Hydraulic dynamic leveling system for transportation

Abstract

The invention relates to the field of transportation. The invention relates to a hydraulic dynamic leveling system, in particular to a hydraulic dynamic leveling system for transportation. The invention discloses a hydraulic dynamic leveling system for transportation. The hydraulic dynamic leveling system comprises a moving trolley; the lifting tray is arranged above the moving trolley; the hydraulic lifting mechanism is arranged on the moving trolley, the hydraulic lifting mechanism is provided with four lifting ends capable of moving up and down, the four lifting ends are hinged to the four right-angle positions of the lower end of the lifting tray respectively, and displacement sensors are arranged on the lifting ends; the levelness detection unit is arranged at the lower end of the lifting tray; and the controller is electrically connected with the hydraulic lifting mechanism, the displacement sensor and the levelness detection unit. The invention provides a hydraulic dynamic leveling system for transportation. The hydraulic dynamic leveling system is used for achieving the dynamic leveling function of large precision equipment or special equipment in the transfer process.

Description

Technical Field

[0001] The present invention relates to the field of transportation, and more particularly to a hydraulic dynamic leveling system for transportation. Background Art

[0002] With the rapid development of social economy and the continuous improvement of infrastructure, people's demand for logistics and transportation has grown rapidly. In the transportation of precision goods, a series of problems that need to be solved urgently have emerged. For example, the transfer of large items requires the use of lifting equipment for loading and unloading, which makes the transfer of large items extremely inconvenient, and the lifting scheme design of large precision equipment is very complicated, and the transfer cost is high. In addition, some special equipment needs to be kept horizontal during use; for example, in transportation, special equipment needs to be loaded on the vehicle platform and needs to be kept horizontal for a long time. Although the existing transportation equipment can realize the functions of transferring goods to a certain extent, there is still the problem of not being able to dynamically level, and it is also impossible to keep the transferred goods level on inclined roads or roads with pits. Summary of the invention

[0003] The purpose of the present invention is to provide a hydraulic dynamic leveling system for transportation, so as to realize the dynamic leveling function of large-scale precision equipment or special equipment during the transportation process.

[0004] In order to achieve these purposes and other advantages according to the present invention, a hydraulic dynamic leveling system for transportation is provided, which is characterized by comprising:

[0005] Mobile trolley;

[0006] A lifting tray, which is arranged above the moving trolley;

[0007] A hydraulic lifting mechanism, which is arranged on the mobile trolley, and has four lifting ends that move up and down, and the four lifting ends are respectively hinged to four right angles at the lower end of the lifting tray, and displacement sensors are arranged on the lifting ends;

[0008] A levelness detection unit, which is arranged at the lower end of the lifting tray;

[0009] A controller is electrically connected to the hydraulic lifting mechanism, the displacement sensor and the levelness detection unit respectively.

[0010] Furthermore, in the hydraulic dynamic leveling system for transportation, the level detection unit is a tilt sensor.

[0011] Furthermore, in the hydraulic dynamic leveling system for transportation, the hydraulic lifting mechanism comprises:

[0012] Four lifting hydraulic cylinders, whose cylinder bodies are all connected to the mobile trolley, and whose push rods are vertically arranged upward and constitute the lifting end, a pressure sensor is arranged in the rodless cavity of the lifting hydraulic cylinder, the pressure sensor is electrically connected to the controller, and the displacement sensor is arranged on the piston rod of the lifting hydraulic cylinder;

[0013] A pressure pipeline, on which an electro-hydraulic proportional valve, an electromagnetic reversing valve and a one-way valve group are sequentially arranged, and the electro-hydraulic proportional valve and the electromagnetic reversing valve are electrically connected to the controller respectively;

[0014] An oil tank, whose oil inlet is connected to the oil outlet of the pressure pipeline;

[0015] The hydraulic pump station has an oil inlet connected to the oil outlet of the oil tank through an oil filter, and an oil outlet connected to the oil inlet of the pressure pipeline.

[0016] Furthermore, the hydraulic dynamic leveling system for transportation further includes:

[0017] The sound and light alarm mechanism is arranged on the mobile vehicle and is electrically connected to the controller.

[0018] Furthermore, the hydraulic dynamic leveling system for transportation further includes:

[0019] A handheld display controller is electrically connected to the controller.

[0020] The present invention also discloses a dynamic leveling control method of the above-mentioned hydraulic dynamic leveling system for transportation, comprising the following steps:

[0021] The controller receives the levelness signal sent by the levelness detection unit and determines whether the lifting tray is horizontal;

[0022] When the lifting tray is in a non-horizontal state, the controller calculates the inclination angle of the lifting tray according to the horizontality signal sent by the horizontality detection unit, determines the lifting end at the highest point, and the height differences between the other three lifting ends and the lifting end at the highest point;

[0023] The lifting end at the highest point remains stationary, and the other three lifting ends rise, and their rising heights are equal to their corresponding height differences, so that the upper ends of the four lifting ends are horizontal, and the lifting tray is adjusted to a horizontal state.

[0024] The beneficial effects of the present invention are:

[0025] The hydraulic dynamic leveling system of the present invention supports the lifting pallet through the hydraulic lifting mechanism. The horizontality of the lifting pallet is monitored during the movement of the trolley. When the lifting pallet tilts, the hydraulic lifting mechanism can respond quickly to adjust the height of the four lifting ends to adjust the lifting pallet to a horizontal state. The hydraulic dynamic leveling system has reliable adjustment accuracy and a short adjustment time, so that the level of the lifting pallet can still be guaranteed when the mobile trolley moves on complex road surfaces such as inclined road surfaces and pothole road surfaces.

[0026] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the hydraulic dynamic leveling system of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the mobile vehicle of the present invention;

[0029] Figure 3 The figure is a side view of the mobile vehicle described in the present invention. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0031] It should be noted that, in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 invention.

[0032] like Figure 1-Figure 3 As shown, an embodiment of the present invention provides a hydraulic dynamic leveling system for transportation, characterized in that it includes:

[0033] Mobile car 1;

[0034] A lifting tray 2, which is arranged above the moving vehicle 1;

[0035] Hydraulic lifting mechanism, including:

[0036] Four lifting hydraulic cylinders 3, whose cylinder bodies are all connected to the mobile trolley 1, and whose push rods are vertically arranged upward and constitute the lifting ends, and the four lifting ends are respectively hinged to the four right angles of the lower end of the lifting tray 2, and a pressure sensor is provided in the rodless cavity of the lifting hydraulic cylinder 3, and the pressure sensor is electrically connected to the controller through an A / D converter, and the displacement sensor is arranged on the piston rod of the lifting hydraulic cylinder 3;

[0037] The pressure pipeline is provided with an electro-hydraulic proportional valve 4, an electromagnetic reversing valve 5 and a one-way valve group 6 in sequence, and the electro-hydraulic proportional valve and the electromagnetic reversing valve are electrically connected to the controller respectively; the electromagnetic reversing valve is electrically connected to the controller through a driver, and the electro-hydraulic proportional valve is electrically connected to the controller through a proportional amplifier and a D / A converter.

[0038] An oil tank 7, whose oil inlet is connected to the oil outlet of the pressure pipeline;

[0039] The oil inlet of the hydraulic pump station 8 is connected to the oil outlet of the oil tank 7 through the oil filter 9, and the oil outlet is connected to the oil inlet of the pressure pipeline.

[0040] A level detection unit 10, which is arranged at the lower end of the lifting tray 2, and the level detection unit 10 is a tilt sensor;

[0041] A controller is electrically connected to the hydraulic lifting mechanism, the displacement sensor and the levelness detection unit 10 respectively.

[0042] In this embodiment, after the articles to be transported are placed on the lifting tray 2 of the hydraulic dynamic leveling system for transportation, the pressure sensor inside the lifting hydraulic cylinder 3 collects the pressure signal, which is fed back to the controller after A / D conversion to determine the actual force of the lifting hydraulic cylinder 3. The inclination sensor collects the inclination information of the lifted object and feeds it back to the controller. The controller determines the highest fulcrum among the four lifting hydraulic cylinders 3 according to the inclination value, and calculates the height difference between the position of the remaining three lifting hydraulic cylinders 3 and the highest fulcrum in combination with the piston rod extension length of each lifting hydraulic cylinder 3 obtained by the displacement sensor. The lifting hydraulic cylinder 3 at the highest point is kept stationary. At this time, the control system controls the hydraulic pump station 8 to transport hydraulic oil to the rodless chambers of the three shorter lifting hydraulic cylinders 3. The three shorter lifting hydraulic cylinders 3 perform the lifting action. When the fulcrums of the lifting hydraulic cylinders 3 all reach the highest fulcrum, the lifted object reaches a horizontal position. It should be noted that when the ground condition is a sloped road surface or a pothole road surface, during the transportation process of the lifted object, the extension lengths of the piston rods of the four lifting hydraulic cylinders 3 may be different. The dynamic leveling system controls all the legs in real time according to the signal feedback from the controller, so that the lifted object is always in a horizontal state.

[0043] A one-way valve and a relief valve are installed at the oil tank 7 to control the output of the hydraulic oil from the oil tank 7 to the lifting hydraulic cylinder 3. When the hydraulic oil enters the main oil circuit, the control system controls the hydraulic oil to flow into or out of the rodless cavity of the lifting hydraulic cylinder 3 by giving the electrical switch of the electromagnetic reversing valve an "energized" or "de-energized" command, thereby realizing the lifting and retracting action of the lifting hydraulic cylinder 3.

[0044] The controller can adopt a PLC controller, which integrates the PID control algorithm. In one control cycle, according to the angle information input by the inclination sensor, the horizontal posture of the lifting tray 2 is judged at this time. If it is not in a horizontal posture, the control system samples the actual position value of the hydraulic piston through the displacement sensor, and forms a tracking error by subtracting the command curve value from the actual position. The tracking error is then used to perform PID control operations to obtain the control output at the current moment. The control output is then converted to analog and output to the proportional valve coil to control the opening of the proportional valve port, thereby realizing the push-out and retraction actions of the lifting hydraulic cylinder 3. After that, by continuously repeating each control cycle, the lifting hydraulic cylinder 3 is driven to reach the command position, so that the lifting tray 2 is in a horizontal posture.

[0045] Preferably, as another embodiment of the present invention, the hydraulic dynamic leveling system for transportation further comprises:

[0046] The sound and light alarm mechanism 11 is arranged on the mobile vehicle 1 and is electrically connected to the controller.

[0047] In this embodiment, when the lifting tray 2 is not in a horizontal state, the controller controls the sound and light alarm mechanism 11 to sound an alarm to alert the staff.

[0048] Preferably, as another embodiment of the present invention, the hydraulic dynamic leveling system for transportation further comprises:

[0049] The handheld display controller 12 is electrically connected to the controller.

[0050] In this embodiment, the staff can input instructions to the controller according to the handheld display controller 12 to manually intervene in the operation of each jacking hydraulic cylinder 3.

[0051] The present invention also discloses a dynamic leveling control method of the above-mentioned hydraulic dynamic leveling system for transportation, comprising the following steps:

[0052] The controller receives the level signal sent by the level detection unit 10 and determines whether the lifting tray 2 is horizontal;

[0053] When the lifting tray 2 is in a non-horizontal state, the controller calculates the inclination angle of the lifting tray 2, that is, the angle between the lifting tray 2 and the horizontal, according to the horizontal signal sent by the horizontal detection unit 10, and combines the horizontal distance between the lifting ends to calculate

[0054] Determine the lifting end at the highest point, and the height differences between the other three lifting ends and the lifting end at the highest point;

[0055] The lifting end at the highest point remains stationary, and the other three lifting ends rise, and their rising heights are equal to their corresponding height differences, so that the upper ends of the four lifting ends are horizontal, and the lifting tray 2 is adjusted to a horizontal state.

[0056] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the embodiments shown and described herein.

Claims

1. A hydraulic dynamic leveling system for transportation, characterized in that: include: Mobile trolley; A lifting tray, which is arranged above the moving trolley; A hydraulic lifting mechanism, which is arranged on the mobile trolley, and has four lifting ends that move up and down, and the four lifting ends are respectively hinged to four right angles at the lower end of the lifting tray, and displacement sensors are arranged on the lifting ends; A levelness detection unit, which is arranged at the lower end of the lifting tray; A controller is electrically connected to the hydraulic lifting mechanism, the displacement sensor and the levelness detection unit respectively.

2. A hydraulic dynamic leveling system for transportation as claimed in claim 1, characterized in that: The levelness detection unit is a tilt sensor.

3. A hydraulic dynamic leveling system for transportation as claimed in claim 1, characterized in that: The hydraulic lifting mechanism comprises: Four lifting hydraulic cylinders, whose cylinder bodies are all connected to the mobile trolley, and whose push rods are vertically arranged upward and constitute the lifting end, a pressure sensor is arranged in the rodless cavity of the lifting hydraulic cylinder, the pressure sensor is electrically connected to the controller, and the displacement sensor is arranged on the piston rod of the lifting hydraulic cylinder; A pressure pipeline, on which an electro-hydraulic proportional valve, an electromagnetic reversing valve and a one-way valve group are sequentially arranged, and the electro-hydraulic proportional valve and the electromagnetic reversing valve are electrically connected to the controller respectively; An oil tank, whose oil inlet is connected to the oil outlet of the pressure pipeline; The hydraulic pump station has an oil inlet connected to the oil outlet of the oil tank through an oil filter, and an oil outlet connected to the oil inlet of the pressure pipeline.

4. A hydraulic dynamic leveling system for transportation as claimed in claim 1, characterized in that: Also includes: The sound and light alarm mechanism is arranged on the mobile vehicle and is electrically connected to the controller.

5. A hydraulic dynamic leveling system for transportation as claimed in claim 1, characterized in that: Also includes: A handheld display controller is electrically connected to the controller.

6. A dynamic leveling control method for a hydraulic dynamic leveling system for transportation as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: The controller receives the levelness signal sent by the levelness detection unit and determines whether the lifting tray is horizontal; When the lifting tray is in a non-horizontal state, the controller calculates the inclination angle of the lifting tray according to the horizontality signal sent by the horizontality detection unit, determines the lifting end at the highest point, and the height differences between the other three lifting ends and the lifting end at the highest point; The lifting end at the highest point remains stationary, and the other three lifting ends rise, and their rising heights are equal to their corresponding height differences, so that the upper ends of the four lifting ends are horizontal, and the lifting tray is adjusted to a horizontal state.

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