Intelligent control method for overhead rail displacement system

Abstract

The present application relates to an intelligent control method for an overhead rail shifting system. The intelligent control method for an overhead rail shifting system described in the present application includes the following steps: S10, drawing and inputting a preset overhead rail path; S20, determining the current position of the shifting machine; S30, inputting the end point position and selecting whether to loop the path to obtain the automatic walking route of the shifting machine; S40, according to the automatic walking route of the shifting machine, finding whether there is a bifurcation point on the automatic walking route; S50, walking according to the automatic walking route until reaching the end point position. The intelligent control method for an overhead rail shifting system described in the present application has the advantage of intelligently controlling the movement of the shifting machine.

Description

Technical Field

[0001] The present application relates to the technical field of lifts, and in particular to an intelligent control method for a ceiling rail lift system. Background Art

[0002] A transfer machine is a tool used to transport or transfer people with limited mobility. Among them, a ceiling track transfer machine is a transfer machine with a track set and fixed on the ceiling. A movable crane head is connected to the track, a lifting rope is connected under the crane head, and a sling is installed under the lifting rope, so that the lifting belt can be used for shifting and transfer.

[0003] In order to achieve the transfer of personnel, the existing transfer machine is equipped with a control handle, which is connected to the crane head through a cable, so that the control handle is manually operated to control the movement of the crane head. It is very convenient for precise shifting and controlling the direction of movement. However, the track of the overhead rail transfer machine is usually fixed, so the route that can be transported is usually fixed. For manual control, repeated manual control is cumbersome and laborious. Summary of the invention

[0004] Based on this, the purpose of the present application is to provide an intelligent control method for an overhead rail shifting system, which has the advantages of easy control of the movement of the overhead rail shifting machine and intelligence.

[0005] In one aspect of the present application, there is provided an intelligent control method for a ceiling rail shifting system, comprising the steps of:

[0006] S10, drawing and inputting a preset sky rail path;

[0007] S20, determining the current position of the transfer machine;

[0008] S30, input the end point position and select whether to loop the path to obtain the automatic walking route of the transfer machine;

[0009] S40, according to the automatic walking route of the transfer machine, searching whether there is a bifurcation point on the automatic walking route;

[0010] S41, if yes, then when the bifurcation point reaches the set condition, the track change action is performed;

[0011] S42, if not, keep moving in the current state;

[0012] S50: Walking according to the automatic walking route until reaching the end position.

[0013] The intelligent control method of a ceiling rail shift system described in the present application can automatically move according to the preset ceiling rail path and the current position; during the movement, it is also judged whether a reversal is needed to ensure the smooth reversal, so as to achieve the purpose of automatically moving according to the desired target. During the movement, it is also judged whether to walk a certain path in a loop to meet the need to repeatedly perform a certain path. Compared with the prior art, the present application, on the one hand, performs intelligent operations of pre-setting, mid-term adjustment, and later according to preset operations, and on the other hand, performs intelligent and programmed processing for steps that require manual operation, so that human participation is reduced. In the end, the user only needs to select the path and the end point to realize the automation and intelligence of the whole process, reducing the cumbersome operations of the user and improving the satisfaction of the experience. In addition, because human participation is reduced during the operation, the hands are freed. For the use of people who do rehabilitation exercises, the exercise of both hands can be added to it, thereby improving the training effect of the rehabilitation personnel.

[0014] Furthermore, before step S10, the method further includes the following steps:

[0015] S01. A first determination mechanism is provided at the track end, wherein at least three pairs of selection points are provided on the first determination mechanism, and the number of pairs of selection points is consistent with the number of forks at the fork point, so that a pair of independent selection points is provided at each fork end of each fork at each fork point;

[0016] The first determination mechanism includes a support frame, a movable abutment component and a detection component; the movable abutment component is mounted on the support frame, and the detection component is placed below the movable abutment component. When the movable abutment component contacts the detection component, the detection component generates a corresponding detection signal to determine the corresponding fork direction;

[0017] The movable abutment assembly comprises a connecting cylinder, a circular baffle, a first elastic member, a locking member, and an abutment wheel;

[0018] At least three limiting holes are formed on the support frame, and the axes of the three limiting holes are located in the same plane, so that the three limiting holes are evenly spaced along the same straight line;

[0019] The connecting cylinder passes through one of the limiting holes, the top end of which is connected to the locking member, the middle part of which is connected to the first elastic member, and the bottom end of which is fixedly provided with the baffle; one end of the first elastic member abuts against the baffle, and the other end movably abuts against the bottom surface of the support frame;

[0020] The abutment wheel is placed vertically and is rotatably connected to the baffle.

[0021] Furthermore, the detection component is arranged on the top surface of the hoist of the transfer machine; and mounting grooves corresponding to the number of the limiting holes are opened on the top surface of the hoist; and each mounting groove is correspondingly provided with one detection component;

[0022] The detection assembly includes a convex piece with a high middle and low ends, a first electrical contact, and a second elastic member; the two first electrical contacts are respectively installed at the two ends of the mounting groove, the convex piece is installed on the mounting groove through the two second elastic members, and the high position of the convex piece faces upward, and the two ends of the convex piece are respectively placed above the two first electrical contacts;

[0023] The protruding piece is made of conductive metal material, and the abutting wheel is made of insulating material;

[0024] The abutment wheel is arranged at corresponding positions to the protrusion. When the abutment wheel rolls over the protrusion, the protrusion is pressed downward, and the two ends of the protrusion respectively abut on the two first electrical contacts to form a closed loop of detection. The signal is transmitted to the controller to determine the source position of the signal, thereby determining the specific direction of the fork in the road.

[0025] Furthermore, after step S01, the method further comprises the following steps:

[0026] S02, setting a second determination mechanism in the middle of the track, wherein the first determination mechanism is installed on one side of the overhead rail track, and the second determination mechanism is installed on the other side of the same overhead rail track;

[0027] A plurality of the second determination mechanisms are evenly distributed at equal intervals in the middle of the sky rail track.

[0028] Furthermore, the second determination mechanism includes a connection fixing block, a metal pick, and a second electrical contact;

[0029] The metal pick is placed vertically, and its top end is fixed on the connecting fixing block.

[0030] Four oblique grooves are obliquely opened at the edges of the top surface of the crane, and the oblique grooves are arranged corresponding to the movement trajectory of the metal pick, and the oblique grooves are staggered with the installation grooves;

[0031] Two second electrical contacts are installed on each of the inclined slots. When the metal pick contacts the two second electrical contacts in the same inclined slot, the circuit is closed and an electrical signal is transmitted to the controller, and the controller records the passing signal.

[0032] Furthermore, in step S10, drawing and inputting a preset sky rail path includes:

[0033] S11, scaling down the length of the Skyrail track and the laid path to form a Skyrail path map;

[0034] S12, numbering each track section and each reversing turntable in the overhead rail path diagram, and drawing each number in the overhead rail path diagram;

[0035] S13, counting and recording the number of metal picks on each section of the sky rail;

[0036] S14, recording the positions of the limiting holes corresponding to the movable abutment components provided at the ends of each track section, so as to obtain the limiting hole numbers at both ends of each track section;

[0037] S15, matching the number of metal picks in each section with the corresponding overhead rail path diagram to obtain an overhead rail path with a scale.

[0038] Further, in step S20, determining the current position of the transfer machine includes:

[0039] S21, judging and obtaining the position of the current lift on the path of the overhead rail according to the number of the overhead rail track where the lift is located and the number of recorded passing signals;

[0040] S22, obtaining the current precise position respectively according to the infrared distance measuring sensors arranged at the front and rear sides of the hoist of the transfer machine.

[0041] Furthermore, after step S41, the method further includes the following steps:

[0042] S41A, when the condition S41 is met and the track change action is completed, the crane continues to move forward and triggers the detection signal of the first determination mechanism, the detection signal is compared with the preset hole number for consistency;

[0043] S41B, if they are consistent, it means that the vehicle moves forward according to the predetermined control route and continues to move along the path;

[0044] S41C: If they are inconsistent, it means that the predetermined route and track have been deviated, and the crane moves in the opposite direction and returns to the reversing turntable to re-determine the direction, and then repeat step S41A.

[0045] Furthermore, a wireless control terminal is provided, which communicates wirelessly with the crane, and performs corresponding actions through control instructions on the wireless control terminal.

[0046] Furthermore, contact switches are respectively arranged at the starting end and the end of the overhead rail path, and the contact switches are wirelessly connected to the controller of the crane.

[0047] For better understanding and implementation, the present application is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1This is a flow chart of an exemplary intelligent control method for a ceiling rail shifting system of the present application;

[0049] Figure 2 It is a three-dimensional structural schematic diagram of the assembly relationship between the first determination mechanism and the crane (partial structure) of the present application;

[0050] Figure 3 It is a three-dimensional structural schematic diagram of the assembly relationship between the supporting frame and the movable abutment assembly of the present application;

[0051] Figure 4 This is a three-dimensional structural schematic diagram of another exemplary assembly relationship between a support frame and a movable abutment assembly of the present application;

[0052] Figure 5 This is a schematic diagram of the three-dimensional structure of an exemplary movable abutment assembly of the present application;

[0053] Figure 6 A front view of the assembly relationship between the exemplary detection component and the crane (local structure) of the present application;

[0054] Figure 7 A three-dimensional structural schematic diagram of the assembly relationship between the exemplary detection component and the crane (local structure) of the present application;

[0055] Figure 8 This is a three-dimensional structural schematic diagram of an exemplary assembly relationship between a connecting fixing block and a metal paddle of the present application;

[0056] Fig. 9 A three-dimensional structural schematic diagram of the assembly relationship between a hoist and a track (a section) of an exemplary transfer machine of the present application;

[0057] Fig.10 A three-dimensional structural schematic diagram of another perspective of the assembly relationship between the hoist and the track (a section) of the exemplary transfer machine of the present application;

[0058] Fig.11 A side view showing the assembly relationship between a hoist and a track (a section) of an exemplary transfer machine of the present application;

[0059] Fig.12 A line drawing of a track pattern of an exemplary transfer machine of the present application;

[0060] Fig.13 A line drawing of another track pattern of an exemplary transfer lift of the present application;

[0061] Fig.14 A line drawing of another track pattern of an exemplary transfer lift of the present application. DETAILED DESCRIPTION

[0062] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating positions or positional relationships, are based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0063] See also Figure 1-Figure 14 , an exemplary intelligent control method of a ceiling rail shifting system of the present application comprises the steps of:

[0064] S01, setting a first determination mechanism 90 at the track end, the first determination mechanism 90 is provided with at least 3 pairs of selection points, and the number of pairs of selection points is consistent with the number of forks at the fork point, so that each fork end of each fork point is provided with a pair of independent selection points;

[0065] The pair of selected points, in this example, are represented by limit holes and installation slots arranged in pairs; each fork selects one of the limit holes to install the movable abutment component to form a pair of points at which signals can be detected; and the remaining limit holes on the fork are in an idle state.

[0066] The first determination mechanism 90 includes a support frame 10, a movable abutment assembly 20 and a detection assembly 30; the movable abutment assembly 20 is mounted on the support frame 10, and the detection assembly 30 is placed below the movable abutment assembly 20. When the movable abutment assembly 20 contacts the detection assembly 30, the detection assembly 30 generates a corresponding detection signal to determine the corresponding fork direction;

[0067] The movable abutment assembly 20 includes a connecting cylinder 21, a circular baffle 23, a first elastic member 22, a locking member 24, and an abutment wheel 25;

[0068] At least three limiting holes 13 are formed on the support frame 10, and the axes of the three limiting holes 13 are located in the same plane, so that the three limiting holes 13 are evenly spaced along the same straight line; as shown in the accompanying drawings;

[0069] The connecting cylinder 21 passes through one of the limiting holes 13, the top of which is connected to the locking member 24, the middle of which is connected to the first elastic member 22, and the bottom of which is fixedly provided with the baffle 23; one end of the first elastic member 22 abuts against the baffle 23, and the other end movably abuts against the bottom surface of the support frame 10;

[0070] The abutment wheel 25 is placed vertically and rotatably connected to the baffle 23 .

[0071] In some preferred examples, the support frame 10 includes a vertical rod 11 and a horizontal rod 12, and the bottom end of the vertical rod 11 is fixed to the horizontal rod 12. The vertical rod 11 is used to be installed and connected with the outer wall of the track of the transfer machine, and the horizontal rod 12 is provided with the limiting hole 13.

[0072] In some further examples, one side of the vertical rod 11 is an arc surface, and the opposite side is a plane; in other examples, both opposite sides of the vertical rod 11 are planes. The vertical rod 11 is used to connect with the outer wall of the track, and its shape is preferably consistent with the shape of the outer wall of the track, so as to better ensure the connection effect. When the outer wall of the track is an arc surface, the corresponding side of the vertical rod 11 is an arc surface; when the outer wall of the track is a straight surface, the corresponding connecting side of the vertical rod 11 is a straight surface.

[0073] In some preferred examples, the first elastic member 22 of the movable abutment assembly 20 is a spring, which is sleeved on the connecting cylinder 21 , and one end of the spring abuts against the baffle 23 , and the other end of the spring movably abuts against the bottom surface of the support frame 10 .

[0074] In some preferred examples, the locking member 24 is a nut that is threadedly connected to the top end of the connecting cylinder 21 .

[0075] In some preferred examples, the mobile abutment assembly 20 further includes a support plate 26 and a rotating shaft 27, wherein two support plates 26 are respectively vertically arranged on both sides of the abutment wheel 25, and the rotating shaft 27 is respectively rotatably connected to the two support plates 26, and the rotating shaft 27 passes through the axis of the abutment wheel 25 and is fixedly connected to the abutment wheel 25. The abutment wheel 25 can rotate relative to the support plate 26, and the abutment wheel 25 is installed on the baffle 23 through the support plate 26.

[0076] In some further examples, four limiting holes 13 are provided on the support frame 10 , and in this case, four detection components 30 need to be provided correspondingly thereto.

[0077] In some preferred embodiments, the detection component 30 is arranged on the top surface of the hoist 40 of the transfer machine; and the top surface of the hoist 40 is provided with mounting grooves corresponding to the number of the limiting holes 13; and each mounting groove is correspondingly provided with a detection component 30;

[0078] The detection assembly 30 includes a protruding piece 31 with a high middle and low ends, a first electrical contact 33, and a second elastic member 32; the two first electrical contacts 33 are respectively mounted at the two ends of the mounting slot, the protruding piece 31 is mounted on the mounting slot through the two second elastic members 32, and the high position of the protruding piece 31 faces upward, and the two ends of the protruding piece 31 are respectively placed above the two first electrical contacts 33;

[0079] The protruding piece 31 is made of conductive metal material, and the abutting wheel 25 is made of insulating material;

[0080] The abutment wheel 25 is arranged at corresponding positions to the protrusion 31. When the abutment wheel 25 rolls over the protrusion 31, the protrusion 31 is pressed downward, and the two ends of the protrusion 31 respectively abut on the two first electrical contacts 33 to form a closed loop of detection. The detection signal is transmitted to the controller to determine the source position of the detection signal, thereby determining the specific direction of the fork in the road.

[0081] In some preferred examples, the second elastic member 32 is a spring, the top end of which is fixed to the lower surface of the protruding piece 31, and the bottom end of which is fixed to the surface of the mounting groove. In some further examples, the detection assembly 30 also includes a guide column 34, which is placed in the second elastic member 32, the guide column 34 passes through the surface of the mounting groove, and the top end of the guide column 34 is fixed to the lower surface of the protruding piece 31. It should be noted that the upper surface of the mounting groove is still the shell of the crane 40. The mounting groove is provided to place part of the structure of the detection assembly 30 below the surface of the crane 40, so as to play a certain role in limiting the detection assembly 30, and also to protect the detection assembly 30. Of course, it is also possible not to set the mounting groove, and directly set the detection assembly 30 on the surface of the crane 40.

[0082] In order to ensure the stability and easy implementation of track change in this application, a bifurcation point is set to form a maximum of 4 forks, that is, a bifurcation point corresponds to a maximum of 4 tracks; when 4 forks are set, the relationship between the two forks is perpendicular to each other. When the bifurcation point forms 3 forks, two of the forks are on a straight line, and the other fork is perpendicular to them. Based on this, taking an example of a bifurcation point with 4 forks, the working principle of the first determination mechanism 90 of this application is explained:

[0083] At the bifurcation point, the mobile abutment assembly 20 at the end of one fork is installed on the first limiting hole 13 of the support frame 10, the mobile abutment assembly 20 at the end of another fork is installed on the second limiting hole 13 of the support frame 10, the mobile abutment assembly 20 at the end of another fork is installed on the third limiting hole 13 of the support frame 10, and the mobile abutment assembly 20 at the end of another fork is installed on the fourth limiting hole 13 of the support frame 10. The order of the limiting holes 13 referred to here is arranged from the first one close to the vertical rod 11 to the fourth one farthest from the vertical rod 11. At the same time, in order to facilitate data sorting and understanding, the limiting holes of the four mobile abutment assemblies 20 are arranged in sequence, for example, arranged in sequence in a clockwise direction.

[0084] The bifurcation point is defined as X1. When the transfer machine completes the reversal at the reversing turntable and continues to move, the crane 40 of the transfer machine detects the detection signal of the detection component 30 corresponding to the second limit hole 13, indicating that the crane 40 moves to the track of the second fork of the bifurcation point X1.

[0085] It should be noted that, under normal conditions, the two ends of the protrusion 31 are slightly higher than the first electrical contact 33. When the abutment wheel 25 passes by and presses down the protrusion 31, the two ends of the protrusion 31 abut against the first electrical contact 33. Therefore, the length and deformation capacity of the spring provided under the protrusion 31 are adaptively adjusted according to the requirements.

[0086] After passing the end of the track, the crane 40 will continue to move along the track, and it is necessary to combine the second determination mechanism 50 to determine the specific position. The second determination mechanism 50 will be introduced as follows.

[0087] In some preferred embodiments, after step S01, the method further comprises the following steps:

[0088] S02, setting a second determination mechanism 50 in the middle of the track, wherein the first determination mechanism 90 is installed on one side of the overhead track, and the second determination mechanism 50 is installed on the other side of the same overhead track;

[0089] A plurality of the second determination mechanisms 50 are evenly distributed at equal intervals in the middle of the ceiling rail.

[0090] In some preferred embodiments, the second determination mechanism 50 includes a connection fixing block 51, a metal pick 52, and a second electrical contact 53;

[0091] The metal pick 52 is placed vertically, and its top end is fixed on the connecting fixing block 51.

[0092] Four oblique grooves are obliquely opened at the edges of the top surface of the crane 40, and the oblique grooves are arranged corresponding to the movement trajectory of the metal pick 52, and the oblique grooves are arranged in a staggered manner with the installation grooves;

[0093] Two second electrical contacts 53 are installed on each of the inclined slots. When the metal pick 52 contacts the two second electrical contacts 53 in the same inclined slot, the circuit is closed and an electrical signal is transmitted to the controller, which records the passing signal.

[0094] In some preferred embodiments, the connecting and fixing block 51 is in the shape of an elongated strip, and two stepped holes are provided thereon for convenient screw connection. In some preferred examples, the bottom end of the connecting and fixing block 51 is larger to facilitate fixing and connecting the metal pick 52.

[0095] In some preferred examples, the metal pick 52 is a copper sheet, which is flexible and has a certain elastic deformation capacity, so that the metal pick 52 can return to its original shape after being bent.

[0096] Usually, the crane 40 will only move in one direction along the track, but in some examples, the crane 40 may also move backward and turn around, so at least three inclined slots need to be provided on the housing of the crane 40 to correspond to the three sets of second electrical contacts 53. For more convenient use and consideration of multiple scenarios, four inclined slots are provided on the housing of the crane 40, and each inclined slot is provided with a set of second electrical contacts 53.

[0097] The working principle of the second determination mechanism 50 is explained in conjunction with the accompanying drawings: the connection fixing block 51 and the metal pick 52 of the second determination mechanism 50 are respectively fixed on the track and are stationary relative to the track, while the second electrical contact 53 is set on the crane 40 and can move with the crane 40 and move relative to the track 60. When the crane 40 moves to the metal pick 52, the metal pick 52 contacts one of the second electrical contacts 53, and then the metal pick 52 is bent by the crane 40 that continues to move, so that the metal pick 52 contacts the two second electrical contacts 53 at the same time, and the circuits of the two second electrical contacts 53 are now turned on. When the crane 40 moves along the track 60, it can touch a metal pick 52 at every distance, so the passing signal can be detected, and it is counted and recorded at every distance.

[0098] The recorded data includes not only the number of the track where the lift is currently located, but also the number of passing signals received on the current track. This is not only helpful for obtaining the current location information, but also for checking for faults and abnormalities, and for quickly determining the current location when the lift is started again.

[0099] The staggered arrangement of the inclined groove and the mounting groove means that along the axis direction of the track 60, or along the forward direction of the crane 40, the inclined groove and the mounting groove are located on different straight lines, so that during the movement of the crane 40, the metal paddle 52 will only contact the inclined groove, and the abutment wheel 25 will only contact the mounting groove, and there will be no contact between the metal paddle 52 and the protruding piece 31 in the mounting groove, and there will be no contact between the abutment wheel 25 and the second electrical contact 53 in the inclined groove. Thus, unnecessary error signals are avoided.

[0100] Furthermore, the movement direction of the abutment wheel 25 is consistent with the axis of the track 60; the setting direction of the mounting groove is also consistent with the axis direction of the track.

[0101] An exemplary intelligent control method of a ceiling rail shifting system of the present application further includes the steps of:

[0102] S10, drawing and inputting a preset sky rail path.

[0103] In some preferred embodiments, in step S10, drawing and inputting a preset sky rail path includes:

[0104] S11, scaling down the length of the Skyrail track and the laid path to form a Skyrail path map;

[0105] S12, numbering each track section and each reversing turntable in the overhead rail path diagram, and drawing each number in the overhead rail path diagram;

[0106] S13, counting and recording the number of metal picks 52 on each section of the overhead rail;

[0107] S14, recording the positions of the limiting holes 13 corresponding to the movable abutment components 20 provided at the ends of each track section, so as to obtain the numbers of the limiting holes 13 at both ends of each track section;

[0108] S15, matching the number of metal paddles 52 in each section with the corresponding overhead rail path diagram to obtain an overhead rail path with a scale.

[0109] S20: Determine the current position of the transfer machine.

[0110] In some preferred embodiments, in step S20, determining the current position of the transfer machine includes:

[0111] S21, judging and obtaining the position of the current lift on the path of the overhead rail according to the number of the overhead rail track where the lift is located and the number of recorded passing signals;

[0112] S22, obtaining the current precise position respectively according to the infrared distance measuring sensors arranged at the front and rear sides of the hoist 40 of the transfer machine.

[0113] Based on this, the infrared distance sensor can be used to determine the distance between the current position and the walls on both sides, and can also be used to assist in determining the position and positioning to better determine the position and positioning. The first positioning is based on the track number, and then the second positioning is performed based on the number of passing signals. Finally, the infrared distance sensor is combined to perform the third positioning. The accuracy of the three positionings is gradually improved to ensure the accuracy of positioning.

[0114] S30, input the end point position and select whether to loop the path to obtain the automatic travel route of the transfer machine. When performing the preliminary settings, the user can set whether to loop the path according to the needs and the situation of the track. For example, when the track is circular, the user's transfer machine moves in a circle along the circular track, and there is a need to loop the path, and the number of loops can be customized. If the path is a one-way line and there is no loop, then returning along the path will result in a backward movement, and you do not need to set the loop, and you only need to select the end point position.

[0115] S40, according to the automatic walking route of the transfer machine, searching whether there is a bifurcation point on the automatic walking route;

[0116] S41, if yes, then when the bifurcation point reaches the set condition, the track change action is performed;

[0117] S42: If not, keep the current state.

[0118] When performing automatic walking, a reversing turntable needs to be used at the bifurcation point, which means that there is a need to judge whether there is a bifurcation point in the path. Meeting the set conditions here mainly refers to the fact that the transfer machine has passed the end of the track and entered the reversing turntable. At this time, the reversing turntable can be controlled to automatically rotate to the required angle, and the transfer machine can be controlled to continue moving in the direction after the reversal, thereby completing the reversal. The reversing of the transfer machine here is a prior art, and its judgment process is changed from manual operation to computer program processing and judgment. Therefore, the function of manual reversing to intelligent reversing is completed in this application.

[0119] In some preferred embodiments, after step S41, the method further includes the following steps:

[0120] S41A, when the condition S41 is met and the track change action is completed, the crane 40 continues to move forward and triggers the detection signal of the first determination mechanism 90, the detection signal is compared with the preset hole number for consistency;

[0121] S41B, if they are consistent, it means that the vehicle moves forward according to the predetermined control route and continues to move along the path;

[0122] S41C: If they are not consistent, it means that the predetermined route and track have been deviated, and the crane 40 moves in the opposite direction, returns to the reversing turntable to re-determine the direction, and then repeats step S41A.

[0123] The determination in step S41A is to determine whether the transfer machine is moving along the preset path. If so, the transfer machine continues to move forward. If not, the transfer machine returns to the reversing turntable and reverses again until the correct reversal is achieved and the track change is completed.

[0124] S50: Walking according to the automatic walking route until reaching the end position.

[0125] The intelligent control method of a ceiling rail shift system described in the present application can automatically move according to the preset ceiling rail path and the current position; during the movement, it is also judged whether a reversal is needed to ensure the smooth reversal, so as to achieve the purpose of automatically moving according to the desired target. During the movement, it is also judged whether to walk a certain path in a loop to meet the need to repeatedly perform a certain path. Compared with the prior art, the present application, on the one hand, performs intelligent operations of pre-setting, mid-term adjustment, and later according to preset operations, and on the other hand, performs intelligent and programmed processing for steps that require manual operation, so that human participation is reduced. In the end, the user only needs to select the path and the end point to realize the automation and intelligence of the whole process, reducing the cumbersome operations of the user and improving the satisfaction of the experience. In addition, because human participation is reduced during the operation, the hands are freed. For the use of people who do rehabilitation exercises, the exercise of both hands can be added to it, thereby improving the training effect of the rehabilitation personnel.

[0126] In some preferred embodiments, a wireless control terminal is also provided, and the wireless control terminal communicates wirelessly with the crane 40, and corresponding actions are performed through control instructions on the wireless control terminal.

[0127] In some preferred embodiments, contact switches are respectively provided at the starting end and the end of the overhead rail path, and the contact switches are wirelessly connected to the controller of the crane 40 .

[0128] In some preferred examples, a controller is provided in the hoist 40 of the transfer machine, and a driving mechanism is provided in the track. The controller controls the movement of the driving mechanism, thereby realizing the forward and backward operations of the transfer machine.

[0129] like Figure 12-14 The intersection of the lines is the bifurcation point, or the bifurcation, where a reversing turntable is set. The track can be straight, curved, or even arc-shaped. Due to the reversing turntable, the track here is disconnected due to the reversing turntable. Therefore, it is divided into multiple sections of track. The reversing between multiple sections of track is achieved through the reversing turntable. In addition, the bifurcation can be a three-way or a four-way. When setting up the system in the early stage, you need to draw the following Figure 12-14 A similar figure is formed, and each line needs to be numbered, and the serial number of the corresponding limit hole is recorded on each fork. 5 Even each reversing turntable needs to be numbered.

[0130] The control principle of the intelligent control method of the overhead rail shifting system of the present application is as follows:

[0131] The first determination mechanism 90 determines whether the lift has passed the end of the track and which fork of the track the lift has entered. The second determination mechanism 50 determines which section of the track the lift is located in.

[0132] By using the first determination mechanism 90 and the second determination mechanism 50, the whole motion process is intelligently controlled and automatically operated, and the process monitoring function is also provided.

[0133] Control and accuracy judgment ensure the reliability of the entire shifting process.

[0134] The present invention has a simple structure, low energy consumption and is easy to implement. Furthermore, the present invention is safe, reliable and stable, making its promotion easy.

[0135] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. An intelligent control method for a ceiling rail displacement system, characterized in that: Includes steps: S10, drawing and inputting a preset sky rail path; S20, determining the current position of the transfer machine; S30, input the end point position and select whether to loop the path to obtain the automatic walking route of the transfer machine; S40, according to the automatic walking route of the transfer machine, searching whether there is a bifurcation point on the automatic walking route; S41, if yes, then when the bifurcation point reaches the set condition, the track change action is performed; S42, if not, keep moving in the current state; S50, walking according to the automatic walking route until reaching the end position; Before step S10, the method further includes the following steps: S01. A first determination mechanism is provided at the track end, wherein at least three pairs of selection points are provided on the first determination mechanism, and the number of pairs of selection points is consistent with the number of forks at the fork point, so that a pair of independent selection points is provided at each fork end of each fork at each fork point; The first determination mechanism includes a support frame, a movable abutment component and a detection component; the movable abutment component is mounted on the support frame, and the detection component is placed below the movable abutment component. When the movable abutment component contacts the detection component, the detection component generates a corresponding detection signal to determine the corresponding fork direction; The movable abutment assembly comprises a connecting cylinder, a circular baffle, a first elastic member, a locking member, and an abutment wheel; At least three limiting holes are formed on the support frame, and the axes of the three limiting holes are located in the same plane, so that the three limiting holes are evenly spaced along the same straight line; The connecting cylinder passes through one of the limiting holes, the top end of which is connected to the locking member, the middle part of which is connected to the first elastic member, and the bottom end of which is fixedly provided with the baffle; one end of the first elastic member abuts against the baffle, and the other end movably abuts against the bottom surface of the support frame; The abutment wheel is placed vertically and is rotatably connected to the baffle.

2. The intelligent control method of the overhead rail shifting system according to claim 1, characterized in that: The detection component is arranged on the top surface of the hoist of the transfer machine; and a number of mounting slots corresponding to the limit holes are opened on the top surface of the hoist; and each mounting slot is correspondingly provided with a detection component; The detection assembly includes a convex piece with a high middle and low ends, a first electrical contact, and a second elastic member; the two first electrical contacts are respectively installed at the two ends of the mounting groove, the convex piece is installed on the mounting groove through the two second elastic members, and the high position of the convex piece faces upward, and the two ends of the convex piece are respectively placed above the two first electrical contacts; The protruding piece is made of conductive metal material, and the abutting wheel is made of insulating material; The abutment wheel is arranged at corresponding positions to the protrusion. When the abutment wheel rolls over the protrusion, the protrusion is pressed downward, and the two ends of the protrusion respectively abut on the two first electrical contacts to form a closed loop of detection. The signal is transmitted to the controller to determine the source position of the signal, thereby determining the specific direction of the fork in the road.

3. The intelligent control method of the overhead rail shifting system according to claim 2, characterized in that: After step S01, the method further includes the following steps: S02, setting a second determination mechanism in the middle of the track, wherein the first determination mechanism is installed on one side of the overhead rail track, and the second determination mechanism is installed on the other side of the same overhead rail track; A plurality of the second determination mechanisms are evenly distributed at equal intervals in the middle of the sky rail track.

4. The intelligent control method of the overhead rail shifting system according to claim 3, characterized in that: The second determination mechanism includes a connection fixing block, a metal pick, and a second electrical contact; The metal pick is placed vertically, and its top end is fixed on the connection fixing block. Four oblique grooves are obliquely opened at the edges of the top surface of the crane, and the oblique grooves are arranged corresponding to the movement trajectory of the metal pick, and the oblique grooves are staggered with the installation grooves; Two second electrical contacts are installed on each of the inclined slots. When the metal pick contacts the two second electrical contacts in the same inclined slot, the circuit is closed and the electrical signal is transmitted to the controller, and the controller records the passing signal.

5. The intelligent control method of the overhead rail shifting system according to claim 4, characterized in that: In step S10, drawing and inputting a preset sky rail path includes: S11, scaling down the length of the Skyrail track and the laid path to form a Skyrail path map; S12, numbering each track section and each reversing turntable in the overhead rail path diagram, and drawing each number in the overhead rail path diagram; S13, counting and recording the number of metal picks on each section of the sky rail; S14, recording the positions of the limiting holes corresponding to the movable abutment components provided at the ends of each track section, so as to obtain the limiting hole numbers at both ends of each track section; S15, matching the number of metal picks in each section with the corresponding overhead rail path diagram to obtain an overhead rail path with a scale.

6. The intelligent control method of the overhead rail shifting system according to claim 5, characterized in that: In step S20, determining the current position of the transfer machine includes: S21, judging and obtaining the position of the current lift on the path of the overhead rail according to the number of the overhead rail track where the lift is located and the number of recorded passing signals; S22, obtaining the current precise position according to the infrared distance measuring sensors arranged at the front and rear sides of the hoist of the transfer machine.

7. The intelligent control method of the overhead rail shifting system according to claim 5, characterized in that: After step S41, the method further includes the following steps: S41A, when the condition S41 is met and the track change action is completed, the crane continues to move forward and triggers the detection signal of the first determination mechanism, the detection signal is compared with the preset hole number for consistency; S41B, if they are consistent, it means that the vehicle moves forward according to the predetermined control route and continues to move along the path; S41C: If they are inconsistent, it means that the predetermined route and track have been deviated, and the crane moves in the opposite direction and returns to the reversing turntable to re-determine the direction, and then repeat step S41A.

8. An intelligent control method for a ceiling rail shifting system according to any one of claims 1 to 7, characterized in that: A wireless control terminal is also provided, which communicates wirelessly with the crane, and corresponding actions are taken through control instructions on the wireless control terminal.

9. An intelligent control method for a ceiling rail shifting system according to any one of claims 1 to 7, characterized in that: Contact switches are respectively arranged at the starting end and the end of the overhead rail path, and the contact switches are wirelessly connected to the controller of the crane.

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