Automatic balance stepping transportation unit and system for multi-connecting-rod loading platform

Abstract

The invention relates to a track transportation device, in particular to an automatic balance step transportation unit and system for a multi-connecting-rod loading platform, and solves the problems that when an existing tracked vehicle passes through a connecting step, loaded materials are easy to fall off, and when instruments and equipment are transported, the instruments and the equipment are bumped due to bumping. Lifting of the loading platform is controlled through the connecting rod type lifting assembly, whether the loading platform is horizontal or not is detected through the horizontal angle sensor, height changes of the ground at the two ends of the chassis are detected through the ultrasonic distance sensor, and the two are electrically connected with the receiving end of the control unit. The driving control ends of the hydraulic push rods and the crawler belt are electrically connected with the first output end and the second output end of the control unit respectively, so that when the change of the ground height is detected during driving, the control unit can control the crawler belt to decelerate, and meanwhile, the control unit adjusts the expansion amount of the movable ends of the two hydraulic push rods according to data transmitted by the horizontal angle sensor; and the loading platform is kept horizontal.

Description

Technical Field

[0001] The present invention relates to a crawler transportation device, and particularly to a multi-link loading platform automatic balance step transportation unit and system. Background Art

[0002] During the construction of subways and underground pipe networks, there are many platforms at different heights. Each platform is mainly connected by connecting steps. When transferring materials between platforms, manual handling is mainly relied on. Manual handling increases the labor intensity of workers and prolongs the construction period. To solve this problem, some construction sites have introduced crawler transportation vehicles because crawler transportation vehicles can pass through different complex terrains, such as platforms at different heights. However, the existing crawler transportation vehicles have the following problems during transportation:

[0003] 1) When transporting materials between platforms at different heights and passing through the connecting steps, because the loading platform of ordinary crawler vehicles will have a relatively large inclination angle, the single - transport volume is generally small. If the loading volume is large, the materials are likely to fall off when passing through the connecting steps, causing potential safety hazards;

[0004] 2) When passing through the connecting steps, if ordinary crawler vehicles transport instruments and equipment, because the inclination angle of the loading platform is relatively large, if the instruments and equipment are not fixed properly, they are extremely likely to be knocked during passing through the connecting steps due to bumps. Summary of the Invention

[0005] The purpose of the present invention is to solve the technical problems that the materials loaded by existing crawler vehicles are likely to fall off when passing through the connecting steps, and the instruments and equipment are knocked due to bumps during transportation, and to provide a multi-link loading platform automatic balance step transportation unit and system.

[0006] To achieve the above - mentioned invention purpose, the present invention provides the following technical solutions:

[0007] A multi-link loading platform automatic balance step transportation unit, characterized in that:

[0008] It includes a chassis, crawlers, a link - type lifting assembly, a loading platform, and a control unit;

[0009] There are four crawlers, and the four crawlers are distributed in a rectangular shape around the bottom of the chassis and are articulated with the chassis through hinge shafts provided at the bottom of the chassis, and there is a gap between the top surface of the chassis and the crawlers;

[0010] There are two sets of the link-type lifting assemblies, and the two sets of link-type lifting assemblies are symmetrically arranged with the middle plane perpendicular to the length direction of the chassis as the symmetry plane; each set of link-type lifting assemblies includes a hydraulic push rod, a first link, a second link, and a third link. The fixed end of the hydraulic push rod is hinged to the chassis, and the movable end is hinged to the middle of the first link; one end of the first link and one end of the second link are respectively hinged to the chassis, and the hinge point of the first link and the chassis is close to the outer end of the chassis, and the hinge point of the second link and the chassis is close to the center position of the chassis; one end of the third link is hinged to the bottom of the loading platform, and the other end is hinged to the other end of the second link; the other end of the first link is hinged to the middle of the third link;

[0011] A horizontal angle sensor is arranged at the bottom of the loading platform, and ultrasonic distance sensors are respectively arranged at both ends of the chassis; the horizontal angle sensor and the ultrasonic distance sensors are electrically connected to the receiving end of the control unit arranged on the chassis, and the drive control end of the hydraulic push rod is electrically connected to the first output end of the control unit; the drive control end of each of the crawlers is respectively electrically connected to the second output end of the control unit.

[0012] Further, it is defined that: the distance from the hinge point of the third link and the loading platform to the hinge point of the first link and the third link is L1, the distance from the hinge point of the first link and the third link to the hinge point of the first link and the chassis is L2, the distance from the hinge point of the first link and the third link to the hinge point of the third link and the second link is L3, the distance from the hinge point of the second link and the third link to the hinge point of the second link and the chassis is L4, the distance from the hinge point of the first link and the chassis to the hinge point of the second link and the chassis is S1, and the distance between the two crawlers on the same side of the chassis is S2;

[0013] Then: L1 = L2

[0014] L2 = L3 + L4

[0015] L4 - L3 + S1 = S2.

[0016] Further, the two crawlers oppositely arranged on both sides of the chassis share a hinge shaft.

[0017] Further, the value of L1 is 25% - 35% of the length of the loading platform;

[0018] The value of L2 is 25% - 35% of the length of the loading platform;

[0019] The value of L3 is 10% - 20% of the length of the loading platform;

[0020] The value of L4 is 10% - 20% of the length of the loading platform;

[0021] The value of S1 is 25%-35% of the length of the loading platform;

[0022] The value of S2 is 600mm - 700mm.

[0023] Further, the value of L1 is 30% of the length of the loading platform;

[0024] The value of L2 is 30% of the length of the loading platform;

[0025] The value of L3 is 15% of the length of the loading platform;

[0026] The value of L4 is 15% of the length of the loading platform;

[0027] The value of S1 is 30% of the length of the loading platform;

[0028] The value of S2 is 650mm.

[0029] Further, the other end of the first link is hinged to the middle part of the third link through a hinge frame. The hinge frame is fixedly sleeved on the middle part of the third link, and the other end of the first link is hinged to the hinge frame through a rotating shaft.

[0030] Further, two of the first link, the second link and the third link are respectively provided, and they are symmetrically arranged with respect to the middle plane of the chassis in the length direction. The hinge point of the fixed end of the hydraulic push rod and the chassis is located on the middle plane of the chassis in the length direction. The middle parts of the two first links are connected by a connecting rod, and the movable end of the hydraulic push rod is hinged to the middle part of the connecting rod.

[0031] Meanwhile, the present invention also provides a multi-link loading platform automatic balance step transportation system, which is characterized in that: it includes a plurality of the above-mentioned multi-link loading platform automatic balance step transportation units;

[0032] A plurality of multi-link loading platform automatic balance step transportation units are arranged side by side, and the adjacent chassis are connected by a connecting frame.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] (1) The automatic balancing step transportation unit of the multi-link loading platform provided by the present invention controls the lifting of the loading platform through a link-type lifting component. A horizontal angle sensor is provided at the bottom of the loading platform to detect whether the loading platform is horizontal. Ultrasonic distance sensors are respectively arranged at both ends of the chassis, which are used to detect the height change of the ground at both ends of the chassis when the entire transportation unit is traveling. The horizontal angle sensor and the ultrasonic distance sensors are electrically connected to the receiving end of the control unit provided on the chassis. The driving control end of the hydraulic push rod is electrically connected to the first output end of the control unit, and the driving control end of the crawler is electrically connected to the second output end of the control unit. In this way, when it is detected that the ground height changes during driving, the control unit will control the crawler to decelerate. At the same time, the control unit adjusts the telescopic amount of the movable ends of the two hydraulic push rods according to the data transmitted by the horizontal angle sensor, so as to ensure that the loading platform is horizontal. The deceleration of the crawler enables the horizontal angle adjustment of the loading platform to follow the angle change of the entire transportation unit, giving the link-type lifting component sufficient adjustment time. In this way, when passing through the connecting steps at different heights, through the cooperation of the crawler and the link-type lifting component, the loading platform is not likely to fall off when loading more materials, and there will be no large bumps, effectively improving the transportation efficiency and reducing the labor intensity of workers.

[0035] (2) In the automatic balancing step transportation unit of the multi-link loading platform provided by the present invention, two first links, two second links, and two third links are respectively provided, and they are symmetrically arranged about the middle plane of the chassis in the length direction. The hinge point of the fixed end of the hydraulic push rod and the chassis is located on the middle plane of the chassis in the length direction. The middle parts of the two first links are connected by a connecting rod, and the movable end of the hydraulic push rod is hinged to the middle part of the connecting rod. In this way, the stability of the entire link-type lifting component is improved.

[0036] (3) The automatic balancing step transportation unit of the multi-link loading platform provided by the present invention hinges four crawlers to the chassis in pairs through two hinge shafts. In this way, when passing through the connecting steps, the crawlers that do not contact the connecting steps can always maintain surface contact with the flat ground, ensuring the stability of the entire transportation unit.

[0037] (4) The automatic balancing step transportation system of the multi-link loading platform provided by the present invention arranges multiple automatic balancing step transportation units of the multi-link loading platform side by side, and the adjacent chassis are connected by a connecting frame, connecting multiple automatic balancing step transportation units of the multi-link loading platform into a whole, so that more materials can be loaded. Description of the Drawings

[0038] Figure 1 is the front view of an embodiment of the automatic balancing step transportation unit of the multi-link loading platform of the present invention;

[0039] Figure 2 is Figure 1Top view (loading platform not shown);

[0040] Figure 3 Schematic diagram of an embodiment of the automatic balance step transportation unit of the multi-link loading platform of the present invention when starting to connect the lower step;

[0041] Figure 4 Schematic diagram of an embodiment of the automatic balance step transportation unit of the multi-link loading platform of the present invention when connecting the lower step.

[0042] Explanation of reference numerals is as follows:

[0043] 1 - Chassis, 11 - Hinge shaft; 2 - Crawler, 3 - Link-type lifting assembly, 31 - Hydraulic push rod, 32 - First link, 33 - Second link, 34 - Third link; 4 - Loading platform, 5 - Control unit, 6 - Horizontal angle sensor, 7 - Ultrasonic distance sensor, 8 - Hinge frame, 9 - Connecting rod. Detailed implementation manner

[0044] The present invention will be further described below in conjunction with the drawings and exemplary embodiments.

[0045] Refer to Figures 1-4 An automatic balance step transportation unit of the multi-link loading platform of the present invention includes a chassis 1, a crawler 2, a link-type lifting assembly 3, a loading platform 4, and a control unit 5.

[0046] Among them, the structure of the chassis 1 is as Figure 1 , Figure 2 shown. Four crawlers 2 are distributed in a rectangle around the bottom of the chassis 1, and the crawlers 2 are hinged to the chassis 1 through hinge shafts 11 provided at the bottom of the chassis 1. Two crawlers 2 arranged oppositely on both sides of the chassis 1 share one hinge shaft 11, so that the four crawlers 2 are hinged to the chassis 1 in pairs through the hinge shafts 11. When the crawlers 2 pass through the connecting steps, they need to rotate a certain angle around the hinge shafts 11. In order to facilitate the rotation of the crawlers 2 around the hinge shafts 11, a gap is provided between the top surface of the chassis 1 and the crawlers 2. The crawlers 2 adopt tank chain crawlers, which have a stable structure, and each crawler 2 can be independently driven. The cooperation of the four crawlers 2 can realize the forward and backward movement and turning of the entire transportation unit.

[0047] There are two sets of link-type lifting components 3, and the two sets of link-type lifting components 3 are symmetrically arranged with the central plane perpendicular to the length direction of the chassis 1 as the symmetry plane. Each set of link-type lifting components 3 includes a hydraulic push rod 31, a first link 32, a second link 33, and a third link 34. In order to ensure the stable lifting of the loading platform 4, two first links 32, two second links 33, and two third links 34 are respectively provided, and they are symmetrically arranged with respect to the central plane of the chassis 1 along the length direction. The fixed end of the hydraulic push rod 31 is hinged to the chassis 1, and the hinge point is located on the central plane of the chassis 1 along the length direction. The movable end of the hydraulic push rod 31 is hinged to the middle of the first link 32. In order to realize that the movable end of the hydraulic push rod 31 is simultaneously hinged to the middle parts of the two first links 32, a connecting rod 9 is connected between the middle parts of the two first links 32, and the movable end of the hydraulic push rod 31 is hinged to the middle of the connecting rod 32. The structure is simple, and the connecting rod 9 also improves the stability of the entire link-type lifting component 3 at the same time.

[0048] One end of the first link 32 and one end of the second link 33 are respectively hinged to the chassis 1. The hinge point of the first link 32 and the chassis 1 is close to the outer end of the chassis 1, and the hinge point of the second link 33 and the chassis 1 is close to the center of the chassis 1. One end of the third link 34 is hinged to the bottom of the loading platform 4, and the other end is hinged to the other end of the second link 33. The other end of the first link 32 is hinged to the middle of the third link 34 through a hinge bracket 8. The hinge bracket 8 is fixedly sleeved on the middle of the third link 34, and the other end of the first link 32 is hinged to the hinge bracket 8 through a rotating shaft.

[0049] As Figure 1 shown, define the distance from the hinge point of the third link 34 and the loading platform 4 to the hinge point of the first link 32 and the third link 34 as L1, the distance from the hinge point of the first link 32 and the third link 34 to the hinge point of the first link 32 and the chassis 1 as L2, the distance from the hinge point of the first link 32 and the third link 34 to the hinge point of the third link 34 and the second link 33 as L3, the distance from the hinge point of the second link 33 and the third link 34 to the hinge point of the second link 33 and the chassis 1 as L4, the distance from the hinge point of the first link 32 and the chassis 1 to the hinge point of the second link 33 and the chassis 1 as S1, and the distance between the two crawlers 2 on the same side of the chassis 1 as S2;

[0050] Then there is: L1 = L2

[0051] L2 = L3 + L4

[0052] L4 - L3 + S1 = S2.

[0053] Moreover, L1 ranges from 25% to 35% of the length of the loading platform 4, L2 ranges from 25% to 35% of the length of the loading platform 4, L3 ranges from 10% to 20% of the length of the loading platform 4, L4 ranges from 10% to 20% of the length of the loading platform 4, S1 ranges from 25% to 35% of the length of the loading platform 4, and S2 ranges from 600 mm to 700 mm.

[0054] In this embodiment, L1 is 30% of the length of the loading platform 4, L2 is 30% of the length of the loading platform 4, L3 is 15% of the length of the loading platform 4, L4 is 15% of the length of the loading platform 4, S1 is 30% of the length of the loading platform 4, and S2 is 650 mm. Since the width of the national standard connecting step is about 300 mm, in this embodiment, S2 is 650 mm, which is more than twice the national standard connecting step.

[0055] A horizontal angle sensor 6 is provided at the bottom of the loading platform 4 for detecting the horizontal angle change of the entire loading platform 4. Ultrasonic distance sensors 7 are respectively provided at both ends of the chassis 1 for detecting the height change of the ground at both ends of the chassis 1. The horizontal angle sensor 6 and the ultrasonic distance sensors 7 are electrically connected to the receiving end of the control unit 5 provided on the chassis 1 for transmitting the detected data into the control unit 5. The drive control end of the hydraulic push rod 31 is electrically connected to the first output end of the control unit 5, and the drive control end of each crawler 2 is electrically connected to the second output end of the control unit 5. The control unit 5 analyzes the received data, then controls the crawler 2 to decelerate, and controls the expansion and contraction of the two hydraulic push rods 31 to ensure that the loading platform 4 is in a horizontal state and prevent the material from falling.

[0056] During use, when the entire transportation unit needs to move from a higher platform to a lower platform through continuous connecting steps, the entire transportation unit first moves towards the connecting step position. At this time, the ultrasonic distance sensor 7 on the side close to the connecting step detects the ground height change, controls the crawler 2 to decelerate, and then the control unit 5 controls the two hydraulic push rods 31 to expand and contract respectively according to the data transmitted by the horizontal angle sensor 6, so that the loading platform 4 is horizontal. When in the situation of just getting off the connecting step as shown, because the crawlers 2 are hinged to the chassis 1 in pairs, the crawlers 2 located on the higher platform can ensure surface contact and ensure the stability of the transportation unit. When the transportation unit continues to move and is in the state as shown, the crawlers 2 are all located on the connecting step, and one set of link type lifting assembly 3 is in the unfolded state, while the other set is in the contracted state. The two sets of link type lifting assemblies 3 work together to ensure the horizontality of the loading platform 4 hinged to them. Figure 3 When in the situation of just getting off the connecting step as shown, because the crawlers 2 are hinged to the chassis 1 in pairs, the crawlers 2 located on the higher platform can ensure surface contact and ensure the stability of the transportation unit. When the transportation unit continues to move and is in the state as shown, the crawlers 2 are all located on the connecting step, and one set of link type lifting assembly 3 is in the unfolded state, while the other set is in the contracted state. The two sets of link type lifting assemblies 3 work together to ensure the horizontality of the loading platform 4 hinged to them. Figure 4 When in the state as shown, the crawlers 2 are all located on the connecting step, and one set of link type lifting assembly 3 is in the unfolded state, while the other set is in the contracted state. The two sets of link type lifting assemblies 3 work together to ensure the horizontality of the loading platform 4 hinged to them.

[0057] Meanwhile, the present invention also provides a multi-link loading platform automatic balance step transportation system, which includes a plurality of the above-mentioned multi-link loading platform automatic balance step transportation units. The plurality of multi-link loading platform automatic balance step transportation units are arranged side by side, and the adjacent chassis 1 are connected by a connecting frame, so that a plurality of transportation units are connected into a whole, facilitating the single-time transportation of a large amount of materials.

[0058] The above-described embodiments are only descriptions of the specific implementation manners of the present invention and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-link loading platform automatic balance step transportation unit, characterized in that: It includes a chassis (1), crawlers (2), a link-type lifting assembly (3), a loading platform (4), and a control unit (5); There are four crawlers (2), and the four crawlers (2) are distributed in a rectangular shape around the bottom of the chassis (1), and are hinged to the chassis (1) through a hinge shaft (11) provided at the bottom of the chassis (1), and there is a gap between the top surface of the chassis (1) and the crawlers (2); There are two sets of link-type lifting assemblies (3), and the two sets of link-type lifting assemblies (3) are symmetrically arranged with the mid-plane perpendicular to the length direction of the chassis (1) as the symmetry plane; each set of link-type lifting assemblies (3) includes a hydraulic push rod (31), a first link (32), a second link (33), and a third link (34). The fixed end of the hydraulic push rod (31) is hinged to the chassis (1), and the movable end is hinged to the middle of the first link (32); one end of the first link (32) and one end of the second link (33) are respectively hinged to the chassis (1), and the hinge point of the first link (32) and the chassis (1) is close to the outer end of the chassis (1), and the hinge point of the second link (33) and the chassis (1) is close to the center position of the chassis (1); one end of the third link (34) is hinged to the bottom of the loading platform (4), and the other end is hinged to the other end of the second link (33); the other end of the first link (32) is hinged to the middle of the third link (34); A horizontal angle sensor (6) is provided at the bottom of the loading platform (4), and ultrasonic distance sensors (7) are respectively provided at both ends of the chassis (1); the horizontal angle sensor (6) and the ultrasonic distance sensors (7) are electrically connected to the receiving end of the control unit (5) provided on the chassis (1), and the drive control end of the hydraulic push rod (31) is electrically connected to the first output end of the control unit (5); the drive control end of each crawler (2) is respectively electrically connected to the second output end of the control unit (5).

2. The multi-link loading platform automatic balance step transportation unit according to claim 1, characterized in that: Definition: The distance from the hinge point of the third link (34) and the loading platform (4) to the hinge point of the first link (32) and the third link (34) is L1, the distance from the hinge point of the first link (32) and the third link (34) to the hinge point of the first link (32) and the chassis (1) is L2, the distance from the hinge point of the first link (32) and the third link (34) to the hinge point of the third link (34) and the second link (33) is L3, the distance from the hinge point of the second link (33) and the third link (34) to the hinge point of the second link (33) and the chassis (1) is L4, the distance from the hinge point of the first link (32) and the chassis (1) to the hinge point of the second link (33) and the chassis (1) is S1, and the distance between two crawlers (2) on the same side of the chassis (1) is S2; Then: L1 = L2 L2 = L3 + L4 L4 - L3 + S1 = S2.

3. The multi-link loading platform automatic balance step transportation unit according to claim 2, characterized in that: Two crawlers (2) oppositely arranged on both sides of the chassis (1) share a hinge shaft (11).

4. The multi-link loading platform automatic balance step transportation unit according to claim 3, characterized in that: The value of L1 is 25%-35% of the length of the loading platform (4); The value of L2 is 25%-35% of the length of the loading platform (4); The value of L3 is 10%-20% of the length of the loading platform (4); The value of L4 is 10%-20% of the length of the loading platform (4); The value of S1 is 25%-35% of the length of the loading platform (4); The value of S2 is 600mm - 700mm.

5. The multi-link loading platform automatic balance step transportation unit according to claim 4, characterized in that: The value of L1 is 30% of the length of the loading platform (4); The value of L2 is 30% of the length of the loading platform (4); The value of L3 is 15% of the length of the loading platform (4); The value of L4 is 15% of the length of the loading platform (4); The value of S1 is 30% of the length of the loading platform (4); The value of S2 is 650mm.

6. The multi-link loading platform automatic balance step transportation unit according to claim 5, characterized in that: The other end of the first link (32) is hinged to the middle of the third link (34) through a hinge bracket (8). The hinge bracket (8) is fixedly sleeved on the middle of the third link (34), and the other end of the first link (32) is hinged to the hinge bracket (8) through a rotating shaft.

7. The multi-link loading platform automatic balance step transportation unit according to claim 6, characterized in that: Two of the first link (32), the second link (33) and the third link (34) are respectively provided, and are symmetrically arranged about the middle plane of the chassis (1) along the length direction. The hinge point of the fixed end of the hydraulic push rod (31) and the chassis (1) is located on the middle plane of the chassis (1) along the length direction. The middle parts of the two first links (32) are connected by a connecting rod (9), and the movable end of the hydraulic push rod (31) is hinged to the middle of the connecting rod (9).

8. A multi-link loading platform automatic balance step transportation system, characterized in that: It includes multiple multi-link loading platform automatic balance step transportation units as described in any one of claims 1-7; Multiple multi-link loading platform automatic balance step transportation units are arranged side by side, and the adjacent chassis (1) are connected by a connecting frame.

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