A universal shelving adjustment aid and method of controlling the same

Abstract

The present application relates to a kind of general shelf adjusting auxiliary device, including fixed base, sliding table, operating platform and clamping component, clamping component is installed on linkage plate;Operating platform is installed with the clamping component that can slide left and right, clamping component is pulled out or pushed in by hydraulic cylinder on operating platform, displacement sensor for monitoring the extension length of hydraulic cylinder is equipped on operating platform, clamping component is also installed on sliding table;When using, linkage plate is sleeved on the clamping component of sliding table and the clamping component of operating platform, so that multiple clamping components realize synchronous movement;Prevention for controlling above-mentioned device is also provided, including setting maximum allowable push, stroke limit value, judging real-time push and setting push size force and the position relationship of real-time stroke and limit stroke, the safety, automatic control of hydraulic cylinder.The present application effectively adjusts different specifications of shelf, makes whole operation more simple, makes the specification of shelf after adjustment more accurate, adjustment efficiency is faster, also more safe.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of battery pack rack adjusting auxiliary equipment, in particular to a universal rack adjusting auxiliary device and a control method thereof. BACKGROUND

[0002] New energy battery pack is an important component in new energy vehicles, which is composed of multiple single batteries and has the advantages of high energy density, long service life, environmental protection, etc. In the production link, it is often necessary to carry out transfer work frequently, so it is necessary to use a battery pack transport rack. The battery pack transport rack is an important auxiliary equipment. The battery transfer rack can improve the transfer efficiency, ensure the safety of transfer, reduce the risk of damage and ensure the stability of the battery during transfer in the battery pack transfer work.

[0003] The current battery pack transport rack can usually adapt to different specifications of battery packs, but the traditional battery pack transport rack is relatively complex when adjusting, especially when adjusting the side, multiple operators need to adjust the battery pack transport rack at the same time, resulting in high labor cost. In addition, since it is manually adjusted, the adjustment position may not be accurate, which may cause the battery pack to shift or be damaged during transportation. In order to effectively improve the accuracy of universal rack adjustment and the efficiency of rack adjustment, the present application provides a universal rack adjusting auxiliary device and a control method thereof. SUMMARY

[0004] (1) Technical problem to be solved

[0005] The present application is aimed at the above-mentioned problems in the prior art, and provides a universal rack adjusting auxiliary device and a control method thereof which can be reasonably manufactured and used.

[0006] (2) Technical scheme

[0007] In order to solve the above technical problems, the first aspect of the present application provides a universal rack adjusting auxiliary device, which comprises a fixed base, a sliding table, an operation table and a clamping assembly, and a linkage plate is installed on the clamping assembly.

[0008] The operating table is horizontally arranged on the fixed base, the third sliding rail is installed on the operating table, the middle part of the third sliding rail is provided with a second limiting seat, the center of the second limiting seat is provided with a second limiting opening, the clamping assembly capable of sliding left and right is installed on the third sliding rail, the clamping assembly is pulled out or pushed in through the hydraulic cylinder on the operating table, the displacement sensor for monitoring the stretching length of the hydraulic cylinder is arranged on the operating table, and the sliding table parallel to the moving direction of the hydraulic cylinder is further arranged on the fixed base, the second sliding rail is arranged on the sliding table, and the clamping assembly is slidably arranged on the second sliding rail; in use, the linkage plate is sleeved on the clamping assembly of the sliding table and the clamping assembly of the operating table, so that the clamping assembly on the sliding table and the clamping assembly on the operating table realize synchronous movement.

[0009] The clamping assembly comprises a first clamping frame and a second clamping frame, the first clamping frame and the second clamping frame are jointly received on a second sliding block, the second sliding block is assembled on the second sliding rail, the center of the first clamping frame is provided with a clamping groove for assembling the linkage plate, the second clamping frame comprises an L-shaped clamping plate hinged to the second sliding block, the top of the L-shaped clamping plate is hinged to a two-section connecting rod, the bottom of the connecting rod is also hinged to the second sliding block, and a connecting spring is jointly sleeved between the middle section of the two-section connecting rod and the L-shaped clamping plate.

[0010] When the to-be-operated material rack is pressed on the L-shaped clamping plate, the bottom of the L-shaped clamping plate is pressed on the storage step, the upper edge of the connecting rod abuts against the triangular-shaped stopper on the back of the L-shaped clamping plate, at this time, the connecting rod is in an inclined straight line shape, and the second limiting table is installed on the second sliding block.

[0011] Preferably, the fixed base is provided with two left and right fixed bases, the two fixed bases jointly support the sliding table, the two fixed bases are connected and reinforced through the support seat on the inner side, a plurality of staggered support columns are arranged in the support seat, and the support columns are arranged in the support seat. The support columns are convenient for reinforcement.

[0012] Preferably, the top of each of the two fixed bases is provided with a first sliding rail, the two first sliding rails jointly support two or more even sliding tables, the first sliding rail and the sliding table are perpendicular to each other, the even sliding tables are symmetrically arranged on the front and rear sides of the operating table, each sliding table can move forward and backward on the first sliding rail, a plurality of symmetric sliding tables are arranged, the linkage plate is conveniently supported, thereby converting the concentrated single-point force of the hydraulic cylinder and one clamping assembly into multi-point force on the linkage plate, the force is uniformly transmitted to the to-be-operated material rack through the linkage plate, and the edge of the to-be-operated material rack can be uniformly forced to be pushed inwards or pulled outwards.

[0013] Preferably, baffles are provided at both ends of the slide table in the direction of travel. By setting baffles on the slide table, the direction of travel is limited, which facilitates better stopping of the linkage plate.

[0014] Preferably, the bottom of the slide table is provided with a first slider, which is slidably mounted on the first slide rail, and the first slide rail is an "I"-shaped slide rail.

[0015] Preferably, the two slides at the frontmost and rearmost ends are respectively connected to hydraulic cylinders for pulling out or pushing in the slides. By setting hydraulic cylinders on the two slides at the frontmost and rearmost ends, the effect of synchronous pulling can be achieved, which facilitates the movement of the front and rear parts of the material rack to be operated.

[0016] Preferably, the operating table is provided with legs at both ends. After assembly, the height of the third slide rail on the operating table is flush with the height of the second slide rail on the slide, which facilitates the smooth movement of the linkage plate on the second and third slide rails.

[0017] Preferably, the fixed base is provided with a mounting groove that mates with the operating table, and the interior of the mounting groove is provided with a support pad for supporting the operating table frame, which plays an effective auxiliary support role.

[0018] Preferably, the second slide rail is an "I"-shaped slide rail, and a first limiting seat is provided in the middle of the second slide rail. The first limiting seat has a first limiting opening that is recessed downward in the center. The opening end of the first limiting opening is provided with an arc-shaped chamfer to facilitate the feeding of the material rack to be operated and to avoid damage to the edges. The first limiting opening is a straight opening, and the second limiting opening is a cross-shaped opening. The first limiting opening and the second limiting opening are on the same vertical line. During assembly, the first limiting seat and the second limiting seat together support the material rack to be operated.

[0019] Preferably, the second slider is provided with a first limiting platform, which is located between the L-shaped clamping plate and the second limiting platform. The first limiting platform is provided to prevent the L-shaped clamping plate from opening too large during the outward pulling process, thus effectively maintaining the open effect of the L-shaped clamping plate.

[0020] Preferably, hydraulic cylinders are provided at both ends of the third slide rail, and each hydraulic cylinder is fitted onto a clamping assembly. The hydraulic cylinders and the clamping assembly are linked by a connecting sleeve. By providing hydraulic cylinders on both sides, it is convenient to push the material rack to be operated on both sides at the same time.

[0021] Preferably, one end of the connecting spring is mounted on the middle section of the connecting rod, and the other end is mounted on the middle to upper position of the L-shaped clamping plate. By setting the connecting spring, the L-shaped clamping plate is opened upward when the connecting rod is pulled outward after the to-be-operated material rack is lifted, and the open state is maintained, facilitating the adjustment of the to-be-operated material rack next time.

[0022] Preferably, a stroke cavity is arranged in the middle to upper position of the L-shaped clamping plate, and a movable rod capable of sliding is arranged in the stroke cavity. One end of the connecting spring is mounted on the middle section of the connecting rod, and the other end is mounted on the movable rod. The movable rod is arranged to move in the stroke cavity, so that the connecting spring can pull the L-shaped clamping plate to open upward from bottom to top when the connecting rod is pulled outward, and the L-shaped clamping plate is not subjected to single-point force, but is uniformly subjected to force to open upward, thereby maintaining the open state and facilitating the adjustment of the to-be-operated material rack next time.

[0023] Preferably, a torsion spring is jointly sleeved between the top hinged end of the L-shaped clamping plate and the bottom hinged end of the connecting rod. The torsion spring is arranged at the outer end of the connecting spring. By arranging the torsion spring, the L-shaped clamping plate can automatically restore the open state after the to-be-operated material rack is lifted, thereby reducing the burden of manual operation and making the structure more reasonable and humanized.

[0024] Preferably, the L-shaped clamping plate is hinged on the second assembly seat of the second sliding block, so that the L-shaped clamping plate can be flipped on the second sliding block. The bottom of the connecting rod is hinged on the first assembly seat of the second sliding block, so that the connecting rod can be bent on the second sliding block.

[0025] Preferably, the inlet end of the clamping groove is provided with an arc-shaped guide surface. The end of the clamping groove facing the second clamping frame is provided with a beveled surface. The beveled surface is inclined downward toward the second clamping frame. By arranging the guide surface, the linkage plate can be conveniently fed into the clamping groove. By arranging the beveled surface, the to-be-operated material rack can be conveniently fed into the L-shaped clamping plate.

[0026] Preferably, the middle of the two-section connecting rod is outwardly sleeved with a handle.

[0027] Preferably, the universal material rack adjusting auxiliary device is electrically connected with an external hydraulic station and a control host. The hydraulic station is provided with a pressure sensor.

[0028] In another aspect of the present application, a control method of a universal material rack adjusting auxiliary device is provided, which comprises the following steps:

[0029] 1) Set the maximum allowable thrust F 设定 , set the position of the hydraulic cylinder when it is not started as the zero position, and set the distance X 实时 of the piston rod of the hydraulic cylinder when it is moved outward as the stroke limit value of the piston rod of the hydraulic cylinder.min设定 and X max设定；

[0030] 2) read the pressure sensor real-time data P in the hydraulic station 实时 , unit: MPa;

[0031] 3) through the pressure data conversion formula: F 实时 = P 实时 x the cylinder acting surface area, get F 实时 value;

[0032] 4) compare the value to determine F 实时 and F 设定 , if F 实时 <F 设定 , then go to the next step to read the displacement sensor real-time data X 实时 , if not, alarm, prohibit action until the alarm is removed;

[0033] 5) after reading the displacement sensor real-time data X 实时 , determine whether the value of X 实时 is greater than X min设定 , if X 实时 >X min设定， , then go to the next step, if not, alarm, prohibit action until the alarm is removed;

[0034] 6) continue to determine whether the value of X 实时 is less than X max设定 , if X 实时 <X max设定 , then determine that the pressure and stroke are safe, and the action of pushing or pulling the rack to be operated can be performed, if not, alarm, prohibit action until the alarm is removed;

[0035] 7) set the piston rod target displacement value X 目标 and the precise action range displacement value X 精准动作范围 of the hydraulic cylinder, read the displacement sensor real-time data X 实时 when performing the action of pushing or pulling, and determine the size of X 实时 and X 目标 ;

[0036] if X 实时 <X 实时 , then execute the fast expansion action, further determine X 实时 -X 目标 <X 精准动作范围 , if yes, execute the slow expansion action, perform precise positioning, if not, continue to execute the current action;

[0037] if X 实时 ≥X 实时If yes, a fast zoom-out action is performed, and it is further judged whether X 实时 -X 目标 <X 精准动作范围 If yes, a slow zoom-out action is performed to accurately position, and if no, the current action is continuously performed.

[0038] (3) Beneficial effects

[0039] The hydraulic cylinder is arranged on the operation table, the third sliding rail is arranged in the advancing direction of the hydraulic cylinder, and the material clamping assembly is arranged on the third sliding rail; the edge of the material rack to be operated is clamped by the material clamping assembly; and then the material rack to be operated is pulled out or retracted by controlling the push-in or pull-out of the hydraulic cylinder, so that the different specifications of the material rack can be effectively adjusted, the operation is more simple, and manual adjustment of the material rack is not required; meanwhile, the specification of the adjusted material rack is more accurate and the adjustment efficiency is higher through the push of the hydraulic cylinder.

[0040] In the application, the material clamping assemblies are arranged on the third sliding rail and the second sliding rail, and the linkage plate is jointly carried by the material clamping assemblies, so that the single-point pushing force or pulling force of the hydraulic cylinder on the material rack to be operated is converted into the uniform stress state of the linkage plate on the material rack to be operated, the pushing force or pulling force of the hydraulic cylinder is not concentrated on a single point, and the material rack to be operated is uniformly stressed and the edge of the material rack to be operated is pushed more balancedly in the operation process, so that the effect of synchronous advancement of the edge is achieved.

[0041] In the application, the material clamping assembly with the first material clamping frame is arranged to facilitate the placement of the linkage plate, the L-shaped material clamping plate is arranged through hinged installation, the connecting rod linked with the L-shaped material clamping plate is arranged behind the L-shaped material clamping plate, the L-shaped material clamping plate is pressed and fitted on the storage step to support the material rack to be operated when the material rack to be operated is placed, the L-shaped material clamping plate is upwardly opened when the connecting rod is pulled backward by artificial after the material rack to be operated is lifted, the next material rack to be operated is conveniently fed, the L-shaped material clamping plate plays a role of clamping and closing in the use process, and the L-shaped material clamping plate can be opened after use to wait for the next clamping and closing, so that the L-shaped material clamping plate has the function of limiting and the use effect is good; meanwhile, the top of the L-shaped material clamping plate and the bottom of the connecting rod are jointly sleeved with the torsional spring, so that the L-shaped material clamping plate can be restored to the original state, i.e., the upwardly opened state, without manually pulling the connecting rod backward, so that the overall design is more intelligent and reasonable.

[0042] In the application, the maximum allowable pushing force F 设定 , the stroke limit value X min设定 and X max设定 are set, the size of F 实时 and F 设定 is compared, and X 实时 , X min设定， and X max设定The size relation of X and X is judged, and then the safety of pressure and stroke is determined, and whether other operations can be performed is determined, so that the device is operated within the safe thrust and safe stroke, and the target displacement value X is set 目标 and the accurate action range displacement value X 精准动作范围 When the hydraulic cylinder is pushed in or pulled out, the real-time data X of the displacement sensor is read 实时 By judging the size of X 实时 and X 目标 , the size of the automatic adjustment of the material rack driven by the hydraulic cylinder is effectively controlled, so that the device is more safe and controllable during use. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0044] Figure 2 It is a top view of Figure 1 ;

[0045] Figure 3 It is a front view of Figure 1 ;

[0046] Figure 4 It is an enlarged structural schematic diagram of part A in Figure 3 ;

[0047] Figure 5 It is a three-dimensional structural schematic diagram of the present application after assembling the material rack to be operated;

[0048] Figure 6 It is a top view of Figure 5 ;

[0049] Figure 7 It is a front view of Figure 5 ;

[0050] Figure 8 It is a partial enlarged structural schematic diagram of the state of removing the material rack to be operated in Figure 5 ;

[0051] Figure 9 It is a front view of the first perspective of Figure 8 ;

[0052] Figure 10 It is a front view of the second perspective of Figure 8 ;

[0053] Figure 11 It is an enlarged structural schematic diagram of part B in Figure 8 .

[0054] Reference signs:

[0055] 100 fixed base, 101 first sliding rail, 102 support seat, 103 support pad;

[0056] 200 sliding table, 201 second sliding rail, 202 first sliding block, 203 first limiting seat, 2031 first limiting port, 204 baffle plate;

[0057] 300 operation table, 301 third sliding rail, 302 foot stand, 303 second limiting seat, 3031 second limiting port, 304 hydraulic cylinder, 3041 connecting sleeve head, 305 displacement sensor;

[0058] 400 material clamping assembly, 401 first material clamping frame, 4011 guide-in surface, 4012 material clamping groove, 4013 bevel surface, 402 second material clamping frame, 4021 L-shaped material clamping plate, 4022 connecting rod, 4023 first assembly seat, 4024 connecting spring, 4025 second assembly seat, 4026 stroke cavity, 4027 stop block, 403 second sliding block, 404 storage step, 405 first limiting table, 406 second limiting table;

[0059] 500 linkage plate;

[0060] 600 to-be-operated material rack. DETAILED DESCRIPTION

[0061] The application will be further described in conjunction with the drawings and examples.

[0062] In the description of the application, it should be understood that the terms "longitudinal", "transverse", "vertical", "horizontal", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0063] The application is mainly applicable to the battery pack material rack patents of the prior application of the unit, such as the patent number CN221520339U "a telescopic transport material rack with folding rods", and the following to-be-operated material rack 600 can be directly understood by the scheme.

[0064] Example 1

[0065] As Figures 1-4 shown, the application gives a first embodiment of a general material rack adjusting auxiliary device, which comprises a fixed base 100, a sliding table 200, an operation table 300 and a material clamping assembly 400, the material clamping assembly 400 is installed with a linkage plate 500;

[0066] The fixed base 100 is provided with left and right two, two fixed base 100 common support sliding table 200, two fixed base 100 between the inside support seat 102 connection reinforcement, the support seat 102 is equipped with several staggered support column, realize reinforcement stability, at the same time convenient operation platform 300 cross frame, the fixed base 100 is equipped with the installation groove matched with the operation platform 300, the inside of the installation groove is equipped with the support pad plate 103 for supporting operation platform 300 frame joint;

[0067] See Figure 1 , operation platform 300 cross frame on the fixed base 100, and set in the middle of the front and rear ends of the fixed base 100, this is to facilitate the operation of the material rack 600 from the middle part is moved, reduce the deviation generated when pushing, the operation platform 300 is installed with third slide rail 301, the middle part of the third slide rail 301 is equipped with second limiting seat 303, the central part of the second limiting seat 303 is equipped with second limiting mouth 3031, the second limiting mouth 3031 is cross-shaped opening, when the hanger slowly puts down the operation material rack 600 from the upper, the cross position of the middle part of the operation material rack 600 just downward and clamps into the second limiting mouth 3031, that is, through the fixed middle part slowly pushes the edge part inward, changes the specification of the material rack, the third slide rail 301 is installed with the clamping material assembly 400 capable of sliding left and right, the clamping material assembly 400 is pulled out or pushed in through the hydraulic cylinder 304 on the operation platform 300, the left and right ends of the third slide rail 301 are equipped with hydraulic cylinder 304, each hydraulic cylinder 304 is correspondingly sleeved on a clamping material assembly 400, the hydraulic cylinder 304 and the clamping material assembly 400 are connected through the connecting sleeve head 3041, the operation platform 300 is equipped with displacement sensor 305 for monitoring the stretching length of the hydraulic cylinder 304, which is convenient for subsequent operation by monitoring the distance of the piston rod of the hydraulic cylinder 304 to determine whether it can be operated, how to operate, the hydraulic cylinder 304 is also electrically connected with the hydraulic station and the control host (the hydraulic station and the control host are not drawn in the figure);

[0068] In the above scheme, although the hydraulic cylinder 304 can drive the side of the to-be-operated rack 600 to move and change the specifications of the rack, such design will concentrate the pushing force of the hydraulic cylinder 600 on an end point in the central part of the side of the to-be-operated rack 600, resulting in uneven stress, which may cause the front and rear sides to be out of synchronization during pushing, causing the side to move to be offset. Such operation has defects. Therefore, we solve the stress problem by setting a linkage plate 500 on the outside of the rack, so that the side of the rack is simultaneously subjected to the pushing force of the side of the linkage plate, so that single-point stress is converted into uniform stress on the side, thereby solving the problem of asynchronous movement of the end. In order to solve this problem, a sliding table 200 parallel to the moving direction of the hydraulic cylinder 304 is arranged on the fixed base 100, that is, the arrangement direction of the sliding table 200 is parallel to the direction of the operation table 300. In this way, the second sliding rail 201 arranged on the sliding table 200 and the third sliding rail 301 on the operation table 300 can be parallel to each other. In order to achieve the supporting effect of the third sliding rail 301 in front and back, the sliding table 200 is provided with two or more even numbers, and the even numbers of the sliding table 200 are symmetrically arranged on the front and back of the operation table 300. In the drawings, two sliding tables are shown, one on each side of the operation table 300. The following description will also be based on this scheme. The both ends of the sliding table 200 in the advancing direction are provided with baffles 204, which can remind the advancing state of the hydraulic cylinder 304. In order to facilitate the horizontal arrangement of the operation table 300, the both ends of the operation table 300 are provided with foot supports 302. After assembly, the height of the third sliding rail 301 on the operation table 300 is flush with the height of the second sliding rail 201 on the sliding table 200. At this time, the material clamping assembly 400 is slidably installed on the second sliding rail 201. In use, the linkage plate 500 is sleeved on the material clamping assembly 400 of the sliding table 200 and the material clamping assembly 400 of the operation table 300, so that the material clamping assembly 400 on the sliding table 200 and the material clamping assembly 400 on the operation table 300 move synchronously, thereby uniformly stressing the side of the rack.

[0069] Since the central part of the to-be-operated rack 600 not only has a cross intersection, in order to more stably fix the to-be-operated rack 600, the central part of the second sliding rail 201 is provided with a first limiting seat 203, the central part of the first limiting seat 203 is provided with a first limiting opening 2031 recessed downward, the opening end of the first limiting opening 2031 is provided with an arc-shaped chamfer, the first limiting opening 2031 is a linear opening, the second limiting opening 3031 is a cross-shaped opening, the first limiting opening 2031 and the second limiting opening 3031 are on the same vertical line, and the first limiting seat 203 and the second limiting seat 303 jointly support the to-be-operated rack 600 during assembly.

[0070] The clamping assembly 400 comprises a first clamping frame 401 and a second clamping frame 402, which are jointly received on a second sliding block 403, the second sliding block 403 is assembled on the second sliding rail 201, the first clamping frame 401 is centrally provided with a clamping groove 4012 for assembling a linkage plate 500, an arc-shaped guide-in surface 4011 is arranged at the inlet end of the clamping groove 4012, which facilitates the insertion of the linkage plate 500 without affecting the side part, a bevel surface 4013 is arranged at the end of the clamping groove 4012 facing the second clamping frame 402, which is inclined downward towards the second clamping frame 402, so that the side part of the to-be-operated shelf 600 can slide along the bevel surface 4013 and enter the second clamping frame 402, the second clamping frame 402 comprises an L-shaped clamping plate 4021 hingedly connected to the second sliding block 403, the L-shaped clamping plate 4021 can be flipped, the top of the L-shaped clamping plate 4021 is hingedly connected to a two-section connecting rod 4022, the bottom of the connecting rod 4022 is also hingedly connected to the second sliding block 403, the L-shaped clamping plate 4021 is hingedly connected to a second assembly seat 4025 on the second sliding block 403, and the bottom of the connecting rod 4022 is hingedly connected to a first assembly seat 4023 on the second sliding block 403, which can drive the L-shaped clamping plate 4021 to move outward during use, specifically: a connecting spring 4024 is jointly sleeved between the middle section of the two-section connecting rod 4022 and the L-shaped clamping plate 4021, one end of the connecting spring 4024 is mounted on the middle section of the connecting rod 4022, and the other end is mounted on the middle to upper position range of the L-shaped clamping plate 4021, at this time the point of the connecting spring 4024 is fixed, of course, the position of the connecting spring 4024 on the L-shaped clamping plate 4021 can also be movable, that is, a stroke cavity 4026 can be arranged in the middle to upper position range of the L-shaped clamping plate 4021, a movable rod can be slidably arranged in the stroke cavity 4026, one end of the connecting spring 4024 is mounted on the middle section of the connecting rod 4022, and the other end is mounted on the movable rod, such a arrangement can drive the movable rod to move by the connecting spring 4024, gradually realizing the effect of the L-shaped clamping plate 4021 being upwardly open, since there is no reset mechanism on the connecting rod 4022 at this time, manual reset of the connecting rod 4022 and the L-shaped clamping plate 4021 is still needed after the operation of the shelf is completed and lifted, the connecting spring 4024 will drive the L-shaped clamping plate 4021 to flip upwardly at this time, and then the original state, i.e., the upwardly open state, is presented, waiting for the next time to limit the to-be-operated shelf 600, in this case, the connecting rod 4022 needs to be manually pulled, in this case, in order to facilitate manual pulling, a handle can also be arranged on the outward side of the middle section of the connecting rod 4022, realizing labor-saving operation and avoiding being pinched by the two sides of the connecting rod 4022 when pulling;

[0071] See details Figure 4 and Figure 11 To reduce the pulling effect of the added connecting spring 4024 between the connecting rod 4022 and the L-shaped clamping plate 4021, a triangular prism-shaped stop 4027 is provided on the back of the connecting rod 4022. During use, the lower part of the connecting rod 4022 is pressed against the second limiting platform 406, which is mounted on the second slider 403. That is, when the material rack 600 is pressed against the L-shaped clamping plate 4021, the bottom of the L-shaped clamping plate 4021 is pressed against the placement step 404. The upper part of the rod 4022 abuts against the upper and lower parts of the triangular prism-shaped stop 4027 on the back of the L-shaped clamping plate 4021 and presses against the second limiting platform 406. At this time, the connecting rod 4022 is in an inclined straight line. At the same time, in the non-use state, it prevents the connecting rod 4022 from pulling the L-shaped clamping plate 4021 outward too much and opening too wide. The second slider 403 is provided with a first limiting platform 405, which is located between the L-shaped clamping plate 4021 and the second limiting platform 406.

[0072] In this design, the hydraulic cylinder 304 can be installed on only one side. The lifting frame sends the material to be operated into the limiting seats of the slide table 200 and the operating table 300 for positioning. At this time, the material to be operated 600 presses down the originally open L-shaped clamping plate 4021, causing it to... Figure 4 The state is transformed into attachment Figure 10 and 11 The opening of the material rack 600 is tightened by lowering the rack to limit its movement. A linkage plate is then installed inside the first clamping frame. The hydraulic cylinder 304 is then activated, pushing one of the clamping components 400. The clamping component 400 sends the force to the linkage plate 500, which then evenly distributes the force to the edge of the material rack 600, thus adjusting its size. It should be noted that, to achieve symmetrical adjustment, the single-sided hydraulic cylinder 304 can be replaced with a double-sided symmetrical arrangement. Figure 5 As shown, after the material rack size is adjusted, it is lifted by the hanger, and then the connecting rod 4024 is manually bent backward so that the L-shaped clamping plate 4021 is in its original open state, waiting for the next pressing, thus completing one cycle.

[0073] Example 2

[0074] The present invention provides a second embodiment of a universal material rack adjustment auxiliary device, including a fixed base 100, a slide table 200, an operating table 300 and a clamping assembly 400, wherein a linkage plate 500 is installed on the clamping assembly 400;

[0075] The fixed base 100 has two parts, left and right, which together support the slide table 200. The two fixed bases 100 are connected and reinforced by an inner support seat 102. The support seat 102 has several staggered support columns to achieve reinforcement and stability, and at the same time facilitates the crossbar of the operating table 300. The fixed base 100 has a mounting groove that mates with the operating table 300. The inside of the mounting groove is a support pad 103 for supporting the mounting of the operating table 300.

[0076] See details Figure 1 The operating table 300 is horizontally mounted on the fixed base 100 and positioned at the middle of both the front and rear ends of the fixed base 100. This is to facilitate the movement of the material rack 600 from the middle and reduce offset during pushing. A third slide rail 301 is installed on the operating table 300. A second limiting seat 303 is located in the middle of the third slide rail 301. A second limiting opening 3031 is located in the center of the second limiting seat 303. The second limiting opening 3031 is a cross-shaped opening. When the hanger slowly lowers the material rack 600 from above, the cross-shaped position in the middle of the material rack 600 is aligned downwards and engages with the second limiting opening 3031. This allows the edges to be slowly pushed inwards by the fixed center, changing the specifications of the material rack. The third slide rail 301... A clamping assembly 400 capable of sliding left and right is installed. The clamping assembly 400 is pulled out or pushed in by a hydraulic cylinder 304 on the operating table 300. Hydraulic cylinders 304 are provided at both ends of the third slide rail 301. Each hydraulic cylinder 304 is correspondingly sleeved on a clamping assembly 400. The hydraulic cylinders 304 and the clamping assembly 400 are linked by a connecting sleeve 3041. The operating table 300 is provided with a displacement sensor 305 for monitoring the extension length of the hydraulic cylinders 304. This allows for subsequent determination of whether operation can be performed and what kind of operation to perform by monitoring the distance the piston rod of the hydraulic cylinder 304 moves. The hydraulic cylinders 304 are also electrically connected to the hydraulic station and the control host (the hydraulic station and the control host are not shown in the figure).

[0077] While the above solution enables the hydraulic cylinder 304 to move one side of the material rack 600 to change its dimensions, this design concentrates the thrust from the hydraulic cylinder 600 at a single end point in the center of the edge of the material rack 600, resulting in uneven force distribution. This can lead to asynchronous movement between the front and rear sides during the pushing process, causing the edge to shift. This operation has flaws. To address this, we add a linkage plate 500 on the outside of the material rack to solve the force problem. This allows the edge of the material rack to simultaneously experience the thrust from the linkage plate's edge, transforming single-point force into uniform force distribution across the edge, thus resolving the issue of asynchronous end movement. Specifically, to solve this problem, we install a slide 200 on the fixed base 100 parallel to the direction of movement of the hydraulic cylinder 304. That is, the slide 200 is parallel to the direction of the operating table 300. The slide 200 has a second slide rail 201, and the operating table 300 has a third slide rail 301. 01 can achieve mutual parallelism. To achieve the supporting effect of the third slide rail 301, two slide tables 200 are provided, symmetrically arranged on the front and rear sides of the operating platform 300. Each end of the slide table 200 in the traveling direction is provided with a baffle 204 to indicate the traveling status of the hydraulic cylinder 304. To facilitate the horizontal support effect of the operating platform 300, legs 302 are provided at both ends of the operating platform 300. After assembly, the third slide rail on the operating platform 300... The height of rail 301 is flush with the height of the second slide rail 201 on the slide table 200. At this time, the clamping assembly 400 is slidably installed on the second slide rail 201. In use, an external linkage plate 500 is connected and the linkage plate 500 is sleeved on the clamping assembly 400 of the slide table 200 and the clamping assembly 400 of the operating table 300, so that the clamping assembly 400 on the slide table 200 and the clamping assembly 400 on the operating table 300 can move synchronously, so that the edge of the material rack is evenly stressed.

[0078] Since the center of the material rack 600 has more than just a cross intersection, in order to more stably fix the material rack 600, the center of the second slide rail 201 is provided with a first limiting seat 203. The center of the first limiting seat 203 is provided with a first limiting opening 2031 that is recessed downwards. The opening end of the first limiting opening 2031 is provided with an arc-shaped chamfer. The first limiting opening 2031 is a straight opening, and the second limiting opening 3031 is a cross-shaped opening. The first limiting opening 2031 and the second limiting opening 3031 are on the same vertical line. During assembly, the first limiting seat 203 and the second limiting seat 303 jointly support the material rack 600.

[0079] The clamping assembly 400 includes a first clamping frame 401 and a second clamping frame 402. The first clamping frame 401 and the second clamping frame 402 are jointly supported on a second slider 403. The second slider 403 is mounted on a second slide rail 201. The first clamping frame 401 has a clamping groove 4012 in the center for mounting a linkage plate 500. One end of the clamping groove 4012 has an arc-shaped guide surface 4011 to ensure that the edges are not affected when the linkage plate 500 is placed. The end of the clamping groove 4012 facing the second clamping frame 402 has a beveled surface 4013. The lower part of the second clamping frame 402 is inclined so that the edge of the material rack 600 to be operated can slide into the second receiving frame 402 along the inclined surface 4013. The second clamping frame 402 includes an L-shaped clamping plate 4021 hinged to the second slider 403. The L-shaped clamping plate 4021 can be flipped. The top of the L-shaped clamping plate 4021 is hinged to the two-section connecting rod 4022 facing outward. The bottom of the connecting rod 4022 is also hinged to the second slider 403. The L-shaped clamping plate 4021 is hinged to the second mounting base 4025 on the second slider 403. The bottom of the connecting rod 4022 is hinged to the second slider 403. On the first mounting base 4023 of the 3, during use, the L-shaped clamping plate 4021 can be moved outward by the connecting rod 4022. Specifically, a connecting spring 4024 is sleeved between the middle section of the two-section connecting rod 4022 and the L-shaped clamping plate 4021. One end of the connecting spring 4024 is installed in the middle section of the connecting rod 4022, and the other end is installed in the position range from the middle to the upper part of the L-shaped clamping plate 4021. At this time, the point of the connecting spring 4024 is fixed. Of course, the position of the connecting spring 4024 on the L-shaped clamping plate 4021 can also be movable, that is, it can be set to the position of the L-shaped clamping plate. A stroke cavity 4026 is provided in the middle to upper part of 4021. A sliding moving rod is provided in the stroke cavity 4026. One end of the connecting spring 4024 is installed in the middle section of the connecting rod 4022 and the other end is installed on the moving rod. This arrangement allows the connecting spring 4024 to drive the moving rod to move, gradually making the L-shaped clamping plate 4021 open upward. In order to make this solution more user-friendly, a reset mechanism is provided. Specifically, a torsion spring is sleeved between the top of the L-shaped clamping plate 4021 and the bottom of the connecting rod 4022. The torsion spring is located at the outer end of the connecting spring 4024.On the one hand, the torsion spring does not affect the original connecting spring 4024; on the other hand, it can pull the connecting rod 4024 outward when the L-shaped clamping plate 4021 loses pressure. It should be noted that the position of the torsion spring is not limited to the hinge at the top of the L-shaped clamping plate 4021 and the hinge at the bottom of the connecting rod 4022. It can also be set at the hinge at the top of the L-shaped clamping plate 4021 on the second slider 403. However, it should be noted that if it is set on the second slider 403, the point set should be outside the first mounting base 4023 in order to effectively pull the L-shaped clamping plate 4024 outward. 021, the L-shaped clamping plate 4021 is flipped upwards to open. Since there is a torsion spring at this time, it is equivalent to a reset mechanism. Therefore, after the material rack operation is completed and lifted, there is no need to manually reset the connecting rod 4022 and the L-shaped clamping plate 4021. Under the elastic pull of the torsion spring, the torsion spring and the connecting spring 4024 pull the L-shaped clamping plate 4021 outwards, causing the L-shaped clamping plate 4021 to flip upwards and present its original state, that is, the state of opening upwards, waiting for the limit of the material rack 600 to be operated next. This reduces manual operation and is more intelligent and rational.

[0080] See details Figure 4 and Figure 11 To reduce the pulling effect of the added connecting spring 4024 between the connecting rod 4022 and the L-shaped clamping plate 4021, a triangular prism-shaped stop 4027 is provided on the back of the connecting rod 4022. During use, the lower part of the connecting rod 4022 is pressed against the second limiting platform 406, which is mounted on the second slider 403. That is, when the material rack 600 is pressed against the L-shaped clamping plate 4021, the bottom of the L-shaped clamping plate 4021 is pressed against the placement step 404. The upper part of the rod 4022 abuts against the upper and lower parts of the triangular prism-shaped stop 4027 on the back of the L-shaped clamping plate 4021 and presses against the second limiting platform 406. At this time, the connecting rod 4022 is in an inclined straight line. At the same time, in the non-use state, it prevents the connecting rod 4022 from pulling the L-shaped clamping plate 4021 outward too much and opening too wide. The second slider 403 is provided with a first limiting platform 405, which is located between the L-shaped clamping plate 4021 and the second limiting platform 406.

[0081] In this design, the same hydraulic cylinder 304 can be installed on only one side, or on both sides to achieve symmetrical adjustment (here, "both sides" refers to the left and right sides, as shown in the attached diagram). Figure 1 The material rack to be operated is fed into the limiting seats of the slide table 200 and the operating table 300 by the hanger and then limited. At this time, the material rack to be operated 600 presses down the originally open L-shaped clamping plate 4021, causing it to be attached to the limit seat. Figure 4 The state is transformed into attachment Figure 10 and 11The opening of the material rack 600 is tightened by the descent of the rack to be operated, thus limiting the rack. Then, a linkage plate is installed in the first clamping frame. The hydraulic cylinder 304 is then activated, which pushes one of the clamping components 400. The clamping component 400 sends the force to the linkage plate 500, which then evenly transmits the force to the edge of the material rack 600 to be operated, thus pushing in and adjusting the size of the rack. After the size of the rack is adjusted, it is lifted by the hanger. At this time, because the pressure on the L-shaped clamping plate 4021 disappears, it automatically returns to its original state under the action of the torsion spring and the connecting spring 4024, that is, the L-shaped clamping plate 4021 is in its original open state, waiting for the next pressing, thus completing one cycle.

[0082] It should be noted that the solution in Embodiment 1 mainly involves manually pulling the connecting rod 4022 to cause the L-shaped clamping plate 4021 to flip outward, thus achieving an upward opening. This requires manual assistance. To achieve greater intelligence, this solution also provides: based on Embodiment 1, a torsion spring is sleeved between the top hinge end of the L-shaped clamping plate 4021 and the bottom hinge end of the connecting rod 4022. The rebound force of the torsion spring is used to drive the L-shaped clamping plate 4021 to automatically return to its original position, reducing manual operation.

[0083] Example 3

[0084] Example 3 is based on Examples 1 and 2 by adding a hydraulic cylinder 304 in the front-to-back direction, that is, in the attached... Figure 1 and 5Vertically, a second auxiliary hydraulic cylinder 304 is installed on top of the hydraulic cylinder 304, providing forward and backward pushing. In embodiments 1 and 2, this achieves unilateral adjustment; the figure shows left-right dimensional adjustment. Of course, some material racks only require adjustment on one side, while some material racks 600 requiring double-sided adjustment need two lifting operations and two adjustments. To improve adjustment efficiency, this solution includes two additional hydraulic cylinders, arranged in the same way as those on the operating platform. To match the pulling of the hydraulic cylinders 304, the tops of the two fixed bases 100 are each equipped with a first slide rail 101. The two first slide rails 101 together support two or more even-numbered slide tables 200, which are symmetrically arranged in the... On the front and rear sides of the operating table 300, each slide 200 can move back and forth on the first slide rail 101, thereby allowing the slide 200 to move along the direction of the first slide rail 101 of the fixed base 100. The first slide rail 101 and the second slide rail 201 are arranged perpendicular to each other. The bottom of the slide 200 is provided with a first slider 202, which is slidably mounted on the first slide rail 101. The first slide rail 101 is an "I"-shaped slide rail. In order to achieve the effect of double-sided pulling, the two slides 200 at the front and rear ends are respectively connected to the outward side for pulling out or pushing in the slide 200, which effectively improves the adjustment efficiency of the material rack. It should be noted that the adjustment method of the front and rear material racks is the same as the adjustment method of the left and right material racks.

[0085] In addition, the first slide rail 101, the second slide rail 201 and the third slide rail 301 mentioned in this article are all "I" shaped slide rails.

[0086] Example 4

[0087] This invention provides a control method for a universal material rack adjustment auxiliary device, comprising the following steps:

[0088] 1) Set the maximum permissible thrust F 设定 Set the position where the hydraulic cylinder is not activated as the zero point, and let X be the distance the piston rod of the hydraulic cylinder moves outward. 实时 Set the piston rod stroke limit value X of the hydraulic cylinder. min设定 and X max设定；

[0089] 2) Read the real-time data P from the pressure sensor in the hydraulic station. 实时 The unit is MPa;

[0090] 3) Converting pressure data using the formula: F 实时 =P 实时 x is the working surface area of ​​the hydraulic cylinder, and F is obtained. 实时 Numerical value, used to determine F 实时Whether the value is within the safe range will determine whether to continue operation or issue an alarm;

[0091] 4) Compare numerical values ​​to determine F 实时 With F 设定 The size, if it is F 实时 <F 设定 Then proceed to the next step to read the real-time data X from the displacement sensor. 实时 If not, an alarm will be triggered, and action will be prohibited until the alarm is deactivated.

[0092] 5) Read real-time data X from the displacement sensor 实时 Then, determine X. 实时 Is the value greater than X? min设定 If it is X 实时 >X min设定， If the alarm is triggered, proceed to the next step; otherwise, trigger an alarm and prohibit action until the alarm is deactivated.

[0093] 6) Continue the judgment and determine X. 实时 Is the value less than X? max设定 If it is X 实时 <X max设定 If the pressure and stroke are deemed safe, the material rack to be operated can be pushed in or pulled out. Otherwise, an alarm will be set up and the operation will be prohibited until the alarm is cleared.

[0094] 7) Set the target displacement value X of the piston rod of the hydraulic cylinder. 目标 and precise motion range displacement value X 精准动作范围 During the pushing or pulling action, the real-time data X from the displacement sensor is read. 实时 Determine X 实时 With X 目标 Size;

[0095] If it is X 实时 <X 实时 If so, execute the rapid expansion action to further determine X. 实时 -X 目标 <X 精准动作范围 If yes, then perform a slow expansion action for precise positioning; otherwise, continue with the current action.

[0096] If it is X 实时 ≥X 实时 If so, a rapid shrinking action is executed to further determine X. 实时 -X 目标 <X 精准动作范围 If yes, then perform a slow shrinking action for precise positioning; otherwise, continue with the current action.

[0097] By employing the aforementioned control methods, this device can operate safely within safe thrust and safe stroke limits, making its use safer and more reliable. Simultaneously, by judging the real-time distance of the hydraulic cylinder's piston rod, X is determined. 实时 With X 目标 The size relationship is used to automatically adjust the expansion or contraction (i.e., pull out or push in) of the hydraulic cylinder.

[0098] The above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed. However, the present invention is not limited to these embodiments. It should be noted that for those skilled in the art, any modifications made without departing from the spirit of the present invention fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A universal material rack adjustment auxiliary device, characterized in that: It includes a fixed base, a slide, an operating table, and a clamping assembly, wherein a linkage plate is installed on the clamping assembly; An operating platform is mounted horizontally on the fixed base. A third slide rail is installed on the operating platform, and a second limiting seat is provided in the middle of the third slide rail. A second limiting opening is provided in the center of the second limiting seat. A clamping assembly that can slide left and right is installed on the third slide rail. The clamping assembly is pulled out or pushed in by a hydraulic cylinder on the operating platform. A displacement sensor for monitoring the extension length of the hydraulic cylinder is provided on the operating platform. The fixed base is also provided with a slide table parallel to the moving direction of the hydraulic cylinder. A second slide rail is provided on the slide table, and the clamping assembly is slidably installed on the second slide rail. In use, the linkage plate is sleeved on the clamping assembly of the slide table and the clamping assembly of the operating platform, so that the clamping assembly of the slide table and the clamping assembly of the operating platform can move synchronously. The clamping assembly includes a first clamping frame and a second clamping frame. The first clamping frame and the second clamping frame are jointly supported on the second slider. The second slider is assembled on the second slide rail. The first clamping frame has a clamping groove in the center for assembling a linkage plate. The second clamping frame includes an L-shaped clamping plate hinged to the second slider. The top of the L-shaped clamping plate is hinged to a two-section connecting rod facing outward. The bottom of the connecting rod is also hinged to the second slider. A connecting spring is sleeved between the middle section of the two-section connecting rod and the L-shaped clamping plate. When the material rack to be operated is pressed onto the L-shaped clamping plate, the bottom of the L-shaped clamping plate is pressed onto the placement step, and the upper part of the connecting rod abuts against the triangular prism-shaped stop block on the back of the L-shaped clamping plate. At this time, the connecting rod is in an inclined straight line shape, and the second limiting platform is installed on the second slider.

2. The universal material rack adjustment auxiliary device according to claim 1, characterized in that: The fixed base has two parts, left and right, which together support the slide. The two fixed bases are connected and reinforced by an inner support seat, which contains several staggered support columns.

3. The universal material rack adjustment auxiliary device according to claim 2, characterized in that: The top of each of the two fixed bases is provided with a first slide rail. The two first slide rails together support two or more even-numbered slides. The first slide rails and the slides are perpendicular to each other. The even-numbered slides are symmetrically arranged on the front and rear sides of the operating table. Each slide can move back and forth on the first slide rail. Baffles are provided at both ends of the slide table in the direction of travel; The bottom of the slide table is provided with a first slider, which is slidably mounted on the first slide rail, which is an "I" shaped slide rail; The two slides at the frontmost and rearmost ends are respectively connected to hydraulic cylinders on their outward-facing sides for pulling out or pushing in the slides.

4. The universal material rack adjustment auxiliary device according to claim 3, characterized in that: The operating table is equipped with legs at both ends. After assembly, the height of the third slide rail on the operating table is flush with the height of the second slide rail on the slide table. The fixed base is provided with a mounting groove that mates with the operating table, and the interior of the mounting groove is provided with a support pad for supporting the mounting of the operating table.

5. The universal material rack adjustment auxiliary device according to claim 1, characterized in that: The second slide rail is an "I" shaped slide rail. The second slide rail is provided with a first limiting seat in the middle. The first limiting seat is provided with a first limiting opening that is recessed downward in the center. The opening end of the first limiting opening is provided with an arc chamfer. The first limiting opening is a straight opening and the second limiting opening is a cross opening. The first limiting opening and the second limiting opening are on the same vertical line. During assembly, the first limiting seat and the second limiting seat together support the receiving and operating material rack. The second slider is provided with a first limiting platform, which is located between the L-shaped clamping plate and the second limiting platform.

6. The universal material rack adjustment auxiliary device according to claim 1, characterized in that: Hydraulic cylinders are provided at both ends of the third slide rail. Each hydraulic cylinder is fitted onto a clamping assembly. The hydraulic cylinders and the clamping assembly are linked together by a connecting sleeve.

7. The universal material rack adjustment auxiliary device according to claim 1, characterized in that: One end of the connecting spring is installed in the middle section of the connecting rod, and the other end is installed in the position range from the middle to the top of the L-shaped clamping plate.

8. The universal material rack adjustment auxiliary device according to claim 7, characterized in that: The L-shaped clamping plate has a stroke cavity in the middle to upper range, and a sliding rod is provided in the stroke cavity. One end of the connecting spring is installed in the middle section of the connecting rod, and the other end is installed on the sliding rod. A torsion spring is sleeved between the top hinge end of the L-shaped clamping plate and the bottom hinge end of the connecting rod, and the torsion spring is located at the outer end of the connecting spring. The L-shaped clamping plate is hinged to the second mounting base on the second slider, and the bottom of the connecting rod is hinged to the first mounting base on the second slider.

9. A universal material rack adjustment auxiliary device according to claim 8, characterized in that: The inlet end of the clamping groove is provided with an arc-shaped guide surface, and the end of the clamping groove facing the second clamping frame is provided with a beveled surface, which is inclined downwards towards the second clamping frame.

10. A control method for a universal material rack adjustment auxiliary device according to any one of claims 1-9, characterized in that: Includes the following steps: 1) Set the maximum permissible thrust F 设定 Set the position where the hydraulic cylinder is not activated as the zero point, and let X be the distance the piston rod of the hydraulic cylinder moves outward. 实时 Set the piston rod stroke limit value X of the hydraulic cylinder. min设定 and X max设定； 2) Read the real-time data P from the pressure sensor in the hydraulic station. 实时 The unit is MPa; 3) Converting pressure data using the formula: F 实时 =P 实时 x is the working surface area of ​​the hydraulic cylinder, and F is obtained. 实时 Numerical value; 4) Compare numerical values ​​to determine F 实时 With F 设定 The size, if it is F 实时 <F 设定 Then proceed to the next step to read the real-time data X from the displacement sensor. 实时 If not, an alarm will be triggered, and action will be prohibited until the alarm is deactivated. 5) Read real-time data X from the displacement sensor 实时 Then, determine X. 实时 Is the value greater than X? min设定 If it is X 实时 >X min设定， If the alarm is triggered, proceed to the next step; otherwise, trigger an alarm and prohibit action until the alarm is deactivated. 6) Continue the judgment and determine X. 实时 Is the value less than X? max设定 If it is X 实时 <X max设定 If the pressure and stroke are deemed safe, the material rack to be operated can be pushed in or pulled out. Otherwise, an alarm will be set up and the operation will be prohibited until the alarm is cleared. 7) Set the target displacement value X of the piston rod of the hydraulic cylinder. 目标 and precise motion range displacement value X 精准动作范围 During the pushing or pulling action, the real-time data X from the displacement sensor is read. 实时 Determine X 实时 With X 目标 Size; If it is X 实时 <X 实时 If so, execute the rapid expansion action to further determine X. 实时 -X 目标 <X 精准动作范围 If yes, then perform a slow expansion action for precise positioning; otherwise, continue with the current action. If it is X 实时 ≥X 实时 If so, a rapid shrinking action is executed to further determine X. 实时 -X 目标 <X 精准动作范围 If yes, then perform a slow shrinking action for precise positioning; otherwise, continue with the current action.

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