Slope surface transportation equipment and control method

Abstract

The invention provides slope surface transportation equipment and a control method, and relates to the technical field of transportation equipment.The slope surface transportation equipment comprises a transportation device and a counterweight device, the transportation device comprises a transportation platform, and the transportation device is used for being arranged on a slope surface and driving the transportation platform to move on the slope surface; the counterweight device comprises a counterweight block, a counterweight traction mechanism, a counterweight pulley block and a rope, the counterweight block is arranged on the slope surface, the counterweight pulley block comprises a first counterweight pulley block and a second counterweight pulley block, the first counterweight pulley block is used for being arranged at the upper end of the slope surface, and the second counterweight pulley block is used for being arranged at the lower end of the slope surface; the counterweight traction mechanism is used for being arranged at the upper end of the slope, the free end of a traction rope of the counterweight traction mechanism bypasses the second counterweight pulley block to be connected with the counterweight block, one end of the rope is connected with the counterweight block, and the other end of the rope bypasses the first counterweight pulley block to be connected with the transportation platform. The safety of slope transportation can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation equipment, and in particular to a slope transportation equipment and a control method thereof. Background Art

[0002] With the advancement of science and technology and the increase in engineering needs, mechanized transportation devices play an important role in slope transportation and have been widely used in many fields such as bridge construction, mining, water conservancy and hydropower engineering. Through mechanized operation, the dependence on manpower is significantly reduced, making the slope transportation process easier and more labor-saving.

[0003] However, when transporting large equipment, such as vehicles or large construction equipment, the required traction force is usually large, which may increase the risk of equipment failure and affect the safety of the transportation process. Summary of the invention

[0004] The problem solved by the invention is how to improve the safety of slope transportation.

[0005] In order to solve the above problems, the present invention provides a slope transportation device and a control method.

[0006] In the first aspect, the present invention provides a slope transportation equipment, including a transportation device and a counterweight device, the transportation device including a transportation platform, the transportation device is arranged on the slope, and is used to drive the transportation platform to move on the slope, the counterweight device includes a counterweight block, a counterweight traction mechanism, a counterweight pulley group and a rope, the counterweight block is arranged on the slope, the counterweight pulley group includes a first counterweight pulley group and a second counterweight pulley group, the first counterweight pulley group is arranged at the upper end of the slope, the second counterweight pulley group is arranged at the lower end of the slope, the counterweight traction mechanism is arranged at the upper end of the slope, the free end of the traction rope of the counterweight traction mechanism passes through the second counterweight pulley group and is connected to the counterweight block, one end of the rope is connected to the counterweight block, and the other end of the rope passes through the first counterweight pulley group and is connected to the transportation platform.

[0007] Optionally, the counterweight traction mechanism includes a left counterweight traction mechanism and a right counterweight traction mechanism, the second counterweight pulley group includes a left second counterweight pulley group and a right second counterweight pulley group, the free end of the traction rope of the left counterweight traction mechanism passes around the left second counterweight pulley group and is connected to the counterweight block, and the free end of the traction rope of the right counterweight traction mechanism passes around the right second counterweight pulley group and is connected to the counterweight block.

[0008] Optionally, the rope includes a left rope and a right rope, the first counterweight pulley group includes a left first counterweight pulley group and a right first counterweight pulley group, one end of the left rope is connected to the counterweight block, and the other end of the left rope passes around the left first counterweight pulley group and is connected to the transport platform, one end of the right rope is connected to the counterweight block, and the other end of the right rope passes around the right first counterweight pulley group and is connected to the transport platform.

[0009] Optionally, the transport device further includes a platform traction mechanism and a fixing mechanism, the platform traction mechanism and the fixing mechanism are used to be arranged at the upper end of the slope, a platform pulley block is arranged on the transport platform, and the free end of the traction rope of the platform traction mechanism passes around the platform pulley block and is connected to the fixing mechanism.

[0010] Optionally, the platform traction mechanism includes a left platform traction mechanism and a right platform traction mechanism, the fixing mechanism includes a left fixing mechanism and a right fixing mechanism, the platform pulley group includes a left platform pulley group and a right platform pulley group, the left platform pulley group and the right platform pulley group are respectively arranged at symmetrical positions at both ends of the transport platform, the free end of the traction rope of the left platform traction mechanism passes around the left platform pulley group and is connected to the left fixing mechanism, and the free end of the traction rope of the right platform traction mechanism passes around the right platform pulley group and is connected to the right fixing mechanism.

[0011] Optionally, the transport device further comprises a track, wherein the track is used for laying on the slope surface, and a slide rail is provided at the bottom of the transport platform, and the transport platform slides on the track via the slide rail.

[0012] Optionally, the track includes a first track and a second track, the first track and the second track are respectively laid on the slope and spaced apart, the slide rail includes a first slide rail and a second slide rail, the first slide rail and the second slide rail are respectively arranged at the bottom of the transport platform and spaced apart, and the spacing between the first track and the second track matches the spacing between the first slide rail and the second slide rail.

[0013] In a second aspect, the present invention provides a slope transportation equipment control method. Based on the slope transportation equipment described in the first aspect, the slope transportation equipment control method includes:

[0014] Obtain the motion state and total weight of the transport platform, as well as the counterweight of the counterweight block;

[0015] The platform traction force of the transport platform and the counterweight traction force of the counterweight block are determined according to the motion state, the total weight and the counterweight.

[0016] Optionally, determining the platform traction force of the transport platform and the counterweight traction force of the counterweight block according to the motion state, the total weight and the counterweight includes:

[0017] When the transport platform moves downward along the slope, the first platform sliding force is determined according to the relationship between the total weight and the preset first sliding force, and the first counterweight sliding force is determined according to the relationship between the counterweight and the preset second sliding force;

[0018] Determining the counterweight traction force according to the difference between the first platform sliding force and the first counterweight sliding force, wherein the platform traction force is 0;

[0019] When the transport platform moves upward along the slope, the second platform sliding force is determined according to the relationship between the total weight and the preset third sliding force, and the second counterweight sliding force is determined according to the relationship between the counterweight and the preset fourth sliding force;

[0020] The platform traction force is determined according to the second platform sliding force and the platform threshold; the counterweight traction force is determined according to the second counterweight sliding force and the sliding force threshold.

[0021] Optionally, the first sliding force relationship satisfies:

[0022] F1=G sinα-μ1G cosα;

[0023] The second sliding force relationship satisfies:

[0024] E1=H sinα+μ2H cosα;

[0025] The third sliding force relationship satisfies:

[0026] F2=G sinα+μ1G cosα;

[0027] The fourth sliding force relationship satisfies:

[0028] E1=H sinα+μ2H cosα;

[0029] Among them, F1 is the sliding force of the first platform, F2 is the sliding force of the second platform, E1 is the sliding force of the first counterweight, E2 is the sliding force of the second counterweight, G is the total weight of the transport platform, H is the counterweight of the counterweight block, α is the angle between the slope and the horizontal plane, μ1 is the first friction coefficient, and μ2 is the second friction coefficient.

[0030] The slope transportation equipment and control method of the present invention have the following beneficial effects: the counterweight block and the transportation platform are connected by a rope bypassing the first counterweight pulley group, the downward force of the counterweight block along the slope is converted into a traction force on the transportation platform upward along the slope, and the free end of the traction rope of the counterweight traction mechanism bypasses the second counterweight pulley group and is connected to the counterweight block, the traction force of the counterweight traction mechanism is converted into a traction force of the counterweight block downward along the slope, so that the traction force of the rope on the transportation platform upward along the slope is increased through the combined action of the traction force downward along the slope and the component force of the counterweight block sliding down. In the process of transportation through the transportation platform, the traction force generated by the rope on the transportation platform can be coordinated with the transportation device to share the traction force of the transportation device on the transportation platform, reduce the load of the equipment, thereby improving the service life and transportation efficiency of the equipment, and when the transportation slip moves downward along the slope, the traction force of the rope can also avoid the risk of slipping of the transportation platform, and the traction force generated by the counterweight device along the slope can effectively prevent the safety hazard caused by the rapid slipping of the transportation platform, further improving the safety during slope transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of a slope transportation device according to an embodiment of the present invention;

[0032] Figure 2 It is a schematic structural diagram of a slope transportation equipment slide rail according to an embodiment of the present invention;

[0033] Figure 3 It is a schematic diagram of the structure of the double slide rails of the slope transportation equipment according to an embodiment of the present invention;

[0034] Figure 4 The figure is a flow chart of a slope transportation equipment control method according to an embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 1-transport platform; 11-platform pulley block; 111-left platform pulley block; 112-right platform pulley block; 12-slide rail; 121-first slide rail; 122-second slide rail; 2-counterweight block; 3-counterweight traction mechanism; 31-left counterweight traction mechanism; 32-right counterweight traction mechanism; 4-counterweight pulley block; 41-first counterweight pulley block; 411-left first counterweight pulley block; 412-right first counterweight pulley block; 42-second counterweight pulley block; 421-left second counterweight pulley block; 422-right second counterweight pulley block; 5-rope; 51-left rope; 52-right rope; 6-platform traction mechanism; 61-left platform traction mechanism; 62-right platform traction mechanism; 7-fixing mechanism; 71-left fixing mechanism; 72-right fixing mechanism; 8-track; 81-first track; 82-second track. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0038] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0039] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0040] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0041] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0042] In view of the problems existing in the above-mentioned related technologies, this embodiment provides a slope transportation device and a control method.

[0043] like Figure 1As shown, a slope transportation equipment provided by an embodiment of the present invention includes a transportation device and a counterweight device, the transportation device includes a transportation platform 1, the transportation device is arranged on the slope, and is used to drive the transportation platform 1 to move on the slope, the counterweight device includes a counterweight block 2, a counterweight traction mechanism 3, a counterweight pulley group 4 and a rope 5, the counterweight pulley group 4 includes a first counterweight pulley group 41 and a second counterweight pulley group 42, the first counterweight pulley group 41 is arranged at the upper end of the slope, the second counterweight pulley group 42 is arranged at the lower end of the slope, the counterweight traction mechanism 3 is arranged at the upper end of the slope, the free end of the traction rope of the counterweight traction mechanism 3 bypasses the second counterweight pulley group 42 and is connected to the counterweight block 2, one end of the rope 5 is connected to the counterweight block 2, and the other end of the rope 5 bypasses the first counterweight pulley group 41 and is connected to the transportation platform 1.

[0044] Specifically, during slope construction, it is necessary to transport equipment and materials under construction through slope transportation equipment. The slope transportation equipment mainly includes a transportation device and a counterweight device. The transportation platform 1 of the transportation device set on the slope moves on the slope, so as to transport equipment and materials through the transportation platform 1. The transportation device is assisted and protected by the counterweight device to reduce the transportation burden of the transportation device. At the same time, the counterweight device can play a protective role in the event of a fault to avoid the risk of falling of the transportation platform 1.

[0045] Furthermore, the counterweight device is mainly composed of a counterweight block 2, a counterweight traction mechanism 3, a counterweight pulley block 4 and a rope 5, wherein the counterweight pulley block 4 includes a first counterweight pulley block 41 and a second counterweight pulley block 42. The first counterweight pulley block 41 is set at an appropriate position at the upper end of the slope, that is, the position is higher than the highest position of the slope that the transport platform 1 can reach, and the second counterweight pulley block 42 is set at the lower end of the slope. Similarly, the second counterweight pulley block 42 is also lower than the lowest position of the slope that the transport platform 1 can reach, thereby ensuring that the transport path of the transport platform 1 is located between the first counterweight pulley block 41 and the second counterweight pulley block 42. The counterweight traction mechanism 3 in the counterweight device can be a winch, and the counterweight traction mechanism 3 is set at a suitable position at the upper end of the slope, which is also higher than the highest position of the slope that the transport platform 1 can reach, and usually higher than the first counterweight pulley group 41. The free end of the traction rope of the counterweight traction mechanism 3 passes around the second counterweight pulley group 42 located at the lower end of the slope and is connected to the counterweight block 2, and then is connected to the counterweight block 2 through one end of the rope 5, and the other end passes around the first counterweight pulley group 41 and is connected to the transport platform 1, connecting the counterweight block 2 to the transport platform 1, wherein the counterweight block 2 and rope 5 in the counterweight device, as well as the traction rope of the total traction mechanism can be located between the transport platform 1 and the slope, and the counterweight block 2 can slide on the slope, and when the transport platform 1 moves on the slope, the counterweight block 2 can pass under the transport platform 1.

[0046] For example, when the transport platform 1 needs to transport an engineering vehicle upward, the power mechanism in the transport device drives the transport platform 1 and the engineering vehicle parked thereon to move upward along the slope. Since the total weight of the engineering vehicle and the transport platform 1 is usually heavy, the transport device requires greater traction, which increases the equipment burden of the transport device, easily causing failures and possibly causing the transport platform 1 to have a serious risk of falling.

[0047] In this embodiment, transportation is carried out by cooperating with the transport device through the counterweight device. The counterweight traction mechanism 3 in the counterweight device can be a winch. The winch drives the counterweight block 2 to move downward along the slope by a steel wire rope that bypasses the second counterweight pulley group 42 and is connected to the counterweight block 2. The downward moving counterweight block 2 drives the transport platform 1 to move upward along the slope by the rope 5 that bypasses the first counterweight pulley group 41. In this process, the driving force of the winch and the gravity of the counterweight block 2 act together on the transport platform 1 to be converted into an upward pulling force on the transport platform 1. Therefore, the transport pressure of the transport device can be effectively shared by the counterweight device, thereby improving the efficiency of slope transportation. When the transport device fails, the traction force generated by the counterweight device on the transport platform 1 through the rope 5 can ensure that the transport platform 1 will not fall or slide down after the transport device fails, thereby avoiding the safety hazards that may be caused by falling, thereby improving the safety of slope transportation.

[0048] Furthermore, after the transport platform 1 transports the engineering vehicle to the predetermined position at the upper end of the slope, it needs to move from the upper end of the slope to the lower end of the slope. The transport platform 1 may be empty or may have engineering equipment or materials that need to be transported. At this time, if the counterweight traction mechanism 3 does not have an upward traction force, the transport platform 1 will move downward along the slope due to the action of gravity, and at the same time, the counterweight block 2 will be driven to move upward along the slope through the rope 5. At this time, the gravity of the counterweight block 2 itself will slow down the speed of the transport platform 1 moving downward. At the same time, the traction force generated by the counterweight traction mechanism 3 can also further control the speed of the downward movement of the transport platform 1. When the speed is too fast, the traction force is increased, and when the speed is too slow, the traction force is reduced, thereby ensuring that the transport platform 1 moves downward along the slope at a controllable speed, which can avoid the transport platform 1 from being uncontrollable when falling due to the action of gravity, which may cause safety hazards to the surrounding staff, and effectively improve the safety during slope transportation.

[0049] In this embodiment, the counterweight block 2 and the transport platform 1 are connected by a rope 5 passing around the first counterweight pulley block 41, and the downward force of the counterweight block 2 along the slope is converted into a traction force on the transport platform 1 along the slope upward. The free end of the traction rope of the counterweight traction mechanism 3 is passed around the second counterweight pulley block 42 and connected to the counterweight block 2, and the traction force of the counterweight traction mechanism 3 is converted into a traction force of the counterweight block 2 along the slope downward. Thus, the traction force of the rope 5 on the transport platform 1 along the slope upward is increased by the combined effect of the traction force along the slope downward and the component force of the counterweight block 2 sliding downward. In the process of transportation through the transport platform 1, The traction force generated by the rope 5 on the transport platform 1 cooperates with the driving force of the transport device itself. The traction force of the rope 5 shares the driving force of the transport device itself (i.e., the traction force of the platform traction mechanism 6 on the transport platform 1 mentioned later) to reduce the load of the transport device, thereby improving the service life and transportation efficiency of the transport device. When the transport platform 1 moves downward along the slope, the traction force of the rope 5 can also avoid the risk of slipping of the transport platform 1. The traction force generated by the counterweight device along the slope can effectively prevent the safety hazard caused by the rapid slipping of the transport platform 1, thereby further improving the safety during slope transportation.

[0050] Alternatively, if Figure 1 As shown, the counterweight traction mechanism 3 includes a left counterweight traction mechanism 31 and a right counterweight traction mechanism 32, and the second counterweight pulley group 42 includes a left second counterweight pulley group 421 and a right second counterweight pulley group 422. The free end of the traction rope of the left counterweight traction mechanism 31 is connected to the counterweight block 2 by passing through the left second counterweight pulley group 421, and the free end of the traction rope of the right counterweight traction mechanism 32 is connected to the counterweight block 2 by passing through the right second counterweight pulley group 422.

[0051] Specifically, the left counterweight traction mechanism 31 and the right counterweight traction mechanism 32 are respectively located at the corresponding horizontal positions at the upper end of the slope, so as to ensure that the traction forces generated by the left counterweight traction mechanism 31 and the right counterweight traction mechanism 32 on the counterweight block 2 are equal, that is, the distances of the traction ropes of the two traction mechanisms passing around the corresponding second counterweight pulley group 42 to reach the counterweight block 2 are equal. The left second counterweight pulley group 421 and the right second counterweight pulley group 422 are also respectively set at the corresponding horizontal positions at the lower end of the slope, so that the distance from the left second counterweight pulley group 421 to the left counterweight traction mechanism 31 is equal to the distance from the right second counterweight pulley group 422 to the counterweight traction mechanism 3, wherein the number and type of pulleys in the left second counterweight pulley group 421 and the right second counterweight pulley group 422 can be selected according to actual conditions. For example, when the distance between the left counterweight traction mechanism 31 and the right counterweight traction mechanism 32 is too small, that is, the distance is smaller than the width of the counterweight block 2, at this time, if the pulleys are set at the counterweight The traction rope of the counterweight traction mechanism 3 directly below the counterweight block 2 will contact the counterweight block 2 before passing around the pulley, thereby causing wear of the traction rope. If the two pulley groups are set close to the outside, the traction force of the traction rope on the counterweight block 2 will be inconsistent with the direction of the gravity component of the counterweight block 2, causing the traction force to produce a component force, which cannot be fully used to drive the counterweight block 2 to slide downward along the slope, and may also cause uneven force on the counterweight block 2. Therefore, two pulleys are required for each pulley group to ensure that the traction rope is parallel to the direction of movement when connected to the counterweight block 2, so that all the traction force in the traction rope is used to drive the counterweight block 2 to slide along the slope.

[0052] Exemplarily, the left second counterweight pulley group 421 includes a first pulley and a second pulley, and the first pulley is arranged on the outer side of the lower end of the slope to ensure that the traction rope of the left counterweight traction mechanism 31 does not contact the counterweight block 2 when it passes around the first pulley, and the second pulley is arranged in the counterweight block 2 directly below the connection point of the traction rope with the left counterweight traction mechanism 31, so as to ensure that the traction force of the traction rope is consistent with the direction of the downward sliding component of the counterweight block 2. The free end of the traction rope of the left counterweight traction mechanism 31 goes down along the slope, passes between the transport platform 1 and the slope, and then passes around the first pulley, and the direction turns to the horizontal direction. Then, after passing around the second pulley, the direction turns to the upward direction along the slope and connects to the counterweight block 2, thereby converting the traction force of the left counterweight traction mechanism 31 into a traction force on the counterweight block 2 downward along the slope. Similarly, the same symmetrical setting is adopted for the right counterweight traction mechanism 32 and the third pulley and the fourth pulley in the right second counterweight pulley group 422, so that the counterweight block 2 is finally subjected to two symmetrical traction forces downward along the slope.

[0053] In this optional embodiment, through the cooperation of the left counterweight traction mechanism 31 and the left second counterweight pulley group 421, and the right counterweight traction mechanism 32 and the right second counterweight pulley group 422, the counterweight block 2 is subjected to equal downward left and right traction forces. When the transport platform 1 drives the counterweight block 2 to move upward along the slope, the movement speed and movement state of the counterweight block 2 can be controlled by the left counterweight traction mechanism 31 and the right counterweight traction mechanism 32, which can effectively avoid the risk of rapid falling of the transport platform 1 and improve the safety during transportation. At the same time, the traction force of the left counterweight traction mechanism 31 and the right counterweight traction mechanism 32 can be used to drive the transport platform 1 to move upward along the slope through the counterweight block 2, thereby reducing the burden on the power equipment in the transport device and improving the transport efficiency.

[0054] Alternatively, if Figure 1 As shown, the rope 5 includes a left rope 51 and a right rope 52, the first counterweight pulley group 41 includes a left first counterweight pulley group 411 and a right first counterweight pulley group 412, one end of the left rope 51 is connected to the counterweight block 2, and the other end passes around the left first counterweight pulley group 411 and is connected to the transport platform 1, one end of the right rope 52 is connected to the counterweight block 2, and the other end is used to pass around the right first counterweight pulley group 412 and is connected to the transport platform 1.

[0055] Specifically, the first counterweight pulley group 41 includes a left first counterweight pulley group 411 and a right first counterweight pulley group 412 respectively arranged on the left and right sides of the upper end of the slope. In order to ensure that there is no conflict with the counterweight traction mechanism 3, the first counterweight pulley group 41 is usually arranged below the counterweight traction mechanism 3. At the same time, in order to keep the transport platform 1 and the counterweight block 2 under uniform force, the left second counterweight pulley group 421 and the right second counterweight pulley group 422 are located on the same horizontal plane. The rope 5 includes a left rope 51 and a right rope 52. One end of the left rope 51 is connected to a preset connection point of the counterweight block 2, and the other end of the left rope 51 bypasses the left first counterweight pulley group 411 and is connected to a preset connection point on the transport platform 1. Similarly, one end of the right rope 52 is connected to the counterweight block 2, and the other end of the right rope 52 bypasses the right second counterweight pulley group 422 and is connected to the transport platform 1. The force exerted on the counterweight block 2 is converted into two symmetrical upward traction forces on the transport platform 1 along the slope through the left rope 51 and the right rope 52, thereby ensuring that the traction force between the transport platform 1 and the counterweight block 2 is evenly transmitted, avoiding the occurrence of accidents such as the transport platform 1 deviating from the predetermined route and causing tilting due to uneven force, ensuring the stability of the movement of the transport platform 1, and thus improving the safety of the transportation process.

[0056] Optionally, the transport device further includes a platform traction mechanism 6 and a fixing mechanism 7, and the platform traction mechanism 6 and the fixing mechanism 7 are used to be arranged at the upper end of the slope, and a platform pulley block 11 is arranged on the transport platform 1, and the free end of the traction rope of the platform traction mechanism 6 passes through the platform pulley block 11 and is connected to the fixing mechanism 7.

[0057] Optionally, the platform traction mechanism 6 includes a left platform traction mechanism 61 and a right platform traction mechanism 62, the fixing mechanism 7 includes a left fixing mechanism 717 and a right fixing mechanism 72, the platform pulley group 11 includes a left platform pulley group 111 and a right platform pulley group 112, the left platform pulley group 111 and the right platform pulley group 112 are respectively arranged at symmetrical positions at both ends of the transport platform 1, the free end of the traction rope of the left platform traction mechanism 61 passes through the left platform pulley group 111 and is connected to the left fixing mechanism 71, and the free end of the traction rope of the right platform traction mechanism 62 passes through the right platform pulley group 112 and is connected to the right fixing mechanism 72.

[0058] Specifically, Figure 1 As shown, the transport platform 1 also includes a platform traction mechanism 6 and a fixing mechanism 7. The transport platform 1 is also provided with a corresponding platform pulley block 11, wherein the platform traction mechanism 6 may also include a left platform traction mechanism 61 and a right platform traction mechanism 62 respectively arranged at symmetrical positions on the left and right sides of the upper end of the slope, the left platform traction mechanism 61 and the right platform traction mechanism 62 are arranged at the same horizontal position, in order to avoid contact with the counterweight device, the position of the platform traction mechanism 6 is higher than the position of the counterweight traction mechanism 3, the fixing mechanism 7 includes a left fixing mechanism 71 and a right fixing mechanism 72, the left fixing mechanism 71 and the right fixing mechanism 72 are also arranged At the same level position, the left fixing mechanism 71 is arranged near the left platform traction mechanism 61, and the right fixing mechanism 72 is arranged near the right platform traction mechanism 62. The platform pulley block 11 includes a left platform pulley block 111 and a right platform pulley block 112 respectively arranged at symmetrical positions at the left and right ends of the transport platform 1. The free end of the traction rope of the left platform traction mechanism 61 passes around the left platform pulley block 111 arranged on the transport platform 1 and then connects with the left fixing mechanism 71. The left platform traction mechanism 61 and the left fixing mechanism 71 are arranged to maintain a certain positional relationship to avoid the traction rope from contacting with the left platform traction mechanism 61 and the left fixing mechanism 71 and causing wear. Similarly, the right platform traction mechanism 62 and the right fixing mechanism 72 also adopt the same positional setting and connection relationship. The free end of the traction rope of the right platform traction mechanism 62 passes around the right platform pulley block 112 and then connects with the right fixing mechanism 72.

[0059] In this optional embodiment, the transport platform 1 is driven to move by the traction rope of the platform traction mechanism 6 arranged on the left and right sides of the upper end of the slope, so that the transport platform 1 can be subjected to uniform traction force, thereby preventing the transport platform 1 from deviating from the equilibrium position and causing tilting during movement, thereby ensuring the safety of the transportation process. The traction force is shared by two traction mechanisms, thereby preventing excessive traction force on a single traction mechanism from causing a burden on the equipment, thereby effectively improving the service life of the equipment and the safety of slope transportation.

[0060] Optionally, the transport device further includes a track 8 , and the track 8 is used to be laid on the slope. A slide rail 12 is provided at the bottom of the transport platform 1 , and the transport platform 1 slides on the track 8 via the slide rail 12 .

[0061] Optionally, the track 8 includes a first track 81 and a second track 82, the first track 81 and the second track 82 are respectively laid on the slope and spaced apart, the slide rail 12 includes a first slide rail 121 and a second slide rail 122, the first slide rail 121 and the second slide rail 122 are respectively arranged at the bottom of the transport platform 1 and spaced apart, and the spacing between the first track 81 and the second track 82 matches the spacing between the first slide rail 121 and the second slide rail 122.

[0062] Specifically, Figures 1 to 3 As shown, a track 8 of the transport device is laid along the upper surface of the slope, and a slide rail 12 matching the track 8 is provided at the bottom of the transport platform 1, so that the transport platform 1 slides on the track 8 through the slide rail 12, so that the transport platform 1 can move on the slope. In order to ensure the safety and stability of the movement of the transport platform 1, the track 8 of the transport device may include a first track 81 and a second track 82 symmetrically laid on the slope. Similarly, a first slide rail 121 and a second slide rail 122 are also symmetrically arranged at both ends of the bottom of the transport platform 1, wherein the distance between the first track 81 and the second track 82 matches the distance between the first slide rail 121 and the second slide rail 122, thereby ensuring that the transport platform 1 slides on the first track 81 and the second track 82 through the first slide rail 121 and the second slide rail 122. It should be noted that in order to improve the efficiency of the movement of the transport platform 1 on the slide rail 12 and reduce power consumption, pulleys may be arranged on the slide rail 12 of the transport platform 1, and the pulleys may effectively reduce the friction when contacting the track 8, thereby enabling the platform traction mechanism 6 or the rope 5 to drive the transport platform 1 to move upward along the slope through a smaller traction force.

[0063] In this optional embodiment, through the cooperation of the track 8 and the slide rail 12, the transport platform 1 can move along the set path of the track 8, thereby avoiding the deviation of the driving path of the assembly due to uneven force, which affects the safety and stability of slope transportation. In addition, by adopting the symmetrically arranged first track 81 and second track 82, and the matching first slide rail 121 and second slide rail 122 on the transport platform 1, the rollover or tilt of the transport platform 1 caused by the single track can be effectively avoided, thereby further ensuring the safety and stability of the transport platform 1 during movement.

[0064] like Figure 4 As shown, a slope transportation equipment control method provided by an embodiment of the present invention includes:

[0065] S100, obtaining the motion state and total weight of the transport platform 1, and the counterweight of the counterweight block 2;

[0066] S200, determining the platform traction force of the transport platform 1 and the counterweight traction force of the counterweight block 2 according to the motion state, the total weight and the counterweight.

[0067] Optionally, determining the platform traction force of the transport platform 1 and the counterweight traction force of the counterweight block 2 according to the motion state, the total weight and the counterweight includes:

[0068] When the transport platform 1 moves downward along the slope, the first platform sliding force is determined according to the relationship between the total weight and the preset first sliding force, and the first counterweight sliding force is determined according to the relationship between the counterweight and the preset second sliding force;

[0069] Determining the counterweight traction force according to the difference between the first platform sliding force and the first counterweight sliding force, wherein the platform traction force is 0;

[0070] When the transport platform 1 moves upward along the slope, the second platform sliding force is determined according to the relationship between the total weight and the preset third sliding force, and the second counterweight sliding force is determined according to the relationship between the counterweight and the preset fourth sliding force;

[0071] The platform traction force is determined according to the second platform sliding force and the platform threshold; the counterweight traction force is determined according to the second counterweight sliding force and the sliding force threshold.

[0072] Optionally, the first sliding force relationship satisfies:

[0073] F1=G sinα-μ1G cosα;

[0074] The second sliding force relationship satisfies:

[0075] E1=H sinα+μ2H cosα;

[0076] The third sliding force relationship satisfies:

[0077] F2=G sinα+μ1G cosα;

[0078] The fourth sliding force relationship satisfies:

[0079] E2=H sinα-μ2H cosα;

[0080] Among them, F1 is the sliding force of the first platform, F2 is the sliding force of the second platform, E1 is the sliding force of the first counterweight, E2 is the sliding force of the second counterweight, G is the total weight of the transport platform 1, H is the counterweight of the counterweight block 2, α is the angle between the slope and the horizontal plane, μ1 is the first friction coefficient, that is, the friction coefficient corresponding to the transport platform 2, μ2 is the second friction coefficient, that is, the friction coefficient corresponding to the counterweight block 2.

[0081] Specifically, the counterweight block 2 is usually a pre-made concrete block, and a concrete block without weight can also be pre-set. When the slope transportation equipment transports construction equipment or materials, the traction force of the counterweight traction mechanism 3 on the counterweight block 2 can be determined according to the total weight of the transportation platform 1 and the transported objects, that is, the total weight of the transportation platform 1, and the weight of the selected counterweight block 2. When the moving platform moves downward along the slope, the power mechanism of the transportation device does not work, that is, the traction force of the transportation device on the transportation platform 1 is 0. In order to prevent the transportation platform 1 from falling too fast, first, the first platform sliding force is calculated based on the first sliding force relationship and the total weight, and The first counterweight sliding force of the counterweight block 2 is calculated through the relationship between the counterweight and the second sliding force, and the actual sliding force exerted on the transport platform 1 is obtained by subtracting the first counterweight sliding force from the first platform sliding force. The actual sliding force exerted on the transport platform 1 can be determined as the counterweight traction force. Under the action of the counterweight traction force, the transport platform 1 can maintain the current motion state or stop, thereby ensuring that the transport platform 1 moves downward along the slope safely and stably. The traction force can also be increased on the basis of the actual sliding force, thereby reducing the falling speed of the transport platform 1, thereby avoiding the safety hazards that may be caused by falling too quickly, and further ensuring the safety during slope transportation.

[0082] Furthermore, when the transport platform 1 moves upward along the slope, the sliding force of the transport platform 1 during the rising process, that is, the second platform sliding force, is calculated through the relationship between the total weight and the third sliding force, and the actual sliding force exerted on the counterweight block 2 during the rising process of the transport platform 1, that is, the second counterweight sliding force, is calculated according to the relationship between the counterweight and the fourth sliding force. In order to ensure that the transport platform 1 moves upward along the slope, the platform traction force generated by the transport device should be greater than the second platform sliding force, that is, the platform traction force is obtained by summing the second platform sliding force and the platform threshold, so that the transport platform 1 is controlled to move upward along the slope through the platform traction force, and the rising speed of the transport platform 1 can be adjusted through the pre-set platform threshold. Similarly, when the transport platform 1 moves upward, the counterweight 2 needs to cooperate with the movement downward along the slope. Due to the friction and the slope, the friction of the counterweight 2 may be greater than the gravity component along the downward slope, that is, the second counterweight sliding force is less than zero. Therefore, a certain traction force is required to make the counterweight 2 move downward, that is, the counterweight traction force is obtained by summing the second counterweight sliding force and the counterweight threshold, so that the counterweight traction force is controlled to cooperate with the transport platform 1 to move upward along the surface. The size of the counterweight traction force can be adjusted by pre-setting the counterweight threshold to ensure that the transport platform 1 can move upward along the slope safely and stably under the action of the counterweight traction force.

[0083] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0084] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A slope transportation device, characterized in that: The invention comprises a transport device and a counterweight device, wherein the transport device comprises a transport platform (1), the transport device is arranged on a slope and is used to drive the transport platform (1) to move on the slope, the counterweight device comprises a counterweight block (2), a counterweight traction mechanism (3), a counterweight pulley block (4) and a rope (5), the counterweight block (2) is arranged on the slope, the counterweight pulley block (4) comprises a first counterweight pulley block (41) and a second counterweight pulley block (42), the first counterweight pulley block (41) is arranged at the upper end of the slope, the second counterweight pulley block (42) is arranged at the lower end of the slope, the counterweight traction mechanism (3) is arranged at the upper end of the slope, the free end of the traction rope of the counterweight traction mechanism (3) bypasses the second counterweight pulley block (42) and is connected to the counterweight block (2), one end of the rope (5) is connected to the counterweight block (2), and the other end of the rope (5) bypasses the first counterweight pulley block (41) and is connected to the transport platform (1).

2. The slope transportation equipment according to claim 1, characterized in that: The counterweight traction mechanism (3) comprises a left counterweight traction mechanism (31) and a right counterweight traction mechanism (32); the second counterweight pulley block (42) comprises a left second counterweight pulley block (421) and a right second counterweight pulley block (422); the free end of the traction rope of the left counterweight traction mechanism (31) passes around the left second counterweight pulley block (421) to be connected to the counterweight block (2); the free end of the traction rope of the right counterweight traction mechanism (32) passes around the right second counterweight pulley block (422) to be connected to the counterweight block (2).

3. The slope transportation equipment according to claim 1, characterized in that: The rope (5) comprises a left rope (51) and a right rope (52); the first counterweight pulley block (41) comprises a left first counterweight pulley block (411) and a right first counterweight pulley block (412); one end of the left rope (51) is connected to the counterweight block (2); the other end of the left rope (51) passes through the left first counterweight pulley block (411) and is connected to the transport platform (1); one end of the right rope (52) is connected to the counterweight block (2); the other end of the right rope (52) passes through the right first counterweight pulley block (412) and is connected to the transport platform (1).

4. The slope transportation equipment according to claim 1, characterized in that: The transport device further comprises a platform traction mechanism (6) and a fixing mechanism (7), wherein the platform traction mechanism (6) and the fixing mechanism (7) are used to be arranged at the upper end of the slope surface, and a platform pulley block (11) is arranged on the transport platform (1), and the free end of the traction rope of the platform traction mechanism (6) passes through the platform pulley block (11) and is connected to the fixing mechanism (7).

5. The slope transportation equipment according to claim 4, characterized in that: The platform traction mechanism (6) comprises a left platform traction mechanism (61) and a right platform traction mechanism (62); the fixing mechanism (7) comprises a left fixing mechanism (71) and a right fixing mechanism (72); the platform pulley block (11) comprises a left platform pulley block (111) and a right platform pulley block (112); the left platform pulley block (111) and the right platform pulley block (112) are respectively arranged at symmetrical positions at two ends of the transport platform (1); the free end of the traction rope of the left platform traction mechanism (61) passes around the left platform pulley block (111) and is connected to the left fixing mechanism (71); the free end of the traction rope of the right platform traction mechanism (62) passes around the right platform pulley block (112) and is connected to the right fixing mechanism (72).

6. The slope transportation equipment according to claim 1, characterized in that: The transport device further comprises a track (8), wherein the track (8) is used for laying on the slope surface, and a slide rail (12) is arranged at the bottom of the transport platform (1), and the transport platform (1) slides on the track (8) via the slide rail (12).

7. The slope transportation equipment according to claim 6, characterized in that: The track (8) comprises a first track (81) and a second track (82), the first track (81) and the second track (82) are respectively laid on the slope surface and are spaced apart, the slide rail (12) comprises a first slide rail (121) and a second slide rail (122), the first slide rail (121) and the second slide rail (122) are respectively arranged at the bottom of the transport platform (1) and are spaced apart, and the spacing between the first track (81) and the second track (82) matches the spacing between the first slide rail (121) and the second slide rail (122).

8. A slope transportation equipment control method, characterized in that: Based on the slope transportation equipment according to any one of claims 1 to 7, the slope transportation equipment control method comprises: Obtaining the motion state and total weight of the transport platform (1) and the counterweight of the counterweight block (2); The platform traction force of the transport platform (1) and the counterweight traction force of the counterweight block (2) are determined according to the motion state, the total weight and the counterweight.

9. The slope transportation equipment control method according to claim 8, characterized in that: Determining the platform traction force of the transport platform (1) and the counterweight traction force of the counterweight block (2) according to the motion state, the total weight and the counterweight comprises: When the transport platform (1) moves downward along the slope, a first platform sliding force is determined according to the relationship between the total weight and a preset first sliding force, and a first counterweight sliding force is determined according to the relationship between the counterweight and a preset second sliding force; Determining the counterweight traction force according to the difference between the first platform sliding force and the first counterweight sliding force, wherein the platform traction force is 0; When the transport platform (1) moves upward along the slope, the second platform sliding force is determined according to the relationship between the total weight and a preset third sliding force, and the second counterweight sliding force is determined according to the relationship between the counterweight and a preset fourth sliding force; The platform traction force is determined according to the second platform sliding force and the platform threshold; the counterweight traction force is determined according to the second counterweight sliding force and the sliding force threshold.

10. The slope transportation equipment control method according to claim 9, characterized in that: The first sliding force relationship satisfies: F1 = Gsinα-μ1Gcosα; The second sliding force relationship satisfies: E1=H sinα+μ2H cosα; The third sliding force relationship satisfies: F2 = Gsinα + μ1Gcosα; The fourth sliding force relationship satisfies: E2=H sinα-μ2H cosα; Wherein, F1 is the sliding force of the first platform, F2 is the sliding force of the second platform, E1 is the sliding force of the first counterweight, E2 is the sliding force of the second counterweight, G is the total weight of the transport platform (1), H is the counterweight of the counterweight block (2), α is the angle between the slope and the horizontal plane, μ1 is the first friction coefficient, and μ2 is the second friction coefficient.

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