Transfer equipment capable of automatically leveling

Abstract

The invention belongs to the technical field of logistics transfer equipment, and particularly relates to automatic leveling transfer equipment which comprises a transfer traveling unit, a lifting bearing unit, a power module and a supporting bottom frame. The transfer traveling unit is fixed on the supporting underframe and is used for driving the transfer equipment to travel and steer; the lifting bearing unit comprises a platform, a lifting device and an automatic leveling device; the platform is arranged at the upper end of the lifting device; the automatic leveling device is used for automatically adjusting the levelness of the platform in the left-right direction according to the height difference of the left-right terrain. The lifting bearing unit is matched with a manual forklift to be used for loading and unloading goods and materials; the power supply module is electrically connected with the transfer driving unit and the lifting bearing unit; the supporting bottom frame is used for bearing the transfer traveling unit, the rail, the lifting bearing unit and the power module. The invention aims to solve the safety problems of manpower and time consumption, personnel injury, material damage and the like caused by manual or manual mechanical transfer in a field environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of logistics transfer equipment, and particularly relates to a transfer equipment capable of automatic leveling. Background Art

[0002] The transfer of materials from trucks to sites or from sites to trucks is an important link in the logistics transportation process, and usually requires the use of supporting forklift machinery to complete the above transfer work. However, in the wild environment, such as wild rescue, wild repair or performing wild tasks, it is very difficult to equip forklift machinery for transfer. Therefore, for the transfer of materials in the wild environment, manual or manual mechanical equipment is usually adopted; this will undoubtedly cause the consumption of manpower and time, and even safety problems such as personnel injuries and material damage may occur.

[0003] In view of the above situation, there is an urgent need for a device suitable for wild material transfer and can be transported with the materials; however, the wild terrain is complex and uneven. When the transfer equipment is connected to the truck carriage, due to the relatively high overall height, it is easy to tilt left and right when carrying materials on uneven terrain, which will cause the lateral dumping of the transfer equipment and materials, resulting in property losses and even casualties. Summary of the Invention

[0004] The present invention provides a transfer equipment driven by electricity for the above problems, which has functions such as small volume, large load capacity, and remote control, can be transported together with the materials, and can complete the material transfer work in the wild environment; especially when connected to the carriage, it can adaptively adjust the level of the platform according to the inclination of the terrain, effectively preventing the equipment and materials from tipping over; overall, this transfer equipment solves the problems of manpower and time consumption in the wild material transfer, as well as safety problems such as easy occurrence of personnel injuries and material damage. The specific content is as follows:

[0005] A transfer equipment capable of automatic leveling, equipped with a manual forklift, includes a transfer driving unit, a lifting and carrying unit, a power supply module and a supporting chassis;

[0006] The transfer driving unit is arranged at the lower part of the transfer equipment and fixed on the supporting chassis, and is used to drive the running and steering of the transfer equipment;

[0007] The lifting and carrying unit is arranged at the upper part of the supporting chassis, and includes a platform, a lifting device and an automatic leveling device; the platform is arranged at the upper end of the lifting device; the automatic leveling device is arranged between the platform and the lifting device, and is used to automatically adjust the horizontal level of the platform in the left and right directions according to the height difference of the terrain on the left and right; the lifting and carrying unit has a lifting state and a carrying state, and is used in cooperation with the manual forklift for loading and unloading materials;

[0008] The power supply module is fixed on the support chassis and is electrically connected to the transfer driving unit and the lifting and carrying unit, and is used to provide power for the transfer equipment;

[0009] The support chassis is used to carry the transfer driving unit, the lifting and carrying unit and the power supply module.

[0010] Further, the transfer driving unit includes: a driving part, a transmission part and a driving wheel;

[0011] The driving part has its output end cooperatively connected to the input end of the transmission part and is electrically connected to the power supply module;

[0012] The output end of the transmission part is cooperatively connected to the driving wheel.

[0013] Further, there are at least two driving wheels, which are correspondingly installed on both sides of the support chassis; the numbers of the driving part and the transmission part are the same as that of the driving wheels; the output end of each driving part is cooperatively connected to the input end of the corresponding transmission part one by one; the output end of each transmission part is cooperatively connected to the corresponding driving wheel one by one.

[0014] Further, the driving wheels adopt solid all-terrain tires.

[0015] Further, the transfer equipment further includes a control unit arranged on the support chassis and a remote control handle wirelessly connected to the control unit; the control unit is electrically connected to the power supply module, the transfer driving unit and the lifting and carrying unit respectively.

[0016] Further, the automatic leveling device includes a leveling transmission part arranged at the lower end of the platform, leveling driving parts arranged on both sides of the leveling transmission part, and an accelerometer arranged on the rear end face of the platform; the leveling transmission part is rotatably connected to the upper end of the lifting device, its power input end is connected to the power output end of the leveling driving part, and its power output end is connected to the lower end of the platform; the leveling driving parts are fixed at the upper end of the lifting device and are electrically connected to the power unit and the control unit respectively; the accelerometer is electrically connected to the control unit and is used to measure the angle between the platform and the horizontal plane.

[0017] Further, the lifting and carrying unit includes: a lifting driving part, a lifting transmission part;

[0018] The lifting driving part has its output end cooperatively connected to the input end of the lifting transmission part and is electrically connected to the power supply module;

[0019] The output end of the lifting transmission part is rotatably connected to the leveling transmission part.

[0020] Furthermore, the lifting transmission part includes a nut, a lead screw, an upper slide rail, a lower slide rail and a scissor-link mechanism;

[0021] The lead screw is rotatably supported on the support frame, the input end of which is matched and connected with the output end of the lifting drive unit, and the output end of which is matched with the nut sleeve;

[0022] The upper slide rail is fixed to the lower end of the leveling transmission part; the lower slide rail is fixed to the supporting chassis;

[0023] The scissor linkage mechanism has an upper fixed end hingedly connected to the lower end of the leveling transmission part, an upper movable end slidably connected to the upper slide rail, a lower fixed end hingedly connected to the supporting base frame, and a lower movable end slidably connected to the lower slide rail and hingedly connected to the nut.

[0024] Furthermore, it also includes tracks; the tracks are two foldable plate-like components, both of which are detachably arranged at the lower part of the supporting frame to assist the transfer equipment in getting on and off the vehicle.

[0025] Furthermore, collision sensing devices are provided at both the front and rear ends of the supporting frame; the collision sensing device includes anti-collision beams installed at the front and rear ends of the supporting frame, and a collision sensor arranged between the anti-collision beam and the supporting frame; the collision sensor is electrically connected to the power module, and can disconnect the circuit between the power module and the transfer travel unit when a collision occurs.

[0026] The beneficial effects of the present invention are:

[0027] 1. By setting up tracks, the transfer equipment can be driven on and off the truck under power, eliminating the trouble of manual handling and reducing safety hazards; and the transfer equipment can be transported with the truck, which is convenient for loading and unloading materials without forklifts and other machinery;

[0028] 2. The transfer travel unit and the lifting load unit are set up, so that the transfer work can be completed by the transfer equipment carrying the materials, which solves the safety problems such as manpower and time consumption, personal injury and material damage caused by manual or manual mechanical transfer in the field environment.

[0029] 3. An automatic leveling device is installed to automatically adjust the platform to a horizontal state when the transfer equipment is connected to the carriage. If the terrain heights on the left and right sides are different, this can prevent the platform from tipping over when loading materials, causing property losses or even personal injuries, due to uneven terrain and high lifting height. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative work.

[0031] Figure 1 This is a schematic diagram of the overall structure of the automatically leveled transfer equipment in the transport state;

[0032] Figure 2 This is a schematic diagram of the overall structure of the automatically leveling transfer equipment in the lifting state;

[0033] Figure 3 This is a schematic diagram of the structure of the transport travel unit of the transport equipment that can automatically level;

[0034] Figure 4 This is a schematic diagram of the structure of the automatic leveling device of the transfer equipment which can automatically level itself, viewed from above;

[0035] Figure 5 This is a schematic diagram of the structure of the lifting and carrying unit of the transfer equipment that can automatically level;

[0036] Figure 6 This is a schematic diagram of the upper and lower carriages of the transfer equipment that can be automatically leveled;

[0037] In the figure: A. manual forklift; 1. transport travel unit; 101. travel drive unit; 102. travel transmission unit; 103. driving wheel; 2. track; 3. lifting and lowering load-bearing unit; 301. lifting and lowering drive unit; 302. lifting and lowering transmission unit; 303. platform; 304. nut; 305. lead screw; 306. upper slide rail; 307. lower slide rail; 308. scissor linkage mechanism; 309. maintenance support leg; 310. balance shaft; 311. balance gear; 312. driving gear; 313. thrust bearing; 314. connecting bracket; 315. leveling drive unit; 4. power module; 5. support frame; 501. anti-collision beam. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0040] It should be noted that when an element is referred to as being "fixed to", "placed with", "provided with", "equipped with", "set on", "arranged on" or "connected to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0041] It should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Please refer to Figures 1 to 6 , so as to better understand the specific structure of the present invention. A transfer device capable of automatic leveling, such as Figure 1 shown, is equipped with a manual forklift A, and is characterized in that it includes a transfer driving unit 1, a lifting and carrying unit 3, a power supply module 4 and a supporting chassis 5;

[0043] The transfer driving unit 1 is arranged at the lower part of the transfer device and fixed on the supporting chassis 5, and is used for driving the transfer device to travel and turn;

[0044] The lifting and carrying unit 3, as Figure 2 shown, is arranged at the upper part of the supporting chassis 5 and includes a platform 303, a lifting device and an automatic leveling device; the platform 303 is arranged at the upper end of the lifting device; the automatic leveling device is arranged between the platform 303 and the lifting device and is used for automatically adjusting the horizontal degree of the platform 303 in the left and right directions according to the height difference of the terrain on the left and right; the lifting and carrying unit 3 has a lifting state and a carrying state and is used in cooperation with the manual forklift A for loading and unloading materials;

[0045] The power module 4 is fixed on the supporting chassis 5 and is electrically connected to the transport travel unit 1 and the lifting and carrying unit 3 to provide power for the transport equipment;

[0046] The supporting chassis 5 is used to carry the transport travel unit 1 , the lifting and carrying unit 3 and the power module 4 .

[0047] It should be noted that the power module 4 preferably includes two 48V large-capacity lithium batteries to ensure longer battery life.

[0048] It should be noted that the equipped human forklift A is preferably a manual hydraulic forklift (commonly known as a ground bull), and can also be matched with tools of other structural forms without limitation here. The purpose is to transfer the materials in the car to the lifting and carrying unit 3 of the transfer equipment.

[0049] It should be noted that the supporting frame 5 is a rectangular structure, and the surrounding frames are preferably welded with channel steel structures, and a crossbeam can be arranged in the middle to increase the overall strength.

[0050] It should be noted that the lifting state refers to the state in which the lifting load unit 3 rises to the same height as the carriage. At this time, materials can be moved from the carriage to the lifting load unit 3, or from the lifting load unit 3 to the carriage; the transporting state refers to the state in which the transfer equipment carries the materials and moves into the warehouse or the truck. At this time, the lifting load unit 3 drops to the lowest point and is carrying materials (or may be empty).

[0051] In specific implementation, by setting up the track 2, the transfer equipment can be driven up and down the truck under power, eliminating the trouble of manual handling and reducing safety hazards; and the transfer equipment can be transported with the vehicle, which is convenient for loading, unloading and transferring of materials without forklifts and other machinery; by setting up the transfer travel unit 1 and the lifting and carrying unit 3, the transfer equipment can be used to carry the materials to complete the transfer work, which solves the safety problems of manpower and time consumption, personal injury and material damage caused by manual or manual mechanical transfer in the field environment; an automatic leveling device is set, which can automatically adjust the platform 303 to a horizontal state when the transfer equipment is connected to the carriage if the terrain heights on the left and right are different, so as to avoid lateral tipping when loading materials due to uneven terrain and high lifting height, causing property loss or even personal injury.

[0052] In the embodiment provided by the present invention, Figure 3 As shown, the transport travel unit 1 includes: a travel drive unit 101, a travel transmission unit 102 and a driving wheel 103;

[0053] The output end of the travel drive unit 101 is matched and connected with the input end of the travel transmission unit 102, and is electrically connected with the power module 4;

[0054] The output end of the traveling transmission part 102 is cooperatively connected with the driving wheel 103;

[0055] There are at least two driving wheels 103, which are respectively installed on both sides of the supporting chassis 5; the numbers of the traveling driving parts 101 and the traveling transmission parts 102 are the same as that of the driving wheels 103; the output end of each traveling driving part 101 is cooperatively connected with the input end of the corresponding traveling transmission part 102 in a one-to-one correspondence; the output end of each traveling transmission part 102 is cooperatively connected with the driving wheel 103 in a one-to-one correspondence;

[0056] The driving wheel 103 adopts a solid all-terrain tire;

[0057] The transfer device further includes a control unit (not shown in the figure) arranged on the supporting chassis 5 and a remote control handle (not shown in the figure) wirelessly connected with the control unit; the control unit is electrically connected with the power supply module 4, the transfer and traveling unit 1 and the lifting and carrying unit 3 respectively.

[0058] It should be noted that, preferably, four driving wheels 103 are provided in the present invention, and each driving wheel 103 is equipped with a traveling driving part 101 and a traveling transmission part 102, so that four-wheel drive traveling can be realized.

[0059] It should be noted that, preferably, the traveling driving part 101 is in the form of a stepping motor and is fixed on the supporting chassis 5 through a bracket; driven by the electric energy provided by the power supply module 4, each traveling driving part 101 can independently control the increase and decrease of the rotation speed and the switching of the rotation direction by the control unit.

[0060] It should be noted that, preferably, the traveling transmission part 102 adopts a planetary gear reduction mechanism, the input shaft is connected with the output shaft of the traveling driving part 101, the housing of the traveling transmission part 102 is fixed on the supporting chassis 5 through a bracket, and the output shaft is connected with the driving wheel 103.

[0061] It should be noted that, preferably, the control unit is a PLC (PLC is the English abbreviation of Programmable Logic Controller, that is, a programmable logic controller), or can be a circuit including at least one processor, or can be a circuit including at least one single-chip microcomputer, or can be a combined form of multiple circuits or chips, as long as the corresponding functions can be realized; it can be understood that, for those skilled in the art, the control circuit can also be a common circuit composed of an amplifier, a comparator, a triode, a MOS tube, etc. to realize the corresponding functions in a pure hardware manner; through the remote control handle, the traveling of the transfer device and the rising and falling control of the lifting and carrying unit 3 can be realized.

[0062] In specific implementation, a 4-wheel drive structure with independent drive for the 4 drive wheels 103 can improve the off-road performance of the transfer equipment and better carry out material transfer in the field environment; the 4 independently controlled drive wheels 103 can improve the maneuverability and enable the transfer equipment to rotate 360° in place, which is beneficial to the material transfer work in the field environment; the traveling transmission part 102 adopts a planetary gear reduction mechanism, which can reliably reduce the motor speed so as to meet the requirement of the traveling speed for material transfer in the field environment; the setting of the remote control function can achieve remote control and reduce the potential safety hazards for personnel; the use of solid all-terrain tires can better adapt to the field terrain, eliminating the work of tire repair and inflation, which is beneficial to material transfer.

[0063] In one embodiment, as Figure 4 shown, the automatic leveling device includes a leveling transmission part provided at the lower end of the platform 303, leveling drive parts 315 provided on both sides of the leveling transmission part, and an accelerometer provided at the rear end face of the platform 303; the leveling transmission part is rotatably connected to the upper end of the lifting device, the power input end is connected to the power output end of the leveling drive part 315, and the power output end is connected to the lower end of the platform 303; the leveling drive part 315 is fixed to the upper end of the lifting device and is electrically connected to the power unit and the control unit respectively; the accelerometer is electrically connected to the control unit and is used for measuring the angle between the platform 303 and the horizontal plane.

[0064] It should be noted that the leveling transmission part includes a balance shaft 310 (i.e., the power output end of the leveling transmission part) fixed at the middle axis position below the platform 303 along the front-back direction of the transfer equipment. Preferably, brackets are fixed between both ends of the balance shaft 310 and the lower end face of the platform 303 by welding, and a certain space needs to be reserved between the balance shaft 310 and the platform 303; it also includes a balance gear 311 (i.e., the power input end of the leveling transmission part) sleeved and fixed on the balance shaft 310, preferably fixed by interference fit or welding; it further includes two thrust bearings 313 sleeved on the balance shaft 310, the inner ring of the thrust bearing 313 is fixed to the balance shaft 310, preferably by welding; the outer ring of the thrust bearing 313 is fixed with a connection bracket 314, and an upper slide rail 306 mentioned below is fixed on the connection bracket 314, and the connection bracket 314 is hinged to the upper fixed end mentioned below; the connection bracket 314 supports the platform 303 through the above two balance shafts 310 and the balance shaft 310, and the platform 303 can rotate relative to the connection bracket 314.

[0065] It should be noted that, preferably, two stepping motors of the leveling drive unit 315 are fixed on both sides of the balance gear 311. A driving gear 312 is fixed on the output shaft (i.e., the power output end of the leveling drive unit 315) of the leveling drive unit 315 and meshes with the balance gear 311 respectively; in this solution, the transmission ratio of the driving gear 312 to the balance gear 311 is preferably 1 / 2; the leveling drive unit 315 has a self-locking function and can lock the balance gear 311 at the current position when not rotating, which can prevent the platform 303 from freely rotating on the balance shaft 310; both leveling drive units 315 are fixed on the connecting bracket 314 by welding.

[0066] It should be noted that the accelerometer preferably uses a single-axis acceleration sensor, which can measure the angle between the left and right directions of the platform 303 and the horizontal plane, that is, the tilt angle.

[0067] In one embodiment, the control unit obtains the tilt angle of the platform 303 measured by the accelerometer, processes it using a leveling control model to obtain an objective function, obtains the output torque through the relationship expression between the objective function and the output torque, and controls the leveling transmission unit to rotate according to the output torque so as to adjust the tilt angle of the platform 303 to 0°; the expression of the leveling control model is:

[0068]

[0069] Where: t is time; U T (t) is the objective function, and the relationship expression with the output torque T m (t) is is the output torque, T m (0) is the initial output torque; δ(t) is the angle error, δ(t) = θ target -θ(t), θ target is the set tilt angle, θ(t) is the tilt angle of the platform 303 at time t; L, M, N are the second-order gain coefficient, first-order gain coefficient and constant gain coefficient respectively; δ sync is the double-drive synchronization error δ sync = φ1 - φ2, φ1 and φ2 are the rotation angles per unit time of the left leveling drive unit 315 and the right leveling drive unit 315 respectively, K sync is the synchronization gain coefficient.

[0070] It should be noted that the initial value of T m (0) is preferably set to 0; θ target, it is set to 0°, that is, the angle between the platform 303 and the horizontal plane is 0°; θ(t) can be measured in real time by an accelerometer; L, M, and N are determined through simulation experiments, and the preferred values in this system are: 4.0, 1.0, and 0.2 respectively; φ1 and φ2 are obtained according to the parameters of different motor models or can also be obtained through actual measurement; K sync The value of K is determined by the transmission ratio, and the preferred value in this system is 0.5; in the above control process, the accelerometer continuously measures the tilt angle, and the leveling control model is cyclically used to calculate and output the torque, continuously controlling the rotation of the leveling drive unit 315; until the tilt angle measured by the accelerometer converges to the set tilt angle, that is, the angle between the left and right directions of the platform 303 and the horizontal plane is 0°, then this control process ends.

[0071] In specific implementation, when the transfer equipment is connected to the carriage, due to the uneven ground on the left and right and the excessive lifting height, the situation of the materials or the equipment tipping over is likely to occur. The present invention uses the leveling control model to control the automatic leveling device, which can quickly adjust the platform 303 to the horizontal state in an extremely short time, avoiding the risk of material damage and personal injury; the adopted automatic leveling device has a simple structure, low cost, and can achieve a relatively accurate adjustment effect; the use of the leveling control model to implement automatic control has a simple algorithm, only need to control the combination of three parameters L, M, and N, without complex model derivation or a large amount of computing resources, and is suitable for real-time operation of embedded systems (such as STM32); it has good hardware compatibility, is seamlessly integrated with the stepper motor driver and sensor interfaces (such as PWM, encoder), and can achieve closed-loop control through a simple feedback loop; for example, when the platform 303 suddenly encounters external interference,

[0072] The leveling control model generates the control quantity quickly through the current error term the cumulative error term (Nδ(t)) and the change trend term to drive the motor to adjust the angle; it has strong robustness and can adapt to nonlinearity and disturbances. The backlash of gear transmission and mechanical friction will introduce nonlinearity. The leveling control model gradually eliminates the steady-state error through the cumulative error term, and the change trend term suppresses overshoot. Combining synchronous compensation can significantly improve the robustness; it has high precision and fast response. The first-order gain coefficient directly amplifies the current error to ensure the fast response of the system to tilt changes; the predictability of the change trend term can predict the future error trend through the angular velocity, suppress overshoot and oscillation, and ensure smooth convergence; the cumulative error term eliminates the steady-state error, avoids long-term deviation by continuously accumulating small errors, and improves the static accuracy; this leveling control model in the leveling system of the platform 303 with gear transmission, with its advantages of simple structure, strong robustness, high precision, and flexible parameter tuning, becomes an ideal control choice; by combining synchronous compensation, it further overcomes the mechanical nonlinearity and the problem of multi-motor coordination, and realizes fast and stable horizontal maintenance.

[0073] In one embodiment, the control unit obtains the output torque, processes the output torque by using a dynamic torque balance model, and obtains the predicted angular acceleration of the platform 303; the expression of the dynamic torque balance model is:

[0074]

[0075] Where: is the predicted angular acceleration of the platform 303 at time t; is the predicted rotational speed of the platform 303 at time t; B is the damping coefficient; T add is the external disturbance torque; J is the system moment of inertia;

[0076] Integrating the predicted angular acceleration at time t gives the predicted rotational speed of the platform 303 at time t + 1, and the expression is:

[0077]

[0078] Where is the predicted rotational speed at time t + 1, and Δt is the time increment; integrating the predicted rotational speed at time t + 1 gives the predicted tilt angle of the platform 303 at time t + 1, and the expression is:

[0079]

[0080] Where θ pred (t + 1) is the predicted tilt angle at time t + 1, and θ pred (t) is the predicted tilt angle of the platform 303 at time t;

[0081] The control unit obtains the predicted tilt angle at time t + 1, and uses an error correction formula to obtain the corrected angle error at time t + 1. The expression of the error correction formula is:

[0082] δ total (t + 1) = θ target - θ(t + 1) + λ(θ target - θ pred (t + 1))

[0083] Where: δ total (t + 1) is the corrected angle error at time t + 1; θ(t + 1) is the tilt angle at time t + 1; λ is the weight coefficient;

[0084] The control module obtains the corrected angle error at the moment of t+1, and uses the leveling control model to replace the angle error with the corrected angle error at the moment of t+1, so as to obtain the corrected objective function, and obtains the output torque by using the expression of the relationship between the objective function and the output torque; and controls the leveling drive unit 315 to rotate according to the output torque, so as to adjust the inclination angle of the platform 303 to 0°.

[0085] It should be noted that The initial value (when t = 0) is 0; B is the damping coefficient, preferably 0.1 in this system; T add is the external disturbance torque, preferably 1 kgm in this system; J is the system moment of inertia, which can be calculated according to the actual weight and size, preferably 2 kgm in this system 2 ; is the predicted rotational speed of the platform 303 at the moment of t, and the initial value is 0; Δt is the time increment, and the set value in this system is 0.01 s; θ pred (t) is the predicted inclination angle of the platform 303 at the moment of t, and the initial value is measured by the accelerometer; λ is the weight coefficient, and the value can be selected according to the specific situation. The set value in this system is preferably 0.8.

[0086] It should be noted that at the initial moment when the system starts leveling, the inclination angle values are all the measured values of the accelerometer. Therefore, at this time, the angle error value in the leveling control model only needs to consider the set inclination angle and the measured inclination angle, and thus the initial output torque is obtained; then, using the dynamic torque balance model, the predicted angular acceleration at the moment of t is obtained, and then the predicted rotational speed at the moment of t+1 and the predicted inclination angle at the moment of t+1 are obtained; at this time, the predicted inclination angle at the moment of t+1 is brought into the error correction formula and the leveling control model, and then the output torque at the moment of t+1 is obtained, and the calculation is cycled in turn until the inclination angle of the platform 303 is adjusted to 0°.

[0087] In specific implementation, the output torque calculated by using the dynamic torque balance model in combination with the leveling control model enables the current inclination angle of the platform 303 to converge stably to the set inclination angle according to the corrected angle error at the (t + 1)-th moment with the predicted inclination angle weight at the (t + 1)-th moment added, thereby avoiding overshoot caused by too rapid change of the inclination angle or phenomena such as slow angle adjustment; especially in the field environment, external interferences such as wind force, temperature, humidity, etc. often occur, which are likely to reduce the measurement accuracy of the accelerometer. If the current inclination angle measured solely by the acceleration sensor is used for adjustment, it is easy to cause overshoot due to too rapid angle change or slow angle change and inability to reach the standard quickly; by predicting the inclination angle at the next moment through the dynamic torque balance model, the corrected angle error at the (t + 1)-th moment can be weighted, and further, the leveling control model is used to precisely adjust the output torque, reducing the occurrence probability of the above situations.

[0088] In one embodiment, as Figure 5 shown, the lifting and bearing unit 3 includes: a lifting driving part 301, a lifting transmission part 302, and a platform 303;

[0089] The output end of the lifting driving part 301 is cooperatively connected with the input end of the lifting transmission part 302 and is electrically connected to the power supply module 4;

[0090] The output end of the lifting transmission part 302 is cooperatively connected with the platform 303;

[0091] The lifting transmission part 302 includes a nut 304, a lead screw 305, an upper slide rail 306, a lower slide rail 307, and a scissor link mechanism 308;

[0092] The lead screw 305 is rotatably supported on the support chassis 5, the input end is cooperatively connected with the output end of the lifting driving part 301, and the output end is sleeved and cooperatively connected with the nut 304;

[0093] The upper slide rail 306 is fixed to the lower end face of the platform 303, preferably fixed by screws; the lower slide rail 307 is fixed to the support chassis 5, preferably fixed by screws;

[0094] The scissor link mechanism 308 has its upper fixed end hingedly connected to the lower end face of the platform 303, its upper movable end slidably connected to the upper slide rail 306, its lower fixed end hingedly connected to the support chassis 5, and its lower movable end slidably connected to the lower slide rail 307 and hingedly connected to the nut 304.

[0095] It should be noted that the lifting drive unit 301 is preferably a stepping motor structure. The output shaft of the motor is connected to the output end of the lifting transmission unit 302, fixed to the support chassis 5 through a bracket, and electrically connected to the power supply module 4 and the control unit respectively.

[0096] It should be noted that one end of the lead screw is connected to the output shaft of the lifting drive unit 301 and is driven by the lifting drive unit 301 to rotate, and the other end is supported on the support chassis 5 through a bearing; the nut 304 is sleeved on the lead screw 305 and can move axially along the lead screw 305, and is hinged to the lower movable end of the scissors link mechanism 308 externally and drives the lower movable end of the scissors link mechanism 308 to move back and forth.

[0097] It should be noted that preferably two sets of scissors link mechanisms 308 are arranged on both sides of the support chassis 5, and the hinge points in the middle of the two sets of scissors link mechanisms 308 are interconnected by a link to provide stable support; the scissors link mechanism 308 is preferably made of steel, and the upper fixed end and the upper movable end are the output ends of the lifting transmission unit 302, and a rotatable maintenance support leg 309 is installed between the middle hinge point and the lower movable end.

[0098] It should be noted that the upper slide rail 306 and the lower slide rail 307 are fixed to the lower end surface of the platform 303 and the support chassis 5 respectively by screws.

[0099] It should be noted that when the lifting and carrying unit 3 is in the carrying state, the scissors link mechanism 308 is in the folded state and the lifting and carrying unit 3 is at the lowest point; when it is necessary to lift the materials in the carriage, the lifting drive unit 301 drives the lead screw 305 to rotate, and then drives the nut 304 to move axially along the lead screw 305; the nut 304 drives the lower movable end of the scissors link mechanism 308 to move along the lower slide rail 307 together, and the lower fixed end only rotates around the hinge point. At this time, the scissors link mechanism 308 gradually converts from the folded state to the unfolded state in the lifting state; the upper movable end moves along the upper slide rail 306, and the upper fixed end only rotates around the hinge point; thereby driving the lifting and carrying unit 3 to lift upward; when the lifting height reaches the height of the carriage, the lifting drive unit 301 can be controlled to stop operating; the materials in the carriage are transferred to the lifting and carrying unit 3 by the manual forklift A, the manual forklift A is withdrawn, the lifting drive unit 301 is controlled to reverse, the scissors link mechanism 308 moves in the reverse direction, driving the lifting and carrying unit 3 and the materials to descend to the lowest point and then stop operating; then, the driving drive unit 101 is controlled to operate to transfer the materials to the target position.

[0100] In specific implementation, the scissors link mechanism 308 is set up, which can reduce the retracted height of the equipment, be more stable when transferring materials, and can provide sufficient supporting force, increasing the load-bearing capacity of the transfer equipment; the maintenance support leg 309 is used to play a role in supporting and stabilizing during the maintenance of the transfer equipment in the lifting state, ensuring the safety of maintenance personnel.

[0101] In the embodiments provided by the present invention, as Figure 6 shown, there are two tracks 2, both of which are foldable structures.

[0102] It should be noted that the track 2 is preferably made of steel material and is used to assist the transfer equipment to get on and off the freight car compartment; when the transfer equipment needs to move from the compartment to the ground, there is no need for manual handling. Just lay the track 2 between the compartment and the ground to form a ramp. The staff can control the transfer equipment to drive itself along the track 2 to the ground and vice versa; when the track 2 is not in use, it can be folded and inserted into the placement rack under the support chassis 5.

[0103] In specific implementation, setting the track 2 can enable the transfer equipment to get on and off the freight car compartment by itself, which can not only transport the transfer equipment along with the vehicle to solve the problem of no forklift in the freight yard, but also save the physical strength of personnel handling and reduce safety risks.

[0104] In one embodiment, collision sensing devices are provided at both the front and rear ends of the support chassis 5; the collision sensing devices include anti-collision beams 501 installed at both the front and rear ends of the support chassis 5, and collision sensors (not shown in the figure) provided between the anti-collision beams 501 and the support chassis 5; the collision sensors are electrically connected to the power supply module 4, and when a collision occurs, the circuit between the power supply module 4 and the transfer driving unit 1 can be disconnected.

[0105] It should be noted that the anti-collision beam 501 is preferably made of channel steel section and is preferably fixed to the front and rear ends of the support chassis 5 by welding; one end of the collision sensor is connected to the support chassis 5, and the other end is connected to the anti-collision beam 501; the collision sensor, also known as the collision switch or collision detector, is a sensor used to detect object collisions or impacts; the present invention preferably uses a pressure type collision sensor, which is a common collision sensor based on the principle of a pressure sensor. When an object impacts the sensor, the sensor is subjected to pressure, and this pressure will be converted into an electrical signal, which is transmitted to the PLC of the control unit for identification and processing; when the transfer equipment hits an object during travel, the anti-collision beam 501 will be slightly deformed by the impact, thereby triggering the collision sensor to send a signal. The PLC receives the signal for processing and issues a command to stop power supply to the power supply module 4, then the transfer equipment stops moving forward.

[0106] In specific implementation, setting the collision sensing device can prevent the transfer equipment from colliding with objects during travel and causing accidents, so as to better carry out the material transfer work and improve the safety performance.

[0107] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0108] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatically levelable transfer device equipped with a manual forklift, characterized in that, It includes a transfer driving unit, a lifting and carrying unit, a power module, and a supporting chassis; The transfer driving unit is arranged at the lower part of the transfer equipment and fixed on the supporting chassis, and is used for driving the transfer equipment to travel and turn; The lifting and carrying unit is arranged at the upper part of the supporting chassis and includes a platform, a lifting device, and a self-leveling device; the platform is arranged at the upper end of the lifting device; the self-leveling device is arranged between the platform and the lifting device and is used for automatically adjusting the horizontal level of the platform in the left and right directions according to the height difference of the terrain on the left and right; the lifting and carrying unit has a lifting state and a carrying state and is used in cooperation with the manual forklift for loading and unloading materials; The power module is fixed on the supporting chassis and is electrically connected to the transfer driving unit and the lifting and carrying unit, and is used for providing power for the transfer equipment; The supporting chassis is used for carrying the transfer driving unit, the lifting and carrying unit, and the power module.

2. The automatically levelable transfer device according to claim 1, wherein, The transfer driving unit includes: a driving part, a transmission part, and driving wheels; The output end of the driving part is cooperatively connected to the input end of the transmission part and is electrically connected to the power module; The output end of the transmission part is cooperatively connected to the driving wheels.

3. The automatically levelable transfer device according to claim 2, characterized in that, There are at least 2 driving wheels, which are correspondingly installed on both sides of the supporting chassis; the number of the driving parts and the transmission parts is the same as that of the driving wheels; the output end of each driving part is cooperatively connected to the input end of the transmission part in a one-to-one correspondence; the output end of each transmission part is cooperatively connected to the driving wheels in a one-to-one correspondence.

4. The automatically levelable transfer device according to claim 3, characterized in that The driving wheels adopt solid all-terrain tires.

5. The automatically levelable transfer device according to claim 1, wherein The transfer equipment further includes a control unit arranged on the supporting chassis and a remote control handle wirelessly connected to the control unit; the control unit is electrically connected to the power module, the transfer driving unit, and the lifting and carrying unit respectively.

6. The automatically levelable transfer device according to claim 5, wherein, The self-leveling device includes a leveling transmission part arranged at the lower end of the platform, leveling driving parts arranged on both sides of the leveling transmission part, and an accelerometer arranged at the rear end face of the platform; the leveling transmission part is rotatably connected to the upper end of the lifting device, the power input end is connected to the power output end of the leveling driving part, and the power output end is connected to the lower end of the platform; the leveling driving parts are fixed at the upper end of the lifting device and are electrically connected to the power unit and the control unit respectively; the accelerometer is electrically connected to the control unit and is used for measuring the angle between the platform and the horizontal plane.

7. The automatically levelable transfer device according to claim 1, characterized in that, The lifting and carrying unit includes: a lifting driving part, a lifting transmission part; The output end of the lifting driving part is cooperatively connected to the input end of the lifting transmission part and is electrically connected to the power module; The output end of the lifting transmission part is rotatably connected to the leveling transmission part.

8. The automatically levelable transfer device according to claim 7, wherein, The lifting transmission part includes a nut, a lead screw, an upper slide rail, a lower slide rail, and a scissor link mechanism; The lead screw is rotatably supported on the supporting chassis, the input end is cooperatively connected to the output end of the lifting driving part, and the output end is sleeved and cooperated with the nut; The upper slide rail is fixed to the lower end of the leveling transmission part; the lower slide rail is fixed to the support chassis. For the scissor link mechanism, the upper fixed end is hinged to the lower end of the leveling transmission part, the upper movable end is slidably connected to the upper slide rail, the lower fixed end is hinged to the support chassis, and the lower movable end is slidably connected to the lower slide rail and is hinged to the nut.

9. The automatically levelable transfer device according to claim 1, characterized in that It further includes a track; the track is composed of two foldable plate-like components, both of which are detachably arranged at the lower part of the support chassis and are used to assist the transfer equipment to get on and off the vehicle.

10. The automatically levelable transfer device according to claim 1, characterized in that, Collision induction devices are arranged at both the front and rear ends of the support chassis; the collision induction device includes a collision avoidance beam installed at both the front and rear ends of the support chassis, and a collision sensor arranged between the collision avoidance beam and the support chassis; the collision sensor is electrically connected to the power supply module, and when a collision occurs, the circuit between the power supply module and the transfer driving unit can be disconnected.

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