Intelligent control method of four-section turnover mechanism
By calculating the segmented control parameter set and controlling the four-stage turnover mechanism to flip up and fall one by one, combined with the Z-direction positioning locking of the latch locking device, the problem of inaccurate positioning and low reliability of the turnover plate is solved, and the accuracy and reliability of the turnover process are improved.
Patent Information
- Application Number
- CN202411822435.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-11
- Publication Date
- 2025-03-18
AI Technical Summary
The positioning of the four-stage turnover mechanism is inaccurate and has low reliability, which leads to a poor turnover process and affects the patient's comfort.
By obtaining the initial state and target state of the four-stage turnover mechanism, the segmented control parameter set is calculated, and the turnover mechanism is turned up and down one by one through the push rod combined with these parameter sets, the mechanism status is monitored in real time, and finally the Z-direction positioning lock is achieved through the pin locking device.
Improves the accuracy and reliability of the turnover plate positioning and locking, ensuring the smoothness of the turnover process and the comfort of the patient.
Smart Images
Figure CN119632772A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of intelligent control, and in particular to an intelligent control method for a four-stage turning mechanism. Background Art
[0002] With the continuous development of society and the intensification of population aging, the problem of elderly care has become increasingly prominent, and the demand for nursing beds with turning functions has also increased. In order to solve the safety hazard of two-stage turning nursing beds that may pinch people during the turning process, four-stage turning nursing beds have emerged. The four-stage turning nursing bed divides the bed into more sections, making the turning process gentler and reducing the risk of pinching. In the four-stage turning nursing bed, the positioning and locking of the turning board mainly adopts a combination of mechanical limit and direct electromagnet attraction. This locking method realizes the positioning of the turning board to a certain extent. However, after the patient turns over, the turning board rotates along the hinge. Due to the gap between the hinges, this will cause the turning board to fall inaccurately. Sometimes, the turning board will get stuck on the mechanical limit plate, affecting the smoothness of the turning action and the comfort of the patient. In actual use, the direct electromagnet attraction will not be able to absorb, which also affects the positioning effect of the turning board.
[0003] In the current related technologies, the four-stage turning mechanism control has technical problems such as inaccurate positioning of the turning plate and low reliability. Summary of the invention
[0004] The present application provides an intelligent control method for a four-stage turning mechanism, which obtains the initial state of the four-stage turning mechanism, parses the turning instruction, obtains the target mechanism state, obtains a segmented control parameter set according to the initial state and the target state of the turning mechanism, updates the locking state of the latch-type locking device of the four-stage turning mechanism according to the mechanism locking target, controls the four-stage turning mechanism to turn up segment by segment through a push rod combined with the segmented control parameter set, monitors the mechanism state in real time, and if the turning plate reaches the target position, controls the four-stage turning mechanism to move down segment by segment through the push rod. Finally, controls the latch-type locking device to perform positioning locking (Z-direction locking) of the four-stage turning mechanism, and other technical means, thereby achieving the technical effect of improving the accuracy and reliability of the positioning locking of the turning plate.
[0005] The present application provides an intelligent control method for a four-stage turning mechanism, comprising:
[0006] Initialize the four-stage turning mechanism and obtain the initial mechanism state; receive and parse the turning instruction to obtain the target mechanism state, wherein the target mechanism state includes the mechanism position target and the mechanism locking target; based on the initial mechanism state and the target mechanism state, obtain the segmented control parameter set of the four-stage turning mechanism, wherein the segmented control parameter set includes the motion vector of each segment in the four-stage mechanism; update the locking state of the latch-type locking device of the four-stage turning mechanism according to the mechanism locking target, and control the four-stage turning mechanism to turn up segment by segment through the push rod in combination with the segmented control parameter set; monitor the mechanism state of the four-stage turning mechanism in real time, if the turning plate reaches the target position, control the four-stage turning mechanism to step down step by step through the push rod, so that the four-stage turning mechanism returns to the initial mechanism state; control the latch-type locking device to perform positioning locking of the four-stage turning mechanism, wherein the positioning locking is locking in the Z direction.
[0007] In a possible implementation, the four-stage turning mechanism includes: a turning fixing plate, which plays a supporting role; a turning board, which is divided into four sections, and the four sections of the turning board are connected to the hinge through an insert plate; and a push rod, which is connected to the turning board and is used to flip up the turning board.
[0008] In a possible implementation, the push rod includes four independently driven electric push rods, and the stroke and speed of the four electric push rods are respectively controlled by a controller.
[0009] In a possible implementation, one end of the electric push rod is connected to the turning board via a rotating connection pair, and the other end is connected to the foundation via a rotating connection pair; wherein the foundation at least includes a base and a bracket.
[0010] In a possible implementation, the rotation connection pair includes a transverse rotation plate and / or a longitudinal rotation plate.
[0011] In a possible implementation, there are at least N sections of the turning boards that are conical hole turning boards, and N is greater than or equal to 2; wherein the conical hole turning boards are provided with conical holes, and the turning fixing plates are relatively provided with round head positioning pins, and the conical holes correspond one-to-one to the round head positioning pins.
[0012] In a possible implementation, the bottom diameter of the tapered hole is larger than the diameter of the round-headed positioning pin. When the push rod controls the four-stage turning mechanism to step down, the tapered hole and the round-headed positioning pin are positioned and matched, so that the turning plate is reset to the initial mechanism state in the X direction and the Y direction.
[0013] In a possible implementation, the four-stage turning mechanism includes a latch-type locking device and a locking ring, wherein the latch-type locking device and the locking ring are respectively arranged on the turning fixing plate and the turning plate; when the four-stage turning mechanism returns to the initial mechanism state, the latch-type locking device inserts the latch into the locking ring to achieve positioning locking in the Z direction.
[0014] The intelligent control method of a four-stage turning mechanism proposed in the present application first initializes the four-stage turning mechanism to obtain the initial mechanism state, then receives and parses the turning instruction to obtain the target mechanism state, wherein the target mechanism state includes the mechanism position target and the mechanism locking target, then based on the initial mechanism state and the target mechanism state, obtains the segmented control parameter set of the four-stage turning mechanism, wherein the segmented control parameter set includes the motion vector of each segment in the four-stage mechanism, and updates the locking state of the latch-type locking device of the four-stage turning mechanism according to the mechanism locking target, and controls the four-stage turning mechanism to turn up segment by segment through a push rod combined with the segmented control parameter set. During the turning up process, the mechanism state of the four-stage turning mechanism is monitored in real time. If the turning plate reaches the target position, the four-stage turning mechanism is controlled to step down step by step through the push rod, so that the four-stage turning mechanism returns to the initial mechanism state, and finally controls the latch-type locking device to perform positioning locking of the four-stage turning mechanism, wherein the positioning locking is locking in the Z direction, thereby achieving the technical effect of improving the accuracy and reliability of the positioning locking of the turning plate. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the accompanying drawings of the embodiment of the present invention will be briefly introduced below. A flow chart is used in the present application to illustrate the operations performed by the method according to the embodiment of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or one or more operations can be removed from these processes.
[0016] Figure 1 A schematic flow chart of an intelligent control method for a four-stage turning mechanism provided in an embodiment of the present application.
[0017] Figure 2 This is a first schematic diagram of a four-stage turning mechanism in an intelligent control method of a four-stage turning mechanism provided in an embodiment of the present application.
[0018] Figure 3 A second schematic diagram of a four-stage turning mechanism in an intelligent control method of a four-stage turning mechanism provided in an embodiment of the present application.
[0019] Figure numerals: turning fixing plate 1, push rod 2, transverse rotating plate 3, hinge 4, plug plate 5, conical hole turning plate 6, longitudinal rotating plate 7, latch type locking device 8, locking ring 9, round head positioning pin 10. DETAILED DESCRIPTION
[0020] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.
[0021] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.
[0022] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "including" and "having" and any variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products, or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field of this application. The terms used herein are for the purpose of describing the embodiments of the present application only.
[0023] The embodiment of the present application provides an intelligent control method for a four-stage turning mechanism, such as Figure 1-Figure 3 As shown, the method includes:
[0024] Step S100, initialize the four-stage turning mechanism and obtain the initial mechanism state. Specifically, start the control system to ensure that all sensors, actuators and communication interfaces work normally. Detect the current state of the four-stage turning mechanism through sensors (such as position sensors, locking state sensors, etc.), including the position of each segment, locking state, etc. The detected state information is recorded as the initial mechanism state to provide a reference for the control operation. Among them, the four-stage turning mechanism is a turning mechanism composed of four segments, and the turning action at different angles is achieved through the coordinated movement of each segment.
[0025] In a possible implementation, the four-stage turning mechanism includes: a turning fixing plate 1, which plays a supporting role; a turning board, which is divided into four sections, and the four sections of the turning board are connected to the hinge 4 through an insert plate 5; a push rod 2, which is connected to the turning board and is used to flip up the turning board.
[0026] Specifically, the turning fixed plate 1 is the supporting foundation of the entire turning mechanism, and is fixed on a stable platform by bolts, welding or other fixing methods to ensure that the entire turning process has a stable starting point and support point. The turning plate is divided into four sections, each of which can rotate relatively independently, but at the same time maintains a certain integrity and coordination through the connecting parts. Among them, the connecting parts are the plug plate 5 and the hinge 4. The four sections of the turning plates are connected by the plug plate 5 and the hinge 4, so that each section of the turning plate can be turned over in a predetermined manner, while maintaining a certain connectivity and stability. The push rod 2 is a mechanism for generating linear motion, which is driven by hydraulic (or pneumatic, electric, etc.) methods. The push rod 2 is connected to the turning plate so that the linear motion of the push rod 2 is converted into the turning motion of the turning plate. When turning over is required, the push rod 2 is started, and the push rod 2 generates linear motion to drive the turning plate to turn over. Under the action of the plug plate 5 and the hinge 4, the four sections of the turning plate turn over in sequence in a predetermined manner, and finally achieve complete turning over. This implementation ensures the integrity and stability of the four-stage turning board during the turning process through the connection between the plug plate 5 and the hinge 4, and avoids shaking or instability caused by turning over a single stage.
[0027] In a possible implementation, the push rod 2 includes four independently driven electric push rods, and the strokes and speeds of the four electric push rods are respectively controlled by a controller.
[0028] Specifically, the electric push rod is an electric drive device that converts the rotational motion of the motor into the linear reciprocating motion of the push rod 2. The four electric push rods are respectively installed at appropriate positions of the turning mechanism, such as the midpoints of both sides. The electric push rods are electrically connected to the controller (a device for receiving user instructions, processing data and controlling the movement of the electric push rods) so that the controller can send instructions and receive feedback. According to the specific model and performance parameters of the electric push rod, the relevant parameters of the controller, such as input voltage, output current, control mode, etc., are configured. A control program is written to define the start, stop, speed adjustment and stroke control instructions of the electric push rod, and receive the status feedback of the electric push rod. The output end of the electric push rod is connected to the turning board. When turning over is required, the controller sends an instruction to start the electric push rod. The electric push rod moves linearly according to the preset stroke (the distance from the starting position to the end position of the electric push rod) and speed to drive the turning board to turn over. During the turning process, the controller monitors the status of the electric push rod in real time and adjusts it as needed. When the turning board reaches the predetermined position, the controller sends a stop instruction and the electric push rod stops moving. In this implementation, the four independently driven electric push rods can be controlled separately, so that the turning mechanism can adapt to different turning needs more flexibly. The stroke and speed of the electric push rods are accurately controlled by the controller to ensure the smoothness and accuracy of the turning process and avoid shaking or instability.
[0029] In a possible implementation, one end of the electric push rod is connected to the turning board via a rotating connection pair, and the other end is connected to the foundation via a rotating connection pair; wherein the foundation at least includes a base and a bracket.
[0030] Specifically, the rotating connection pair is a connection device that allows relative rotation between two components. The base is fixed at a preset position and is used to support the bracket and the electric push rod. The bracket is installed on the base and is used to support the electric push rod and adjust its height and angle. One end of the electric push rod is connected to the bracket through the rotating connection pair, and the other end of the electric push rod is also connected to the turning plate through the rotating connection pair. When turning over is required, a command is sent through the controller to start the electric push rod. Under the control of the controller, the electric push rod performs linear motion according to the preset stroke and speed, and drives the turning plate to turn over through the rotating connection pair. During the turning process, the turning plate maintains a flexible connection with the electric push rod and the base through the rotating connection pair to ensure the smoothness and accuracy of the turning process. When the turning plate reaches the predetermined position, the controller sends a stop command and the electric push rod stops moving. This implementation method connects the electric push rod with the turning plate and the foundation through a rotating connecting pair, so that the turning plate can be flexibly flipped under the drive of the electric push rod to adapt to different flipping requirements. The use of the rotating connecting pair allows the turning plate to maintain a certain degree of freedom with the electric push rod during the flipping process. At the same time, the solid support of the base and the bracket ensures the stability of the turning mechanism.
[0031] In a possible implementation, the rotation connection pair includes a transverse rotation plate 3 and / or a longitudinal rotation plate 7 .
[0032] Specifically, the transverse rotating plate 3 is used to realize the rotational movement of the turning plate in the horizontal direction (or near the horizontal direction), which allows the electric push rod to smoothly rotate along a specific axis when pushing the turning plate, thereby realizing the turning up or down of the turning plate. The transverse rotating plate 3 is in the shape of a flat plate, and an axial hole or a sleeve is provided in the center for connecting with the output end of the rotating shaft or the electric push rod. The longitudinal rotating plate 7 is used to realize the rotational movement of the turning plate in the vertical direction (or near the vertical direction), which allows the turning plate to rotate along another axis during the turning process, thereby realizing a more complex turning action. The structure of the longitudinal rotating plate 7 is similar to that of the transverse rotating plate 3, but the direction of the rotating axis is different. It is also provided with an axial hole or a sleeve for connecting with the output end of the rotating shaft or the electric push rod. This implementation method realizes the rotational movement of the turning plate in multiple directions by introducing the transverse rotating plate 3 and / or the longitudinal rotating plate 7, meets the complex turning requirements, and the transverse rotating plate 3 and / or the longitudinal rotating plate 7 can disperse stress and reduce friction, thereby improving the stability of the turning mechanism. At the same time, it can also play a buffering and guiding role in the flipping process of the flip board, ensuring the stability and accuracy of the flipping action.
[0033] Step S200, receiving and parsing the turning instruction, and obtaining the target mechanism state, wherein the target mechanism state includes the mechanism position target and the mechanism locking target. Specifically, the turning instruction from the user is received through the communication interface, the received instruction is parsed, and the target mechanism state information is extracted, the target mechanism state is the state that the turning mechanism should reach after completing the turning action, including the target position and locking state of each segment.
[0034] Step S300, based on the initial mechanism state and the target mechanism state, obtain the segmented control parameter set of the four-segment turning mechanism, wherein the segmented control parameter set includes the motion vector of each segment in the four-segment mechanism. Specifically, according to the initial mechanism state and the target mechanism state, calculate the distance and direction (i.e., motion vector) that each segment needs to move. Combine the calculated motion vector with other control parameters (such as speed, acceleration, etc.) to generate a segmented control parameter set, i.e., the segmented control parameter set includes all the control parameters required for each segment when performing the turning action.
[0035] Step S400, according to the locking target of the mechanism, the locking state of the latch-type locking device 8 of the four-stage turning mechanism is updated, and the four-stage turning mechanism is turned up section by section by the push rod 2 in combination with the segment control parameter set. Specifically, according to the locking target of the mechanism, the latch-type locking device 8 is controlled to unlock or lock the corresponding segment. The turning mechanism is turned up section by section by the push rod 2 according to the parameters in the segment control parameter set. Among them, the latch-type locking device 8 is a device for locking or unlocking the segments of the turning mechanism, and locking or unlocking is achieved by inserting or pulling out the latch.
[0036] Step S500, real-time monitoring of the state of the four-stage turning mechanism. If the turning plate reaches the target position, the push rod 2 is used to control the four-stage turning mechanism to step down, so that the four-stage turning mechanism returns to the initial state. Specifically, the state of the turning mechanism is monitored in real time by the sensor, including the position and locking state of each segment. When it is detected that the turning plate reaches the target position, the next step is triggered, and the turning mechanism is controlled to step down by the push rod 2 until it returns to the initial state.
[0037] Step S600, controlling the latch-type locking device 8 to positionally lock the four-stage turning mechanism, wherein the positioning locking is locking in the Z direction. Specifically, after the turning mechanism returns to the initial mechanism state, the latch-type locking device 8 is used to lock the turning mechanism in the Z direction (vertical direction) to ensure that it remains stable when not in use and prevent it from accidentally moving due to gravity or other external forces. The embodiment of the present application adopts the methods of obtaining the initial state of the four-stage turning mechanism, parsing the turning instruction, obtaining the target mechanism state, obtaining a segmented control parameter set according to the initial state and the target state of the turning mechanism, updating the locking state of the latch-type locking device of the four-stage turning mechanism according to the mechanism locking target, and controlling the four-stage turning mechanism to turn up segment by segment through a push rod in combination with the segmented control parameter set, monitoring the mechanism state in real time, and if the turning board reaches the target position, controlling the four-stage turning mechanism to move down segment by segment through a push rod, and finally, controlling the latch-type locking device to perform positioning locking (Z-direction locking) of the four-stage turning mechanism, and other technical means, thereby achieving the technical effect of improving the accuracy and reliability of the positioning locking of the turning board.
[0038] In a possible implementation, there are at least N sections of turning boards in the turning board that are conical hole turning boards 6, and N is greater than or equal to 2; wherein, the conical hole turning board 6 is provided with a conical hole, and the turning fixing plate 1 is relatively provided with a round head positioning pin 10, and the conical hole corresponds one-to-one to the round head positioning pin 10.
[0039] Specifically, at least two sections of the turning plate in the four-section turning mechanism are designed as turning plates 6 with conical holes. The design of the conical holes makes the orifice larger, which is convenient for the insertion of the round-headed positioning pins 10, while the bottom of the hole is smaller, which can provide a stable positioning effect. The round-headed positioning pins 10 are relatively arranged on the turning fixed plate 1, and the number and position of these positioning pins correspond to the conical holes on the turning plate 6 with conical holes. When the turning instruction is received, the segmented control parameter set is calculated according to the target mechanism state, including the motion vector of each section of the turning plate. During the turning process of the turning plate, the mechanism state is monitored in real time. When the turning plate reaches the target position, the turning plate is controlled to step down by the push rod 2. When the turning plate falls and approaches the initial mechanism state, the cooperation of the conical hole and the round-headed positioning pins 10 is used to achieve accurate positioning and limiting of the turning plate. The design of the conical hole in this implementation method enables the positioning pin to gradually adapt to the shape of the hole during the insertion process, thereby achieving more accurate positioning, which helps to ensure that the turning mechanism remains stable and accurate during the turning process. When the turning plate is turned over to the target position, the cooperation between the tapered hole and the round-head positioning pin 10 can provide stable support as well as positioning and limiting effects, which helps to prevent the turning mechanism from shaking or shifting when subjected to external force.
[0040] In a possible implementation, the bottom diameter of the tapered hole is larger than the diameter of the round-headed positioning pin 10. When the push rod 2 controls the four-stage turning mechanism to step down, the tapered hole and the round-headed positioning pin 10 are positioned and matched, so that the turning plate is reset to the initial mechanism state in the X direction and the Y direction.
[0041] Specifically, when the turning mechanism needs to be reset, the push rod 2 starts to move, and the various parts of the turning mechanism (i.e., the turning plates) are dropped in sequence section by section through mechanical connection. During this process, each section will drop smoothly in a preset order and speed. A conical hole is designed at the bottom of the turning plate, and a round-headed locating pin 10 is provided on the corresponding turning fixing plate 1. When the turning plate falls, the conical hole will gradually contact the round-headed locating pin 10 and finally fully cooperate. This design allows the turning plate to have a certain self-centering ability during the falling process, ensuring accurate resetting. As all the turning plates fall and fully cooperate with the round-headed locating pin 10, the turning mechanism is reset to its initial state. At this time, the turning plate has returned to the preset position in both the X and Y directions.
[0042] In a possible implementation, the four-stage turning mechanism includes a latch-type locking device 8 and a locking ring 9, wherein the latch-type locking device 8 and the locking ring 9 are respectively arranged on the turning fixing plate 1 and the turning plate; when the four-stage turning mechanism returns to the initial mechanism state, the latch-type locking device 8 inserts the latch into the locking ring 9 to achieve positioning locking in the Z direction.
[0043] Specifically, when the four-stage turning mechanism is in a locked state, the turning plate and the turning fixed plate 1 are fixed by a latch-type locking device 8. When turning over is required, the control system will unlock the latch-type locking device 8, allowing the turning plate to turn over under the action of the driving mechanism. During this process, the latch will be pulled out from the locking ring 9 (a component with an annular structure, used to cooperate with the latch to achieve the locking function), and the Z-direction constraint on the turning plate will be released. After the turning action is completed, the turning mechanism needs to return to the initial state, and the control system will start the driving mechanism again to make the turning plate return step by step according to the preset order and speed. In this process, the latch-type locking device 8 will prepare to insert the latch. As the turning plate returns, the latch in the latch-type locking device 8 will gradually approach the locking ring 9. When the turning plate completely returns to its initial position, the latch will be accurately inserted into the locking ring 9 to achieve positioning locking in the Z direction. This implementation ensures that the turning plate can be stably and reliably positioned and locked in the Z direction when returning to the initial state through the cooperation between the latch-type locking device 8 and the locking ring 9, thereby improving the stability and safety of the mechanism.
[0044] The above specific implementation manner does not constitute a limitation to the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application. In some cases, the actions or steps recorded in the present application can be performed in an order different from that in the embodiment and can still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Claims
1. An intelligent control method for a four-stage turning mechanism, characterized in that: The method comprises: Initialize the four-stage turning mechanism and obtain the initial mechanism state; Receive and analyze the turning instruction, and obtain the target mechanism state, wherein the target mechanism state includes the mechanism position target and the mechanism locking target; Based on the initial mechanism state and the target mechanism state, a segmented control parameter set of the four-segment turning mechanism is obtained, wherein the segmented control parameter set includes a motion vector of each segment in the four-segment mechanism; The locking state of the latch-type locking device of the four-stage turning mechanism is updated according to the locking target of the mechanism, and the four-stage turning mechanism is turned up stage by stage by the push rod in combination with the staged control parameter set; The mechanism state of the four-stage turning mechanism is monitored in real time. If the turning plate reaches the target position, the four-stage turning mechanism is controlled to step down through the push rod so that the four-stage turning mechanism returns to the initial mechanism state. The latch-type locking device is controlled to perform positioning locking of the four-stage turning mechanism, wherein the positioning locking is Z-direction locking.
2. The intelligent control method of a four-stage turning mechanism according to claim 1, characterized in that: The four-stage turning mechanism comprises: A turning fixing plate, the turning fixing plate plays a supporting role; A turning board, the turning board is divided into four sections, and the four sections of the turning board are connected by inserting plates and hinges; A push rod is connected to the turning board and is used for turning up the turning board.
3. The intelligent control method of a four-stage turning mechanism according to claim 2, characterized in that: The push rod comprises four independently driven electric push rods, and the stroke and speed of the four electric push rods are respectively controlled by a controller.
4. The intelligent control method of a four-stage turning mechanism according to claim 3, characterized in that: One end of the electric push rod is connected to the turning board through a rotating connection pair, and the other end is connected to the foundation through a rotating connection pair; wherein the foundation at least includes a base and a bracket.
5. The intelligent control method of a four-stage turning mechanism according to claim 4, characterized in that: The rotating connection pair includes a transverse rotating plate and / or a longitudinal rotating plate.
6. The intelligent control method of a four-stage turning mechanism according to claim 2, characterized in that: There are at least N sections of turning boards among the turning boards that are turning boards with conical holes, and N is greater than or equal to 2; Wherein, the conical hole turning plate is provided with a conical hole, the turning fixing plate is provided with a round head positioning pin in a corresponding manner, and the conical hole corresponds to the round head positioning pin in a one-to-one manner.
7. The intelligent control method of a four-stage turning mechanism according to claim 6, characterized in that: The bottom diameter of the tapered hole is larger than the diameter of the round-head positioning pin. When the push rod controls the four-stage turning mechanism to step down, the tapered hole and the round-head positioning pin are positioned and matched, so that the turning plate is reset to the initial mechanism state in the X direction and the Y direction.
8. The intelligent control method of a four-stage turning mechanism according to claim 2, characterized in that: The four-stage turning mechanism includes a latch-type locking device and a locking ring, wherein the latch-type locking device and the locking ring are respectively arranged on the turning fixing plate and the turning plate; When the four-stage turning mechanism returns to the initial mechanism state, the latch-type locking device inserts the latch into the locking ring to achieve positioning locking in the Z direction.