Universal type blade transfer device with variable jacking stroke and control method

Abstract

The invention relates to a universal variable-jacking-stroke blade transfer device and a control method, the universal variable-jacking-stroke blade transfer device comprises a whole vehicle assembly, and the whole vehicle assembly comprises an EVA foam limiting part, a guide column integrated part, a jacking upper platform, a cylinder body, a wheel integrated part, an anti-toppling mechanism, a main frame, a hydraulic station, a UPS integrated part, an electrical control box and a displacement sensing part; by optimizing a blade shape following scheme, optimizing a frame structure and optimizing a transfer wheel structure, remote control turning of the blade is realized by utilizing hydraulic and electrical logic control, and a control method for high-precision synchronous action (lifting) of a plurality of hydraulic cylinders under the load condition of non-uniform mass distribution is realized, so that the problems of adjustable blade tip height, high stability and high stability of the blade tip are solved. And a plurality of problems such as blade damage caused by steering in the blade transfer process are further solved, and a powerful guarantee is provided for large-scale, efficient and safe transfer of the wind power blades.

Description

Technical Field

[0001] The invention relates to the field of blade transfer devices, and in particular to a universal blade transfer device with variable lifting stroke and a control method. Background Art

[0002] The existing wind turbine blade transportation method is to continue the 37.5-59.5 blade transportation method, and the blade weight is about 7 tons; the blade root frame frame (including 4 wheels) + the blade tip frame frame (including 4 wheels) are used as blade support, and the forklift pushes the blade root frame at the blade root to provide power. The blade tip transfer wheel direction (commonly known as steering) is adjusted by the lever principle (a square tube is welded on the side plate of the universal wheel bracket, and the personnel insert the round bar into the square tube and manually turn the wheel to turn) to adjust the blade transportation direction. One person observes safety, and the number of transfer personnel is 3-4 people / time (when one person cannot turn the transfer wheel, 2 people are required); with the development trend of large-scale blades, 110-meter-class, 30 tons or even heavier blades have become As a mainstream product, problems such as transportation within the factory and entering and leaving the workshop are becoming increasingly prominent; the specific problems are as follows: 1. For traditional blade turning, 1-2 people are required to use levers to change the direction of the wheels of the blade tip transfer vehicle (1-2 of the four) to change the direction of blade transfer. The current problem is that the small wheels do not meet the load-bearing requirements and are easily damaged; for large wheels, personnel cannot turn them with levers, so the direction of blade transportation cannot be changed; at the same time, during blade transportation, the wheels will passively rotate when passing through potholes or protruding areas, and the levers are very likely to sprain or injure the transfer personnel, posing a major safety hazard to personnel; 2. The square tube materials used in the frame are getting larger and larger, and the frame is getting larger and heavier. The transportation cost is getting higher and higher; at the same time, the blade tip adopts a steel section support, which is easy to cause damage to the blade during the blade turning process (there is a relative displacement between the blade and the section, which injures the blade). 3. The difference in pre-bending of different blade shapes leads to a large height difference of the blade tip, which leads to the height of the workshop door not meeting the blade transportation requirements, and the blade trimming equipment cannot be used normally. For example, for the 108 blade type, the tip fulcrum is 2300mm high and the tip height is 6900mm. For the 99 blade type, the tip fulcrum is 2800mm high and the tip height is only 2200mm. These two blade types make it impossible to use blade transport vehicles, blade trimming equipment, and climbing brackets, resulting in a serious waste of resource allocation; a blade tip height of 6900mm may not even fit into the existing workshop door; and at the same time, a higher blade tip poses a greater safety risk to personnel (risk of climbing or falling from height).

[0003] In summary, the existing transfer methods require a large number of workers, have great safety risks, are difficult to operate, have low efficiency and high costs.

[0004] Based on the above problems, it is particularly important to design and develop a blade model that can be universal, the blade tip transfer height can be adjusted, remote control automatic steering can be realized, the frame structure and the type-adapted solution can be optimized to reduce the blade transportation cost, etc. for blade production and transportation. In particular, it fundamentally solves the high safety hazards to personnel and high blade transportation costs of traditional transportation, providing a strong guarantee for the large-scale, efficient and safe transportation of wind turbine blades.

[0005] Therefore, developing a universal blade transfer device with adjustable lifting stroke is of great significance for improving the transfer efficiency and safety of blades. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art, adapt to the actual needs, and provide a universal blade transfer device with variable lifting stroke and a control method to solve the current problems of 1. Traditional blade turning requires 1-2 people to use levers to change the wheel direction of the blade tip transfer vehicle (1-2 of the four) to change the blade transfer direction. The current problem is that the small wheels do not meet the load-bearing requirements and are easily damaged; the large wheels cannot be turned by the lever, so the blade transportation direction cannot be changed; at the same time, during the blade transportation, the wheels will rotate passively when passing through potholes or protruding areas, and the levers are very likely to sprain or injure the transfer personnel, posing a major safety hazard to personnel; 2. The square tube material used in the frame is getting bigger and bigger, and the frame is getting bigger and heavier. The transportation cost is getting higher and higher; at the same time, the blade tip adopts a steel cross-section support, which is easy to cause damage to the blade during the blade turning process (the blade and the cross-section have relative displacement to injure the blade). 3. The difference in pre-bending design of different blade shapes leads to a large height difference of the blade tip, which leads to the height of the workshop door not meeting the blade transportation requirements, and the blade trimming equipment cannot be used normally. For example, for the 108 blade type, the tip pivot point is 2300mm high and the tip height is 6900mm. For the 99 blade type, the tip pivot point is 2800mm high and the tip height is only 2200mm. These two blade types make it impossible to use blade transport vehicles, blade trimming equipment, and climbing brackets, resulting in a serious waste of resource allocation; a blade tip height of 6900mm may not even be able to enter the existing workshop door; at the same time, the higher the tip, the greater the safety risk of personnel operation (climbing, high altitude falling risk).

[0007] In order to achieve the purpose of the present invention, the technical solution adopted by the present invention is: design a universal blade transfer device with variable lifting stroke, including a vehicle assembly, the vehicle assembly includes EVA foam limiter, guide column integrated components, lifting upper platform, cylinder body, wheel integrated components, anti-dumping mechanism, main frame, hydraulic station, UPS integrated components, electrical control box, displacement sensor;

[0008] A plurality of guide column integrated components are installed on the top of the main frame, a lifting upper platform is installed on the top of the guide column integrated components, EVA foam limiters are installed on the four sides of the top of the lifting upper platform, a plurality of cylinders are installed on the top of the main frame, and a plurality of wheel integrated components are arranged outside the main frame.

[0009] Preferably, an anti-dumping mechanism is installed at the bottom of the main frame, a hydraulic station is installed at the middle of the top of the main frame, and a plurality of displacement sensors are arranged on the top of the main frame. The plurality of displacement sensors are respectively installed on the surfaces of a plurality of cylinder bodies to monitor the lifting stroke of each cylinder body.

[0010] Preferably, a UPS integrated component is installed on one side of the hydraulic station, an electrical control box is installed on one side of the UPS integrated component, and both the UPS integrated component and the electrical control box are installed on the top of the main frame.

[0011] Preferably, the cylinder body is a hydraulic cylinder or an electric cylinder.

[0012] Preferably, the displacement sensor is a resistance scale, a grating scale, or a magnetic scale.

[0013] Preferably, the wheel integrated component includes a power source component + a reducer integrated component, a power tooth, an external gear slewing support, a universal wheel bracket side plate, a wheel axle, and a rubber wheel + a wheel hub integrated component.

[0014] Preferably, the side plate of the universal wheel bracket is at an angle of 25° with the vertical direction and adopts an eccentric design. A rubber wheel + hub integration is arranged inside the side plate of the universal wheel bracket, and a wheel axle is installed inside the rubber wheel + hub integration.

[0015] Preferably, an external gear rotary support is installed at one end of the top of the universal wheel bracket side plate, a power tooth is installed at the other end of the universal wheel bracket side plate, and a power source component + reducer integrated component is installed on the top of the power tooth.

[0016] Preferably, the power source component + reducer integrated component is a hydraulic motor + reducer integrated component or a motor + reducer integrated component.

[0017] Preferably, a universal variable lift stroke blade control method adopts the universal variable lift stroke blade transfer device as described above, and the initial steps of the universal variable lift stroke blade control method are as follows:

[0018] S1. First reset: Set the lower limit position to 0, and the upper limit position is the total stroke height, which is generally the maximum height of the hydraulic cylinder minus 10mm. For example, if the hydraulic cylinder top lifting height is 500mm, the upper limit is set to 490mm. Lower the cylinder body (104) to the lowest position, and long press the zero position calibration to reset;

[0019] S2. Set parameters: set the rising stop deviation, rising start deviation, descending stop deviation, descending start deviation, upper limit position and lower limit position;

[0020] S3. Manual lifting and lowering: Press the lifting and lowering buttons on the remote control.

[0021] Preferably, when the up button on the remote control is pressed, the steps are as follows:

[0022] S1, up button: When the up button is pressed, the PLC receives data and determines that when the height is less than the set upper limit height, it will issue a start command to the hydraulic pump;

[0023] S2. Determine the height difference between one scanning cycle and the next scanning cycle: According to the real-time calculated rising height difference, the PLC determines the height difference. When the height difference is ≥ the rising stop height difference, the hydraulic cylinder stops rising, otherwise it continues to rise;

[0024] S3. The hydraulic cylinder continues to rise: When the height difference is ≤ the rising start deviation, the hydraulic cylinder continues to rise. This process continues until the six hydraulic cylinders rise to the given height.

[0025] Preferably, when the down button on the remote control is pressed, the steps are as follows:

[0026] S1, down button: when the down button is pressed, the PLC receives the data and determines that when the height is greater than the set lower limit height, it issues a start command to the hydraulic pump;

[0027] S2. Determine the height difference between one scanning cycle and the next scanning cycle: According to the real-time calculated drop height, the PLC determines the drop height. When the drop height is greater than or equal to the drop stop height difference, the hydraulic cylinder stops descending, otherwise it continues to descend.

[0028] S3. The hydraulic cylinder continues to descend: When the drop is ≤ the descent start deviation, the hydraulic cylinder continues to descend. This process continues until the six hydraulic cylinders descend to a given height.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The device and control method of the present invention are universal for blade models, adjustable blade tip transport height, can realize remote control automatic steering, optimize the frame structure and tailor-made solutions to reduce the cost of blade transportation, etc., which is particularly important for blade production and transportation. In particular, it fundamentally solves the high safety hazards to personnel and high blade transportation costs of traditional transportation, and provides a strong guarantee for the large-scale, efficient and safe transportation of wind turbine blades. The specific beneficial effects are as follows:

[0031] 1. The height of this device can be raised or lowered to ensure that the tip height of the large-blade blade meets the height of the old factory door. At the same time, it can be matched with the climbing platform, lifting vehicle, trimming equipment, etc. in the factory area, avoiding the investment in customized transfer vehicles according to the blade shape, and avoiding the transformation of infrastructure and supporting equipment, eliminating the investment in production lines. For traditional solutions, the investment in production lines is at least 3 million yuan per model.

[0032] 2. This device uses an I-beam structure welded with steel plates as the main load-bearing structure, which can greatly reduce the weight of the vehicle compared to square tubes; reduce processing costs and material costs by at least 30%;

[0033] 3. This device uses EVA foam to completely avoid damage to the blades during transportation;

[0034] 4. The blade tip of this device can be remotely steered, and larger load-bearing wheels can be replaced. The wheels have a large safety margin and are not easily damaged. During the blade transportation process, the operator can stay away from the transportation bracket, and the blade tip bracket can be steered by remote control. Only two people are needed to transport one blade, which is 1-2 people simpler than the traditional one (100,000-200,000 yuan / year. production line), fundamentally eliminating the safety hazards of operators;

[0035] 5. Through PLC logic control, the six hydraulic cylinders can be precisely and synchronously lifted and lowered, realizing a control method for high-precision synchronous action (lifting and lowering) of multiple hydraulic cylinders under load conditions with uneven mass distribution. The operation is simple, convenient, stable and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the whole vehicle structure of the present invention;

[0037] Figure 2 It is a schematic diagram of the internal structure of the whole vehicle of the present invention;

[0038] Figure 3 It is a schematic diagram of the structure of the wheel integrated component of the present invention;

[0039] Figure 4 It is a schematic diagram of the hydraulic system of the present invention;

[0040] Figure 5 It is a schematic diagram of the first control flow of PLC of the present invention;

[0041] Figure 6 It is a schematic diagram of the second control flow of PLC of the present invention.

[0042] In the figure: 101, EVA foam limiter; 102, guide column integrated component; 103, jacking platform; 104, cylinder body; 106, wheel integrated component; 107, anti-dumping mechanism; 108, main frame; 109, hydraulic station; 1010, UPS integrated component; 1011, electrical control box; 1012, displacement sensor; 201, power source component + reducer integrated component; 202, power gear; 203, external gear slewing support; 204, universal wheel bracket side plate; 205, wheel axle; 206, rubber wheel + hub integrated component. DETAILED DESCRIPTION

[0043] The present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0044] Example 1: A universal blade transfer device with variable lifting stroke and control method, see Figures 1 to 6 , including a whole vehicle assembly, the whole vehicle assembly includes an EVA foam limiter 101, a guide column integrated component 102, a jacking upper platform 103, a cylinder body 104, a wheel integrated component 106, an anti-dumping mechanism 107, a main frame 108, a hydraulic station 109, a UPS integrated component 1010, an electrical control box 1011, and a displacement sensor 1012; a plurality of guide column integrated components 102 are installed on the top of the main frame 108, a jacking upper platform 103 is installed on the top of the guide column integrated component 102, EVA foam limiters 101 are installed on all four sides of the top of the jacking upper platform 103, a plurality of cylinder bodies 104 are installed on the top of the main frame 108, and a plurality of wheel integrated components 106 are arranged on the outside of the main frame 108.

[0045] For details, see Figure 1 and Figure 2 An anti-dumping mechanism 107 is installed at the bottom of the main frame 108, a hydraulic station 109 is installed in the middle of the top of the main frame 108, and a plurality of displacement sensors 1012 are arranged on the top of the main frame 108. The plurality of displacement sensors 1012 are respectively installed on the surfaces of the plurality of cylinder bodies 104 to monitor the lifting stroke of each cylinder body.

[0046] For more details, see Figure 2 A UPS integrated component 1010 is installed on one side of the hydraulic station 109 , and an electrical control box 1011 is installed on one side of the UPS integrated component 1010 . Both the UPS integrated component 1010 and the electrical control box 1011 are installed on the top of the main frame 108 .

[0047] For further information, see Figure 1 , cylinder body 104 is a hydraulic cylinder or an electric cylinder.

[0048] Further, see Figure 1 The displacement sensor 1012 is a resistance scale, a grating scale, or a magnetic scale.

[0049] It is worth noting that see Figure 3 The wheel integrated component 106 includes a power source component + reducer integrated component 201, a power tooth 202, an external gear rotary support 203, a universal wheel bracket side plate 204, a wheel axle 205, and a rubber wheel + hub integrated component 206.

[0050] It is worth noting that see Figure 3 The universal wheel bracket side plate 204 is at an angle of 25° with the vertical direction and adopts an eccentric design. A rubber wheel + wheel hub integrated component 206 is arranged inside the universal wheel bracket side plate 204, and a wheel axle 205 is installed inside the rubber wheel + wheel hub integrated component 206.

[0051] It is worth mentioning that see Figure 3 An external gear rotary support 203 is installed at one end of the top of the universal wheel bracket side plate 204, a power tooth 202 is installed at the other end of the universal wheel bracket side plate 204, and a power source component + reducer integrated component 201 is installed on the top of the power tooth 202.

[0052] It is worth mentioning that see Figure 3 The power source component + reducer integrated component 201 is a hydraulic motor + reducer integrated, a motor + reducer integrated.

[0053] 1. The vehicle body of the present invention can be raised and lowered and steered by remote control;

[0054] The traditional frame is a whole, and the improved frame is divided into upper and lower parts, which are connected by hydraulic cylinders and guide columns to form a 400mm height lift (adjustable according to demand); different blade types can adjust the blade tip transfer height according to production needs, so as to match gates, climbing brackets, trimming equipment, etc., and the present invention is equipped with four steering wheels, one of which is equipped with hydraulic power steering, which can realize remote control steering. The lever fork of personnel is eliminated to realize remote control automatic steering.

[0055] 2. The present invention adopts foam pressure-conforming to replace steel plate conforming;

[0056] Traditional blade transport vehicles use steel plates, which are cut into curved surfaces according to the blade cross-section to ensure that they follow the shape. During the blade transportation process, when the blade and the vehicle slide relative to each other, the plate will hurt the blade. The present invention uses EVA foam with a hardness of 60HR, a height of 400mm, and a length and width consistent with the frame. The frame is equipped with side guards to prevent the foam from shifting. When the blade is placed on the frame, the foam will follow the shape of the blade. This solution can ensure that multiple blades are universal, and if the frame and the blade slide relative to each other after turning, the blade will not be damaged, and it can ensure that the height of the blade is followed;

[0057] The low density of rigid foam reduces the overall weight of the blade transporter, making it easier to handle and operate, such as replacement. Good cushioning performance: Rigid foam has good shock absorption and noise reduction properties, which can protect the blades from impact and vibration during transportation. Forming flexibility: Rigid foam conformal process can produce parts with complex shapes to meet the transportation needs of different blade shapes. Cost-effectiveness: The production cost of rigid foam is relatively low, which is conducive to controlling manufacturing costs.

[0058] 3. The vehicle body structure style of the present invention is improved;

[0059] Traditional blade frames all use square tubes as the main load-bearing structure. As the blades become larger, the square tubes become larger and larger, the wall thickness also becomes thicker, the overall deadweight also becomes heavier, and the processing cost is expensive. The present invention uses all steel plates, and uses I-beams + rib plates to process the main frame 108. Three-dimensional software is used for verification and simulation. Together with the improvement point 2, the deadweight of the whole vehicle is reduced, thereby reducing the processing cost and the material cost of the whole vehicle;

[0060] This improvement has structural stability: I-beams have a distinct "I"-shaped cross-section. This structural design provides high bending and torsion resistance, allowing the transfer vehicle platform to remain stable when carrying heavy objects. Weight-to-strength ratio: I-beams are relatively light in weight but high in strength. Compared with traditional transfer vehicle steel pipes, welded I-beams can reduce the overall weight of the platform while maintaining structural strength, making it easier to carry and position. Construction convenience: The standardized size and connection method of I-beams make the construction process simpler and faster, and can be quickly assembled and disassembled.

[0061] 4. The lifting system of the present invention (guide column integrated component 102 and cylinder body 104);

[0062] The vehicle body described in 1 can be raised and lowered, and the lifting system includes a hydraulic cylinder + guide column. The improvement point of this article is to add a guide column, which is integrated with the anti-dumping mechanism 107. After the guide column is retracted, it goes into the anti-dumping column (the guide column runs through the vehicle body longitudinally and extends downward to a height of 200mm from the ground). The functions of the guide column are as follows: 1. It can make the upper and lower parts of the transfer vehicle move in parallel (when the upper and lower directions are defined as the Z direction), and play a positioning role in the X and Y directions; 2. During the transportation of the blades, the hydraulic cylinder can be free of force in the XY directions, and the hydraulic cylinder will not be damaged, ensuring that the hydraulic cylinder is only subjected to pressure in the Z direction.

[0063] 5. The transport wheel integration improvement of the present invention;

[0064] The power source component + reducer is used as the power source to increase the torque. The wheel rotation uses an external gear slewing support as the steering transmission. Compared with the traditional wheel rotation using a thrust bearing + plane bearing combination, it is more suitable for heavy-load transmission. It is the first time that the slewing support is used for the rotation of moving parts, which is simple and suitable for heavy-load transportation.

[0065] The side plate 204 of the universal wheel bracket adopts an eccentric design. The side plates 204 of traditional universal wheel brackets are all designed without angles and are generally perpendicular to the ground. Under heavy load, a large torque is required to rotate. After one wheel rotates, the frame applies external force, and the other three wheels cannot rotate, which becomes a transportation resistance; this universal wheel bracket side plate 204 adopts an eccentric design, and the bracket side plate is at an angle of 25° with the vertical direction. This design can achieve that after one of the four wheels turns, the frame increases external force, and the other three wheels will automatically rotate in the force direction of the frame and be aligned with the driving wheel, thereby achieving the steering of the frame by one wheel turning.

[0066] A universal variable lift stroke blade control method, using a universal variable lift stroke blade transfer device, see Figure 4 , 5 6. The initial steps of the universal variable lift stroke blade control method are as follows:

[0067] S1. First reset: Set the lower limit position to 0, and the upper limit position is the total stroke height, which is generally the maximum height of the hydraulic cylinder minus 10mm. For example, if the hydraulic cylinder top lifting height is 500mm, the upper limit is set to 490mm. Lower the cylinder body (104) to the lowest position, and long press the zero position calibration to reset;

[0068] S2. Set parameters: set the rising stop deviation, rising start deviation, descending stop deviation, descending start deviation, upper limit position and lower limit position;

[0069] S3. Manual lifting and lowering: Press the lifting and lowering buttons on the remote control.

[0070] When you press the up button on the remote control, the steps are as follows:

[0071] S1, up button: When the up button is pressed, the PLC receives data and determines that when the height is less than the set upper limit height, it will issue a start command to the hydraulic pump;

[0072] S2. Determine the height difference between one scanning cycle and the next scanning cycle: According to the real-time calculated rising height difference, the PLC determines the height difference. When the height difference is ≥ the rising stop height difference, the hydraulic cylinder stops rising, otherwise it continues to rise;

[0073] S3. The hydraulic cylinder continues to rise: When the height difference is ≤ the rising start deviation, the hydraulic cylinder continues to rise. This process continues until the six hydraulic cylinders rise to the given height.

[0074] When you press the DOWN button on the remote control, the steps are as follows:

[0075] S1, down button: when the down button is pressed, the PLC receives the data and determines that when the height is greater than the set lower limit height, it issues a start command to the hydraulic pump;

[0076] S2. Determine the height difference between one scanning cycle and the next scanning cycle: According to the real-time calculated drop height, the PLC determines the drop height. When the drop height is greater than or equal to the drop stop height difference, the hydraulic cylinder stops descending, otherwise it continues to descend.

[0077] S3. The hydraulic cylinder continues to descend: When the drop is ≤ the descent start deviation, the hydraulic cylinder continues to descend. This process continues until the six hydraulic cylinders descend to a given height.

[0078] The multi-hydraulic cylinder synchronous control principle of the present invention;

[0079] Through PLC logic control, a control method is used to realize high-precision synchronous action (lifting and lowering) of multiple hydraulic cylinders under load conditions with uneven mass distribution;

[0080] The design idea of ​​using PLC program to control the synchronous lifting of hydraulic cylinders is adopted. The height difference of six groups of hydraulic cylinders is monitored and fed back through displacement sensors (resistance scales). PLC calculates and makes logical judgments on the height difference. When the hydraulic cylinder rises, if the height difference is greater than or equal to the set rising stop height difference, the hydraulic cylinder will stop moving; when the height difference is less than or equal to the set rising start deviation, the hydraulic cylinder continues to rise, and vice versa. This principle is used to control the accuracy and rate of the synchronous lifting of six groups of hydraulic cylinders to ensure the high-precision synchronous lifting of the blades.

[0081] When using a universal blade transfer device with variable lifting stroke, it is used in conjunction with a blade root transfer vehicle. First, place the blade root bracket and this device according to the blade transfer fulcrum spacing, such as the blade, the blade root tip spacing is 54 meters; place the blade on the transfer vehicle; at the blade root, one operator operates the forklift to push the blade root transfer vehicle to provide power; one operator of the blade tip transfer vehicle operates the handheld remote control and observes the obstacles on both sides of the transportation path. During the blade transfer process, the blade tip operator operates the blade tip transfer vehicle to turn according to the blade transfer route, thereby turning the blade. If the blade wants to turn right when leaving the workshop, just press the right turn button on the remote control, and one wheel in the blade tip vehicle will rotate to the right (the hydraulic motor rotates, the torque is increased through the reducer, and the external gear slewing support is driven to rotate, thereby rotating a driving wheel). At this time, while maintaining the power of the forklift, the other three wheels will automatically turn along the driving wheel, thereby turning the blade tip vehicle and making the blade travel along the expected path. When passing through the workshop door or when personnel need to climb up to check the blades, the blade tip operator only needs to adjust the blade height by pressing the up and down buttons on the remote control, so as to ensure that the blades can be operated through the workshop door, the climbing bracket, the climbing vehicle, the trimming equipment, etc. In summary, the device is extremely simple to operate and the operator is very easy to use.

[0082] When using PLC logic control, a control method for high-precision synchronous movement (lifting and lowering) of multiple hydraulic cylinders under load conditions with uneven mass distribution;

[0083] Take the six hydraulic cylinder control + blade carrier of this device as an example;

[0084] When using for the first time: turn on the power, set the parameters through the touch screen of the electric control cabinet; set the lower limit to 0, and the upper limit to 400 according to the lifting height; start the oil pump, and then manually control the hydraulic cylinder through the screen, all fall to the lowest, and use the box ruler to re-measure whether all are at the lowest (re-measure the actual mechanical position); long press the zero position for calibration. Then use the remote control to raise the hydraulic cylinder more than 1 cm. Set the lower limit to 10mm and the upper limit to 380mm (at this time, 10 and 380 are soft limits, and 0 and 400 are mechanical limits).

[0085] Synchronous control logic: Each time the power is turned on, the first scan automatically detects the position of the six cylinders; start the oil pump, and press the up and down buttons on the remote control according to the needs; taking the up as an example, the program control principle is as follows: PLC automatically scans the program operation and data at the same interval. After the next scan cycle is completed, it is compared with the data of the previous scan cycle. When the height difference is greater than or equal to the up stop deviation value, such as 20mm, it is determined that there is a large deviation in the height, and the current hydraulic cylinder stops running and waits for the next scan cycle value comparison; when the height difference is less than or equal to the up start deviation value, such as 2mm, it is determined that there is no abnormality in the height, and the current hydraulic cylinder continues to execute the current operation instruction, such as up, and waits for the next scan cycle value comparison; Based on the above statements, the 6 hydraulic cylinders will automatically level, and the high one will stop and wait for the low one to synchronize the height. When the remote control releases the up or down command, each hydraulic cylinder will scan the current position again to level within the pump stop delay time. After no action, the hydraulic pump stops at the time. When the data collected by the hydraulic cylinder is abnormal, the whole machine stops and alarms.

[0086] Steering control: As required, you can control it by rotating the remote control left or right. The hydraulic oil circuit will connect or disconnect the steering pressure according to the command.

[0087] In addition, the components designed in the present invention are all universal standard parts or components known to technical personnel in this field. Their structures and principles can be known to technical personnel through technical manuals or through conventional experimental methods. They can be fully implemented by technical personnel in this field. Needless to say, the content protected by the present invention does not involve improvements to internal structures and methods.

[0088] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. A universal blade transfer device with variable lifting stroke, comprising a vehicle assembly, characterized in that: The vehicle assembly comprises an EVA foam limiter (101), a guide column integrated component (102), a lifting upper platform (103), a cylinder body (104), a wheel integrated component (106), an anti-dumping mechanism (107), a main frame (108), a hydraulic station (109), a UPS integrated component (1010), an electrical control box (1011), and a displacement sensor (1012); A plurality of guide column integrated components (102) are installed on the top of the main frame (108), a lifting upper platform (103) is installed on the top of the guide column integrated component (102), EVA foam limiters (101) are installed on the four sides of the top of the lifting upper platform (103), a plurality of cylinder bodies (104) are installed on the top of the main frame (108), and a plurality of wheel integrated components (106) are installed outside the main frame (108).

2. The universal variable lift stroke blade transfer device according to claim 1, characterized in that: An anti-dumping mechanism (107) is installed at the bottom of the main frame (108), a hydraulic station (109) is installed at the middle of the top of the main frame (108), and a plurality of displacement sensors (1012) are arranged on the top of the main frame (108). The plurality of displacement sensors (1012) are respectively installed on the surfaces of a plurality of cylinder bodies (104) to monitor the lifting stroke of each cylinder body.

3. The universal variable lift stroke blade transfer device according to claim 2, characterized in that: A UPS integrated component (1010) is installed on one side of the hydraulic station (109), an electrical control box (1011) is installed on one side of the UPS integrated component (1010), and both the UPS integrated component (1010) and the electrical control box (1011) are installed on the top of the main frame (108).

4. The universal variable lift stroke blade transfer device according to claim 1, characterized in that: The cylinder body (104) is a hydraulic cylinder or an electric cylinder.

5. The universal variable lift stroke blade transfer device according to claim 2, characterized in that: The displacement sensor (1012) is a resistance scale, a grating scale, or a magnetic scale.

6. The universal blade transfer device with variable lifting stroke according to claim 1, characterized in that: The wheel integrated component (106) comprises a power source component + reducer integrated component (201), power teeth (202), an external gear rotary support (203), a universal wheel bracket side plate (204), a wheel axle (205), and a rubber wheel + wheel hub integrated component (206).

7. The universal variable lift stroke blade transfer device according to claim 6, characterized in that: The side plate (204) of the universal wheel bracket forms an angle of 25° with the vertical direction and adopts an eccentric design. A rubber wheel + wheel hub integrated component (206) is arranged inside the side plate (204) of the universal wheel bracket, and a wheel axle (205) is installed inside the rubber wheel + wheel hub integrated component (206).

8. The universal variable lift stroke blade transfer device according to claim 6, characterized in that: An external gear rotary support (203) is installed at one end of the top of the universal wheel bracket side plate (204), a power tooth (202) is installed at the other end of the universal wheel bracket side plate (204), and a power source component + reducer integrated component (201) is installed on the top of the power tooth (202).

9. The universal blade transfer device with variable lifting stroke according to claim 6, characterized in that: The power source component + reducer integrated component (201) is a hydraulic motor + reducer integrated component or a motor + reducer integrated component.

10. A universal variable lift stroke blade control method, using the universal variable lift stroke blade transfer device as claimed in claims 1-9, the initial steps of the universal variable lift stroke blade control method are as follows: S1. First reset: Set the lower limit position to 0, and the upper limit position is the total stroke height, which is generally the maximum height of the hydraulic cylinder minus 10mm. For example, if the hydraulic cylinder top lifting height is 500mm, the upper limit is set to 490mm. Lower the cylinder body (104) to the lowest position, and long press the zero position calibration to reset; S2. Set parameters: set the rising stop deviation, rising start deviation, descending stop deviation, descending start deviation, upper limit position and lower limit position; S3. Manual lifting and lowering: Press the lifting and lowering buttons on the remote control.

11. The universal variable lift stroke blade control method according to claim 10, characterized in that: When you press the up button on the remote control, the steps are as follows: S1, up button: When the up button is pressed, the PLC receives data and determines that when the height is less than the set upper limit height, it will issue a start command to the hydraulic pump; S2. Determine the height difference between one scanning cycle and the next scanning cycle: According to the real-time calculated rising height difference, the PLC determines the height difference. When the height difference is ≥ the rising stop height difference, the hydraulic cylinder stops rising, otherwise it continues to rise; S3. The hydraulic cylinder continues to rise: When the height difference is ≤ the rising start deviation, the hydraulic cylinder continues to rise. This process continues until the six hydraulic cylinders rise to the given height.

12. The universal variable lift stroke blade control method according to claim 10, characterized in that: When you press the DOWN button on the remote control, the steps are as follows: S1, down button: when the down button is pressed, the PLC receives the data and determines that when the height is greater than the set lower limit height, it issues a start command to the hydraulic pump; S2. Determine the height difference between one scanning cycle and the next scanning cycle: According to the real-time calculated drop height, the PLC determines the drop height. When the drop height is greater than or equal to the drop stop height difference, the hydraulic cylinder stops descending, otherwise it continues to descend. S3. The hydraulic cylinder continues to descend: When the drop is ≤ the descent start deviation, the hydraulic cylinder continues to descend. This process continues until the six hydraulic cylinders descend to a given height.

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