An automatically levelable transfer apparatus

Abstract

The present application belongs to the technical field of logistics transfer equipment, and particularly relates to a transfer equipment capable of automatic leveling, which comprises a transfer running unit, a lifting bearing unit, a power module and a supporting chassis. The transfer running unit is fixed on the supporting chassis and is used for driving the running and steering of the transfer equipment. The lifting bearing unit comprises a platform, a lifting device and an automatic leveling device. The platform is arranged on 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 ground. The lifting bearing unit is matched with a manual forklift and is used for loading and unloading of materials. The power module is electrically connected with the transfer running unit and the lifting bearing unit. The supporting chassis is used for bearing the transfer running unit, a track, the lifting bearing unit and the power module. The present application aims to solve the problems of human power and time consumption, personnel injury and material damage and other safety problems caused by manual or manual mechanical transfer in the field environment.

Description

TECHNICAL FIELD

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

[0002] The transfer of goods from a truck to a site or from a site to a truck is an important link in the logistics transportation process, and often requires the use of a matching forklift to complete the above-mentioned transfer work. However, in the field environment, such as field rescue, field repair or execution of field tasks, it is difficult to provide a forklift for transfer. Therefore, in the field environment, goods transfer is usually carried out manually or by manual mechanical equipment; this undoubtedly consumes manpower and time, and even causes safety problems such as personnel injury and goods damage.

[0003] In view of the above situation, an equipment suitable for field goods transfer and capable of transporting goods is urgently needed; however, the field terrain is complex and uneven, and when the transfer equipment is connected with the truck compartment, the overall height is high, and it is easy to tilt left and right when carrying goods in the uneven terrain, thereby causing the transfer equipment and goods to tilt laterally, causing property loss and even causing casualties. SUMMARY

[0004] The present application provides a transfer equipment driven by electricity, which has the functions of small size, large carrying capacity and remote control, can transport goods together, and can complete the transfer of goods in the field environment; especially when connected with the truck compartment, the levelness of the platform can be automatically adjusted according to the inclination of the terrain, effectively preventing the equipment and goods from falling; overall, the transfer equipment solves the problems of consuming manpower and time, and easily causing personnel injury and goods damage in the field environment. The specific content is as follows:

[0005] A transfer equipment capable of automatic leveling is provided with a manual forklift, comprising a running driving unit, a lifting carrying unit, a power module and a supporting chassis;

[0006] The running 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 turning of the transfer equipment;

[0007] The lifting carrying unit is arranged at the upper part of the supporting chassis and comprises a platform, a lifting device and an automatic leveling device; the platform is arranged on 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 levelness of the platform in the left-right direction according to the height difference of the left-right terrain; the lifting carrying unit has a lifting state and a carrying state, and cooperates with the manual forklift to load and unload goods;

[0008] The power module is fixed on the support chassis and electrically connected with the transfer running unit and the lifting carrying unit, and is used for providing power for the transfer device.

[0009] The support chassis is used for carrying the transfer running unit, the lifting carrying unit and the power module.

[0010] Further, the transfer running unit comprises a running driving part, a running transmission part and a driving wheel.

[0011] The running driving part is electrically connected with the power module and is connected with the input end of the running transmission part.

[0012] The output end of the running transmission part is connected with the driving wheel.

[0013] Further, the driving wheel is at least two, and is correspondingly arranged on two sides of the support chassis; the number of the running driving part and the running transmission part is consistent with the number of the driving wheel; the output end of each running driving part is connected with the input end of the running transmission part one by one; and the output end of each running transmission part is connected with the driving wheel one by one.

[0014] Further, the driving wheel adopts a solid all-terrain tire.

[0015] Further, the transfer device further comprises a control unit arranged on the support chassis and a remote control handle wirelessly connected with the control unit; and the control unit is electrically connected with the power module, the transfer running unit and the lifting carrying unit.

[0016] Further, the automatic leveling device comprises a leveling transmission part arranged at the lower end of the platform, leveling driving parts arranged on two 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 with the upper end of the lifting device, the power input end is connected with the power output end of the leveling driving part, and the power output end is connected with the lower end of the platform; the leveling driving part is fixed on the upper end of the lifting device and is electrically connected with the power unit and the control unit respectively; and the accelerometer is electrically connected with the control unit and is used for measuring the included angle between the platform and the horizontal plane.

[0017] Further, the lifting carrying unit comprises a lifting driving part and a lifting transmission part.

[0018] The lifting driving part is electrically connected with the power module and is connected with the input end of the lifting transmission part.

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

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

[0021] The lead screw is rotatably supported on the support base, with its input end connected to the output end of the lifting drive unit and its output end connected to the nut set.

[0022] The upper slide rail is fixed to the lower end of the leveling transmission unit; the lower slide rail is fixed to the support base frame.

[0023] The scissor linkage mechanism has its upper fixed end hinged to the lower end of the leveling transmission unit, its upper movable end slidably connected to the upper slide rail, its lower fixed end hinged to the support base, and its lower movable end slidably connected to the lower slide rail and hinged to the nut.

[0024] Furthermore, it also includes a track; the track consists of two foldable plate-like components, both of which are detachably installed at the lower part of the support base frame, to assist the transfer equipment in loading and unloading.

[0025] Furthermore, collision sensing devices are provided at both the front and rear ends of the support base; the collision sensing devices include anti-collision beams installed at both the front and rear ends of the support base, and collision sensors disposed between the anti-collision beams and the support base; the collision sensors are electrically connected to the power module, and can disconnect the circuit between the power module and the transport unit in the event of a collision.

[0026] The beneficial effects of this invention are:

[0027] 1. By setting up tracks, the transfer equipment can be loaded and unloaded from trucks under power, eliminating the trouble of manual handling and reducing safety hazards; and the transfer equipment can be transported with the truck, which facilitates the loading, unloading and transfer of goods in the absence of forklifts or other machinery.

[0028] 2. The installation of a transfer and lifting unit enables the transfer equipment to carry materials and complete the transfer work, solving the problems of manpower and time consumption, as well as safety issues such as personnel injury and material damage caused by manual or manual mechanical transfer in the field.

[0029] 3. An automatic leveling device is installed, which can automatically adjust the platform to a horizontal state when the transfer equipment is connected to the carriage if the left and right sides of the ground are different in height. This avoids the situation where the platform tilts to the side when loading materials due to uneven ground and high lifting height, which may cause property damage or even personal injury. Attached Figure Description

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor.

[0031] Figure 1 Figure 1 is a schematic diagram of the overall structure of the automatic leveling transfer equipment in a carrying state.

[0032] Figure 2 Figure 2 is a schematic diagram of the overall structure of the automatic leveling transfer equipment in a lifting state.

[0033] Figure 3 Figure 3 is a schematic diagram of the structure of the automatic leveling transfer equipment running unit.

[0034] Figure 4 Figure 4 is a schematic diagram of the structure of the automatic leveling transfer equipment automatic leveling device from the bottom.

[0035] Figure 5 Figure 5 is a schematic diagram of the structure of the automatic leveling transfer equipment lifting and carrying unit.

[0036] Figure 6 Figure 6 is a schematic diagram of the automatic leveling transfer equipment upper and lower carriages.

[0037] In the figure: A. Manual forklift; 1. Running unit; 101. Running drive part; 102. Running transmission part; 103. Drive wheel; 2. Track; 3. Lifting and carrying unit; 301. Lifting drive part; 302. Lifting transmission part; 303. Platform; 304. Nut; 305. 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. Connection bracket; 315. Leveling drive part; 4. Power module; 5. Support chassis; 501. Anti-collision beam. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0039] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "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 present application and simplifying the description, 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 a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0040] It should be noted that when an element is referred to as "fixed to", "provided with", "provided with", "provided with", "provided with", "arranged in" or "connected to" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element.

[0041] It should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] Please refer to Figures 1-6 in order to better understand the specific structure of the present application. An automatic leveling transfer device, as Figure 1 shown, is equipped with a manual forklift A, characterized by comprising a running unit 1, a lifting carrying unit 3, a power module 4 and a support chassis 5;

[0043] The running unit 1 is arranged at the lower part of the transfer device, fixed on the support chassis 5, and used to drive the running and steering of the transfer device;

[0044] The lifting carrying unit 3, as Figure 2 shown, is arranged at the upper part of the support chassis 5, comprising 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 to automatically adjust the levelness of the platform 303 in the left and right directions according to the height difference of the left and right terrain; the lifting carrying unit 3 has a lifting state and a carrying state, and cooperates with the manual forklift A to load and unload goods;

[0045] The power module 4 is fixed on the support chassis 5 and is electrically connected with the transfer driving unit 1 and the lifting carrying unit 3, and is used for providing power for the transfer device.

[0046] The support chassis 5 is used for carrying the transfer driving unit 1, the lifting carrying unit 3 and the power module 4.

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

[0048] It should be noted that the human-powered forklift A is preferably a manual hydraulic forklift (commonly known as a ground ox), which can also be matched with other structural forms of tools without limitation, and the purpose is to transfer the materials in the carriage to the lifting carrying unit 3 of the transfer device.

[0049] It should be noted that the support chassis 5 is of a rectangular structure, and the four peripheral frames are preferably welded by using channel steel structures, and a cross beam can be arranged in the middle to increase the overall strength.

[0050] It should be noted that the lifting state refers to the lifting carrying unit 3 rising to the same height as the carriage, at which time the materials can be moved from the carriage to the lifting carrying unit 3 or from the lifting carrying unit 3 to the carriage; the carrying state refers to the transfer device carrying the materials and moving to the warehouse or the truck, at which time the lifting carrying unit 3 is lowered to the lowest point, and the state of the lifting carrying unit 3 carrying the materials (or empty).

[0051] In the specific implementation, by arranging the track 2, the transfer device can be driven to go up and down the truck, which eliminates the trouble of manual carrying and reduces the safety hazards; and the transfer device can be transported with the truck, which facilitates the loading, unloading and transfer of materials in the case of no forklift or other machinery; by arranging the transfer driving unit 1 and the lifting carrying unit 3, the transfer device can carry the materials to complete the transfer work, which solves the problems of human consumption, time consumption, personnel injury and material damage caused by manual or manual mechanical transfer in the wild environment; by arranging the automatic leveling device, if the left and right ground levels are different when the transfer device is connected with the carriage, the platform 303 can be automatically adjusted to be horizontal, which avoids the situation that the property is damaged or even the personnel is injured due to the lateral dumping when loading the materials because of the uneven left and right ground levels and the high lifting height.

[0052] In the embodiment provided by the application, as shown in Figure 3 The transfer driving unit 1 comprises a driving part 101, a transmission part 102 and a driving wheel 103.

[0053] The driving part 101 is electrically connected with the power module 4 and is connected with the input end of the transmission part 102.

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

[0055] The driving wheel 103 is at least two, which are respectively installed on the two sides of the support chassis 5; the number of the driving part 101 and the driving transmission part 102 is consistent with the driving wheel 103; the output end of each driving part 101 is connected with the input end of the driving transmission part 102 one by one; the output end of each driving transmission part 102 is connected with the driving wheel 103 one by one;

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

[0057] The transfer equipment further comprises a control unit (not shown in the figure) arranged on the support 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 module 4, the transfer driving unit 1 and the lifting carrying unit 3 respectively.

[0058] It should be noted that the application preferably provides four driving wheels 103, each of which is provided with a driving part 101 and a driving transmission part 102, so as to realize four-wheel driving.

[0059] It should be noted that the driving part 101 is preferably in the form of a stepping motor and is fixed on the support chassis 5 through a support; each driving part 101 can realize the increase and decrease of the rotating speed and the switching of the rotating direction under the driving of the power provided by the power module 4 and independently controlled by the control unit.

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

[0061] It should be noted that the control unit is preferably a PLC (PLC is the abbreviation of Programmable Logic Controller, i.e. programmable logic controller), which can also be a circuit including at least one processor, can also be a circuit including at least one single-chip microcomputer, and can also be a combination 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 circuit composed of amplifiers, comparators, triodes, MOS tubes and the like to realize the corresponding functions in a pure hardware manner; through the remote control handle, the driving of the transfer equipment, the lifting and lowering control of the lifting carrying unit 3 can be realized.

[0062] In the embodiment, the four driving wheels 103 are independently driven, which can improve the off-road performance of the transfer equipment and better transfer materials in the wild environment; the four driving wheels 103 are independently controlled, which can improve the mobility and realize 360° rotation of the transfer equipment in place, which is beneficial to the material transfer in the wild environment; the travel transmission part 102 adopts a planetary gear reduction mechanism, which can reliably reduce the motor speed, thereby meeting the demand for the running speed of the transfer equipment in the wild environment; the remote control function is provided, which can realize remote control and reduce the personnel safety hazard; the solid all-terrain tire is adopted, which can better adapt to the wild terrain, eliminate the tire repair and air filling work, and is beneficial to the material transfer.

[0063] In one embodiment, as shown in Figure 4 The automatic leveling device includes a leveling transmission part arranged at the lower end of the platform 303, leveling driving parts 315 arranged on both sides of the leveling transmission part, and an accelerometer arranged at the rear end face of the platform 303; the leveling transmission part is rotationally connected with the upper end of the lifting device, the power input end is connected with the power output end of the leveling driving part 315, and the power output end is connected with the lower end of the platform 303; the leveling driving part 315 is fixed at the upper end of the lifting device and is electrically connected with the power unit and the control unit, respectively; the accelerometer is electrically connected with the control unit and is used to measure the included 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 lower middle shaft position of the platform 303 in the front-rear direction of the transfer equipment, preferably a support is fixed between the balance shaft 310 and the lower end face of the platform 303 by welding, and a certain space is 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 also includes two thrust bearings 313 sleeved on the balance shaft 310, the inner ring of the thrust bearing 313 is fixed with the balance shaft 310, preferably fixed by welding; the outer ring of the thrust bearing 313 is fixed with a connecting support 314, the connecting support 314 is fixed with the upper slide rail 306 mentioned below, and the connecting support 314 is hingedly connected with the upper fixed end mentioned below; the connecting support 314 supports the platform 303 through the two balance shafts 310 and the balance shaft 310, and the platform 303 can rotate relative to the connecting support 314.

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

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

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

[0068]

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

[0070] It should be noted that T m (0) is the initial value, which is preferably set to 0; θ target, is set to 0°, i.e. 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 by simulation experiments, and the preferred values in the system are 4.0, 1.0, and 0.2, respectively; φ1 and φ2 are obtained according to the parameters of different types of motors, and can also be obtained by actual measurement; K sync The value of K is determined by the transmission ratio, and the preferred value in the system is 0.5; in the above control process, the inclination angle is continuously measured by the accelerometer, the output torque is calculated by cyclically using the leveling control model, and the rotation of the leveling driving part 315 is continuously controlled; until the inclination angle measured by the accelerometer converges to the set inclination angle, i.e. the angle between the left and right directions of the platform 303 and the horizontal plane is 0°, the control process is ended.

[0071] In the specific implementation, when the transfer equipment is connected with the car, due to the unevenness of the ground left and right and the excessively high lifting height, the goods or equipment is prone to tilting, the automatic leveling device is controlled by using the leveling control model, the platform 303 can be quickly adjusted to a horizontal state in a very short time, and the danger of goods damage and personnel injury is avoided; the automatic leveling device has a simple structure, low cost, and can achieve a relatively accurate adjustment effect; the automatic control is implemented by using the leveling control model, the algorithm is simple, only the combination of L, M, and N three parameters needs to be controlled, without complex model derivation or a large amount of calculation resources, and is suitable for real-time running of an embedded system (such as STM32); the hardware has good compatibility, is seamlessly integrated with a stepping motor driver and a sensor interface (such as PWM and an encoder), and can realize closed-loop control through a simple feedback loop; for example, when the platform 303 suddenly encounters external interference,

[0072] The leveling control model quickly generates a control amount by using a current error term an accumulated error term (Nδ(t)), and a change trend term to drive the motor to adjust the angle; the robustness is strong, the nonlinearity and disturbance are adapted, the gear backlash and mechanical friction of gear transmission can introduce nonlinearity, the leveling control model gradually eliminates the steady-state error through the accumulated error term, and the change trend term suppresses overshoot, and the robustness can be significantly improved by combining with the synchronization compensation; the high precision and fast response, the first-order gain coefficient directly amplifies the current error, and the fast response of the system to the inclination change is ensured; the predictability of the change trend term can predict the future error trend through the angular velocity, suppresses the overshoot and oscillation, and ensures smooth convergence; the accumulated error term eliminates the steady-state error, avoids long-term deviation by continuously accumulating small errors, and improves the static precision; the leveling control model in the gear transmission platform 303 leveling system has the advantages of simple structure, strong robustness, high precision, and flexible parameter setting, and becomes an ideal control selection; by combining with the synchronization compensation, the mechanical nonlinearity and the multi-motor cooperation problem are further overcome, and fast and stable horizontal keeping is realized.

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

[0074]

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

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

[0077]

[0078] wherein is the predicted rotation speed at time t+1, and Δt is a time increment; integrating the predicted rotation speed at time t+1 obtains a predicted tilt angle of the platform 303 at time t+1, and the expression is:

[0079]

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

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

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

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

[0084] The control module acquires the angle error at t+1 time, replaces the angle error with the angle error at t+1 time by using the leveling control model, obtains the target function after correction, obtains the output torque by using the target function and the output torque expression, and controls the leveling driving part 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 (t=0) is 0; B is a damping coefficient, preferably 0.1 in the system; T add is an external disturbance torque, preferably 1 kgm in the system; J is the rotational inertia of the system, which can be calculated according to the actual weight and size, and is preferably 2 kgm in the system 2 ; is the predicted rotation speed of the platform 303 at t time, and the initial value is 0; Δt is a time increment, and the set value in the system is 0.01 s; θ pred (t) is the predicted inclination angle of the platform 303 at t time, and the initial value is measured by the accelerometer; λ is a weight coefficient, and the value can be selected according to the specific situation, and the set value in the system is preferably 0.8.

[0086] It should be noted that at the initial time when the system starts leveling, the inclination angle values are all measured by the accelerometer, so the angle error value in the leveling control model at this time only considers the set inclination angle and the measured inclination angle, thereby obtaining the initial output torque; then the predicted angular acceleration at t time is obtained by using the dynamic torque balance model, and then the predicted rotation speed at t+1 time and the predicted inclination angle at t+1 time are obtained; at this time, the predicted inclination angle at t+1 time is brought into the error correction formula and the leveling control model, and then the output torque at t+1 time is obtained, and the calculation is sequentially and circularly performed until the inclination angle of the platform 303 is adjusted to 0°.

[0087] In a specific implementation, the output torque calculated by the dynamic torque balance model in combination with the leveling control model makes the current platform 303 inclination angle converge to the set inclination angle according to the t+1 time correction angle error weight predicted inclination angle at t+1 time, thereby avoiding overshoot caused by too fast inclination angle change or slow angle adjustment and the like. Especially in the field environment, external disturbances such as wind, temperature, humidity and the like often occur, which easily causes the accelerometer measurement accuracy to decrease. If the current inclination angle measured by the acceleration sensor is simply adjusted, it is easy to cause overshoot phenomenon due to too fast angle change or slow angle change that cannot quickly meet the standard. By predicting the inclination angle at the next time through the dynamic torque balance model, the t+1 time correction angle error can be weighted, thereby further using the leveling control model to accurately adjust the output torque and reducing the occurrence probability of the above-mentioned situation.

[0088] In one embodiment, as shown in FIG. 1, the lifting bearing unit 3 comprises a lifting driving part 301, a lifting transmission part 302 and a platform 303. Figure 5 The lifting driving part 301 is electrically connected with the power module 4.

[0089] The lifting driving part 301 is electrically connected with the power module 4.

[0090] The lifting transmission part 302 is connected with the platform 303.

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

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

[0093] The upper slide rail 306 is fixed on the lower end surface of the platform 303, and preferably fixed by screws; and the lower slide rail 307 is fixed on the support base 5, and preferably fixed by screws.

[0094] The scissor linkage mechanism 308 is hingedly connected with the lower end surface of the platform 303 at the upper fixed end, slidably connected with the upper slide rail 306 at the upper movable end, hingedly connected with the support base 5 at the lower fixed end, and slidably connected with the lower slide rail 307 at the lower movable end and hingedly connected with the nut 304.

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

[0096] It should be noted that the screw rod, one end of which is connected with the output shaft of the lifting drive 301 and is driven to rotate by the lifting drive 301, the other end of which is supported on the support chassis 5 through a bearing; the nut 304 is sleeved on the screw rod 305 and can move axially along the screw rod 305, the outer portion is hingedly connected with the lower movable end of the scissors linkage mechanism 308, and drives the lower movable end of the scissors linkage mechanism 308 to move forward and backward.

[0097] It should be noted that preferably, two sets of scissors linkage 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 linkage mechanisms 308 are interconnected through a connecting rod to be stably supported; the scissors linkage mechanism 308 is preferably made of steel, the upper fixed end and the upper movable end are the output end of the lifting transmission part 302, and a rotatable maintenance 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 on the lower end surface of the platform 303 and the support chassis 5 through screws.

[0099] It should be noted that in the carrying state, the scissors linkage mechanism 308 is in a folded state, and the lifting carrying unit 3 is at the lowest point; when the goods in the carriage need to be lifted, the lifting drive 301 drives the screw rod 305 to rotate, and then drives the nut 304 to move axially along the screw rod 305; the nut 304 drives the lower movable end of the scissors linkage mechanism 308 to move along the lower slide rail 307, and the lower fixed end only rotates around the hinge point, at this time the scissors linkage mechanism 308 gradually changes 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 carrying unit 3 to be lifted upward; when the lifting height reaches the height of the carriage, the lifting drive 301 can be controlled to stop running; the goods in the carriage are transferred to the lifting carrying unit 3 by the manual forklift A, the manual forklift A is removed, the lifting drive 301 is controlled to reverse, the scissors linkage mechanism 308 moves reversely, drives the lifting carrying unit 3 and the goods to descend to the lowest point and then stops running; then, the running drive 101 is controlled to run to transfer the goods to the target position.

[0100] In specific implementation, the scissors linkage mechanism 308 is provided, which can realize reducing the folding height of the equipment, is more stable when transferring goods, can provide sufficient support force, and increases the carrying capacity of the transfer equipment; the maintenance leg 309 is used for supporting and stabilizing when the transfer equipment is maintained in the lifting state, and guarantees the safety of the maintenance personnel.

[0101] In the embodiments provided by the present application, as shown in Figure 6 The track 2 is preferably of a foldable structure.

[0102] It should be noted that the track 2 is preferably made of steel material and is used for assisting the transfer equipment to move in and out of the carriage of the train; when the transfer equipment needs to move from the carriage to the ground, it does not need to be manually moved, and the track 2 can be laid between the carriage and the ground to form a ramp, so that the transfer equipment can be controlled to drive along the track 2 to the ground, and the transfer equipment can also be used to get on the train; when the track 2 is not used, the track 2 can be folded and inserted into the placing rack below the supporting chassis 5.

[0103] In specific implementations, the track 2 can be used to enable the transfer equipment to move in and out of the carriage of the train, which can solve the problem that there is no forklift in the freight yard and save the labor of carrying and reduce the safety risk.

[0104] In one embodiment, the supporting chassis 5 is provided with a collision sensing device at both front and rear ends; the collision sensing device includes an anti-collision beam 501 installed at both front and rear ends of the supporting chassis 5, and a collision sensor (not shown in the figure) arranged between the anti-collision beam 501 and the supporting chassis 5; the collision sensor is electrically connected with the power module 4, and can disconnect the circuit between the power module 4 and the transfer driving unit 1 when a collision occurs.

[0105] It should be noted that the anti-collision beam 501 is preferably a channel steel profile, which is preferably fixed to the front and rear ends of the supporting chassis 5 by welding; one end of the collision sensor is connected with the supporting chassis 5, and the other end is connected with the anti-collision beam 501; the collision sensor is also called a collision switch or a collision detector, which is a sensor for detecting the collision or impact of an object; the present application preferably uses a pressure type collision sensor, which is a common collision sensor based on the principle of a pressure sensor; when an object hits the sensor, the sensor is subjected to pressure, and the pressure is converted into an electrical signal, which is transmitted to the PLC of the control unit for identification and processing; when the transfer equipment encounters an object during travel, the anti-collision beam 501 is slightly deformed due to the impact, thereby triggering the collision sensor to send a signal, and the PLC receives the signal for processing and sends a command to the power module 4 to stop power supply, so that the transfer equipment stops traveling.

[0106] In specific implementations, the collision sensing device can prevent accidents caused by the collision of the transfer equipment with objects during travel, thereby better performing the material transfer work and improving the safety performance.

[0107] It will be obvious to a person skilled in the art that the application is not limited to the details of the foregoing exemplary embodiments and can be implemented in other concrete forms without departing from the spirit or essential characteristics of the application. The embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims to the identity of the reference signs therein.

[0108] Furthermore, it should be understood that although the description is made on the basis of the embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. An automatically levelable transfer device equipped with a human-powered fork truck, characterized by, The transfer device comprises a transfer running unit, a lifting carrying unit, a power module, a support chassis and a control unit. The transfer running unit is arranged at the lower part of the transfer device, is fixed on the support chassis, and is used for driving the running and steering of the transfer device. The lifting carrying unit is arranged at the upper part of the support chassis, 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 arranged between the platform and the lifting device, and is used for automatically adjusting the horizontal degree of the platform in the left-right direction according to the height difference of the left-right terrain, the lifting carrying unit has a lifting state and a carrying state, and is used for loading and unloading goods in cooperation with the manual forklift. The power module is fixed on the support chassis, is electrically connected with the transfer running unit and the lifting carrying unit, and is used for providing power for the transfer device. The support chassis is used for carrying the transfer running unit, the lifting carrying unit and the power module. The automatic leveling device comprises an accelerometer and a leveling driving part. The control unit obtains the inclination angle of the platform measured by the accelerometer, processes the inclination angle by using a leveling control model, obtains a target function, obtains an output torque by using a relationship expression between the target function and the output torque, and controls the leveling driving part to rotate according to the output torque, so as to adjust the inclination angle of the platform to 0°. The leveling control model expression is as follows: Wherein, t is time. U T (t) is the relationship expression of the target function and the output torque T m (t) T b (t) is the output torque, T b (0) is the initial output torque; δ(t) is the angle error, δ(t) = θ tarhet - θ(t), θ target is the set tilt angle, θ(t) is the tilt angle of the platform at time t; L, M, N are the second-order gain coefficient, the first-order gain coefficient and the constant gain coefficient, respectively; δ sync is the double-drive synchronization error δ sync = φ1 - v2, φ1 and φ2 are the unit time rotation angle of the left leveling drive part and the unit time rotation angle of the right leveling drive part, respectively, and K sync is the synchronization gain coefficient.

2. The self-leveling transfer apparatus of claim 1, wherein, The transfer running unit comprises a running driving part, a running transmission part and a driving wheel. The running driving part is electrically connected with the power module. The output end of the running transmission part is connected with the driving wheel.

3. The self-leveling transfer apparatus of claim 2, wherein, The driving wheel is at least two, and is correspondingly arranged on the two sides of the support chassis.

4. The self-leveling transfer apparatus of claim 3, wherein, The driving wheel adopts a solid all-terrain tire.

5. The self-leveling transfer apparatus of claim 1, wherein, The transfer device further comprises a remote control handle which is wirelessly connected with the control unit.

6. The self-leveling transfer apparatus of claim 5, wherein, The automatic leveling device comprises a leveling transmission part arranged at the lower end of the platform, and a leveling driving part arranged on the two sides of the leveling transmission part.

7. The self-leveling transfer apparatus of claim 1, wherein, The lifting carrying unit comprises a lifting driving part and a lifting transmission part. The lifting driving part is electrically connected with the power module. The lifting transmission part is electrically connected with the power module. The lifting driving part is electrically connected with the control unit. The lifting transmission part is electrically connected with the control unit. The lifting driving part is arranged at the upper end of the lifting device. The lifting transmission part is arranged at the upper end of the lifting device. The lifting driving part is electrically connected with the power module. The lifting transmission part is electrically connected with the power module. The lifting driving part is electrically connected with the control unit. The lifting transmission part is electrically connected with the control unit. The lifting driving part is arranged at the upper end of the lifting device. The lifting transmission part is arranged at the upper end of the lifting device. The lifting driving part is electrically connected with the power module. The lifting transmission part is electrically connected with the power module. The lifting driving part is electrically connected with the control unit. The lifting transmission part is electrically connected with the control unit. The lifting driving part is electrically connected with the power module, and the output end is connected with the input end of the lifting transmission part. The lifting transmission part is rotatably connected with the leveling transmission part.

8. The self-leveling transfer apparatus of claim 7, wherein, The lifting transmission part comprises a nut, a screw, an upper slide rail, a lower slide rail and a scissor linkage mechanism. The screw is rotatably supported on the support base, and the input end is connected with the output end of the lifting driving part, and the output end is sleeved with the nut. The upper slide rail is fixed on the lower end of the leveling transmission part, and the lower slide rail is fixed on the support base. The scissor linkage mechanism is hingedly connected with the lower end of the leveling transmission part at the upper fixed end, slidably connected with the upper slide rail at the upper movable end, hingedly connected with the support base at the lower fixed end, slidably connected with the lower slide rail at the lower movable end and hingedly connected with the nut.

9. The self-leveling transfer apparatus of claim 1, wherein, The support base is provided with a collision sensing device at the front and rear ends; the collision sensing device comprises an anti-collision beam mounted on the front and rear ends of the support base, and a collision sensor arranged between the anti-collision beam and the support base; the collision sensor is electrically connected with the power module, and the circuit between the power module and the driving unit can be disconnected when a collision occurs.

10. The self-leveling transfer apparatus of claim 1, wherein, ​

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