A vertical transportation parthenocissus device for geological disaster control

Abstract

The present application relates to the technical field of climbing device, especially to a vertical transport climbing device for geological disaster control; including positioning assembly, transport moving frame, transport trolley, driving assembly and placing platform, the transport moving frame is fixed on the side wall of the slope through the positioning assembly, the driving assembly is arranged on the placing platform, the transport trolley includes connecting frame, hopper and air cylinder, the driving assembly controls the connecting frame to be slidingly connected on the transport moving frame, the hopper is rotatably connected on the upper wall of the connecting frame, the air cylinder is rotatably connected on the upper wall of the connecting frame, and the output end of the air cylinder is rotatably connected with the lower wall of the hopper; a plurality of inclination sensors are arranged on the upper wall of the hopper, a weighing sensor is embedded in the bottom of the hopper, and the inclination sensors and the weighing sensor are connected with a controller; the inclination sensors are used for acquiring inclination information, the weighing sensor is used for acquiring weight information, and the controller controls the movement acceleration of the air cylinder according to the inclination information and the weight information; adaptive adjustment is carried out for the slopes with different gradients.

Description

Technical Field

[0001] This invention relates to the field of climbing device technology, and more particularly to a climbing device for vertical transportation in geological disaster management. Background Technology

[0002] Currently, during the construction of highways, railways, mines, and water conservancy projects, many steep rock slopes are often left behind. With the increasing number and scale of construction projects, the size and height of these steep slopes are growing, leading to decreased stability and making slope monitoring and protection increasingly difficult. When conducting slope monitoring, protection, or other construction work, it is inevitable to transport materials and building materials from the bottom of the slope to the top, making slope transport equipment crucial.

[0003] The prior art CN108487854A discloses a multi-functional climbing device for carrying personnel and instruments on steep, open-air slopes. A first steel pipe anchor is welded to one side of the ladder. A chute is welded above the two vertical steel pipes of the ladder. A pair of pulleys are installed in the chute. The two pairs of pulleys are welded to the two ends of a steel plate to form a base. A transport box is welded above the base to form a transport platform. A hand-cranked pulley is installed at the top of the ladder. The bottom end of a rope installed on the hand-cranked pulley is connected to the top of the transport platform. Fall protection equipment is installed on the rope. The working platform and the ladder are connected by a cantilevered steel pipe. A protective fence is set on the open side of the working platform.

[0004] However, since the slope of each slope is different at different stages and the slopes of different slopes are not the same, when using the above-mentioned multi-functional climbing device for transportation at different slopes, the transportation platform cannot always maintain a horizontal state, which may cause the transported items to be placed unstable on the transportation platform.

[0005] Therefore, there is an urgent need to provide a climbing ivy device for vertical transportation in geological disaster management, which can adaptively adjust to slopes of different gradients compared to existing technologies. Summary of the Invention

[0006] This invention addresses the technical problems existing in the prior art and provides a climbing ivy device for vertical transportation in geological disaster management.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] A vertical transport device for geological disaster control, comprising a positioning component, a transport frame, a transport trolley, a drive component, and a placement platform, wherein the transport frame is fixed to the side wall of a slope via the positioning component, the placement platform is disposed on the ground of the slope, the upper ends of the transport frame and the positioning component are connected to the placement platform, the transport trolley is slidably connected to the transport frame, and the drive component is disposed on the placement platform, the drive component controlling the movement of the transport trolley relative to the transport frame; the transport trolley includes a connecting frame, a hopper, and a cylinder, the connecting frame is slidably connected to the transport frame, one end of the upper wall of the connecting frame is rotatably connected to the hopper, the upper wall of the connecting frame is rotatably connected to the cylinder, and the output end of the cylinder is rotatably connected to the lower wall of the hopper;

[0009] Multiple tilt sensors are embedded in the upper wall of the hopper, and a weighing sensor is embedded in the bottom of the hopper. Both the tilt sensors and the weighing sensor are connected to a controller. The tilt sensors are used to acquire the tilt angle information of the hopper relative to the horizontal direction, and the weighing sensor is used to acquire the weight information of the items loaded in the hopper. The controller controls the movement acceleration of the cylinder based on the tilt angle information and the weight information.

[0010] Furthermore, the specific method by which the controller controls the acceleration of the cylinder based on the tilt angle information and weight information is as follows:

[0011] Set tilt angle setting value The weight setting value m1 and the maximum weight that the transport trolley can bear m max ;

[0012] (1) When At this time, the cylinder does not move.

[0013] (2) When When 0 ≤ m ≤ m1, the cylinder moves with acceleration a1 until...

[0014] (3) When When 0 ≤ m ≤ m1, the cylinder moves with acceleration a2 until...

[0015] (4) When And m1 <m≤m max At that time, the cylinder moves with acceleration a3 until...

[0016] (5) When And m1 <m≤m max At that time, the cylinder moves with acceleration a4 until...

[0017] In the above formula, The angle of inclination of the hopper is represented by 'm', and the weight information acquired by the weight sensor is represented by 'm'.

[0018] Furthermore, the accelerations a1 and a2 are specifically calculated using the following formula:

[0019]

[0020] Furthermore, the accelerations a3 and a4 are specifically calculated using the following formula:

[0021]

[0022]

[0023] In the above formula, g represents the acceleration due to gravity.

[0024] Furthermore, during the sliding process of the transport trolley on the transport frame, multiple sampling times are set. At each sampling time, the tilt angles detected by all tilt sensors are acquired. These acquired tilt angles are recorded as a first set. The first set is then filtered for measurement errors to obtain a second set. Based on the tilt angles detected by the tilt sensors in the second set, the tilt angle of the hopper is obtained, specifically calculated using the following formula:

[0025]

[0026] In the above formula, The tilt angle of the hopper is represented by δ, which represents the correction value of the tilt angle sensor. ih ′ This shows the tilt angle detected by the h-th tilt sensor after filtering at the i-th sampling time.

[0027] Furthermore, the method for obtaining the second set is as follows: calculate the difference between the tilt angles detected by any two tilt sensors in the first set, set a difference threshold, compare all calculated differences with the difference threshold, aggregate the tilt angles detected by each tilt sensor corresponding to differences greater than the difference threshold into a third set, mark the repetition count of each tilt angle detected by each tilt sensor in the third set, set a repetition count threshold, filter out the tilt angles detected by tilt sensors in the third set whose marked repetition counts are greater than the repetition count threshold, summarize the tilt angles detected by the tilt sensors remaining after filtering out the third set and the tilt angles detected by the tilt sensors in the first set that were not aggregated into the third set, and include them in the second set, thus obtaining the second set.

[0028] Furthermore, the tilt angles detected by the tilt sensors in the first set are sorted from smallest to largest, and the tilt angles detected by the middle N / 2 tilt sensors are taken and summarized into a fourth set. The difference threshold is then calculated using the following formula:

[0029]

[0030] In the above formula, ΔA represents the difference threshold, δ represents the correction value of the tilt sensor, and A ′ ie A represents the tilt angle detected by the e-th tilt sensor in the fourth set. ′ This represents the average tilt angle detected by the tilt sensors in the fourth set.

[0031] Furthermore, the repetition counts marked in the third set are aggregated into the fifth set, and the frequency threshold is calculated using the following formula:

[0032]

[0033] In the above formula, ΔF represents the threshold number of times, F f F represents the numerical value of the f-th repetition in the fourth set. μ Let E represent the average of all repetitions in the fourth set, and let E represent the total number of repetitions in the fourth set.

[0034] Furthermore, the positioning assembly includes multiple first positioning rods, multiple second positioning rods, and multiple third positioning rods. The first positioning rods and the second positioning rods are arranged in a cross shape. The transport frame is fixed on the second positioning rods. The third positioning rod is fixedly connected at the intersection of the first positioning rods and the second positioning rods. The third positioning rod is fixedly connected to the slope sidewall at the intersection away from the intersection of the first positioning rods and the second positioning rods.

[0035] Furthermore, the drive assembly includes a motor and a traction rope. The motor is mounted on the placement platform, and the traction rope is wound around the output end of the motor. The end of the traction rope away from the motor is fixedly connected to the connecting frame.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] This invention, by setting multiple tilt sensors on the hopper, a cylinder below the hopper, and a weighing sensor at the bottom of the hopper, and setting multiple sampling times, acquires tilt and weight information at each sampling time. Based on the tilt and weight information, the tilt angle of the hopper is obtained. Based on the tilt and weight information, multiple judgment conditions are set, and the movement acceleration of the cylinder is adjusted according to different judgment conditions. This allows the hopper to adaptively adjust its tilt angle according to changes in the slope, ensuring the stable placement of items inside the hopper. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0039] Figure 2 This is a schematic diagram of the structure of the hopper of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1. Slope; 2. First positioning rod; 3. Second positioning rod; 4. Third positioning rod; 5. Transport frame; 51. Slide; 6. Pulley; 7. Transport trolley; 71. Connecting frame; 72. Cylinder; 73. Hopper; 74. Tilt sensor; 8. Traction rope; 9. Motor; 10. Placement platform. Detailed Implementation

[0042] The technical solution of the present invention will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention. It should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0043] like Figure 1 As shown, the present invention provides a vertical transport device for geological disaster control, comprising a positioning component, a transport frame 5, a transport trolley 7, a drive component, and a placement platform 10. The placement platform 10 is set on the ground of the slope 1, the positioning component is set on the side wall of the slope 1, the transport frame 5 is set on the positioning component, the transport frame 5 extends along the inclined direction of the slope 1, the transport trolley 7 is slidably connected to the transport frame 5, the drive component is connected to the transport trolley 7, the drive component is set on the placement platform 10, and the drive component is used to drive the transport trolley 7 to slide on the transport frame 5.

[0044] The positioning assembly includes a first positioning rod 2, a second positioning rod 3, and a third positioning rod 4, with multiple first positioning rods 2, 3, and 4. Each first positioning rod 2 extends along the inclination direction of the slope 1, and multiple first positioning rods 2 are spaced apart along a direction perpendicular to the inclination direction of the slope 1. Each second positioning rod 3 is spaced apart along a direction perpendicular to the inclination direction of the slope 1, and multiple second positioning rods 3 are spaced apart along the inclination direction of the slope 1. The second positioning rod 3 is fixedly connected to the side of the first positioning rod 2 away from the sidewall of the slope 1. The first positioning rod 2 and the second positioning rod 3 are arranged in a cross shape. At each intersection of the first positioning rod 2 and the second positioning rod 3, a third positioning rod 4 is fixedly connected. The third positioning rod 4 is inserted into the sidewall of the slope 1 and fixedly installed away from the intersection of the first positioning rod 2 and the second positioning rod 3. The third positioning rod 4 extends vertically.

[0045] The transport mobile frame 5 has grooves 51 on its left and right sides extending along the slope 1. The transport trolley 7 has four pulleys 6, two of which are slidably connected to the inside of the grooves 51 on one side, and the other two are slidably connected to the inside of the grooves 51 on the other side. The upper end of the transport mobile frame 5 is fixedly connected to the lower end of the placement platform 10, and the upper end of the first positioning rod 2 is also fixedly connected to the lower end of the placement platform 10. The transport trolley 7 includes a connecting frame 71, a cylinder 72, and a hopper 73. The pulleys 6 are connected to the connecting frame 71, which is set vertically to the transport mobile frame 5. The upper end of the connecting frame 71 is rotatably connected to the hopper 73, and the upper wall of the connecting frame 71 is also rotatably connected to the cylinder 72. The output end of the cylinder 72 is rotatably connected to the lower wall of the hopper 73. The rotatable connection between the hopper 73 and the connecting frame 71 and the rotatable connection between the output end of the cylinder 72 and the hopper 73 are respectively the two ends of the lower wall of the hopper 73.

[0046] like Figure 2 As shown, the hopper 73 is a hollow structure with an open top. Multiple tilt sensors 74 are installed on the upper wall of the hopper 73, each embedded within the upper wall, with its upper surface flush with the upper wall of the hopper 73. The tilt sensors 74 are connected to a controller. A weighing sensor (not shown in the figure) is also embedded in the bottom of the hopper 73 and is also connected to the controller. The tilt sensors 74 are used to acquire the tilt angle information of the transport trolley 7 relative to the horizontal direction, and the weighing sensor is used to acquire the weight information of the items loaded in the transport trolley 7. The controller controls the acceleration of the cylinder 72 based on the tilt angle and weight information. The specific method is as follows:

[0047] During the sliding process of the transport trolley 7 on the transport frame 5, multiple sampling times are set. At each sampling time, the tilt information acquired by all tilt sensors 74 is set as the first set, denoted as A1 = {A...} i1 ,…,A ij ,…,AiN}, where A1 represents the first set, A i1 A represents the tilt angle detected by the first tilt sensor 74 at the i-th sampling time. ij A represents the tilt angle detected by the j-th tilt sensor 74 at the i-th sampling time. iN This represents the tilt angle detected by the Nth tilt sensor 74 at the i-th sampling time, where N represents the total number of tilt sensors 74.

[0048] The first set is filtered for measurement errors to obtain the second set A2. Specifically, the difference between the tilt angles detected by any two tilt sensors 74 within the first set is calculated. A threshold is set, and all calculated differences are compared with this threshold. Tilt angles detected by each tilt sensor 74 corresponding to differences greater than the threshold are aggregated into a third set. Each tilt angle detected by a tilt sensor 74 within the third set is marked with a repetition count, which is the number of times the tilt angle detected by that tilt sensor 74 appears among differences greater than the threshold. A repetition count threshold is set, and tilt angles detected by tilt sensors 74 in the third set with repetition counts greater than the threshold are removed. The tilt angles detected by tilt sensors 74 remaining after the third set are removed, along with the tilt angles detected by tilt sensors 74 in the first set that were not aggregated into the third set, are summarized and added to the second set, denoted as A2 = {A...} i1 ′ ,…,A ih ′ ,…,A in ′}, where A i1 ′ A represents the tilt angle detected by the first tilt sensor 74 after filtering at the i-th sampling time. ih ′ A represents the tilt angle detected by the h-th tilt sensor 74 after filtering at the i-th sampling time. iN This represents the tilt angle detected by the nth tilt sensor 74 after filtering at the i-th sampling time, where n represents the total number of tilt angles detected by the filtered tilt sensors 74.

[0049] The tilt angles detected by the tilt sensors 74 in the first set are sorted from smallest to largest. The middle N / 2 tilt angles detected by the tilt sensors 74 are taken and summarized into the fourth set. The difference threshold is calculated based on the tilt angles detected by the tilt sensors 74 in the fourth set.

[0050]

[0051] In the above formula, ΔA represents the difference threshold, δ represents the correction value of the tilt sensor 74, and A ′ ieA represents the tilt angle detected by the e-th tilt sensor 74 in the fourth set. μ This represents the average tilt angle detected by tilt sensor 74 in the fourth set.

[0052] The repetition counts marked in the third set are summarized into the fifth set, and the count threshold is calculated according to the following formula:

[0053]

[0054] In the above formula, ΔF represents the threshold number of times, F f F represents the numerical value of the f-th repetition in the fourth set. μ Let E represent the average of all repetitions in the fourth set, and let E represent the total number of repetitions in the fourth set.

[0055] The tilt angle of hopper 73 is obtained based on the tilt angle of tilt sensor 74 in the second set. The specific calculation formula is as follows:

[0056]

[0057] In the above formula, δ represents the tilt angle of hopper 73, and δ represents the correction value of tilt sensor 74.

[0058] Set tilt angle setting value The weight setting value m1 and the maximum weight that the transport trolley can bear m max Let the weight information acquired by the weight sensor be denoted as m. The following cases will be discussed in detail:

[0059] (1) When At this time, the cylinder does not move.

[0060] (2) When When 0 ≤ m ≤ m1, the cylinder moves with acceleration a1 until...

[0061] (3) When When 0 ≤ m ≤ m1, the cylinder moves with acceleration a2 until...

[0062] (4) When And m1 <m≤m max At that time, the cylinder moves with acceleration a3 until...

[0063] (5) When And m1 <m≤m max At that time, the cylinder moves with acceleration a4 until...

[0064] a1, a2, a3, and a4 are specifically calculated using the following formula:

[0065]

[0066] In the above formula, g represents the acceleration due to gravity.

[0067] The drive assembly includes a motor 9 and a traction rope 8. The motor 9 is connected to one end of the traction rope 8 via a pulley, and the other end of the traction rope 8 is fixedly connected to the connecting frame 71. The connection can be detachable. The specific structure of the motor 9 pulling the traction rope 8 via the pulley is existing technology and will not be described in detail here. When the motor 9 is started, it pulls the traction rope 8, thereby controlling the transport trolley 7 to move along the length of the transport frame 5. The transport trolley 7 is equipped with pulleys 6 on both sides to ensure that the connecting frame 71 does not detach from the transport frame 5.

[0068] This invention, by setting multiple tilt sensors 74 on the hopper 73, a cylinder 72 below the hopper 73, and a weighing sensor at the bottom of the hopper 73, and setting multiple sampling times, acquires tilt angle and weight information at each sampling time. Based on the tilt angle and weight information, the tilt angle of the hopper 73 is obtained. Based on the tilt angle and weight information, multiple judgment conditions are set, and the movement acceleration of the cylinder 72 is adjusted according to different judgment conditions. This allows the hopper 73 to adaptively adjust its tilt angle according to the change of the slope 1, ensuring the stable placement of items inside the hopper 73.

[0069] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention do not depart from the essence and scope of the technical solution of the present invention.

Claims

1. A vertical transportation ivy device for geological disaster management, characterized in that, The utility model relates to a kind of slope material transport device, including positioning component, transport mobile frame, transport trolley, drive component and placement platform, the transport mobile frame is fixed on the side wall of slope by the positioning component, the placement platform is set on the ground of slope, the upper end of the transport mobile frame and the positioning component is connected with the placement platform, the transport trolley is slidably connected on the transport mobile frame, the drive component is set on the placement platform, and the drive component controls the transport trolley to move relative to the transport mobile frame;The transport trolley includes connecting frame, hopper and cylinder, the connecting frame is slidably connected on the transport mobile frame, one end of the connecting frame upper wall is rotatably connected hopper, the connecting frame upper wall is rotatably connected the cylinder, and the output end of the cylinder is rotatably connected with the hopper lower wall; The hopper upper wall is inlaid with multiple inclination sensors, and a load cell is embedded in the inner bottom of the hopper. The inclination sensors and the load cell are connected to a controller. The inclination sensors are used to obtain inclination information of the hopper relative to the horizontal direction, and the load cell is used to obtain weight information of the articles in the hopper. The controller controls the motion acceleration of the cylinder according to the inclination information and the weight information. The specific method for the controller to control the motion acceleration of the cylinder according to the inclination information and the weight information is as follows: set the inclination setting value , the weight setting value and the maximum weight that the transport trolley can withstand ; (1) when 0, the cylinder does not move; (2) when , and 0 , the cylinder moves with acceleration until 0; (3) when , and 0 , the cylinder moves with acceleration until 0; (4) when , and , the cylinder moves with acceleration until 0; (5) when , and , the cylinder moves with an acceleration until 0; In the above formula, represents the inclination of the hopper, represents the weight information acquired by the weight sensor; acceleration , Specifically, it is calculated by the following formula: ； ； acceleration , Specifically, it is calculated by the following formula: ； ； In the above formula, g represents the acceleration of gravity.

2. The vertical transportation ivy device for geological disaster control according to claim 1, characterized in that, During the sliding process of the transport trolley on the transport mobile frame, multiple sampling times are set. At each sampling time, the inclinations detected by all the inclination sensors are obtained, and the obtained inclinations detected by all the inclination sensors are recorded as a first set. The first set is subjected to measurement error screening to obtain a second set. According to the inclinations detected by the inclination sensors in the second set, the inclination of the hopper is obtained, which is specifically calculated by the following formula: ； In the above formula, denotes a correction value of the inclination sensor, denotes the inclination detected by the hth inclination sensor after screening at the ith sampling time, and n denotes the total number of inclinations detected by the inclination sensors in the second set.

3. The vertical transportation ivy device for geological disaster control according to claim 2, characterized in that, The method for obtaining the second set is as follows: the difference between the inclinations detected by any two inclination sensors in the first set is calculated, a difference threshold value is set, all the calculated differences are compared with the difference threshold value, the inclinations detected by each inclination sensor corresponding to the differences greater than the difference threshold value are aggregated into a third set, each inclination detected by the inclination sensor in the third set is marked with a repetition number, a number threshold value is set, the inclinations detected by the inclination sensors with a repetition number greater than the number threshold value in the third set are excluded, and the inclinations detected by the inclination sensors remaining after the exclusion of the third set and the inclinations detected by the inclination sensors not aggregated into the third set in the first set are collected into the second set, thereby obtaining the second set.

4. The vertical transportation ivy device for geological disaster control according to claim 3, characterized in that, The inclinations detected by the inclination sensors in the first set are sorted from small to large, the middle N / 2 inclinations detected by the inclination sensors are taken, and the inclinations are collected into a fourth set, and the difference threshold value is calculated by the following formula: ； In the above formula, denotes a difference threshold value, denotes the inclination detected by the e-th inclination sensor of the fourth set, denotes the average of the inclinations detected by the inclination sensors of the fourth set, N denotes the total number of inclination sensors.

5. The vertical transportation ivy device for geological disaster control according to claim 4, characterized in that, The repetition numbers marked in the third set are collected into a fifth set, and the number threshold value is calculated according to the following formula: ； In the above formulae, denotes the threshold value of the number of times, denotes the value of the fth number of times in the fourth set, denotes the average value of the values of the numbers of times in the fourth set, denotes the total number of the numbers of times in the fourth set.

6. The vertical transportation ivy device for geological disaster control according to claim 1, characterized in that, The positioning assembly comprises a plurality of first positioning rods, a plurality of second positioning rods and a plurality of third positioning rods, the first positioning rods and the second positioning rods are cross arranged, the conveying movable frame is fixed on the second positioning rods, the first positioning rods and the second positioning rods are fixedly connected with the third positioning rods at the cross connection positions, and the third positioning rods are fixedly connected with the side wall of the slope away from the cross positions of the first positioning rods and the second positioning rods.

7. The vertical transportation ivy device for geological disaster control according to claim 1, characterized in that, The driving assembly comprises a motor and a traction rope, the motor is arranged on the placing platform, the output end of the motor is wound around the traction rope, and one end of the traction rope away from the motor is fixedly connected with the connecting frame.

Images