Small equipment rotating and berthing device

Abstract

The invention relates to a small equipment rotating and berthing device which comprises a moving platform and an equipment fixing support arranged on the moving platform, the moving platform comprises a flat plate, a fulcrum rotating shaft, a hydraulic rod, a hydraulic machine, a battery and universal wheels arranged at the bottom of the flat plate, and the fulcrum rotating shaft, the hydraulic rod, the hydraulic machine and the battery are arranged on the flat plate. The fulcrum rotating shaft, the hydraulic rod, the hydraulic machine and the battery are sequentially arranged from the first end to the second end in the long axis direction of the moving platform, the power input end of the hydraulic machine is connected to the battery, and the output end is connected to the hydraulic rod; the fixing support comprises a supporting frame and a hoisting frame, the supporting frame and the hoisting frame are both in a flat plate shape, the hoisting frame is connected with the second end of the supporting frame and forms an included angle with the supporting frame, the top of the supporting frame is rotationally connected with the fulcrum rotating shaft, and the movable end of the hydraulic rod is rotationally connected with the bottom of the supporting frame. The fixed end is connected with the upper surface of the panel. Compared with the prior art, the influence caused by jolting can be reduced in the transferring and moving process, and the stability is improved.

Description

Technical Field

[0001] The invention relates to the field of transport equipment, and in particular to a small equipment transfer device. Background Art

[0002] During the installation of small equipment such as secondary screen cabinets, they need to be transported to the destination by a transfer device, and then hoisted to the ground by manpower or a lifting box.

[0003] In order to improve efficiency, some existing technologies have designed some integrated transfer devices. For example, Chinese patent CN114411851B discloses a construction auxiliary device for the foundation of a secondary panel cabinet of an electric substation, including a vehicle body, a fixed frame is fixedly installed at the front end of the vehicle body, a fixed beam is vertically movably installed in front of the fixed frame through a lifting mechanism, and a digging mechanism is arranged on the lower end face of the fixed beam. The digging and drilling mechanism includes a first two-way cylinder fixedly installed on the lower end face of the fixed beam, a connecting frame fixedly installed on the telescopic ends of both sides of the first two-way cylinder, and two first motors arranged under each connecting frame. The output shaft of the first motor is connected to a driving rod. The present invention can flexibly adapt to the opening of rectangular frame-shaped grooves of different lengths and widths to assist the installation of the panel cabinet foundation, the groove width can be flexibly adjusted, and it has the function of synchronously cleaning debris in the groove when grooving, thereby improving construction efficiency, effectively reducing the raised dust, and benefiting the health of construction workers.

[0004] However, the above-mentioned auxiliary construction device for the secondary cabinet foundation of the electric substation still has the following defects:

[0005] 1. During transportation, small equipment such as secondary screen cabinets are in a vertical state, which will cause a high center of gravity and easy instability during the transfer process;

[0006] 2. The overall volume is too large, the space occupied is too large, and the scope of application is narrow. Summary of the invention

[0007] The purpose of the present invention is to provide a small equipment mooring device. By designing the mobile platform to be a flat plate and using hydraulic rods to flatten the small equipment, the center of gravity can be effectively lowered, the impact of bumps during the mooring process can be reduced, and stability can be improved.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] A small equipment transfer device comprises a mobile platform and an equipment fixing bracket arranged on the mobile platform.

[0010] The mobile platform comprises a flat plate and a fulcrum shaft, a hydraulic rod, a hydraulic press and a battery arranged on the flat plate, and a universal wheel arranged at the bottom of the flat plate, wherein the fulcrum shaft, the hydraulic rod, the hydraulic press and the battery are arranged in sequence from the first end to the second end of the long axis direction of the mobile platform, the power input end of the hydraulic press is connected to the battery, and the output end is connected to the hydraulic rod;

[0011] The fixed bracket includes a supporting frame and a lifting frame, both of which are in the shape of a plate. The lifting frame is connected to the second end of the supporting frame and forms an angle with the supporting frame. The top of the supporting frame is rotatably connected to the fulcrum shaft, and the movable end of the hydraulic rod is rotatably connected to the bottom of the supporting frame, and the fixed end is connected to the upper surface of the plate.

[0012] The mobile platform also includes a support plate, which is located on the second end of the flat plate. When the support frame is supported on the support surface of the counterweight block when the hydraulic rod is retracted, the support frame is in a horizontal state.

[0013] The support plate is provided with a positioning groove, and the support frame is provided with a positioning piece matching the positioning groove. When the support frame is supported on the supporting surface of the counterweight block under the contraction of the hydraulic rod, the positioning piece is placed in the positioning groove.

[0014] The positioning groove is a T-shaped positioning groove.

[0015] The support frame is also provided with a hydraulic cylinder, which is a single-cylinder speed-adjustable hydraulic cylinder.

[0016] The hanging frame is provided with a fixed pulley, and the axis of the fixed pulley is parallel to the supporting frame and the hanging frame.

[0017] A gravity center offset sensor is arranged on the support frame.

[0018] The device also includes:

[0019] A plurality of first photosensitive detection units and second photosensitive detection units corresponding to each of the first photosensitive detection units, wherein each photosensitive detection unit is composed of a plurality of photosensitive diodes arranged at equal intervals, and the photosensitive diodes of any first photosensitive detection unit and the corresponding second photosensitive detection unit are located in a straight line, and all the first photosensitive detection units are arranged along the long axis direction of the support frame, and all the second photosensitive detection units are arranged along the long axis direction of the support frame;

[0020] The controller is connected to each photodiode, and is configured to perform the following steps:

[0021] Acquire the conduction state of each second photosensitive detection unit, and obtain the feature vector corresponding to each first photosensitive detection unit, and the feature vector of each second photosensitive detection unit;

[0022] Determine an initial virtual center of gravity position based on a feature vector of each first photosensitive detection unit and a feature vector of each second photosensitive detection unit in an initial state;

[0023] Determine the current virtual center of gravity position based on the feature vectors of each first photosensitive detection unit and the feature vectors of each second photosensitive detection unit at the detection moment;

[0024] Based on the distance between the current virtual center of gravity position and the initial virtual center of gravity position, it is determined whether the obtained distance exceeds a preconfigured threshold. If so, a center of gravity deviation warning signal is output.

[0025] One end of the photodiode is connected to the positive pole of the power supply, and the other end is connected to an input pin of the controller through a current limiting resistor.

[0026] The mobile platform is also provided with a plurality of foldable legs.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. By designing the mobile platform into a flat plate and using hydraulic rods to flatten small equipment, the center of gravity can be effectively lowered, the impact of bumps during the mooring process can be reduced, and stability can be improved.

[0029] 2. By designing a T-shaped positioning groove, the relative position of the support frame can be fixed, the lateral and horizontal displacement can be limited, and the stability can be improved.

[0030] 3. The adjustable speed single cylinder system is highly flexible and can adjust the lifting speed according to specific needs to adapt to different operating scenarios. It also saves energy and can save energy consumption by adjusting the speed. It is also more convenient to operate.

[0031] 4. The blocked space is obtained by setting a plurality of first photosensitive detection units and a plurality of second photosensitive detection units, and the initial virtual center of gravity position is obtained based on the digitized feature vector. The virtual center of gravity position is implemented by combining the feature vector of the subsequent detection stage. The center of gravity offset parameter is obtained based on the distance difference between the two, and an early warning is issued. The method has the advantages of high stability and reliability, and a wide range of applications. It has no requirements on the structure of the mooring object, and only needs to manually adjust the placement position in the initial stage, without knowing the actual center of gravity position. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the present invention;

[0033] Figure 2 It is a top view schematic diagram of the present invention;

[0034] Figure 3 is a schematic diagram of the layout of the first photosensitive detection unit and the second photosensitive detection unit;

[0035] Figure 4 It is a schematic diagram of the control part;

[0036] Wherein: 1. flat plate, 2. supporting frame, 3. fulcrum shaft, 4. hydraulic rod, 5. hydraulic press, 6. battery, 7. universal wheel, 8. push rod, 9. control box, 10. first photosensitive detection unit, 11. second photosensitive detection unit. DETAILED DESCRIPTION

[0037] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0038] A small equipment transfer device, such as Figure 1 and Figure 2 As shown, it includes a mobile platform and a device fixing bracket arranged on the mobile platform.

[0039] The mobile platform includes a flat plate 1 and a fulcrum shaft 3, a hydraulic rod 4, a hydraulic press 5 and a battery 6 arranged on the flat plate 1, and a universal wheel 7 arranged at the bottom of the flat plate 1. The fulcrum shaft 3, the hydraulic rod 4, the hydraulic press 5 and the battery 6 are arranged in sequence from the first end to the second end of the long axis direction of the mobile platform. The power input end of the hydraulic press 5 is connected to the battery 6, and the output end is connected to the hydraulic rod 4.

[0040] The fixed bracket includes a supporting frame 2 and a lifting frame. Both the supporting frame 2 and the lifting frame are in the shape of a flat plate 1. The lifting frame is connected to the second end of the supporting frame 2 and forms an angle with the supporting frame 2. The top of the supporting frame 2 is rotatably connected to the fulcrum shaft 3, and the movable end of the hydraulic rod 4 is rotatably connected to the bottom of the supporting frame 2, and the fixed end is connected to the upper surface of the flat plate 1.

[0041] The mobile platform also includes a support plate, which is located on the second end of the flat plate 1. When the support frame 2 is supported on the support surface of the counterweight block when the hydraulic rod 4 is retracted, the support frame 2 is in a horizontal state. By designing the mobile platform to be in the shape of a flat plate 1 and by using the hydraulic rod 4 to flatten small equipment, the center of gravity can be effectively lowered, and the impact of bumps can be reduced during the mooring process, thereby improving stability.

[0042] In some embodiments, a positioning groove is provided on the support plate, and a positioning piece matching the positioning groove is provided on the support frame 2. When the support frame 2 is supported on the support surface of the counterweight block when the hydraulic rod 4 is retracted, the positioning piece is placed in the positioning groove, and the positioning groove is a T-shaped positioning groove. By designing the T-shaped positioning groove, the relative position of the support frame 2 can be fixed, the lateral and lateral displacements can be limited, and the stability can be improved.

[0043] A hydraulic cylinder is also provided on the support frame 2. The hydraulic cylinder is a single-cylinder adjustable speed hydraulic cylinder. An adjustable speed single-cylinder system is adopted, which has high flexibility and can adjust the lifting speed according to specific needs to adapt to different operating scenarios; it also saves energy and can save energy consumption by adjusting the speed; and it is more convenient to operate.

[0044] In addition, in some embodiments, a fixed pulley is provided on the lifting frame, and the axis of the fixed pulley is parallel to the supporting frame 2 and the lifting frame. When the supporting frame 2 rotates to a vertical state due to the action of the hydraulic rod 4, the small equipment to be moored can be lifted and lowered from the ground through the fixed pulley.

[0045] In addition, in some embodiments, a center of gravity offset sensor is provided on the support frame 2 .

[0046] In this embodiment, the device further includes:

[0047] A plurality of first photosensitive detection units 10 and second photosensitive detection units 11 corresponding to each first photosensitive detection unit 10, wherein Figure 3 As shown, each photosensitive detection unit is composed of a plurality of photosensitive diodes arranged at equal intervals, and the photosensitive diodes of any first photosensitive detection unit 10 and the corresponding second photosensitive detection unit 11 are located in a straight line, and all the first photosensitive detection units 10 are arranged along the long axis direction of the support frame 2, and all the second photosensitive detection units 11 are arranged along the long axis direction of the support frame 2;

[0048] The controller is connected to each photodiode, and is configured to perform the following steps:

[0049] Acquire the conduction state of each second photosensitive detection unit 11, and obtain the feature vector corresponding to each first photosensitive detection unit 10, and the feature vector of each second photosensitive detection unit 11;

[0050] Determine an initial virtual center of gravity position based on the feature vectors of each first photosensitive detection unit 10 and the feature vectors of each second photosensitive detection unit 11 in the initial state;

[0051] Determine the current virtual center of gravity position based on the feature vectors of each first photosensitive detection unit 10 and the feature vectors of each second photosensitive detection unit 11 at the detection moment;

[0052] Based on the distance between the current virtual center of gravity position and the initial virtual center of gravity position, it is determined whether the obtained distance exceeds a preconfigured threshold. If so, a center of gravity deviation warning signal is output.

[0053] The blocked space is obtained by setting a plurality of first photosensitive detection units 10 and a plurality of second photosensitive detection units 11, and the initial virtual center of gravity position is obtained based on the digitized feature vector. The virtual center of gravity position is implemented by combining the feature vector of the subsequent detection stage. The center of gravity offset parameter is obtained based on the distance difference between the two, and an early warning is issued. The method has the advantages of high stability and reliability, and a wide range of applications. There are no requirements for the structure of the mooring object. It only needs to manually adjust the placement position in the initial stage, and there is no need to know the actual center of gravity position.

[0054] The process of determining the position of the virtual center of gravity based on the feature vectors of each first photosensitive detection unit 10 and the feature vectors of each second photosensitive detection unit 11 can be implemented by machine learning. The input of the model is the feature vectors of each first photosensitive detection unit 10 and the feature vectors of each second photosensitive detection unit 11, and the output is the position of the virtual center of gravity. In this embodiment, the position of the virtual center of gravity can be the geometric center. Of course, in some special places, when the small equipment to be moored is relatively single, the actual measured center of gravity can also be used.

[0055] For example, assuming that the first photosensitive detection unit 10 includes 4 photodiodes, the states from left to right are on, on, on, and off, indicating that except for the rightmost photosensitive diode being blocked by the small device to be transferred, the rest are not blocked. The characteristic vector corresponding to the first photosensitive detection unit 10 is (1,1,1,0). Conversely, the state of the corresponding second photosensitive detection unit 11 is assumed to be off, off, off, and on, and the corresponding characteristic vector of the second photosensitive detection unit 11 is (0,0,0,1).

[0056] like Figure 4 As shown, one end of the photodiode is connected to the positive pole of the power supply, and the other end is connected to an input pin of the controller through a current limiting resistor. In this regard, due to the large number of photodiodes, the controller can include a single-sided machine and an IO board. The IO board is responsible for converting high and low level signals into feature vectors and transmitting them to the microcontroller through a data interface.

[0057] In addition, in some embodiments, the mobile platform is also provided with a plurality of retractable feet, which can improve the stability of the support frame 2 during rotation. The mobile platform is also provided with a push rod 8 and a control box 9, etc., and the control box is integrated with control buttons, etc.

[0058] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program code.

Claims

1. A small equipment transfer device, comprising a mobile platform and an equipment fixing bracket arranged on the mobile platform, characterized in that: The mobile platform comprises a flat plate and a fulcrum shaft, a hydraulic rod, a hydraulic press and a battery arranged on the flat plate, and a universal wheel arranged at the bottom of the flat plate, wherein the fulcrum shaft, the hydraulic rod, the hydraulic press and the battery are arranged in sequence from the first end to the second end of the long axis direction of the mobile platform, the power input end of the hydraulic press is connected to the battery, and the output end is connected to the hydraulic rod; The fixed bracket includes a supporting frame and a lifting frame, both of which are in the shape of a plate. The lifting frame is connected to the second end of the supporting frame and forms an angle with the supporting frame. The top of the supporting frame is rotatably connected to the fulcrum shaft, and the movable end of the hydraulic rod is rotatably connected to the bottom of the supporting frame, and the fixed end is connected to the upper surface of the plate.

2. A small equipment mooring device according to claim 1, characterized in that: The mobile platform also includes a support plate, which is located on the second end of the flat plate. When the support frame is supported on the support surface of the counterweight block when the hydraulic rod is retracted, the support frame is in a horizontal state.

3. A small equipment mooring device according to claim 2, characterized in that: The support plate is provided with a positioning groove, and the support frame is provided with a positioning piece matching the positioning groove. When the support frame is supported on the supporting surface of the counterweight block under the contraction of the hydraulic rod, the positioning piece is placed in the positioning groove.

4. A small equipment mooring device according to claim 3, characterized in that: The positioning groove is a T-shaped positioning groove.

5. A small equipment mooring device according to claim 1, characterized in that: The support frame is also provided with a hydraulic cylinder, which is a single-cylinder speed-adjustable hydraulic cylinder.

6. A small equipment mooring device according to claim 1, characterized in that: The hanging frame is provided with a fixed pulley, and the axis of the fixed pulley is parallel to the supporting frame and the hanging frame.

7. A small equipment mooring device according to claim 1, characterized in that: A gravity center offset sensor is arranged on the support frame.

8. The small equipment mooring device according to claim 1, characterized in that: The device also includes: A plurality of first photosensitive detection units and second photosensitive detection units corresponding to each of the first photosensitive detection units, wherein each of the photosensitive detection units is composed of a plurality of photosensitive diodes arranged at equal intervals, and the photosensitive diodes of any first photosensitive detection unit and the corresponding second photosensitive detection unit are located in a straight line, and all the first photosensitive detection units are arranged along the long axis direction of the support frame, and all the second photosensitive detection units are arranged along the long axis direction of the support frame; The controller is connected to each photodiode, and is configured to perform the following steps: Acquire the conduction state of each second photosensitive detection unit, and obtain the feature vector corresponding to each first photosensitive detection unit, and the feature vector of each second photosensitive detection unit; Determine an initial virtual center of gravity position based on a feature vector of each first photosensitive detection unit and a feature vector of each second photosensitive detection unit in an initial state; Determine the current virtual center of gravity position based on the feature vectors of each first photosensitive detection unit and the feature vectors of each second photosensitive detection unit at the detection moment; Based on the distance between the current virtual center of gravity position and the initial virtual center of gravity position, it is determined whether the obtained distance exceeds a preconfigured threshold. If so, a center of gravity deviation warning signal is output.

9. A small equipment mooring device according to claim 8, characterized in that: One end of the photodiode is connected to the positive pole of the power supply, and the other end is connected to an input pin of the controller through a current limiting resistor.

10. A small equipment mooring device according to claim 1, characterized in that: The mobile platform is also provided with a plurality of foldable legs.

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