork arm is fixed on the translation slide. The lifting slide seat is provided with a groove with an open end at the left side and a driving unit for driving the translation slide seat to slide along the front-back direction. The sensing unit comprises a base, a driving part, a first sensor and a second sensor, wherein the driving part, the first sensor and the second sensor are arranged on the base. The base station is connected with the lifting sliding seat, and a rotating shaft on the driving part is matched with the first sensor. The second sensor is matched with the rotating shaft of the driving part, and can detect the rotating angle of the rotating shaft. The invention can rapidly complete centering correspondence of the fork arm and the lifted object, improves the working efficiency and is beneficial to inhibiting the lifted object from falling off in the working process.

Description

Automatic deviation-preventing lifting device and method
Technical Field
The invention relates to the technical field of lifting devices, in particular to an automatic anti-deviation lifting device and method.
Background
Lifting devices or lifting devices generally comprise different forms of handling devices capable of handling, stacking and transporting goods over short distances, and are widely used in ports, stations, workshops, warehouses and the like. In the conventional working processes, in many cases, in places such as ports, workshops, and warehouses, goods or boxes containing the goods are stacked on pallets, and then working steps such as loading, unloading, and transporting the goods are completed by a lifting device.
In the process of completing operations such as loading, unloading and transferring of cargoes by using the lifting device, cargoes or pallets bearing cargoes need to be forked on the fork (or fork arms) of the lifting device, the cargoes are required to be kept in a centered state relative to the fork, otherwise, the cargoes are easy to fall off in the lifting process due to larger deviation between the gravity center position of the cargoes and the lifting position of the fork, and accidents are caused.
When using the existing lifting device, operators put the fork on the fork, the experience of the operators is used to judge whether the fork basically corresponds to the central position in the length direction of the goods. If the deviation of the fork from the central position of the goods is obvious, an operator can adjust the position of the fork corresponding to the goods in time by continuously controlling the lifting device so as to correct the centering adjustment of the fork and the goods; if the deviation of the fork from the center position of the cargo is not significant, no adjustment is performed. For some cargo that is not too large in length, relying on the experience of the operator to quickly and accurately align the forks substantially centered on the cargo is also relatively easy to accomplish. However, for cargoes with relatively large length, the operator needs to correct the fork several times in the process of aligning the fork to the central position of the cargoes with experience, which restricts the working efficiency, and the operation difficulty of relatively accurately aligning the fork to the central position of the cargoes is relatively large, the position deviation is not easy to control in a reliable range, and the cargoes are easy to drop in the process of loading, unloading, transporting and transferring the cargoes.
Disclosure of Invention
In view of the above-mentioned problems, the present invention provides an automatic anti-bias lifting device and method, by which not only the correspondence between the fork arm and the central position of the cargo can be rapidly completed and the working efficiency can be improved, but also the deviation amplitude of the fork arm and the central position of the cargo after correspondence can be remarkably reduced, which is helpful for inhibiting the falling of the cargo during the operations of loading, unloading, transferring, etc.
The technical scheme adopted for solving the technical problems is as follows: an automatic anti-deflection lifting device comprises a fork arm, a translation sliding seat, a lifting sliding seat, a pair of opposite arms and two groups of hydraulic cylinder units which are fixed on a frame, and sensing units which are respectively arranged on the front side surface and the rear side surface of the lifting sliding seat.
The right side of the fork arm is fixed on the translation sliding seat, and the first arm plate and the second arm plate on the fork arm extend to the left side and are alternately corresponding to each other.
The lifting sliding seat is matched with the two vertical arms through a sliding rail structure arranged along the vertical direction, and the lifting sliding seat is connected to the end part of a cylinder rod of the hydraulic cylinder unit, so that the hydraulic cylinder unit can drive the lifting sliding seat to lift the opposite arms along the vertical direction.
The two vertical arms and the two hydraulic cylinders in the two groups of hydraulic cylinder units are arranged alternately and oppositely in the front-back direction. The front side and the rear side of the lifting sliding seat are matched with the vertical arms.
The upper end surface of the lifting sliding seat is provided with a groove extending along the front-back direction, and the left side of the groove is an open end. The right side of the lifting slide seat and the middle position in the front-rear direction are provided with driving units correspondingly matched with the translation slide seat.
The wall surface of the groove is provided with a convex rail matched with the translation sliding seat, and the translation sliding seat can be driven to move along the front-back direction relative to the lifting sliding seat under the action of the driving unit. In this way, the translation sliding seat is driven to move relative to the lifting sliding seat in the front-back direction, so that the adjustment control of the positions of the two arm plates of the fork arm in the front-back direction can be realized. After the position of the fork arm is adjusted, the hydraulic cylinder unit drives the lifting sliding seat to move in the vertical direction, so that the adjustment and control of the height position of the fork arm can be realized.
A cover plate is arranged at the upper part of the mold groove to cover the upper port of the mold groove.
The sensing units comprise a base, a driving part, a first sensor and a second sensor, wherein the driving part, the first sensor and the second sensor are arranged on the base. The first sensor is a distance sensor and the second sensor is an angle sensor.
The base station is matched with the lifting sliding seat. The rotating shaft on the driving part is matched with the first sensor, so that the driving part can drive the first sensor to rotate around the vertical axis in the horizontal plane. The second sensor is matched with the rotating shaft on the driving part, so that the second sensor can detect the rotating angle of the rotating shaft.
In the initial state, the sensing probes of the two first sensors arranged on the front side and the rear side of the lifting slide seat face to the left side. After the lifting device moves to the right side of the lifted object, the sensing probes of the two first sensors can measure the left-right distance between the lifted object and the lifting sliding seat and feed back to the control unit. Then, the control unit sends an action command to the two driving parts, so that the driving part arranged at the rear side drives the first sensor matched with the driving part to rotate in the clockwise direction, and meanwhile, the driving part arranged at the front side drives the first sensor matched with the driving part to rotate in the anticlockwise direction.
The motor of the driving part may be a stepping motor. Therefore, the rotation of both the first sensors is a step action.
By means of the two first sensors, after the measurement of the distance between the front edge of the lifted object and the front side of the lifting slide and the measurement of the distance between the rear edge of the lifted object and the rear side of the lifting slide are respectively completed, the rotation angle values of the two first sensors (from the initial position) can be respectively obtained through the two second sensors. According to the distance value obtained by the detection of the first sensor and the angle value obtained by the detection of the second sensor, the control unit can analyze and calculate the positions of the fork arms relative to the front side edge and the rear side edge of the lifted object in the front-back direction, and further send an action instruction to the driving unit, so that the driving unit drives the translation sliding seat to move forwards or backwards by a certain stroke amount relative to the lifting sliding seat, and the centering of the fork arms and the lifted object can be completed rapidly.
Optionally, the driving unit comprises a rack part fixed on the translation sliding seat, a gear transmission assembly arranged on the lifting sliding seat, and a servo motor matched with the input end of the gear transmission assembly. The gear at the output end of the gear transmission assembly is meshed with the rack part, so that the servo motor can drive the translation sliding seat to translate and slide along the front-back direction relative to the lifting sliding seat.
The servo motor on the driving unit is connected with the control unit, so that the servo motor can receive the action instruction of the control unit and control the translation sliding seat to move forwards or backwards by a certain stroke amount according to the action instruction.
Optionally, the lifting slide seat further comprises two groups of screw rod transmission units respectively fixedly arranged on the front side surface and the rear side surface of the lifting slide seat.
The screw transmission unit comprises a screw lever, a sliding block and a motor, wherein the axis of the screw lever is vertical to the vertical direction and is fixed on the lifting sliding seat, the sliding block is matched on the screw lever, and the motor is matched with one end of the screw lever. The bases of the two sensing units are correspondingly matched with the sliding blocks in the two screw transmission units respectively, so that the two sliding blocks can synchronously move along the vertical direction with the two sensing units.
The screw rod transmission units are connected with the control unit and can drive the sliding blocks to synchronously move upwards or downwards carrying the two sensing units according to the action instructions of the control unit so as to adjust the height positions of the two sensing units. The purpose of the screw transmission unit is to adjust the height positions of the two sensing units, so that the sensing units are relatively regular at the front edge and the rear edge of the lifted object and can better reflect the position of the front span and the rear span of the lifted object, and the defined front center line and the rear center line of the lifted object can better approach the actual center line of the lifted object.
Optionally, the convex rails matched with the translation sliding seat and arranged on the profile groove are dovetail guide rails, and the convex rails are two convex rails which are arranged on the profile groove in a left-right spaced manner.
The invention relates to an automatic deviation prevention lifting method which comprises the following steps depending on the automatic deviation prevention lifting device.
1) On the premise that sensing probes of two first sensors of the automatic anti-deflection lifting device are opposite to the left side, the fork arm is correspondingly arranged on the right side of the lifted object; and then, respectively measuring the distance between the right side surface of the lifted object and the lifting slide seat through two first sensors, feeding back the measured distance value to the control unit, and taking the control unit as a standby treatment.
2) The control unit sends an action instruction to the driving part, so that the driving part arranged at the rear side drives the first sensor matched with the driving part to rotate around the clockwise direction in the horizontal plane, and simultaneously, the driving part arranged at the front side drives the first sensor matched with the driving part to rotate around the anticlockwise direction in the horizontal plane;
During rotation, the two first sensors each regularly feed back the respective measured distance values to the control unit.
3) The control unit analyzes and processes the last fed back interval value and the last fed back interval value of the first sensor to determine whether the corresponding first sensor reaches/meets the condition of stopping the continuous rotation (around the original rotation direction).
4) After the control unit determines that a certain first sensor meets/meets the condition of stopping the rotation (around the original rotation direction), the corresponding interval value measured by the first sensor at the last time and the rotation angle value measured by the second sensor matched with the interval value at the time are extracted.
5) After the two first sensors stop rotating, the control unit processes the distance value obtained in the step 1), the distance value obtained in the step 4) and the rotation angle value obtained in the step 4) of the second sensor which is matched in a correlated mode and fed back by the two first sensors respectively, determines the relative position relation between the fork arm and the lifted object in the front-rear direction according to the analysis result, and calculates the moving direction and the moving stroke amount of the translation sliding seat relative to the lifting sliding seat.
6) After the calculation is finished, the control unit sends an action instruction to the driving unit, so that the driving unit drives the translation sliding seat to move along the front-back direction.
7) The control unit sends action instructions to the two driving parts, so that the driving parts respectively drive the sensing probes of the two first sensors to restore to the positions opposite to the left side.
8) After the lifting operation of the lifted object is completed, an action instruction is sent to the driving unit through the control unit, so that the driving unit drives the translation sliding seat to move along the front-back direction, and the fork arm is carried to return to the initial position.
Optionally, in step 3), the control unit compares the difference between the last fed back distance value of the first sensor and the last fed back distance value with a preset critical threshold.
If the difference value between the last feedback interval value and the last feedback interval value is smaller than a critical threshold value, judging that the corresponding first sensor still needs to continue to execute the rotation action;
If the difference between the last fed back interval value and the last fed back interval value is greater than or equal to the critical threshold value, the corresponding first sensor is judged to be in accordance with the condition of stopping the continuous (around the original rotation direction) rotation action.
When the motor in the driving part is a stepping motor; the corresponding steps are described below.
In step 2), the control unit sends an action command to the driving part, so that the driving part arranged at the rear side drives the first sensor matched with the driving part to rotate in the clockwise direction on the horizontal plane, and simultaneously, the driving part arranged at the front side drives the first sensor matched with the driving part to rotate in the anticlockwise direction on the horizontal plane;
the rotation movements of the two first sensors are stepping movements, and in the process of the rotation movements of the two first sensors, each stepping movement is carried out, and the two first sensors feed back the respective measured distance value to the control unit once.
In step 4), after the control unit determines that a certain first sensor meets the condition of stopping continuing (rotating around the original rotation direction) rotation, sending an action command to a driving part matched with the first sensor, so that the driving part drives the corresponding first sensor to rotate reversely and move for one step action (namely, the position in the original rotation direction where measurement is performed for the last time) and then extracting the interval value measured by the corresponding first sensor at the moment and the rotation angle value measured by a second sensor matched with the corresponding first sensor at the moment;
the beneficial effects of the invention are as follows: the automatic anti-deflection lifting device can detect the distance between the initial position of the fork arm and the edges of the two sides of the cargo in the length direction, and can control the fork arm to move rapidly according to the detection result so as to realize the accurate correspondence between the fork arm and the central position on the cargo. Therefore, the fork arm and the goods centering position can be rapidly completed, the working efficiency is improved, the deviation amplitude of the fork arm and the goods centering position after the corresponding can be remarkably reduced, and falling situations of the goods in the working processes of loading, unloading, transferring and the like can be restrained.
Drawings
Fig. 1 is a schematic diagram of a front view structure of an embodiment of the present invention.
Fig. 2 is a schematic top view of an embodiment of the present invention.
Fig. 3 is a schematic top view cross-sectional structure of an embodiment of the present invention.
Fig. 4 is a schematic diagram showing the operation of the first sensor according to the embodiment of the present invention.
In the figure: 100 lifted objects; the arm comprises a fork arm 10, an arm plate 11 and an arm plate 12; 20 translation slide seat, 21 rack part, 22 gear and 23 servo motor; 30 lifting slide seat, 31 first convex rail, 32 second convex rail, 33 connecting block and 34 cover plate; a 40 vertical arm; a 50 hydraulic cylinder unit; a 60 sensor unit, a 61 sensor part, a 611 first sensor a, a 612 first sensor b, a 62 driving part, a 63 rotating shaft, a 64 second sensor a, a 65 second sensor b;70 screw transmission units, 71 screw levers and 72 sliding blocks; 80 control unit.
Detailed Description
The structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the disclosure of the present invention, and are not intended to limit the scope of the invention, which is defined by the claims, but rather by the terms of modification, variation of proportions, or adjustment of sizes, without affecting the efficacy or achievement of the present invention, should be understood as falling within the scope of the present invention. Also, the terms such as "upper", "lower", "front", "rear", "middle", and the like are used herein for descriptive purposes only and are not intended to limit the scope of the invention for which the invention may be practiced or for which the relative relationships may be altered or modified without materially altering the technical context.
An automatic anti-deflection lifting device as shown in fig. 1 to 4 comprises a fork arm 10, a translation slide 20, a lifting slide 30, a pair of vertical arms 40 and two sets of hydraulic cylinder units 50 fixed on a frame, two sensing units 60 and two screw transmission units 70 respectively arranged on the front side and the rear side of the lifting slide 30, and a control unit 80.
The two sets of screw driving units 70 are respectively fixedly arranged on the front side surface and the rear side surface of the lifting slide seat 30, and are respectively matched with the sensing units 60 on the same side.
The fork arm 10 comprises a pair of L-shaped arms arranged side by side in a front-to-back manner, and a connecting rod is arranged between the two L-shaped arms to connect the two L-shaped arms into a whole. As shown in fig. 1 to 3, the right side of the fork arm 10 is fixed on the translation sliding seat 20, and the first arm plate 11 and the second arm plate 12 on the fork arm 10 extend to the left side and are oppositely arranged in a front-back interval.
The lifting slide seat 30 is matched with the two vertical arms 40 through a second convex rail 32 arranged along the vertical direction, and the lifting slide seat 30 is connected to the end part of a cylinder rod of the hydraulic cylinder unit 50, so that the hydraulic cylinder unit 50 can drive the lifting slide seat 30 to lift and move along the vertical direction relative to the vertical arms 40. The lifting slide 30 is provided with a connection block 33 connected to an end of a cylinder rod of the hydraulic cylinder unit 50.
The two vertical arms 40 and the two hydraulic cylinders in the two sets of hydraulic cylinder units 50 are arranged opposite each other in the front-rear direction. The second rails 32 are provided at the front and rear sides of the elevation carriage 30, respectively, to be matched with rail grooves formed at the two vertical arms 40.
The upper end surface of the lifting slide 30 is provided with a groove extending in the front-rear direction, and the left side of the groove is in an open structure. A driving unit corresponding to the translation slide 20 is provided at a center position on the right side of the elevation slide 30 in the front-rear direction.
A first cam 31, which is matched with the translation carriage 20, is provided on the wall of the profile groove. Under the action of the driving unit, the translation sliding seat 20 can be driven to move along the front-back direction relative to the lifting sliding seat 30. Thus, by driving the translation carriage 20 to move in the front-rear direction with respect to the elevation carriage 30, it is possible to achieve adjustment control of the positions of the two armplates of the yoke 10 in the front-rear direction. After the position of the fork arm 10 is adjusted, the hydraulic cylinder unit 50 drives the lifting sliding seat 30 to move in the vertical direction, so that the adjustment and control of the height position of the fork arm 10 can be realized.
A cover plate 34 is provided on the upper portion of the mold tank to cover the upper port of the mold tank. A relief notch is formed in the cover 34 to prevent the cover 34 from obstructing movement of the translating carriage 20 relative to the lifting carriage 30.
Specifically, the driving unit includes a rack portion 21 fixed to the translation carriage 20, a gear transmission assembly mounted to the lifting carriage 30, and a servo motor 23 fitted to an input end of the gear transmission assembly. The gear 22 at the output end of the gear transmission assembly is meshed with the rack part 21, so that the servo motor 23 can drive the translation sliding seat 20 to translate and slide along the front-back direction relative to the lifting sliding seat 30. The servo motor 23 on the driving unit is connected with the control unit 80, so that the servo motor 23 can receive the action command of the control unit 80 and control the translation sliding seat 20 to move forwards or backwards by a certain distance according to the action command.
The sensing units 60 each include a base, and a driving part 62 and a sensing part 61 provided on the base. The sensor section 61 includes a first sensor and a second sensor, and both the first sensors (i.e., a first sensor a611 and a second sensor a64 to be mentioned below) are distance sensors, and both the second sensors (i.e., a first sensor b612 and a second sensor b65 to be mentioned below) are angle sensors.
As shown in fig. 4, the sensor portion 61 provided on the rear side surface of the lifting slider 30 includes a first sensor a611 and a second sensor a64; the sensor portion 61 provided on the front side of the lifting slider 30 includes a first sensor b612 and a second sensor b65. The base station is matched with the lifting slide 30. The rotating shafts 63 on the two driving parts 62 are respectively matched with the first sensor a611 and the first sensor b612, so that the driving parts 62 can drive the first sensor a611 and the first sensor b612 to rotate around the vertical axis in the horizontal plane around the clockwise direction or around the anticlockwise direction respectively. The second sensor a64 and the second sensor b65 are respectively matched with the rotating shafts 63 on the two driving parts 62, and by means of the second sensor a64 and the second sensor b65, the rotation angles of the two rotating shafts 63 (accumulated around the clockwise direction or around the anticlockwise direction) can be respectively detected and obtained, namely, the rotation angles theta 1 and theta 2 of fig. 4.
The screw driving unit 70 includes a screw rod 71 having an axis in a vertical direction and fixed to the elevating slide 30, a slider 72 coupled to the screw rod 71, and a motor coupled to one end of the screw rod 71. The bases of the two sensor units 60 are respectively correspondingly matched with the sliders 72 in the two screw drive units 70, so that the two sliders 72 can synchronously move in the vertical direction with the two sensor units 60.
The screw transmission units 70 are connected with the control unit 80, and can drive the sliding block 72 to synchronously move upwards or downwards carrying the two sensing units 60 according to the action instructions of the control unit 80 so as to adjust the height positions of the two sensing units 60.
As shown in fig. 4, in the initial state, the sensor probe of the first sensor a611 and the sensor probe of the first sensor b612 provided on the rear side and the front side of the lifting slide 30 are directed to the left side. After the lifting device moves to the right side of the lifted object 100, the center line O-O of the fork arm 10 and the center line O1-O1 of the lifted object 100 are basically corresponding in overall vision (only the fork arm 10 is shown in the figure), the sensor probes on the first sensor a611 and the first sensor b612 can respectively measure the left-right spacing of the right side surface of the lifted object 100 from the lifting slide 30, namely r1 and r2 in the figure, and the spacing values of r1 and r2 are fed back to the control unit 80, and the compensation amount delta in the figure can be considered in the analysis and calculation process of the control unit 80 to be respectively added into r1 and r2, and the compensation amount delta can be ignored. Next, the control unit 80 transmits an operation command to the two driving units 62, and causes the driving unit 62 provided on the rear side to rotate the first sensor a611 in the clockwise direction, and causes the driving unit 62 provided on the front side to rotate the first sensor b612 in the counterclockwise direction.
The motor in the driving part 62 is a stepping motor, so that the operation of the two first sensors when rotating is a stepping operation. After the distance between the front edge of the lifted object 100 and the front side of the lifting slide 30 and the distance between the rear edge of the lifted object 100 and the rear side of the lifting slide 30 are respectively measured by the two first sensors, the second sensor a64 can detect the rotation angle of the first sensor a611 (accumulated along the direction of the pointer), namely, the magnitude of θ1; the second sensor b65 can detect the magnitude of the angle by which the first sensor b612 (accumulated around the counterclockwise direction) rotates, that is, the magnitude of θ2. Similarly, in the analysis and calculation process of the control unit 80, the compensation amount Δ illustrated may be added to R1 and R2, respectively, or may be ignored.
In combination with the distance values R1, R2 and R1, R2 measured by the first sensor and the angle values θ1 and θ2 measured by the second sensor, the control unit 80 can analyze and calculate the distance between the front edge and the rear edge of the yoke 10 and the front side and the rear side of the lifted object 100 in the front-rear direction according to the pythagorean theorem, that is, can generally calculate the magnitudes of L1 and L2, further calculate the deviation between the center line O-O of the yoke 10 and the center line O1-O1 of the lifted object 100, and finally send an action command to the servo motor 23 to drive the translation slide 20 to move forwards or backwards by a certain stroke amount relative to the lifting slide 30, so that the center line O-O and the center line O1-O1 reach a substantially coincident position state.
An automatic anti-bias lifting method based on the above-mentioned automatic anti-bias lifting device and the motor in the driving part 62 is selected as a stepping motor, and includes the following steps.
1) The fork arm 10 is correspondingly arranged on the right side of the lifted object 100 on the premise that the sensing probes of the two first sensors (namely, the first sensor a611 and the first sensor b612 shown in fig. 4) of the lifting device are opposite to the left side; then, the distance between the right side surface of the lifted object 100 and the lifting slide 30 (i.e. r1 and r2 shown in fig. 4) is measured by two first sensors, and the measured distance values (r 1 and r 2) are fed back to the control unit 80, and the control unit 80 is used for the standby processing.
2) The control unit 80 transmits an operation instruction to the driving part 62, causes the driving part 62 disposed at the rear side to drive the first sensor a611 to rotate in the clockwise direction in the horizontal plane, and simultaneously causes the driving part 62 disposed at the front side to drive the first sensor b612 to rotate in the counterclockwise direction in the horizontal plane;
The rotation of the first sensor a611 and the rotation of the first sensor b612 are stepping, and each time the first sensor a611 and the first sensor b612 perform a stepping operation during the rotation of the first sensor a611 and the rotation of the first sensor b612, the first sensor a611 and the first sensor b612 respectively feed back the respective measured pitch values to the control unit 80.
3) The control unit 80 analyzes the last fed back distance value and the last fed back distance value of each first sensor to determine whether the corresponding first sensor has reached the condition of stopping the rotation action around the original direction.
4) After determining that a certain first sensor meets the condition of stopping the rotation around the original direction, the control unit 80 sends an action command to the driving part 62 matched with the first sensor, so that the driving part 62 drives the first sensor to rotate reversely and perform a stepping action, and extracts the interval value (i.e. R1 and R2 shown in fig. 4) measured by the corresponding first sensor at that time and the rotation angle value (i.e. θ1 and θ2 shown in fig. 4) measured by the second sensor matched with the corresponding first sensor at that time.
5) After the rotation of the two first sensors is stopped, the control unit 80 analyzes and processes the distance value obtained in step 1) and the distance value obtained in step 4) fed back by the two first sensors and the rotation angle value obtained in step 4) by the associated and matched second sensor, and determines the relative positional relationship between the fork arm 10 and the lifted object 100 in the front-rear direction through calculation and analysis, so as to calculate the moving direction and the travel amount of the translation slide 20 relative to the lifting slide 30.
6) After the calculation is completed, the control unit 80 sends an action command to the driving unit, so that the driving unit drives the translation sliding seat 20 to complete movement along the front-back direction.
7) The control unit 80 transmits an operation command to the two driving units 62, and causes the driving units 62 to drive the sensor probes of the two first sensors to resume positions (initial positions) facing the left side, respectively.
8) After the lifting operation of the lifted object 100 is completed, an action command is sent to the driving unit through the control unit 80, so that the driving unit drives the translation sliding seat 20 to move along the front-back direction, and the carrying fork arm 10 returns to the initial position.
In step 3), the control unit 80 compares the difference between the last fed back distance value and the last fed back distance value of the first sensor with a preset critical threshold;
If the difference value between the last feedback interval value and the last feedback interval value is smaller than a critical threshold value, judging that the corresponding first sensor still needs to continue to execute the rotation action;
If the difference between the last feedback interval value and the last feedback interval value is greater than or equal to a critical threshold value, the corresponding first sensor is judged to be in accordance with the condition of stopping the rotation action around the original direction.
In the above step 5), after the first sensor a611 completely stops rotating, that is, after the first sensor a611 rotates by a certain angle in the clockwise direction and rotates by one step in the counterclockwise direction, the control unit 80 invokes the pitch value R1 obtained in step 1) of the first sensor a611, the pitch value R1 obtained in step 4), and the rotation angle value θ1 obtained in step 4) of the second sensor a64, and processes R1, θ1, and the like to calculate and obtain L1.
In the above step 5), after the first sensor b612 completely stops rotating, that is, after the first sensor b612 rotates by a certain angle in the counterclockwise direction and rotates by one step stroke in the clockwise direction, the control unit 80 invokes the pitch value R2 obtained in step 1) of the first sensor b612, the pitch value R2 obtained in step 4), and the rotation angle value θ2 obtained in step 4) of the second sensor b65, and processes R2, θ2, and the like to calculate and obtain L2.
Finally, the relative positional relationship between the fork arm 10 and the lifted object 100 in the front-rear direction is determined by calculating the obtained L1 and L2, that is, the relative offset direction and magnitude between the center line O-O of the fork arm 10 and the center line O1-O1 of the lifted object 100 can be analyzed and determined, and the movement of the translation carriage 20 in the front-rear direction can be instructed.
In the above method, the two stepping motors on the two driving units 62 control the first sensor a611 and the first sensor b612 to rotate clockwise or counterclockwise from their initial positions. During the rotation of the two first sensors, the control unit 80 compares the pitch values measured and fed back by each of the two first sensors in the two steps adjacent to each other, and determines whether the first sensor a611 has completed measurement of the rear edge of the lifted object 100 and the first sensor b612 has completed measurement of the front edge of the lifted object 100 by evaluating whether the progressive variation of the two pitch values is smaller than or greater than or equal to the set critical threshold.
Through comparison, if the difference between the distance values measured by the first sensor in the front and rear stepping actions is smaller than a critical threshold value, the corresponding first sensor is enabled to continuously rotate around the original direction, and the measured distance value is fed back to the control unit 80; if the difference between the pitch values measured by the first sensors in the front and rear stepping actions is not smaller than the critical threshold, the corresponding first sensor is stopped from rotating clockwise or from rotating counterclockwise, and the control unit 80 sends an action command to the driving part 62 to rotate the corresponding first sensor in the opposite direction (i.e., in the counterclockwise direction if it was rotated clockwise, or in the clockwise direction if it was rotated counterclockwise) for one stepping stroke, and then stops the rotating action. The resulting spacing values are then the spacing values of the front and rear edges of the lifted object 100, i.e., R1 and R2 shown in FIG. 4.
After the two first sensors complete one stepping stroke and stop rotating, the control unit 80 can process the obtained measurement data to calculate and analyze the relative position relationship between the fork arm 10 and the lifted object 100, and guide the moving direction and the moving stroke amount of the translation sliding seat 20 relative to the lifting sliding seat 30.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. The present invention is capable of modifications in the foregoing embodiments, as obvious to those skilled in the art, without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (10)

1. An automatic deviation-preventing lifting device comprises a fork arm (10), a lifting slide seat (30), a pair of vertical arms (40) fixed on a frame and two groups of hydraulic cylinder units (50); the right side of the fork arm (10) is correspondingly matched with the lifting sliding seat (30), and the first arm plate (11) and the second arm plate (12) on the fork arm (10) extend leftwards and are alternately corresponding to each other front and back; the lifting slide seat (30) is matched with the two vertical arms (40) through a slide rail structure arranged along the vertical direction, and the lifting slide seat (30) can be driven to move along the vertical direction relative to the vertical arms (40) after being matched with the hydraulic cylinder unit (50); the method is characterized in that: the device also comprises a translation sliding seat (20), two sensing units (60) respectively arranged on the front side surface and the rear side surface of the lifting sliding seat (30), and a control unit (80); the right side of the fork arm (10) is fixed on the translation sliding seat (20);
the upper end surface of the lifting sliding seat (30) is provided with a groove extending in the front-rear direction, and the left side of the groove is an open end;
A driving unit which is correspondingly matched with the translation sliding seat (20) is arranged on the lifting sliding seat (30); a convex rail matched with the translation sliding seat (20) is arranged on the wall surface of the groove, and the translation sliding seat (20) can move along the front-back direction relative to the lifting sliding seat (30) under the driving of the driving unit;
The sensing unit (60) comprises a base, a driving part (62) arranged on the base, a first sensor and a second sensor; the first sensor is a distance sensor, and the second sensor is an angle sensor; the base station is connected with the lifting sliding seat (30) in a matching way; a rotating shaft (63) on the driving part (62) is matched with the first sensor, so that the first sensor can rotate around a vertical axis in a horizontal plane; the second sensor is matched with a rotating shaft (63) on the driving part (62) and can detect the rotating angle of the rotating shaft (63);
The hydraulic cylinder unit (50), the driving unit and the sensing unit (60) are all connected with the control unit (80).
2. The automatic anti-bias lifting device according to claim 1, wherein: the driving unit comprises a rack part (21) fixed on the translation sliding seat (20), a gear transmission assembly arranged on the lifting sliding seat (30) and a servo motor (23) matched with the input end of the gear transmission assembly; the output end of the gear transmission assembly is meshed with the rack part (21); the servo motor (23) is connected with the control unit (80) so that the servo motor (23) can drive the translation sliding seat (20) to move according to the instruction of the control unit (80).
3. The automatic anti-bias lifting device according to claim 1or 2, wherein: the device also comprises two groups of screw rod transmission units (70) which are respectively fixedly arranged on the front side surface and the rear side surface of the lifting slide seat (30);
The screw transmission unit (70) comprises a screw rod (71) with an axis along the vertical direction and fixed on the lifting slide seat (30), a sliding block (72) matched on the screw rod (71) and a motor matched with one end of the screw rod (71);
The bases of the two sensing units (60) are respectively matched with the two sliding blocks (72) correspondingly, so that the two sliding blocks (72) can synchronously move along the vertical direction with the two sensing units (60); the two groups of screw rod transmission units (70) are connected with the control unit (80) and can drive the sliding block (72) to move according to the instruction of the control unit (80).
4. The automatic anti-bias lifting device according to claim 1, wherein: the convex rails which are arranged on the profile groove and matched with the translation sliding seat (20) are dovetail guide rails, and the two convex rails are arranged on the profile groove in a left-right alternate manner.
5. The automatic anti-bias lifting device according to claim 1, wherein: the motor on the driving part (62) for driving the rotating shaft (63) to rotate is a stepping motor.
6. An automatic anti-bias lifting method is characterized in that: based on the automatic deviation prevention lifting device according to claim 1 or 2, comprising the following steps:
1) On the premise that sensing probes of two first sensors of the automatic anti-deflection lifting device are opposite to the left side, the fork arm (10) is correspondingly arranged on the right side of the lifted object (100); the distance between the right side surface of the lifted object (100) and the lifting sliding seat (30) is measured through two first sensors, and then the measured distance value is fed back to the control unit (80);
2) The control unit (80) sends an action instruction to the driving part (62), so that the driving part (62) arranged at the rear side drives the first sensor matched with the driving part to rotate around the clockwise direction in the horizontal plane; and simultaneously causing a driving part (62) arranged on the front side to drive the first sensor matched with the driving part to rotate around the anticlockwise direction on the horizontal plane;
during rotation, the two first sensors regularly feed back the respective measured distance values to the control unit (80);
3) The control unit (80) analyzes and processes the last feedback interval value of the first sensor and the last feedback interval value to judge whether the corresponding first sensor reaches the condition of stopping the rotation action around the original direction;
4) After the control unit (80) judges that a certain first sensor reaches the condition of stopping the rotation action continuously around the original direction, the corresponding interval value measured by the first sensor at the last time and the rotation angle value measured by the second sensor which is correlatively matched with the interval value are extracted;
5) After the two first sensors stop rotating, the control unit (80) processes the distance value obtained in the step 1), the distance value obtained in the step 4) and the rotation angle value obtained in the step 4) of the second sensor which is matched in a correlated mode and fed back by the two first sensors respectively, judges the relative position relation between the fork arm (10) and the lifted object (100) in the front-back direction and calculates the moving direction and the stroke amount of the translation sliding seat (20) relative to the lifting sliding seat (30);
6) After the calculation is completed, the control unit (80) sends an action command to the driving unit, so that the driving unit drives the translation sliding seat (20) to move along the front-back direction.
7. The automatic anti-bias lifting method according to claim 6, wherein: in step 3), the control unit (80) compares the difference between the last fed back distance value of the first sensor and the last fed back distance value with a preset critical threshold value;
If the difference value between the last feedback interval value and the last feedback interval value is smaller than a critical threshold value, judging that the corresponding first sensor still needs to continue to execute the rotation action;
If the difference between the last feedback interval value and the last feedback interval value is greater than or equal to a critical threshold value, determining that the corresponding first sensor meets the condition of stopping the rotation action.
8. The automatic anti-bias lifting method according to claim 6, wherein: the motor on the driving part (62) for driving the rotating shaft (63) to rotate is a stepping motor;
In step 2), the rotation movements of the two first sensors are stepping movements, and each time one stepping movement is performed during the rotation of the two first sensors, the two first sensors feed back the respective measured distance value to the control unit (80) respectively.
9. The automatic anti-bias lifting method according to claim 8, wherein: in step 3), the control unit (80) compares the difference between the last fed back distance value of the first sensor and the last fed back distance value with a preset critical threshold value;
If the difference value between the last feedback interval value and the last feedback interval value is smaller than a critical threshold value, judging that the corresponding first sensor still needs to continue to execute the rotation action;
If the difference between the last feedback interval value and the last feedback interval value is greater than or equal to a critical threshold value, determining that the corresponding first sensor meets the condition of stopping the rotation action.
10. The automatic anti-bias lifting method according to claim 8 or 9, wherein: in step 4), after the control unit (80) determines that a certain first sensor meets the condition of stopping the rotation operation continuously around the original direction, an operation command is sent to the driving part (62) matched with the first sensor, so that the driving part (62) drives the corresponding first sensor to rotate reversely and move for one step operation, and then the interval value measured by the corresponding first sensor at the moment and the rotation angle value measured by the second sensor matched with the corresponding first sensor at the moment are extracted.
CN202410951230.XA 2024-07-16 2024-07-16 Automatic deviation-preventing lifting device and method Active CN118479403B (en)

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