A mobile tipping unit and a control method thereof

Abstract

The application provides a mobile turnover unit and a control system thereof, which comprises at least two parallel mobile turnover units, each of which comprises a sub-controller, a walking driving device, a turnover device, a lifting device and a telescopic arm adjusting device; the walking driving device comprises a walking frame, which is displaced at a designated position through a walking driving mechanism; the turnover device is arranged on a lifting frame of the lifting device; the lifting device comprises a scissor mechanism arranged on the walking frame, which provides power and support for the up-and-down movement of the turnover device relative to the walking frame; the turnover device comprises a turnover mechanism and a turnover arm, the turnover arm comprises two arm frames connected at the ends, and the turnover mechanism provides the turnover arm with power for rotating around the end connection point. The application satisfies the batch continuous production of components, improves the production efficiency and product quality.

Description

Technical Field

[0001] This invention belongs to the field of steel processing, and in particular relates to a mobile tilting unit and its control method. Background Technology

[0002] Steel-concrete composite members, combining H-beams and reinforced concrete, can prevent local buckling of the steel members and improve their overall stiffness, significantly enhancing their planar torsional buckling performance and fully utilizing the properties of steel. Meanwhile, concrete increases the structure's durability and fire resistance. With the vigorous development of infrastructure construction, the demand for steel-concrete composite members is increasing daily.

[0003] However, due to the large size and weight of reinforced concrete components, they occupy a lot of space and are difficult to move, resulting in a long manufacturing cycle. The concrete pouring, curing, and turning processes are mainly done manually, which is not only inefficient but also compromises product quality. Especially when turning semi-finished products, improper handling by workers can easily cause cracking.

[0004] In this era of high automation requirements, it is necessary to develop machines that meet the requirements of flipping operations while also improving the degree of automation. Summary of the Invention

[0005] In view of this, the present invention aims to propose a mobile turning machine to solve the problems of low efficiency and poor quality caused by manual turning during the production of semi-finished steel-concrete components.

[0006] To achieve the above objectives, the technical solution created by this invention is implemented as follows:

[0007] A mobile tilting machine includes a controller, a walking drive device, a tilting device, a lifting device, and a telescopic arm adjustment device.

[0008] The walking drive device includes a walking frame, which is displaced at a designated position by the walking drive mechanism;

[0009] The tilting device is installed on the lifting frame of the lifting device;

[0010] The lifting device includes a scissor mechanism mounted on the traveling frame, which provides power and support for the vertical movement of the tilting device relative to the traveling frame.

[0011] A tilting device includes a tilting mechanism and a tilting arm. The tilting arm includes two booms connected at both ends. The tilting mechanism provides the tilting arm with rotational power about the end connection points.

[0012] The telescopic boom adjustment device is installed in the lifting frame, and the telescopic boom in the telescopic boom adjustment device can realize telescopic movement. When the telescopic boom is in the extended state, its end extends beyond the end of the lifting frame.

[0013] The sub-controller is electrically connected to all electrical components in the mobile tilting machine that require signal control.

[0014] Furthermore, it also includes steel rails, on which the traveling frame slides, with a traveling motor providing the sliding power. Laying steel rails as the traveling trajectory simplifies the planning of the journey.

[0015] Furthermore, sensing blocks are installed on the rails, and touch sensors are installed on the traveling frame. The sensing blocks and touch sensors work together, and the touch sensors are electrically connected to the sub-controller. Using sensing blocks and touch sensors for trajectory limitation is convenient and provides stable control.

[0016] Furthermore, multiple sensor blocks are distributed on the rails to work in conjunction with the touch sensors on the traveling frame.

[0017] Furthermore, induction blocks are installed on the rails at regular intervals along the travel path of the mobile tilting machine, and touch sensors and encoders are installed on the traveling frame of the mobile tilting machine.

[0018] Furthermore, the tilting mechanism includes a tilting cylinder, a rocker arm, and a spindle. The spindle is supported on the lifting device, and the connection point of the tilting arm, which is connected to both ends, is fitted with the spindle. The tilting arm can rotate around the spindle. The piston rod end of the tilting cylinder is connected to one end of the rocker arm, and the other end of the rocker arm is connected to the spindle. Using this structure, the tilting mechanism has low requirements for the center of gravity and can maintain consistency with the overall control logic.

[0019] Furthermore, the scissor mechanism includes a scissor-shaped lifting frame, one end of which is slidably connected to the traveling frame, and the other end of which is connected to the lifting support frame.

[0020] Furthermore, the two end-connected lifting frames form an L-shaped tilting arm.

[0021] Furthermore, a flip sensor for detecting the flipping state of the flipping arm is provided near the flipping mechanism, and the flip sensor is electrically connected to the sub-controller.

[0022] A mobile tilting unit comprising at least two of the aforementioned mobile tilting machines arranged in parallel.

[0023] Furthermore, it includes a plurality of mobile turning machines; two mobile turning machines located on the outer side, each with one turning arm; and a mobile turning machine located in the middle, each with two turning arms.

[0024] The problem of synchronizing moving components in mobile tilting units also needs to be solved, and a control method for mobile tilting units is proposed.

[0025] A control method for a mobile tilting unit includes a main controller, wherein each mobile tilting unit has a sub-controller, and the sub-controller is controlled by the main controller.

[0026] Each mobile tilting machine starts at the same horizontal line, and the induction blocks on the rails on which each mobile tilting machine runs are in the same position.

[0027] Each mobile tilting machine stops when it reaches the designated position and touches the sensor and sensing block. It continues to move after all the mobile tilting machines have touched the corresponding sensing blocks.

[0028] A detection sensor is installed above the induction block on the rail;

[0029] The mobile flipping machine operates normally when both the detection sensor and the corresponding touch sensor output signals; otherwise, it stops operating and triggers an alarm.

[0030] Furthermore, the scissor mechanism of each mobile tilting machine is powered by a hydraulic cylinder with a magnetostrictive displacement gauge;

[0031] Each mobile tilting machine has a virtual spindle in its sub-controller, and the virtual spindles of each mobile tilting machine have the same frequency.

[0032] The feedback signal from the magnetostrictive displacement gauge in the hydraulic cylinder serves as the slave axis.

[0033] The signal data between the spindle and the virtual spindle are compared in real time. If the signal data are synchronized, the unit will operate normally. If the signal data are not synchronized, the mobile tilting unit will stop operating.

[0034] Furthermore, the tilting arm of each mobile tilting machine is powered by a hydraulic cylinder with a magnetostrictive displacement gauge;

[0035] Each mobile tilting machine has a virtual spindle in its sub-controller, and the virtual spindles of each mobile tilting machine have the same frequency.

[0036] The feedback signal from the magnetostrictive displacement gauge in the hydraulic cylinder serves as the slave axis.

[0037] The signal data between the spindle and the virtual spindle are compared in real time. If the signal data are synchronized, the unit will operate normally. If the signal data are not synchronized, the mobile tilting unit will stop operating.

[0038] Furthermore, the magnetostrictive displacement gauge signal in each cylinder is connected to the analog input module in the sub-controller. The analog output module in the sub-controller controls the proportional directional valve of the cylinder. The operating speed of the scissor mechanism and the tilting arm is set by the main controller. The set speed is converted into a virtual spindle signal. The analog output value of the cylinder is calculated according to the conversion relationship. The sub-controller converts the analog output value into a voltage signal and inputs it to the proportional directional valve of the cylinder to adjust the flow rate of the cylinder.

[0039] Furthermore, the working time of the main controller should be kept consistent with that of the sub-controllers.

[0040] Furthermore, the telescopic boom's length is controlled by a proximity switch, which is electrically connected to the sub-controller.

[0041] Furthermore, the sub-controller is equipped with an encoder. The pulse signal of the encoder is converted into the travel distance. Since the mobile tilting machine may slip during its movement, the encoder also needs to be calibrated in real time. After the encoder detects the signal from the sensor and the signal output after the corresponding sensing block touches the sensor, it converts the travel distance into the travel distance based on the position of the sensing block and compares it with the data recorded by the encoder. If they are inconsistent, the encoder count is changed to correct the actual value of the travel distance. The finally calibrated actual distance is fed back to the main controller for monitoring.

[0042] Furthermore, the position of the sensing block is converted into a travel distance and compared with the travel distance set by the main controller for the mobile tilting unit. If the final transmitted travel distance is different from the set travel distance, an alarm is triggered.

[0043] Furthermore, in the mobile tilting unit, the first detection is the first to stop. Only after all four mobile tilting machines have generated a touch signal can they move together. The purpose is to shield the distance difference caused by slippage between the mobile tilting machines.

[0044] Compared with existing technologies, the mobile tilting unit and its control system described in this invention have the following advantages:

[0045] (1) The mobile tilting machine of the present invention is configured with a controller, a walking drive device, a tilting device, a lifting device, and a telescopic arm adjustment device to achieve a mechanical tilting effect for steel-concrete components. The tilting device and telescopic arm structure work together to accommodate the tilting of various steel-concrete component models. The use of a scissor-type mechanism for lifting not only saves space but also improves stability when combined with the tilting device and telescopic arm structure. The entire mobile tilting machine enables continuous batch production of components, improving production efficiency and product quality.

[0046] (2) The mobile flipping unit described in this invention includes at least two mobile flipping machines, which better meets the actual processing requirements, and the positional relationship between multiple mobile flipping machines further improves the flipping stability and accuracy.

[0047] (3) The mobile tilting unit control method described in this invention can meet the consistency when multiple mobile tilting machines work synchronously, ensure the stability of movement, improve the completion of actions, realize the batch continuous production of steel-concrete components, improve production efficiency and product quality, and fill market gaps. Attached Figure Description

[0048] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0049] Figure 1 The structural diagram of the mobile tilting machine described in the embodiment of the present invention;

[0050] Figure 2 A perspective view of the mobile flipping machine described in the embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of the workpiece lifting action described in an embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram illustrating the workpiece flipping action at a certain angle as described in an embodiment of the present invention.

[0053] Figure 5 This is a schematic diagram illustrating the workpiece flipping and translating to avoid obstacles as described in an embodiment of the present invention;

[0054] Figure 6 A schematic diagram of the workpiece being rotated 90 degrees as described in an embodiment of the present invention;

[0055] Figure 7 A schematic diagram illustrating the workpiece being flipped 180 degrees as described in an embodiment of the present invention;

[0056] Figure 8 A topology diagram of the control method for the mobile tilting unit described in the embodiments of the present invention;

[0057] Figure 9 A flowchart illustrating the control method of the mobile tilting unit described in an embodiment of the present invention.

[0058] Explanation of reference numerals in the attached figures:

[0059] 1-Grid support; 2-Lifting sensor; 3-Tilting cylinder; 4-Tilting sensor; 5-Lifting frame; 6-Telescopic adjustment sensor; 7-Tilting arm; 8-Proximity switch; 9-Adjusting cylinder; 10-Telescopic arm; 11-Hydraulic station; 12-Rail; 13-Travel motor; 14-Travel frame; 15-Sensing block; 16-Touch sensor; 17-Lifting cylinder; 18-Scissor mechanism; 19-Travel wheel; 20-Control box; 21-Lifting roller; 22-Mandrel; 23-Rocker arm; 24-Encoder. Detailed Implementation

[0060] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0061] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0062] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0063] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0064] The mobile turnover machine is designed to flip reinforced concrete components and enable mass production. The following example illustrates a 180-degree flip of a reinforced concrete component. While the mobile turnover machine does not flip the material of the workpiece for transport, it can be used for any workpiece that requires flipping or transport.

[0065] The reinforced concrete components are placed on the grid support 1, ready for flipping and processing;

[0066] A mobile tilting unit can contain multiple mobile tilting machines; this example uses four.

[0067] Of the four mobile turnover machines, the two outermost ones are mobile turnover machines with a single L-shaped turnover arm, and the two middle ones are mobile turnover machines with a double L-shaped turnover arm.

[0068] Each mobile tilting machine includes a sub-controller, a walking motor 13, a lifting device, a tilting device, and a telescopic arm adjustment device.

[0069] The lifting device, tilting device, and telescopic boom adjustment device can all be hydraulically driven, with cylinder drive being the preferred option.

[0070] Magnetostrictive displacement gauges are installed in the drive cylinders of both the lifting and tilting devices.

[0071] Each mobile tilting machine includes a walking frame 14, which serves as the base supporting the entire mobile tilting machine. A walking motor 13, a lifting cylinder 17, a scissor mechanism 18, and walking wheels 19 are mounted on the frame. The walking motor 13 and the walking wheels 19 are used to drive the mobile tilting machine to move laterally (i.e., move along a predetermined trajectory). One end of the lifting cylinder 17 is fixed to the walking frame 14, and the piston rod end of the lifting cylinder 17 is connected to the movable end of the scissor mechanism 18, driving the lifting rollers 21 to move within the wheel grooves of the walking frame 14 to complete the lifting action.

[0072] The hydraulic station 11 and the control box 20 are respectively placed at both ends of the traveling frame 14. They provide hydraulic driving force for all the cylinders of the mobile tilting machine and control the movement of a single mobile tilting machine.

[0073] The upper part of the scissor mechanism 18 is connected to the lifting frame 5, which is supported by the scissor mechanism 18. Like the traveling frame 14, one end of the scissor mechanism 18 is hinged to one end of the lifting frame 5, and the other end is equipped with a lifting roller 21 and moves in the wheel groove of the lifting frame 5, thereby realizing the parallel rise and fall of the lifting frame 5, that is, the parallel rise and fall of the tilting device installed on the lifting frame 5.

[0074] The lifting frame 5 is equipped with a tilting device, which includes a tilting cylinder 3, a tilting arm 7, and an adjusting cylinder 9. The tilting arm 7 has a spindle 22 in the middle, and the two ends of the spindle 22 are supported on both sides of the tilting arm 7, so that the tilting arm 7 can rotate around the axis. The lower part of the tilting arm 7 has a rocker arm 23, which is connected to the piston rod of the tilting cylinder 3. The other end of the tilting cylinder is fixed to the lifting frame 5. When the tilting cylinder 3 is raised or lowered, it drives the rocker arm 23 to swing, thereby driving the tilting arm 7 to tilt back and forth. When the tilting arm 7 tilts, it can touch the tilting sensor 4, and then the sub-controller can know that the tilting arm 7 has completed the tilting action.

[0075] The telescopic boom adjustment device is installed in the lifting frame 5, and the telescopic boom 10 in the telescopic boom adjustment device can realize telescopic movement. When the telescopic boom 10 is in the extended state, its end extends beyond the end of the lifting frame 5.

[0076] Both arms of the tilting arm 7 are equipped with telescopic arms 10. The telescopic arms 10 are hidden in the middle of the tilting arm 7 and can extend and retract from the middle of the tilting arm 7, allowing for length adjustment to accommodate different workpiece specifications. The extension and retraction of the telescopic arms 10 is driven by adjusting cylinders 9. The position of the telescopic arms 10 can be adjusted to 5 or more levels according to the workpiece size, with level 1 corresponding to the shortest arm and level 5 corresponding to the longest arm. Five sensing blocks corresponding to the 5 levels are installed on the telescopic arms, and the proximity switches (telescopic adjustment sensors 6) for detection are installed in fixed positions when no extension or retraction occurs. The initial level of the telescopic arm is set in the main controller. When the telescopic arm extends, the level increases by 1 when the proximity switch detects a sensing block; when the telescopic arm retracts, the level decreases by 1 when the proximity switch detects a sensing block. To prevent false signals, two proximity switches are installed to simultaneously detect and count. If the two counts are inconsistent, the operation stops and an alarm is triggered.

[0077] The position determination of each movement of the mobile tilting machine is accomplished by sensors. Each mobile tilting machine may contain the following sensors: lifting sensor 2, tilting sensor 4, telescopic adjustment sensor 6, proximity switch 8, and touch sensor 16.

[0078] The main actions of the equipment operation process will be explained as follows:

[0079] (1) The height of the mobile tilting machine is reduced to the minimum, the vertical arm of the tilting arm is the shortest, and the horizontal arm is pre-adjusted according to the width of the workpiece; (both the vertical arm and the horizontal arm are the booms described in the claims)

[0080] (2) The mobile flipping machine is moved horizontally to the bottom of the workpiece to be flipped, and the vertical arm in the flipping arm is placed in the middle of the neutral position;

[0081] (3) The lifting frame rises and stops rising when the horizontal arm in the tilting arm approaches the workpiece. The stop position is determined by the lifting sensor.

[0082] (4) The mobile tilting machine moves horizontally, and the vertical arm in the tilting arm is close to the workpiece. Whether it is close is determined by the proximity switch.

[0083] (5) The lifting frame continues to rise to the highest position, and the workpiece is removed from the grid support;

[0084] (6) The mobile tilting machine remains stationary while the tilting arm tilts synchronously;

[0085] (7) The L-shaped flipping arm continues to flip synchronously, and the mobile flipping machine moves in coordination to avoid collision between the flipping arm and other workpieces;

[0086] (8) The tilting arm continues to tilt, and the workpiece is tilted to 90 degrees;

[0087] (9) The mobile flipping machine is moved horizontally to keep the flipped workpiece at a safe distance from other workpieces;

[0088] (10) The mobile tilting machine remains stationary, the tilting table is lowered to its lowest position, and the telescopic arm length is shortened;

[0089] (11) The flipping arm flips 90 degrees, and the mobile flipping machine moves horizontally so that the flipped vertical arm is placed in the workpiece gap.

[0090] (12) The lifting frame rises to near the workpiece and stops, and the vertical arm in the tilting arm extends;

[0091] (13) The mobile tilting machine moves horizontally and stops after the vertical arm contacts the workpiece;

[0092] (14) The mobile tilting machine remains stationary, the lifting frame is raised to its highest position, and the workpiece is removed from the grid support surface;

[0093] (15) The mobile tilting machine remains stationary while the tilting arm tilts synchronously.

[0094] (16) The mobile tilting machine is moved horizontally to make room for the tilting arm and avoid interference with other workpieces;

[0095] (17) The mobile tilting machine and the tilting arm work together, and the tilting arm continues to tilt, turning the workpiece 90 degrees.

[0096] (18) The lifting frame descends to its lowest point, the workpiece is placed on the grid support, and the workpiece is rotated 180 degrees to complete the process.

[0097] To achieve better operation of the lifting, tilting, and boom extension functions, the control system is configured with four independent sub-control systems, or corresponding sub-controllers, based on equipment requirements. Lifting and tilting require synchronization among the four sub-controllers. Each sub-controller receives commands from the main controller, undergoes time axis calibration, and starts operation at the same point in time.

[0098] Each sub-controller sets a virtual spindle with the same frequency according to the given lifting speed. The lifting drive cylinder uses a magnetostrictive displacement gauge as feedback to achieve synchronization with the virtual spindle, thereby achieving synchronization between the four sub-controllers.

[0099] Each sub-controller sets a virtual spindle with the same frequency according to the given flipping speed. The hydraulic cylinder driven by the flipping uses a magnetostrictive displacement gauge as feedback to achieve synchronization with the virtual spindle, thereby achieving synchronization between the four sub-controllers.

[0100] The main controller in this control method includes a Siemens S7-1200 series PLC and a human-machine interface. The human-machine interface is a Siemens touch screen that communicates with the PLC. The human-machine interface is used to set system parameters, display the status and position of each component, and display various alarm information.

[0101] Taking the sub-control system topology diagram of a mobile tilting machine as an example, each sub-control system can use Siemens SMART series PLC to control the movement of the mobile tilting machine by using frequency converter to drive the asynchronous motor and encoder counting.

[0102] The four mobile tilting machines operate independently, lifting and tilting synchronously throughout the process. Each lifting and tilting device is equipped with a load cylinder and a proportional directional valve, which controls the cylinder.

[0103] Each hydraulic cylinder contains a magnetostrictive displacement gauge, which serves as feedback for the cylinder's stroke. The magnetostrictive displacement gauge is connected to an analog input module, and the analog output module controls the proportional directional valve.

[0104] The main controller is located in a fixed position, while four mobile tilting machines travel on a 150-meter linear guide rail (rail 12). To ensure reliable system communication, three industrial wireless access points (APs) are installed within the 150-meter travel distance, with a matching wireless client installed on each mobile tilting machine. During the movement of the mobile tilting machines, they can automatically connect to the AP with better signal quality, achieving seamless and rapid roaming, effectively ensuring real-time data transmission and improving the reliability of wireless network communication. Multiple sensing blocks 15 are distributed on the rail, corresponding to touch sensors 16 on the traveling frame. The sensing blocks and touch sensors work together to control the travel distance.

[0105] Taking lifting as an example, a constant lifting speed is set in the human-machine interface of the main controller. The main PLC converts this speed value into a digital quantity that increases at a certain frequency and transmits it to the four sub-controllers via a wireless network. Each sub-controller uses this digital quantity that increases at a certain frequency as a virtual reference value. The actual feedback value of the hydraulic cylinder is compared with this reference value in real time, thereby changing the speed of the lifting hydraulic cylinder in real time. This achieves real-time synchronization between the position of the lifting hydraulic cylinder and the virtual main shaft, thus realizing the lifting synchronization of the four mobile tilting machines. The displacement values ​​of the main shaft and the driven shaft are compared, with an allowable error of ±1mm. If the detected data is not synchronized but within the allowable error range, the proportional reversing valve will automatically adjust to synchronize the displacement values. If the asynchrony value exceeds the allowable error value, the operation will stop and an alarm will be triggered.

[0106] Set the system parameters in the main controller. The system parameters include: lifting speed, tilting speed, instruction increment time of the sub-PLC (sub-controller), distance between ground sensing blocks (i.e., the spacing between sensing blocks installed on the rails), travel deceleration distance of the mobile tilting machine, and number of sensing blocks at which the mobile tilting machine stops.

[0107] The main PLC time can be set in the human-machine interface. The time of each sub-PLC is calibrated according to the time of the main PLC. The time of each sub-PLC can be seen in the human-machine interface. After that, each time the equipment is powered on, the time of each sub-PLC will be automatically calibrated according to the time of the main PLC.

[0108] The main PLC sends action instructions to the sub-PLCs along with the specified execution time. Each sub-PLC triggers its action when the specified time arrives. For example, if the main PLC issues the action instruction at 10:20:00, and the system parameter sets the sub-PLC execution instruction increment time to 3 seconds, then the main PLC sends the action instruction to each sub-PLC with the action execution time set to 10:20:03. Each PLC receives the instruction within 3 seconds and executes the action instruction together at 10:20:03.

[0109] The lifting and lowering motion of the mobile tilting machine has an intermediate position. Lifting below this intermediate position does not require synchronization among the four mobile tilting machines; lifting above this intermediate position requires synchronization. The lifting speed is set in the main controller, and each sub-controller uses this speed value as a virtual spindle. A magnetostrictive displacement gauge within the hydraulic cylinder provides closed-loop feedback. Synchronization calculations are performed by comparing the speed with the main spindle, driving the lifting cylinder to achieve synchronization with the virtual spindle. The synchronization operation of the tilting cylinder is similar to that of the lifting cylinder.

[0110] The extension and retraction of the tilting arm is detected by the same detection switch (teletension adjustment sensor 6). The sensing blocks are evenly installed on the tilting arm. When the tilting arm extends and touches a sensing block, the position of the tilting arm increases by 1. When the tilting arm retracts and touches a sensing block, the position of the tilting arm decreases by 1.

[0111] Before the mobile tilting machine starts moving, it first calculates the next encoder data correction position value and the window value for detecting the effective signal of the switch. When it is about to reach the correction position, the window opens and the signal is detected within the window range (the signal is detected by the detection sensor within the window range). The theoretical value of this position is assigned to the encoder to correct the encoder value.

[0112] For example, if the spacing between the sensing blocks is 2000mm and the detection window distance is 400mm, then the window range is 1800mm-2200mm. When the mobile flipping machine moves to the 1800mm position, the window opens. Any false signals entering before this point are blocked. After the window opens and a signal is detected, the encoder is corrected to the pulse value corresponding to 2000mm. The next detection distance is 4000mm, and the next window opening range is 3800mm-4200mm. If no signal is detected even after exceeding the window range, the mobile flipping machine stops and triggers an alarm.

[0113] Shorter intervals between sensor blocks result in better synchronization of movement, but also more pauses. To address this, a parameter is set to control the number of sensor blocks detected. If this parameter is set to 3, the mobile tilting machine will only stop and wait for other mobile tilting machines when it encounters the third sensor block. It will not stop or wait for the first two sensor blocks encountered, but the encoder data must be corrected for each sensor block encountered. The mobile tilting machine needs to decelerate before stopping. It stops when it encounters the third sensor block while moving at a slow speed, and does not decelerate for the first two sensor blocks encountered.

[0114] Based on system parameters such as "number of stop sensors for the mobile tilting machine," "distance between ground sensors," and "deceleration distance," the next stopping position, deceleration distance, and stopping window value are calculated. The mobile tilting machine moves at low speed within the deceleration distance; when it reaches the stopping window value and detects a signal from the touch sensor, the mobile tilting machine stops.

[0115] For example, the "number of stop sensors for the mobile tilting machine" is 3, the "distance to ground sensors" is 2000mm, the "distance to detection window" is 400mm, and the "deceleration distance" is 300mm. If the current stop position of the mobile tilting machine is 30000mm, and it needs to move forward, since the "number of stop sensors for the mobile tilting machine" is set to 3, the next stop position will be 30000 + 2000 * 3 = 36000mm, and the deceleration position before stopping will be 36000 - 300 = 35700mm. During forward movement, the first contact with a sensor will occur at 30000 + 2000 = 32000mm. Near this point, the detection window will open, with a window position of 31800-32200mm. When the mobile tilting machine moves within this range and touches sensor 16, which then contacts a ground sensor, the encoder's current position will be calibrated to 32000mm. The second contact point with the sensor block is 32000 + 2000 = 34000 mm, and the detection window is between 33800 and 34200 mm. When the mobile tilting machine moves within this range and touches the ground sensor block, the encoder's current position is calibrated to 34000 mm. The third contact point with the sensor block is 34000 + 2000 = 36000 mm, and the detection window is between 35800 and 36200 mm. Upon the third contact with the sensor block, the mobile tilting machine must stop. Before stopping, it begins deceleration at 35700 mm. Deceleration begins when the encoder position value is greater than or equal to 35700 mm. Simultaneously, within the 35800-36200 mm range, the touch sensor 16 activates. When the touch sensor 16 touches the ground sensor block, the mobile tilting machine stops, and the encoder's current position is calibrated to 36000 mm.

[0116] Taking four mobile tilting machines as an example, sensor blocks are installed at regular intervals on the rails or the ground along the travel path of the mobile tilting machines. Touch sensors and encoders are installed on the mobile tilting machines. The four mobile tilting machines move together, stopping when they detect a touch signal from a sensor block. The first to detect a touch signal stops first, and they continue moving together only after all four mobile tilting machines have received a touch signal. The purpose is to eliminate the distance difference caused by slippage of the mobile tilting machines.

[0117] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile tilting unit, characterized in that: Includes at least two parallel mobile tilting machines; The mobile tilting machine includes a controller, a walking drive device, a tilting device, a lifting device, and a telescopic arm adjustment device. The walking drive device includes a walking frame, which is displaced at a designated position by the walking drive mechanism; The tilting device is installed on the lifting frame of the lifting device; The lifting device includes a scissor mechanism mounted on the traveling frame, which provides power and support for the vertical movement of the tilting device relative to the traveling frame. A tilting device includes a tilting mechanism and a tilting arm. The tilting arm includes two booms connected at both ends. The tilting mechanism provides the tilting arm with rotational power about the end connection points. The telescopic boom adjustment device is installed in the lifting frame, and the telescopic boom in the telescopic boom adjustment device can realize telescopic movement. When the telescopic boom is in the extended state, its end extends beyond the end of the lifting frame. The sub-controller is electrically connected to the electrical components in the mobile tilting machine that require signal control; It also includes a main controller, and the sub-controllers are controlled by the main controller; Each mobile tilting machine starts at the same horizontal line, and the induction blocks on the rails on which each mobile tilting machine runs are in the same position. Each mobile tilting machine moves to the designated position and stops after touching the sensor block. It continues to move after all the mobile tilting machines have touched the corresponding sensor blocks. A detection sensor is installed above the induction block on the rail; The mobile flipping machine operates normally when both the detection sensor and the corresponding touch sensor output signals; otherwise, it stops operating and triggers an alarm.

2. The mobile tilting unit according to claim 1, characterized in that: It also includes steel rails, on which the traveling frame slides, and a traveling motor provides the sliding power.

3. A mobile tilting unit according to claim 2, characterized in that: A sensing block is installed on the rail, and a touch sensor is installed on the traveling frame. The sensing block and the touch sensor work together, and the touch sensor is electrically connected to the sub-controller.

4. A mobile tilting unit according to claim 2, characterized in that: Multiple sensor blocks are distributed on the rails to work in conjunction with the touch sensors on the traveling frame.

5. A mobile tilting unit according to claim 1, characterized in that: The flipping mechanism includes a flipping cylinder, a rocker arm, and a spindle. The spindle is supported on the lifting device, and the connection point of the flipping arm connected at both ends is fitted with the spindle. The flipping arm can rotate around the spindle. The piston rod end of the flipping cylinder is connected to one end of the rocker arm, and the other end of the rocker arm is connected to the spindle.

6. A control method for a mobile tilting unit, characterized in that: The mobile tilting unit as described in claim 1, wherein each mobile tilting unit has a controller; The scissor mechanism of each mobile tilting machine is powered by a hydraulic cylinder with a magnetostrictive displacement gauge; Each mobile tilting machine has a virtual spindle in its sub-controller, and the virtual spindles of each mobile tilting machine have the same frequency. The feedback signal from the magnetostrictive displacement gauge in the hydraulic cylinder serves as the slave axis. The signal data between the spindle and the virtual spindle are compared in real time. If the signal data are synchronized, the unit will operate normally. If the signal data are not synchronized, the mobile tilting unit will stop operating.

7. The control method for a mobile tilting unit according to claim 6, characterized in that: The tilting arm of each mobile tilting machine is powered by a hydraulic cylinder with a magnetostrictive displacement gauge; Each mobile tilting machine has a virtual spindle in its sub-controller, and the virtual spindles of each mobile tilting machine have the same frequency. The feedback signal from the magnetostrictive displacement gauge in the hydraulic cylinder serves as the slave axis. The signal data between the spindle and the virtual spindle are compared in real time. If the signal data are synchronized, the unit will operate normally. If the signal data are not synchronized, the mobile tilting unit will stop operating.

8. The control method for a mobile tilting unit according to claim 6, characterized in that: The working time of the main controller during debugging should be consistent with that of the sub-controllers.

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