A hydraulically driven multi-angle turning and unloading device

Abstract

The present invention provides a hydraulically driven multi-angle flipping and unloading device, comprising a frame assembly; a conveying and flipping mechanism comprising a flipping frame, which is arranged on the top of the frame assembly, and a transmission component for transmitting a container containing materials is provided on the flipping frame; two driving mechanisms are respectively arranged on both sides of the frame assembly, and the driving mechanism comprises a hydraulic cylinder, a driving tooth plate and a driving gear, the driving gear is rotatably arranged on the frame assembly and connected to the rotating shaft, and the hydraulic cylinder drives the driving gear to rotate through the driving tooth plate to drive the flipping frame to flip; after detecting that the material has reached the specified position, a control signal is sent to the driving mechanism so that the driving mechanism reaches the target flipping angle according to the target flipping speed. The present invention supports 0-150° stepless flipping through the coordinated action of the hydraulic cylinder group, and can pause at any intermediate angle. The closed-loop synchronous control of the dual hydraulic cylinders avoids tilting due to uneven material distribution, effectively ensuring flipping stability and reliability.

Description

Technical Field

[0001] The present invention belongs to the technical field of material conveying, and in particular relates to a hydraulically driven multi-angle turning and unloading device. Background Art

[0002] In modern industrial production, material transportation and unloading play a crucial role in production efficiency and product quality. This is especially true in scenarios where containers containing materials need to be turned over for unloading. Traditional unloading methods often rely on manual handling or simple mechanical assistance. Manual operations are not only inefficient but also labor-intensive and pose significant safety risks, making them difficult to meet the demands of large-scale, automated production.

[0003] Some existing mechanical unloading devices utilize a single drive mechanism or complex transmission systems to achieve container flipping. This single drive mechanism struggles to ensure stable and reliable flipping of containers of varying weights and specifications, and can easily lead to incomplete or excessive flipping, resulting in spilled materials and container damage. While complex transmission systems can improve flipping accuracy to a certain extent, their complex structure and numerous components not only increase manufacturing costs and maintenance difficulties, but can also easily lead to production interruptions and reduced efficiency due to component wear and failure. Summary of the Invention

[0004] In view of this, the present invention provides a hydraulically driven multi-angle flipping and unloading device, which aims to solve the problems of poor flipping stability and reliability in the prior art.

[0005] A first aspect of an embodiment of the present invention provides a hydraulically driven multi-angle turning and unloading device, comprising:

[0006] Frame assembly;

[0007] The conveying and turning mechanism comprises a turning frame, the turning frame is arranged on the top of the frame assembly through a rotating shaft (12), and a transmission component for conveying a container containing materials is arranged on the turning frame;

[0008] Two driving mechanisms, the two driving mechanisms are respectively arranged on both sides of the frame assembly, and the driving mechanisms include a hydraulic cylinder, a driving gear plate and a driving gear. The hydraulic cylinder is arranged on one side of the frame assembly, and the driving gear is connected to the upper end of the hydraulic cylinder. The driving gear is rotatably arranged on the frame assembly and connected to the rotating shaft. The driving gear plate is engaged with the driving gear. The hydraulic cylinder drives the driving gear to rotate through the driving gear plate to drive the flip frame to flip;

[0009] The drive control module obtains the target flip angle and target flip speed set by the user; after detecting that the material has reached the specified position, it sends a control signal to the drive mechanism to enable the drive mechanism to reach the target flip angle at the target flip speed.

[0010] In a possible implementation, the device further includes a detection module for detecting a flip angle and a load change of the flip frame;

[0011] The drive control module is used for.

[0012] It is used to determine the control signal sent to the drive mechanism according to the flip angle and load changes.

[0013] In one possible implementation, the drive control module is configured to:

[0014] Calculate the angle deviation and the rate of change of the deviation according to the flip angle;

[0015] Determine the parameters of the fuzzy PID controller based on the angle deviation, deviation change rate and load change;

[0016] According to the fuzzy PID controller, the control signal is determined.

[0017] In a possible implementation, the detection module is further configured to detect angular acceleration; and the drive control module is configured to:

[0018] Determine the current working condition based on the target flip angle, target flip speed, flip angle and load change;

[0019] Determine the acceleration feedforward compensation value according to the current working conditions and angular acceleration;

[0020] The control signal sent to the drive mechanism is determined based on the acceleration feedforward compensation value, the flip angle and the load change.

[0021] In one possible implementation, the drive control module is configured to:

[0022] Calculate the angle deviation and the rate of change of the deviation according to the flip angle;

[0023] Determine the parameters of the fuzzy PID controller based on the angle deviation, deviation change rate and load change;

[0024] The control signal is determined according to the acceleration feedforward compensation value and the fuzzy PID controller.

[0025] In one possible implementation, the frame assembly includes:

[0026] Two support frames, the two support frames are arranged symmetrically, the conveying and turning mechanisms are arranged on the top of the two support frames, and the driving mechanisms are arranged on the outside of the support frames;

[0027] A plurality of reinforcing beams are connected at the lower part between the two supporting frames.

[0028] In a possible implementation, a plurality of weight-reducing holes are provided on the support frame, pads are provided at the bottom of the support frame, and reinforcing ribs are provided between the reinforcing beam and the support frame.

[0029] In a possible implementation, the conveying and turning frame includes:

[0030] Two conveying beams, the two conveying beams are respectively arranged in parallel at the upper end of the frame assembly, the rotating shaft is arranged at the lower end of the conveying beam, and the transmission component is arranged on the conveying beam;

[0031] Connecting beam: The connecting beam is vertically connected between the two conveying beams.

[0032] In one possible implementation, the transmission component includes:

[0033] Multiple conveying rollers are arranged to rotate in sequence along the length direction of the conveying beam;

[0034] The conveying motor is fixed to one end of the conveying beam. The conveying motor is connected to multiple conveying rollers through a chain drive and is used to drive the multiple conveying rollers to rotate synchronously.

[0035] In a possible implementation, a slide rail is longitudinally provided on one side of the frame assembly, and the driving gear plate is slidably provided in the slide rail.

[0036] The present invention provides a hydraulically driven multi-angle flipping unloading device, comprising a frame assembly; a conveying and flipping mechanism, the conveying and flipping mechanism comprising a flipping frame, the flipping frame being mounted on the top of the frame assembly via a rotating shaft, the flipping frame being provided with a transmission assembly for transporting a container containing materials; two drive mechanisms, the two drive mechanisms being respectively arranged on either side of the frame assembly, the drive mechanisms comprising a hydraulic cylinder, a drive gear plate, and a drive gear, the hydraulic cylinder being arranged on one side of the frame assembly, the drive gear being connected to the upper end of the hydraulic cylinder, the drive gear being rotatably mounted on the frame assembly and connected to the rotating shaft, the drive gear plate being meshed with the drive gear, the hydraulic cylinder driving the drive gear to rotate via the drive gear plate, thereby causing the flipping frame to flip; a drive control module, which obtains a target flipping angle and a target flipping speed set by a user; and, upon detecting that the material has reached a specified position, sending a control signal to the drive mechanism so that the drive mechanism reaches the target flipping angle at the target flipping speed. The present invention supports stepless flipping of 0-150 degrees through the coordinated action of the hydraulic cylinder group, and can pause at any intermediate angle. The closed-loop synchronous control of the dual hydraulic cylinders avoids tilting due to uneven material distribution and effectively ensures the stability and reliability of the rollover. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 2. This is a front view of a hydraulically driven multi-angle turning blanking device provided by an embodiment of the present invention;

[0039] Figure 2 This is a side view of a hydraulically driven multi-angle turning and unloading device provided by an embodiment of the present invention;

[0040] Figure 3 It is a top view of the hydraulically driven multi-angle turning blanking device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0042] Figure 1 2. This is a front view of a hydraulically driven multi-angle turning blanking device provided by an embodiment of the present invention; Figure 2 This is a side view of a hydraulically driven multi-angle turning and unloading device provided by an embodiment of the present invention; Figure 3 : This is a top view of the hydraulically driven multi-angle turning blanking device provided by an embodiment of the present invention. Figure 1-Figure 3 As shown, in some embodiments, the hydraulically driven multi-angle turning and unloading device includes:

[0043] A hydraulically driven turning and unloading device provided by the present invention is described. A hydraulically driven turning and unloading device includes a frame assembly, a conveying and turning mechanism, and two driving mechanisms. The conveying and turning mechanism includes a turning frame, which is arranged on the top of the frame assembly through a rotating shaft 12. The turning frame is provided with a transmission component for transmitting a container containing materials; the two driving mechanisms are respectively arranged on both sides of the frame assembly, and the driving mechanism includes a hydraulic cylinder 13, a driving gear plate 14, and a driving gear 15. The hydraulic cylinder 13 is arranged on one side of the frame assembly, and the driving gear 15 is connected to the upper end of the hydraulic cylinder 13. The driving gear 15 is rotatably arranged on the frame assembly and connected to the rotating shaft 12. The driving gear plate 14 is engaged with the driving gear 15. The hydraulic cylinder 13 drives the driving gear 15 to rotate through the driving gear plate 14 to drive the turning frame to turn.

[0044] The present invention provides a hydraulically driven turning and unloading device. Compared to the prior art, the device utilizes two drive mechanisms symmetrically arranged on either side of a frame assembly. The hydraulic cylinder 13 in each drive mechanism, through the meshing transmission of a drive rack 14 and a drive gear 15, converts the linear motion of the hydraulic cylinder 13 into the rotational motion of the drive gear 15, thereby driving the turning frame to flip. Compared to a single drive structure, this dual-sided synchronous drive provides a more balanced driving force, ensuring that the turning frame is evenly stressed during the turning process. Even with containers of varying weights and specifications, the turning frame maintains stable turning, avoiding instabilities such as tilting and jamming, significantly improving the stability and reliability of the turning process. Furthermore, the meshing transmission between the drive rack 14 and the drive gear 15 offers high transmission accuracy and reliability, reducing the risk of incomplete or excessive turning caused by transmission errors, further ensuring the accuracy and stability of the unloading process. The device utilizes a transmission system consisting of a hydraulic cylinder 13, a drive rack 14, and a drive gear 15. The hydraulic cylinder 13, serving as the power source, is directly connected to the drive gear plate 14, which drives the rotating shaft 12 through gear meshing. This results in a compact structure and a significantly reduced number of components. Compared to traditional, complex transmission systems, this not only reduces the manufacturing cost of the equipment, but also, due to the reduced number of components, reduces the number of maintenance points, thus reducing both the difficulty and cost of maintenance. The hydraulically driven turning and unloading device provided by this invention improves the reliability and stability of the device's operation, effectively resolving the structural complexity of traditional unloading devices.

[0045] The frame assembly comprises two support frames 1 and several reinforcement beams 2. The two support frames 1 are symmetrically arranged, providing a stable mounting base for the conveyor and tilting mechanisms and drive mechanisms. This symmetrical structure ensures more balanced forces throughout the entire assembly, effectively distributing the gravity and driving forces generated during the tilting process, preventing localized stress concentrations. This significantly enhances the stability of the assembly during operation and ensures safe and reliable tilting and unloading. Several reinforcement beams 2 are connected between the two support frames 1. Several weight-reducing holes 3 are provided in the support frames 1, effectively reducing the overall weight of the assembly. This reduces material usage and manufacturing costs without compromising the strength and rigidity of the support frames 1. Footrests 4 are installed at the bottom of the support frames 1 to effectively isolate the assembly from the effects of uneven ground or vibration, enhancing its stability. Reinforcing ribs 5 are installed between the reinforcement beams 2 and the support frames 1, significantly enhancing the structural strength and rigidity of the connection. The ribs 5 effectively distribute and transmit stress, preventing deformation or damage at the connection due to excessive forces, further enhancing the overall stability and reliability of the frame assembly.

[0046] The conveying and flipping frame includes two conveying beams 6 and a connecting beam 10. The two conveying beams 6 are respectively arranged in parallel at the upper end of the frame assembly, ensuring that the container containing the material remains stable during the transmission process, avoiding the shaking of the container and the spillage of the material due to the tilt or unevenness of the beam, and improving the safety and reliability of material transmission. The rotating shaft 12 is arranged at the lower end of the conveying beam 6, which makes the rotation of the flipping frame smoother, reduces the friction and resistance during the flipping process, and cooperates with the synergistic effect of the driving mechanism on both sides to achieve precise and stable flipping action to meet the unloading requirements under different working conditions. The connecting beam 10 is vertically connected between the two conveying beams 6. The connecting beam 10 and the conveying beam 6 form a stable frame structure, which can effectively resist the distortion and deformation of the frame caused by external forces. When carrying heavy objects or performing flipping operations, it ensures that the frame maintains a stable shape to avoid the normal operation of the transmission component affected by structural deformation.

[0047] The transmission assembly includes a plurality of conveying rollers 7 and a conveying motor 8. The plurality of conveying rollers 7 are arranged to rotate in sequence along the length direction of the conveying beam 6, and can provide a continuous and stable support and transmission surface for the container containing the material. Compared with a single transmission surface, the plurality of conveying rollers 7 disperses the pressure of the container, effectively avoiding problems such as tilting and jamming of the container due to uneven force during the transmission process, and ensuring smooth transportation of the container. The conveying motor 8 is fixed to one end of the conveying beam 6, and the conveying motor 8 is connected to the plurality of conveying rollers 7 through a chain drive, which is used to drive the plurality of conveying rollers 7 to rotate synchronously. This transmission method has high transmission accuracy and reliability, can ensure that the speed of the container is consistent during the transmission process, avoid the phenomenon of container transmission dislocation, accumulation, etc. due to differences in roller speed, thereby ensuring the orderly progress of the unloading process.

[0048] A stopper 9 is installed at one end of the upper end of the conveying beam 6. This stopper 9 effectively prevents containers containing materials from being ejected from the conveying beam 6 during transport due to inertia, external impact, or excessive conveying speed. When the container reaches the predetermined position for flipping and unloading, the stopper 9 immediately blocks the container, preventing it from accidentally slipping and causing material spillage, container damage, or even accidents, significantly improving the safety and reliability of the device. A curved concave surface 11 is provided in the middle of the connecting beam 10. This curved concave surface 11 mates with the outer wall of the container, ensuring stability during flipping and unloading.

[0049] A slide rail 16 is longitudinally mounted on one side of the frame assembly and bolted to the frame assembly. The drive gear plate 14 slides within the rail. The rail 16 provides a motion guide for the drive gear plate 14, ensuring that the drive gear plate 14, driven by the hydraulic cylinder 13, can only slide linearly along the rail 16, effectively limiting any potential deviation or wobbling during movement. This ensures that the drive gear plate 14 and the drive gear 15 maintain a stable and reliable meshing state at all times, preventing poor gear meshing due to gear plate movement deviations. This in turn ensures the accuracy and stability of the drive gear 15's rotation, ultimately enabling the flip frame to precisely flip along the predetermined trajectory and angle, improving the precision and reliability of the blanking operation.

[0050] An auxiliary gear 17 is installed on one side of the frame assembly for rotation. This auxiliary gear 17 is located below the drive gear 15 and meshes with the drive rack 14, forming a stable structure with dual meshing. When the hydraulic cylinder 13 pushes the drive rack 14 to move, the auxiliary gear 17 can share some of the force acting on the drive rack 14, effectively preventing the drive rack 14 from shifting or shaking during the force application process, and ensuring that the drive rack 14 and the drive gear 15 always maintain a good meshing state. This stable meshing relationship ensures that the tilting frame is subjected to more uniform force during the tilting process, and operates more smoothly. Even when facing material containers of different weights and specifications, it can ensure the accuracy and reliability of the tilting action, greatly improving the stability and safety of the unloading operation.

[0051] In addition, after the auxiliary gear 17 participates in the meshing, the originally concentrated force is dispersed to multiple meshing points, which reduces the force intensity per unit area, reduces the friction loss between the components, extends the service life of the drive gear plate 14, the drive gear 15 and the auxiliary gear 17 itself, and reduces the maintenance cost and replacement frequency of the equipment.

[0052] A protective cover 18 is provided on one side of the frame assembly, and the drive gear plate 14, drive gear 15 and auxiliary gear 17 are all located inside the protective cover 18. The protective cover 18 effectively isolates the operator from direct contact with the high-speed drive gear plate 14, drive gear 15 and auxiliary gear 17, greatly reducing the risk of mechanical injury caused by the operation of the components. During the operation of the equipment, the meshing and rotation of the gears and gear plates may cause parts to loosen or splash. The protective cover 18 can block these potential dangers, creating a safe working environment for the operator and ensuring personal safety. At the same time, the protective cover 18 can also prevent external foreign matter from entering the transmission component area, avoiding equipment failure or even safety accidents caused by foreign matter getting stuck, and ensuring stable operation of the equipment.

[0053] In some embodiments, the drive control module obtains the target flipping angle and target flipping speed set by the user; after detecting that the material reaches the specified position, a control signal is sent to the drive mechanism to enable the drive mechanism to reach the target flipping angle at the target flipping speed.

[0054] In this embodiment of the present invention, the drive control module obtains the target flip angle (0-150° steplessly adjustable) and target flip speed (typical value 0.1-5° / s) set by the user through the human-computer interaction interface. The parameters are stored in the data block of the PLC.

[0055] For example, the control method of the present invention may be:

[0056] (1) Initialization and preparation: Reset the flipping mechanism to the origin position, and set the flipping angle and flipping speed through the HMI.

[0057] (2) Material in-place detection: The sensor confirms that the material has reached the specified position and generates a trigger signal.

[0058] (3) Flipping action: The hydraulic cylinder drives the flipping at a preset speed through PLC control, and the high-precision encoder feedback closed-loop control is used to monitor the flipping angle in real time.

[0059] (4) Unloading: After flipping into place, keep it stable, the material slides into the target position, and delays to confirm that the unloading is completed.

[0060] (5) Reset: Slowly return to the initial position and wait for the next operation.

[0061] In some embodiments, the device further includes a detection module, including an angle sensor and a pressure sensor, each configured to detect the tilting angle and load change of the tilting frame; and a drive control module configured to determine a control signal to be sent to the drive mechanism based on the tilting angle and load change. Specifically, the drive control module is configured to: calculate the angle deviation and the rate of change of the deviation based on the tilting angle; determine parameters of a fuzzy PID controller based on the angle deviation, the rate of change of the deviation, and the load change; and determine a control signal based on the fuzzy PID controller.

[0062] In the embodiment of the present invention, the angle deviation e, the deviation change rate ec and the load change ΔF are used as inputs of the fuzzy controller and mapped into the fuzzy set.

[0063] Deviation e: divided into 7 fuzzy subsets: {negative large, negative medium, negative small, zero, positive small, positive medium, positive large};

[0064] Deviation change rate ec: divided into 7 fuzzy subsets: {negative large, negative medium, negative small, zero, positive small, positive medium, positive large};

[0065] Load change ΔF: divided into three fuzzy subsets: {light, medium, heavy}.

[0066] Each fuzzy subset corresponds to a Gaussian or triangular membership function. For example, when the deviation e=10°, it may belong to both the “positive small” and “positive medium” subsets, with memberships of 0.3 and 0.7 respectively.

[0067] Preset rules based on expert experience, for example: Rule 1: If e is "positive and large" and ec is "positive and small", and ΔF is "heavy", then increase the proportional coefficient Kp, decrease the integral coefficient Ki, and maintain the differential coefficient Kd; Rule 2: If e is "zero" and ec is "negative and large", and ΔF is "medium", then decrease Kp, increase Ki, and increase Kd.

[0068] Fuzzy reasoning: According to the current fuzzy subsets of e, ec, and ΔF, the corresponding rules are activated through "and" and "or" operations to obtain the fuzzy outputs of Kp, Ki, and Kd.

[0069] Defuzzification: Use centroid methods (such as weighted averaging) to convert fuzzy outputs into precise values.

[0070] Based on the adjusted PID parameters, the control quantity of the drive mechanism is calculated.

[0071] The control quantity u is converted into an electrical signal (such as PWM pulse width or voltage value) and sent to the proportional valve or servo valve of the hydraulic cylinder to adjust the extension and contraction speed and displacement of the hydraulic cylinder, thereby controlling the flip angle and speed of the flip frame.

[0072] By monitoring the load change ΔF in real time through the pressure sensor, the fuzzy PID controller can dynamically adjust the PID parameters to compensate for the fluctuation of the flipping torque caused by uneven material distribution, ensuring that the flipping angle error is ≤±0.5°.

[0073] When the deviation e is large, Kp is increased to speed up the response. When approaching the target angle, Kp is reduced and Ki is increased to eliminate steady-state errors and avoid overshoot. The drive mechanisms on both sides receive independent control signals. Through real-time data comparison by the detection module, the dual hydraulic cylinders' movement error is guaranteed to be ≤±1mm, preventing the frame from tilting.

[0074] For example, the turning frame carries 500 kg of material, and the target turning angle is from 0° to 90°.

[0075] Control process:

[0076] The angle sensor detects the current angle θ = 0°, and the pressure sensor detects the load ΔF = 500kg;

[0077] The calculated deviation e=90°, the deviation change rate ec=0, the drive control module activates the "large deviation fast response" rule, increases Kp to 1.5 times the initial value, and reduces Ki to 0.5 times the initial value;

[0078] The hydraulic cylinder pushes the drive gear plate (14) at a high speed, and the drive gear (15) drives the rotating shaft to rotate;

[0079] When θ approaches 80°, ec becomes negative (deviation decreases), and the module adjusts Kp to 0.8 times the initial value and increases Ki to 1.2 times the initial value to slow down the flipping speed;

[0080] When θ=90° and ec≈0, the control signal returns to zero, the hydraulic cylinder is locked, and precise positioning is completed.

[0081] This mechanism achieves stepless flipping and pause at any angle within the range of 0-150° through the collaboration of the detection module and fuzzy PID control, meeting the needs of high-precision blanking.

[0082] In some embodiments, the detection module further includes an angular acceleration sensor for detecting angular acceleration; the drive control module is configured to: determine the current operating condition based on the target flip angle, target flip speed, flip angle, and load change; determine an acceleration feedforward compensation value based on the current operating condition and angular acceleration; and determine a control signal to be sent to the drive mechanism based on the acceleration feedforward compensation value, flip angle, and load change. Specifically, the drive control module is configured to: calculate the angular deviation and the rate of change of the deviation based on the flip angle; determine parameters of a fuzzy PID controller based on the angular deviation, the rate of change of the deviation, and the load change; and determine a control signal based on the acceleration feedforward compensation value and the fuzzy PID controller.

[0083] In the embodiment of the present invention, the working condition characteristics of the flipping process are fully described by parameters in five dimensions:

[0084] Spatial dimension: The target flip angle can be adjusted steplessly from 0 to 180 degrees with an adjustment accuracy of 0.1 degrees.

[0085] Time dimension: target flip speed, ranging from 0.1 degrees / second to 30 degrees / second, with a speed resolution of 0.01 degrees / second.

[0086] Position dimension: Current flip angle, with a real-time measurement range of 0 degrees to 180 degrees and a measurement accuracy of up to 0.005 degrees.

[0087] Load dimension: Load change rate, can detect changes within the range of ±50% of the rated load, with a detection accuracy of 0.5%.

[0088] Dynamic dimension: angular acceleration, with a measurement range of ±50 rad / s² and a resolution of 0.01 rad / s².

[0089] The raw sensor data is filtered using a sliding average filter with a filter window size of five sampling points, effectively removing the influence of random noise. Key characteristic parameters, such as the difference between the current and target angles, the angle change rate, and the load gradient, are calculated from the preprocessed data. Each calculated parameter is mapped to a pre-set fuzzy set. For example, the angle deviation is divided into fuzzy subsets such as "negative large," "negative medium," "negative small," "zero," "positive small," "positive medium," and "positive large." The system calculates the membership of each parameter in each fuzzy subset. A rule base containing fuzzy rules established based on expert experience is used to perform fusion reasoning on multiple parameters. For example, if the angle deviation is "positive large" and the angle change rate is "positive small," the corresponding control rule is triggered. The fuzzy inference results are defuzzified using the center of gravity method to ultimately determine the current operating condition.

[0090] According to the characteristics of the flipping process, the entire working condition is divided into five stages:

[0091] Startup phase: When the current angle is less than 10% of the target angle and the flip speed is less than 30% of the target speed, the system enters the startup phase. At this time, the angular acceleration is greater than 0 and rises rapidly. The greater the load, the slower the angular acceleration rises.

[0092] Acceleration phase: When the angle is between 10% and 70% of the target angle and the speed continues to increase and approaches the target speed, the system enters the acceleration phase. During this phase, the angular acceleration is greater than 0 but gradually decreases. The load affects the decay rate of the angular acceleration.

[0093] Constant speed phase: When the angle reaches 70% to 90% of the target angle and the speed basically remains at the target speed, the system enters the constant speed phase. At this time, the angular acceleration is close to 0 and the fluctuation range is within ±0.5rad / s². Load fluctuations will affect the speed stability.

[0094] Deceleration phase: When the angle reaches 90% to 100% of the target angle and the speed gradually decreases to near 0, the system enters the deceleration phase. At this time, the angular acceleration is less than 0 and its absolute value gradually increases. The greater the load, the greater the absolute value of the angular acceleration.

[0095] Fine positioning: When the angle reaches or exceeds the target angle and the velocity is almost 0, the system enters the fine positioning phase. At this time, the angular acceleration approaches 0, and the fluctuation range is within ±0.1 rad / s². The load will affect the stability of positioning.

[0096] The moment of inertia model is modified in real time based on load changes. When the load is light (less than -10% change), the moment of inertia decreases, and the feedforward compensation coefficient decreases by 15% accordingly. When the load is heavy (greater than +10% change), the moment of inertia increases, and the feedforward compensation coefficient increases by 20%.

[0097] Through pre-load testing, the system establishes a mapping table between load and moment of inertia and stores it in the controller's Flash memory. During actual operation, the system can quickly find the corresponding moment of inertia value based on the current load, thereby achieving accurate feedforward compensation.

[0098] The effect of gravity on the flipping process is calculated based on spatial geometry. When the flip frame is horizontal (angle of 0 degrees), the gravity moment is zero, and the feedforward compensation is also zero. When the frame is vertical (angle of 90 degrees), the gravity moment reaches its maximum, and the feedforward compensation also reaches its peak.

[0099] A curve relationship between angle and gravity moment compensation was established, and a piecewise linear interpolation algorithm was used to calculate the gravity moment compensation value corresponding to the current angle in real time to ensure that the influence of gravity can be effectively offset throughout the flipping process.

[0100] The damping compensation coefficient is dynamically adjusted based on angular velocity. In the low-speed range (less than 5 degrees / second), the damping compensation coefficient is low, approximately 30% of the rated value, to reduce unnecessary damping. In the high-speed range (greater than 20 degrees / second), the damping compensation coefficient is increased to 120% of the rated value, effectively suppressing hydraulic shock that may occur during high-speed rollover and improving system stability.

[0101] Angular deviation: Divided into seven fuzzy subsets: "Negative Large", "Negative Medium", "Negative Small", "Zero", "Positive Small", "Positive Medium", and "Positive Large". Each fuzzy subset corresponds to a specific angular deviation range.

[0102] Deviation change rate: It is also divided into 7 fuzzy subsets and is used to describe the rate of change of angle deviation over time.

[0103] Load change: It is divided into five fuzzy subsets, namely "very small", "small", "medium", "large", and "very large", which are used to reflect the degree of load change.

[0104] Fuzzy rules are developed based on a large amount of experimental data and expert experience. They can automatically adjust the parameters of the PID controller according to different working conditions, so that the system always maintains the best control performance.

[0105] When the angular acceleration is greater than 0.5rad / s² (acceleration state), the system will increase the proportional coefficient by 10%-30% and the differential coefficient by 15%-40% to enhance the system's response to rapid changes.

[0106] When the angular acceleration is less than -0.5rad / s² (deceleration state), the integral coefficient will be reduced by 20%-50% to prevent the occurrence of integral saturation and avoid overshoot in the system.

[0107] When the absolute value of the angular acceleration is less than 0.1 rad / s² (steady state), the system will restore the basic PID parameters to ensure the control accuracy of the system in a stable state.

[0108] Before the official start-up, the system pre-calculates the initial feedforward compensation value based on the set target angle and detected load weight to prepare for the start-up process. At the same time, the system initializes the parameters of the fuzzy PID controller to the startup mode parameter group to meet the control requirements of the startup phase.

[0109] During the startup and acceleration phase, the system, driven by feedforward compensation, provides the primary driving force, accounting for 60%-80% of the control signal, ensuring rapid frame startup. The fuzzy PID controller rapidly responds to angular deviations, dynamically adjusting the proportional and integral coefficients for smoother frame acceleration. An angular acceleration sensor monitors the acceleration state in real time, providing feedback for feedforward compensation and fuzzy PID control to further optimize control effectiveness.

[0110] During the constant speed phase, feedforward compensation primarily counteracts the effects of system inertia and gravity, maintaining the frame's uniform motion. The fuzzy PID controller fine-tunes control parameters to compensate for load fluctuations and external disturbances that affect speed stability. An angular acceleration sensor continuously monitors speed changes, triggering the controller to make appropriate adjustments when speed fluctuations exceed a certain range.

[0111] During the deceleration phase, feedforward compensation provides reverse braking force, helping the frame decelerate quickly while dynamically adjusting the braking force based on the load. The fuzzy PID controller reduces the integral coefficient to prevent overshoot during deceleration and precisely control the speed curve. The angular acceleration sensor provides real-time feedback on the deceleration status, ensuring a smooth and predictable deceleration process.

[0112] During the fine positioning phase, feedforward compensation is gradually reduced, shifting the focus of control to the fuzzy PID controller. This controller fine-tunes parameters to eliminate minute angular deviations and achieve high-precision positioning control. An angular acceleration sensor continuously monitors the micro-motion of the frame, providing precise feedback to the controller to ensure the frame ultimately stabilizes at the target position.

[0113] The hydraulically driven multi-angle flipping and unloading device provided in this embodiment can be used to execute the above-mentioned method embodiment. Its implementation principle and technical effects are similar, and this embodiment will not be repeated here.

[0114] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A hydraulically driven multi-angle turning and unloading device, characterized in that: include: Frame assembly; A conveying and turning mechanism, the conveying and turning mechanism comprising a turning frame, the turning frame being arranged on the top of the frame assembly via a rotating shaft (12), and a transmission component for conveying a container containing materials being arranged on the turning frame; Two driving mechanisms, the two driving mechanisms are respectively arranged on both sides of the frame assembly, the driving mechanisms include a hydraulic cylinder, a driving gear plate and a driving gear, the hydraulic cylinder is arranged on one side of the frame assembly, the driving gear plate is connected to the upper end of the hydraulic cylinder, the driving gear is rotatably arranged on the frame assembly and connected to the rotating shaft, the driving gear plate is engaged with the driving gear, and the hydraulic cylinder drives the driving gear to rotate through the driving gear plate to drive the flip frame to flip; The drive control module obtains the target flip angle and target flip speed set by the user; After detecting that the material has reached the specified position, a control signal is sent to the driving mechanism so that the driving mechanism reaches the target flipping angle at the target flipping speed; The device also includes a detection module for detecting the flip angle and load change of the flip frame; The detection module is further configured to detect angular acceleration; and the drive control module is configured to: Determine the current working condition based on the target flip angle, target flip speed, flip angle and load change; determining an acceleration feedforward compensation value according to the current operating condition and the angular acceleration; Calculating the angle deviation and the deviation change rate according to the flip angle; Determine the parameters of the fuzzy PID controller based on the angle deviation, deviation change rate and load change; A control signal is determined according to the acceleration feedforward compensation value and the fuzzy PID controller.

2. A hydraulically driven multi-angle turning and unloading device according to claim 1, characterized in that: The frame assembly includes: Two support frames, the two support frames are symmetrically arranged, the conveying and flipping mechanism is arranged on the top of the two support frames, and the driving mechanism is arranged on the outside of the support frames; A plurality of reinforcing beams are connected at the lower portion between the two supporting frames.

3. A hydraulically driven multi-angle turning and unloading device as claimed in claim 2, characterized in that: The support frame is provided with a plurality of weight-reducing holes, the bottom of the support frame is provided with pads, and reinforcing ribs are provided between the reinforcing beam and the support frame.

4. The hydraulically driven multi-angle turning and unloading device according to claim 1, characterized in that: The flip frame comprises: Two conveying beams, the two conveying beams are respectively arranged in parallel at the upper end of the frame assembly, the rotating shaft is arranged at the lower end of the conveying beams, and the transmission component is arranged on the conveying beams; A connecting beam is vertically connected between the two conveying beams.

5. The hydraulically driven multi-angle turning and unloading device according to claim 4, characterized in that: The transmission component includes: A plurality of conveying rollers, wherein the plurality of conveying rollers are sequentially rotated along the length direction of the conveying beam; A conveying motor is fixed to one end of the conveying beam, and the conveying motor is connected to the plurality of conveying rollers through a chain drive, and is used to drive the plurality of conveying rollers to rotate synchronously.

6. The hydraulically driven multi-angle turning and unloading device according to claim 1, characterized in that: A slide rail is longitudinally arranged on one side of the frame assembly, and the driving gear plate is slidably arranged in the slide rail.

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