Intelligent suspension conveying system based on single-chip microcomputer control

Abstract

The invention discloses an intelligent suspension conveying system based on single-chip microcomputer control, and relates to the technical field of intelligent suspension conveying, through the arrangement of a balancing device, intelligent control over the conveying system is achieved through a single-chip microcomputer, during feeding, a placing frame can freely rotate to an angle facilitating operation of a worker, and traction movement is conducted through traction wheels; the supporting plates on the two sides are flush in position and are mechanically locked by the weight of materials so as to limit rotation of the containing frame, the materials can be kept in a stable posture all the time, the problems of shaking, instability and the like in the transportation process are solved, and after the balance mechanism can be adjusted up and down, a trigger point can be accurately adjusted according to the height and the gravity center position of the materials; the height of the gravity center of the material is matched, the triggering sensitivity is guaranteed, the same balance mechanism can be matched with the materials of multiple specifications from low parts to high and large assemblies, and the universality and the application range of the device are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent suspended conveying technology, specifically to an intelligent suspended conveying system based on microcontroller control. Background Technology

[0002] Traditional devices often require manual operation for locking and unlocking the placement rack, such as inserting and removing locking pins and manually clamping. This not only increases the labor intensity of workers, but also makes it easy for materials to shake and fall due to operational errors. Some purely mechanical balancing mechanisms can only adapt to materials of a single specification and have poor compatibility with materials of different weights and heights, making it impossible to achieve adaptive and stable transportation.

[0003] Patent publication number CN207580709U includes support legs, guide rails, sliding plates, and rotating shafts. This patent designs a novel workpiece suspension conveyor device. A motor drives a conveyor belt to move the workpiece on the hook along the guide rail, and a cylinder adjusts the workpiece height. This allows for rapid workpiece movement and height adjustment, reducing worker workload and making it suitable for large-scale assembly line production. In summary, this workpiece suspension conveyor device has a reasonable structural design, is easy to use, and is suitable for widespread application.

[0004] The above solution has obvious limitations in practice: if the load cannot be kept in a balanced state, the hook will swing freely around the axis when the hook starts, stops, turns, or the track is bumpy, causing the material to shake, shift, or even fall. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an intelligent suspended conveyor system based on microcontroller control, which solves the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent suspended conveying system based on microcontroller control, comprising a turnout track and a placement frame. A traction wheel is installed on the turnout track, and a boom and a connecting frame are mounted on the boom. The boom is moved along the turnout track by the traction wheel, and the movement of the boom causes the connecting frame to move. The material to be transported is placed in the placement frame. During loading, the placement frame can freely rotate to an angle convenient for worker operation and is moved by the traction wheel. The intelligent suspended conveying system also includes: A balancing device, mounted on the connecting frame, is used to maintain the balance of the placement frame when it is in a loaded state, wherein the balancing device includes an adjustment mechanism and a stabilizing mechanism; The adjustment mechanism includes a mounting frame, a drive rod, and a support rod. The mounting frame is fixedly mounted on a connecting frame, the drive rod is rotatably mounted on the mounting frame, and the support rod is threaded onto the drive rod. The stabilizing mechanism includes a pressure rod, rollers, curved blocks, a base plate, a rotating rod, and a support plate. The pressure rod is slidably mounted on the inner wall of the placement frame. The rollers are rotatably mounted on the pressure rod. The curved blocks are rotatably mounted on the support rod. The base plate is fixedly mounted on the bottom of the curved blocks. The rotating rod is rotatably mounted on the base plate. The support plate is slidably mounted on the rotating rod. When material is placed and comes into contact with the pressure rod, its weight causes the pressure rod to move downwards, simultaneously compressing a return spring. The movement of the pressure rod drives the rollers to move, causing the rollers to contact the curved blocks and thus centering the curved blocks. This ensures that the position of the curved blocks is symmetrical along the vertical central axis of the support rod. As the curved blocks rotate, they also drive the base plate to move, causing the base plate to drive the rotating rod to move. The movement of the rotating rod then drives the support plate to move, ultimately making the support plates on both sides symmetrical around the center. That is, the positions of the support plates on both sides are level and mechanically locked by the weight of the material.

[0007] According to the above technical solution, a speed sensor is installed on the shaft of the traction wheel. The speed sensor is electrically connected to the microcontroller main control chip to collect the rotation speed of the traction wheel in real time, indirectly determine the conveying speed of the lifting device, and realize speed closed-loop control. The microcontroller main control chip is responsible for receiving sensor signals, performing logic operations, and outputting control commands to realize intelligent conveying process. The circumferential surface of the drive rod is provided with a reciprocating helical groove, and the contact surface between the support rod and the drive rod is provided with a matching groove.

[0008] The speed sensor is electrically connected to the microcontroller main control chip, and the microcontroller main control chip processes the speed sensor signal as follows: Multi-channel digital signals are obtained by combining the raw signals from the speed sensor and the parameters of the ADC module of the microcontroller main control chip; Monitor multi-channel digital signals, statistically determine the dynamic range of the effective digital signals, adaptively adjust the gain coefficient based on the dynamic range, and use the gain coefficient to amplify and normalize the multi-channel digital signals to obtain normalized digital signals. The normalized digital signal is filtered in both time and space dimensions to obtain the filtered digital signal and the filtering coefficient matrix. The gate width is dynamically adjusted based on the filtering coefficient matrix, and the pulse dataset is determined based on the adjusted gate width and the filtered digital signal. The initial velocity is calculated based on the pulse dataset, and the final velocity is obtained by correcting the initial velocity.

[0009] According to the above technical solution, a return spring is provided between the pressure rod and the placement frame. The pressure rod is reset by the reset spring. The roller contacts the curved block. A torsion spring is provided between the rotating rod and the base plate. The rotating rod is reset by the torsion spring. A first spring is provided between the support plate and the rotating rod. The support plate is reset by the first spring.

[0010] According to the above technical solution, the adjustment mechanism further includes a drive disc and a first belt. The drive disc is rotatably mounted on the connecting frame, and the drive rod is connected to the drive disc via a first belt, so that the first belt is driven to drive the drive rod to rotate along the inner wall of the mounting frame.

[0011] According to the above technical solution, the suspended conveying system also includes an adapter installed on the connecting frame, which is used to adapt the position of the placement frame when objects of different sizes are placed. The adapter includes a drive button and a hollow frame. The drive button is fixedly installed on the bottom of the drive disk, and the hollow frame is fixedly installed on the connecting frame. When the drive disk rotates, it will also drive the drive button to rotate.

[0012] According to the above technical solution, the adapter further includes a pawl, a lever, and a ratchet. The pawl is slidably mounted on the hollow frame, and a second return spring is provided between the pawl and the hollow frame. The second return spring drives the pawl to return to its original position. The lever is fixedly mounted on the pawl, and the ratchet is fixedly mounted on the drive disc. The ratchet is in contact with the pawl. When the drive disc rotates, it simultaneously drives the ratchet to rotate. When the ratchet rotates, it continuously contacts the inclined surface of the pawl, so that the ratchet is not restricted by the pawl when rotating counterclockwise. However, when the ratchet rotates clockwise, it is restricted by the pawl through contact with the non-inclined surface of the pawl.

[0013] According to the above technical solution, the adapter further includes a reciprocating lead screw, a sliding button, a second belt, and an L-shaped rod. The reciprocating lead screw is rotatably mounted on the connecting frame, and the sliding button is threaded onto the reciprocating lead screw. A placement frame is provided on the sliding button. The drive button is connected to the reciprocating lead screw via a second belt. The L-shaped rod is fixedly mounted on the sliding button. Rotation of the drive button will drive the second belt to rotate the reciprocating lead screw. Rotation of the reciprocating lead screw will allow the sliding button to move up and down. The movement of the sliding button will drive the placement frame to move, thereby adjusting the distance between the placement frame and the connecting frame.

[0014] According to the above technical solution, the suspended conveying system also includes a protective device installed on the placement frame to provide lateral protection for materials at a specific height, including a socket frame and a U-shaped block. The socket frame is sleeved on the reciprocating lead screw, and the U-shaped block is fixedly installed on the socket frame.

[0015] According to the above technical solution, the protective device further includes an abutment block, a driving block, a sliding rod, a baffle, a second spring, and a groove. The abutment block is slidably mounted on the U-shaped block, the driving block is fixedly mounted on the abutment block, and the sliding rod is slidably mounted on the placement frame. A return spring is provided between the abutment block and the U-shaped block. The surface of the abutment block near the placement frame is set as an inclined surface, and the top of the driving block is set as an inclined surface. The baffle is fixedly mounted on the sliding rod, and the second spring is set between the baffle and the placement frame. The groove is opened on the baffle. Through the triggering linkage of the adapter device, the auxiliary baffle is raised synchronously as the distance between the placement frame and the connecting frame increases, forming a double-layer superimposed protection on the basis of the original baffle: when transporting low materials, the auxiliary baffle is in a low position, retaining only the basic protection height and not affecting the operating space; when transporting tall materials, the auxiliary baffle is raised according to the distance adjustment, splicing with the original placement frame to form a full-height protective barrier.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this invention, the balancing device enables intelligent control of the conveying system via a microcontroller. During loading, the placement frame can rotate freely to an angle convenient for workers to operate and is pulled by traction wheels. The two side plates are leveled and mechanically locked by the weight of the material to limit the rotation of the placement frame, ensuring that the material always maintains a stable posture and solving problems such as shaking and instability during transportation. The balancing mechanism can be adjusted up and down, and the trigger point can be precisely adjusted according to the height and center of gravity of the material to match the height of the material's center of gravity and ensure trigger sensitivity. This allows the same balancing mechanism to be adapted to materials of various specifications, from low-profile parts to tall components, greatly improving the versatility and applicability of the device.

[0017] 2. In this invention, by setting up an adapter, the distance between the placement frame and the connecting frame can be adjusted simultaneously with the adjustment of the balancing mechanism. This eliminates the need to adjust the positions of the balancing mechanism and the placement frame separately, allowing for the synchronous adjustment of both parameters with a single adjustment action. This allows for flexible adaptation to various specifications of materials, from low-profile parts to tall components. When the ratchet rotates clockwise, it contacts the pawl on a non-sloping surface, thus restricting its rotation. This means that the ratchet automatically locks after adjustment, ensuring that the distance remains stable during transportation and preventing materials from shaking or falling due to changes in distance. If it is necessary to reverse the drive disc, the lever can be pushed outward to move the pawl along the hollow frame to move it out of the ratchet's rotation range.

[0018] 3. In this invention, through the setting of the protective device, in the default state, the baffle is located in the inner wall of the placement rack, that is, in the storage state. The baffle is triggered by the adapter device, so that the auxiliary baffle rises synchronously as the distance between the placement rack and the connecting rack increases, forming a double-layer superimposed protection on the basis of the original baffle: when transporting low materials, the auxiliary baffle is in a low position, only retaining the basic protection height, without affecting the operating space; when transporting tall materials, the auxiliary baffle rises with the adjustment of the distance, splicing with the original placement rack to form a full-height protective barrier, completely covering the lateral space of the material, completely eliminating the risk of lateral displacement and falling of the material, and achieving full-range protection for materials of different heights. When the distance is small, the baffle is manually pressed down so that its outer wall first contacts the inclined surface of the abutment block. Under the setting of the third reset spring, when the groove moves to overlap with the abutment block, the third reset spring drives the abutment block to reset and insert into the groove, so that the baffle is restricted, that is, re-stored for activation.

[0019] 4. This invention achieves high precision and dynamic adaptability in signal acquisition through multi-channel synchronous sampling and adaptive dynamic range calibration; combined with a spatiotemporal joint filtering algorithm, it suppresses common-mode noise and random interference in the time and space dimensions, improves the signal-to-noise ratio, and achieves high-precision measurement in the full speed domain through dynamic gate adjustment, thereby improving anti-interference capability and measurement stability, and ultimately achieving high precision, high robustness and adaptability to all working conditions. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure at the positions of the traction wheel and the boom of the present invention; Figure 3 This is a schematic diagram of the structure at the positions of the connecting frame and the placement frame of the present invention; Figure 4 This is a schematic diagram of the structure at the location of the placement rack and mounting rack of the present invention; Figure 5 For the present invention Figure 4 Enlarged schematic diagram of section A of the structure; Figure 6 For the present invention Figure 4 Enlarged schematic diagram of section B of the structure; Figure 7 This is a schematic diagram of the structure at the position of the sliding button and the socket of the present invention; Figure 8 This is a schematic diagram of the structure at the positions of the contact block and the baffle of the present invention; Figure 9 This is a schematic diagram of the structure at the positions of the baffle and the placement rack of the present invention; Figure 10 This is a schematic diagram of the structure at the positions of the slide bar and the baffle of the present invention; Figure 11This is a flowchart illustrating the working principle of the speed sensor and microcontroller of this invention.

[0021] The meanings of the labels in the diagram are as follows: 1. Turnout track; 2. Traction wheel; 3. Hoist; 4. Connecting frame; 5. Placement frame; 10. Mounting frame; 11. Drive rod; 12. Support rod; 13. Pressure rod; 14. Roller; 15. Curved block; 16. Base plate; 17. Rotating rod; 18. Support plate; 19. No. 1 spring; 110. Drive disc; 111. No. 1 belt; 20. Drive button; 21. Hollow frame; 22. Pawl; 23. L-shaped lever; 24. Ratchet; 25. Reciprocating screw; 26. Sliding button; 27. No. 2 belt; 28. L-shaped rod; 30. Connecting frame; 31. U-shaped block; 32. Abutment block; 33. Drive block; 34. Slide rod; 35. Baffle; 36. No. 2 spring; 37. Groove. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figures 1-10 One embodiment of the present invention is: an intelligent suspended conveying system based on single-chip microcomputer control, including a turnout track 1 and a placement frame 5, a traction wheel 2 installed on the turnout track 1, a suspender 3 installed on the traction wheel 2, and a connecting frame 4 installed on the suspender 3. The intelligent suspended conveying system further includes: A balancing device is installed on the connecting frame 4 to maintain the balance of the placement frame 5 when it is in a loaded state. The balancing device includes an adjustment mechanism and a stabilizing mechanism. The adjustment mechanism includes a mounting frame 10, a drive rod 11, and a support rod 12. The mounting frame 10 is fixedly mounted on the connecting frame 4, the drive rod 11 is rotatably mounted on the mounting frame 10, and the support rod 12 is threaded onto the drive rod 11. It matches the height of the material's center of gravity, ensures trigger sensitivity, and allows the same balancing mechanism to be adapted to materials of various specifications, from low-profile parts to high-profile components, greatly improving the versatility and applicability of the device. The stabilizing mechanism includes a pressure bar 13, a roller 14, a curved block 15, a base plate 16, a rotating rod 17, and a support plate 18. The pressure bar 13 is slidably mounted on the inner wall of the placement frame 5. The roller 14 is rotatably mounted on the pressure bar 13. The curved block 15 is rotatably mounted on the support rod 12. The base plate 16 is fixedly mounted on the bottom of the curved block 15. The rotating rod 17 is rotatably mounted on the base plate 16. The support plate 18 is slidably mounted on the rotating rod 17. The two support plates 18 are level and mechanically locked by the weight of the material to limit the rotation of the placement frame 5, so that the material always maintains a stable posture and completely solves the shaking problem during transportation.

[0024] A speed sensor is installed on the shaft of the traction wheel 2. The speed sensor is electrically connected to the microcontroller main control chip. A reciprocating spiral groove is opened on the circumferential surface of the drive rod 11. A matching groove is opened on the contact surface between the support rod 12 and the drive rod 11.

[0025] The speed sensor is electrically connected to the microcontroller main control chip, such as... Figure 11 As shown, the microcontroller main control chip processes the speed sensor signal in the following specific way: Multi-channel digital signals are obtained by combining the raw signals from the speed sensor and the parameters of the ADC module of the microcontroller main control chip; It should be noted that the specific steps to obtain multi-channel digital signals are as follows: Based on the output characteristics of the speed sensor, a multi-channel ADC chip is selected. In this embodiment, the ADS1256 chip with 24-bit resolution and 8-channel synchronous sampling is selected, which supports differential input mode. ADC parameters: The sampling rate is set to more than twice the highest frequency of the signal according to the Nyquist theorem, i.e. the highest frequency of the speed sensor signal. The resolution is matched with the microcontroller ADC module parameters to ensure that the quantization error meets the accuracy requirements.

[0026] Based on the selection results of the ADC chip, the colorant differential input circuit is as follows: The design incorporates a differential input circuit to mitigate common-mode noise. An instrumentation amplifier is used to construct a differential amplifier, converting the single-ended signal from the speed sensor into a differential signal. The formula is as follows:

[0027] In the formula: G is the amplifier gain, , This is the differential input voltage; Each channel is independently equipped with a gain amplifier to extend the dynamic range and adapt to signal amplitude variations under different operating conditions.

[0028] Meanwhile, a dedicated timing chip is used to generate a globally synchronized sampling clock, the clock frequency of which is synchronized with the ADC sampling frequency. The synchronized clock signal is transmitted to all ADC channels through a clock distribution network to ensure the time offset of each channel's sampling time. , This indicates the ADC sampling frequency.

[0029] In this embodiment, the dedicated time chip is Si5351.

[0030] It stores multi-channel synchronous sampling data and outputs it in matrix form: each row corresponds to one channel, each column corresponds to one sampling point, and a timestamp column is added to form a multi-channel digital signal.

[0031] Monitor multi-channel digital signals, statistically determine the dynamic range of the effective digital signals, adaptively adjust the gain coefficient based on the dynamic range, and use the gain coefficient to amplify and normalize the multi-channel digital signals to obtain normalized digital signals. The specific steps for determining the dynamic range of an effective digital signal are as follows: A sliding window algorithm is used to perform real-time statistics on the signal of each channel, with a window length of [missing information]. , The duration of the window can be set to any value depending on the situation; this example does not impose any restrictions.

[0032] Calculate the voltage between the highest and lowest peak values ​​of the signal within the window. Combined with timestamp information, the signal amplitude variation trend is marked; The formula for calculating the gain coefficient is:

[0033] In the formula: This is a reference voltage, and its value is selected based on different situations. For dynamic range, This represents a safety margin, taken as 8% of the dynamic range.

[0034] Simultaneously, smoothing is performed using historical gain coefficients, and the calculation formula is as follows:

[0035] In the formula: This is a smoothing factor with a value of 0.8. This is the current gain coefficient. This is the historical gain coefficient.

[0036] The smoothed gain coefficient is amplified by multiplying it with the original signal of each channel. After amplification, normalization is performed to obtain a normalized digital signal.

[0037] The normalized digital signal is filtered in both time and space dimensions to obtain the filtered digital signal and the filtering coefficient matrix. The gate width is dynamically adjusted based on the filtering coefficient matrix, and the pulse dataset is determined based on the adjusted gate width and the filtered digital signal. As a specific implementation method, the normalized digital signal is filtered in both the time and space dimensions, including: A multi-channel Wiener filter is constructed, utilizing inter-channel correlation to suppress common-mode noise. The spatial filter coefficient matrix W is calculated by minimizing the mean square error between the desired signal and the filtered output. ; In the formula: Let be the autocorrelation matrix of the desired signal. Let be the cross-correlation matrix between the input signal and the desired signal.

[0038] During sampling, calculations are performed using the filter coefficient matrix: H represents the conjugate device. For normalized digital signals; Then, dynamically adjust the step size parameter based on the signal statistical characteristics:

[0039] In the formula: It is a constant, with a value of 0.01. is the regularization coefficient, with a value of 0.001. Let be the autocorrelation matrix of the input signal.

[0040] Perform time filtering on each channel and iteratively update the time filtering parameters:

[0041] In the formula: For error signals, This is the input signal.

[0042] The gate width is dynamically adjusted based on the filter coefficient matrix, specifically as follows: The calculation formula is: Where K is a constant, taking a value of 1.2. The formula for estimating the frequency at the current speed is: , Where r is the historical speed, and r is the rotation radius of the speed sensor; The specific logic for dynamically adjusting the gate width based on the filter coefficient matrix is ​​as follows: Combined with the noise power in the filter coefficient matrix The noise threshold is The value is determined according to different precision requirements, and this application does not impose too many restrictions on it.

[0043] If the noise power is greater than the noise threshold, the gate width is increased to reduce the quantization error.

[0044] In the formula: , For correction factor, The reference gate width.

[0045] If the noise power is less than or equal to the noise threshold, reduce the gate width to improve the response speed.

[0046] In the formula: The value is 0.15.

[0047] It should be noted that the pulse dataset includes: pulse count, additional time, and pulse period; During the gate time, pulses are counted for each channel signal, the number of pulses is tallied, and the precise timestamp of the last pulse is measured. The formula for calculating the extra time is: , For gate time, This is the precise timestamp of the last pulse.

[0048] The initial velocity was calculated based on the pulse dataset: Calculate the total measurement time ;

[0049] In the formula: The number of pulses per revolution of the speed sensor. This represents the transmission ratio between the motor and the load.

[0050] The initial velocity is corrected to obtain the final velocity:

[0051] In the formula: This is the speed correction factor, with a value of 0.8.

[0052] A return spring is provided between the pressure rod 13 and the placement frame 5. The pressure rod 13 is reset by the reset spring. The roller 14 contacts the curved block 15. A torsion spring is provided between the rotating rod 17 and the base plate 16. The rotating rod 17 is reset by the torsion spring. A first spring 19 is provided between the support plate 18 and the rotating rod 17. The support plate 18 is reset by the first spring 19.

[0053] The adjustment mechanism also includes a drive disc 110 and a first belt 111. The drive disc 110 is rotatably mounted on the connecting frame 4, and the drive rod 11 and the drive disc 110 are connected by the first belt 111.

[0054] In this embodiment, the conveying system is intelligently controlled by a microcontroller, including starting, stopping, positioning, and speed adjustment of the traction wheel 2. The traction wheel 2 pulls the boom 3 to move along the turnout track 1. The movement of the boom 3 will drive the connecting frame 4 to move. The material to be transported is placed in the placement frame 5. During loading, the placement frame 5 can rotate freely to an angle convenient for workers to operate. It is then pulled and moved by the traction wheel 2. If the placement frame 5 is tilted to one side, the support plate 18 on one side contacts the bottom of the placement frame 5. With the setting of the first spring 19, the support plate 18 moves with the angle of the placement frame 5, that is, the support plate 18 supports one side of the placement frame 5. In the traditional suspended transport device, the placement frame 5 is only connected to the fixed frame via a rotating shaft. When the carriage starts, stops, turns, or encounters uneven tracks, the placement frame 5 is prone to rotating freely around the rotating shaft due to inertia, causing the material to shake, shift, or even fall. In this solution, the material is placed in contact with the pressure rod 13, causing its weight to move the pressure rod 13 downwards and simultaneously compress the return spring. The movement of the pressure rod 13 will drive the roller 14 to move, causing the roller 14 to contact the curved block 15, thus centering the curved block 15. This ensures that the position of the curved block 15 is symmetrical along the vertical central axis of the support rod 12. As the curved block 15 rotates, it also drives the base plate 16 to move, causing the base plate 16 to drive the rotating rod 17 to move. When the rotating rod 17 moves, it drives the pallet 18 to move, ultimately making the pallets 18 on both sides symmetrical around the center. That is, the positions of the pallets 18 on both sides are level and mechanically locked by the weight of the material, thus limiting the rotation of the placement rack 5 and keeping the material in a stable posture, completely solving the problem of shaking during transportation. When the center of gravity of the material is too high, the gravity trigger point is misaligned with the center of gravity, and the locking force of the balancing mechanism is insufficient, making the placement rack 5 still prone to shaking. When the center of gravity of the material is too low, the balancing mechanism cannot be effectively triggered, causing the locking function to fail. At this time, by rotating the drive disc 110, the drive belt 111 is driven to rotate the drive rod 11 along the inner wall of the mounting rack 10. Rotating within its own reciprocating spiral groove allows the support rod 12 to move up and down. The movement of the support rod 12 drives the entire balancing mechanism to move. After the balancing mechanism can be adjusted up and down, the trigger point can be precisely adjusted according to the height and center of gravity of the material: when transporting tall materials (center of gravity higher), the balancing mechanism is adjusted upwards to move the trigger point up closer to the center of gravity of the material, ensuring that gravity can stably activate the balancing mechanism and achieve reliable locking; when transporting short materials (center of gravity lower), the balancing mechanism is adjusted downwards to move the trigger point down to match the height of the material's center of gravity, ensuring trigger sensitivity. This allows the same balancing mechanism to be adapted to materials of various specifications, from short parts to tall components, greatly improving the versatility and applicability of the device.

[0055] Please see Figures 1-10 Based on the above embodiments, in another embodiment of the present invention, the intelligent suspended conveying system based on single-chip microcomputer control further includes an adapter device. The overhead conveyor system also includes an adapter mounted on the connecting frame 4, which is used to adapt the position of the placement rack 5 when different sized objects are placed. The adapter includes a drive button 20 and a hollow frame 21. The drive button 20 is fixedly mounted on the bottom of the drive disc 110, and the hollow frame 21 is fixedly mounted on the connecting frame 4. This allows the balance mechanism and the position of the placement rack 5 to be adjusted simultaneously with a single adjustment action, without the need to adjust them separately. This allows for flexible adaptation to various specifications of materials, from low-profile parts to tall components.

[0056] The adapter also includes a pawl 22, a lever 23, and a ratchet 24. The pawl 22 is slidably mounted on the hollow frame 21. A second return spring is provided between the pawl 22 and the hollow frame 21. The second return spring drives the pawl 22 to return to its original position. The lever 23 is fixedly mounted on the pawl 22. The ratchet 24 is fixedly mounted on the drive disk 110. The ratchet 24 contacts the pawl 22, so that the rotation is restricted by the pawl 22. That is, it automatically locks after adjustment, ensuring that the spacing remains stable during transportation and preventing the material from shaking or falling due to changes in spacing.

[0057] The adapter also includes a reciprocating lead screw 25, a sliding button 26, a second belt 27, and an L-shaped rod 28. The reciprocating lead screw 25 is rotatably mounted on the connecting frame 4. The sliding button 26 is threaded onto the reciprocating lead screw 25. A placement frame 5 is provided on the sliding button 26. The drive button 20 is connected to the reciprocating lead screw 25 via the second belt 27. The L-shaped rod 28 is fixedly mounted on the sliding button 26, so that the distance between the placement frame 5 and the connecting frame 4 can be adjusted.

[0058] In this embodiment, during the adjustment of the balancing mechanism, the drive disc 110 rotates while simultaneously driving the ratchet 24 to rotate. As the ratchet 24 rotates, it continuously contacts the inclined surface of the pawl 22, ensuring that the ratchet 24 is not restricted by the pawl 22 during counter-clockwise rotation. Simultaneously, the rotation of the drive disc 110 also drives the drive button 20 to rotate. The rotation of the drive button 20 drives the second belt 27, which in turn drives the reciprocating screw 25 to rotate. The rotation of the reciprocating screw 25 allows the sliding button 26 to move up and down. The movement of the sliding button 26 moves the placement frame 5, allowing adjustment of the distance between the placement frame 5 and the connecting frame 4, eliminating the need for separate adjustments to the balancing mechanism. The balance mechanism and the placement rack 5 position can be adjusted synchronously with a single adjustment action to accommodate a variety of materials, from low-profile parts to tall components. When the ratchet 24 rotates clockwise, it contacts the pawl 22 on a non-sloping surface, thus restricting the rotation of the ratchet 22. This means that the ratchet 24 automatically locks after adjustment, ensuring that the spacing remains stable during transportation and preventing the materials from shaking or falling due to changes in spacing. If it is necessary to reverse the drive disc 110, the lever 23 can be pushed outward to move the pawl 22 along the hollow frame 21 to disengage it from the rotation range of the ratchet 24. The pawl 22 can be reset by the return spring 2.

[0059] Please see Figures 1-10 Based on the above embodiments, in another embodiment of the present invention, the intelligent suspended conveyor system based on single-chip microcomputer control further includes a protective device. The overhead conveyor system also includes a protective device installed on the placement frame 5 to provide lateral protection for materials at a specific height, including a sleeve frame 30 and a U-shaped block 31. The sleeve frame 30 is sleeved on the reciprocating screw 25, and the U-shaped block 31 is fixedly installed on the sleeve frame 30.

[0060] The protective device also includes an abutment block 32, a drive block 33, a slide rod 34, a baffle 35, a second spring 36, and a groove 37. The abutment block 32 is slidably mounted on the U-shaped block 31, the drive block 33 is fixedly mounted on the abutment block 32, the slide rod 34 is slidably mounted on the placement frame 5, a return spring 36 is provided between the abutment block 32 and the U-shaped block 31, the surface of the abutment block 32 near the placement frame 5 is set as an inclined surface, the top of the drive block 33 is set as an inclined surface, the baffle 35 is fixedly mounted on the slide rod 34, the second spring 36 is set between the baffle 35 and the placement frame 5, and the groove 37 is open. Installed on the baffle 35, the auxiliary baffle 35 is triggered by an adapter to rise synchronously as the distance between the placement frame 5 and the connecting frame 4 increases, forming a double-layer superimposed protection on the basis of the original baffle 35: when transporting low materials, the auxiliary baffle 35 is in a low position, retaining only the basic protection height, without affecting the operating space; when transporting tall materials, the auxiliary baffle 35 rises with the adjustment of the distance, splicing with the original placement frame 5 to form a full-height protective barrier, completely covering the lateral space of the material, completely eliminating the risk of lateral displacement and falling of the material, and achieving full-range protection for materials of different heights.

[0061] In this embodiment, during operation: In the default state, the baffle 35 is located within the inner wall of the placement rack 5, i.e., in the retracted state. The groove 37 on the baffle 35 is restricted by the abutment block 32. The bottom of the abutment block 32 prevents the baffle 35 from moving upward, and the second spring 36 is compressed. When the sliding button 26 moves downward, the L-shaped rod 28 gradually moves until it contacts the inclined surface of the drive block 33, causing the drive block 33 to move along the inner wall of the U-shaped block 31. The movement of the drive block 33 will drive the abutment block 32 to move, causing the abutment block 32 to disengage from the groove 37. At this time, the second spring 36 is released, causing the baffle 35 to move upward. Traditional baffles 35 are mostly of fixed height and can only provide lateral protection for materials of a specific height. When transporting materials with a higher height, the part exceeding the baffle 35 is unprotected and is prone to displacement and falling due to shaking and collision. When transporting low materials, the excessively high baffle 35... 5. This would occupy space and affect the loading and unloading operations. Through the triggering of the adapter device, the auxiliary baffle 35 is raised synchronously as the distance between the placement frame 5 and the connecting frame 4 increases, forming a double-layer superimposed protection on the basis of the original baffle 35: When transporting low materials, the auxiliary baffle 35 is in a low position, only retaining the basic protection height, without affecting the operating space; when transporting tall materials, the auxiliary baffle 35 is raised with the adjustment of the distance, splicing with the original placement frame 5 to form a full-height protective barrier, completely covering the lateral space of the material, completely eliminating the risk of lateral displacement and falling of the material, and achieving full-range protection for materials of different heights. When the distance is small, the baffle 35 is manually pressed down so that its outer wall first contacts the inclined surface of the abutment block 32. With the setting of the return spring three, when the groove 37 moves to overlap with the abutment block 32, the return spring three drives the abutment block 32 to reset and insert into the groove 37, so that the baffle 35 is restricted, that is, retracted for activation.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A microcontroller-based intelligent suspended conveying system, comprising a turnout track (1), a placement frame (5), and a microcontroller main control chip, wherein a traction wheel (2) is installed on the turnout track (1), a boom (3) is installed on the traction wheel (2), and a connecting frame (4) is installed on the boom (3), characterized in that, The intelligent overhead conveyor system also includes: A balancing device is provided on the connecting frame (4) to maintain the balance of the placement frame (5) when it is in a loaded state, wherein the balancing device includes an adjustment mechanism and a stabilizing mechanism; The adjustment mechanism includes a mounting bracket (10), a drive rod (11), and a support rod (12). The mounting bracket (10) is fixedly mounted on the connecting bracket (4), the drive rod (11) is rotatably mounted on the mounting bracket (10), and the support rod (12) is threaded onto the drive rod (11). The stabilizing mechanism includes a pressure rod (13), a roller (14), a curved block (15), a base plate (16), a rotating rod (17), and a support plate (18). The pressure rod (13) is slidably mounted on the inner wall of the placement frame (5). The roller (14) is rotatably mounted on the pressure rod (13). The curved block (15) is rotatably mounted on the support rod (12). The base plate (16) is fixedly mounted on the bottom of the curved block (15). The rotating rod (17) is rotatably mounted on the base plate (16). The support plate (18) is slidably mounted on the rotating rod (17).

2. The intelligent suspended conveyor system based on single-chip microcomputer control according to claim 1, characterized in that: A speed sensor is provided on the shaft of the traction wheel (2), and the speed sensor is electrically connected to the microcontroller main control chip. A reciprocating spiral groove is provided on the circumferential surface of the drive rod (11), and a matching groove is provided on the contact surface between the support rod (12) and the drive rod (11). The speed sensor is electrically connected to the microcontroller main control chip, and the microcontroller main control chip processes the speed sensor signal as follows: Multi-channel digital signals are obtained by combining the raw signals from the speed sensor and the parameters of the ADC module of the microcontroller main control chip; Monitor multi-channel digital signals, statistically determine the dynamic range of the effective digital signals, adaptively adjust the gain coefficient based on the dynamic range, and use the gain coefficient to amplify and normalize the multi-channel digital signals to obtain normalized digital signals. The normalized digital signal is filtered in both time and space dimensions to obtain the filtered digital signal and the filtering coefficient matrix. The gate width is dynamically adjusted based on the filtering coefficient matrix, and the pulse dataset is determined based on the adjusted gate width and the filtered digital signal. The initial velocity is calculated based on the pulse dataset, and the final velocity is obtained by correcting the initial velocity.

3. The intelligent suspended conveyor system based on single-chip microcomputer control according to claim 2, characterized in that: A return spring is provided between the pressure rod (13) and the placement frame (5), the roller (14) contacts the curved block (15), a torsion spring is provided between the rotating rod (17) and the base plate (16), and a first spring (19) is provided between the support plate (18) and the rotating rod (17).

4. The intelligent suspended conveyor system based on single-chip microcomputer control according to claim 3, characterized in that: The adjustment mechanism also includes a drive disc (110) and a first belt (111). The drive disc (110) is rotatably mounted on the connecting frame (4), and the drive rod (11) and the drive disc (110) are connected by the first belt (111).

5. The intelligent suspended conveyor system based on single-chip microcomputer control according to claim 1, characterized in that: The suspended conveying system also includes an adapter installed on the connecting frame (4) for adapting the position of the placement rack (5) when different sized objects are placed. The adapter includes a drive button (20) and a hollow frame (21). The drive button (20) is fixedly installed on the bottom of the drive disk (110), and the hollow frame (21) is fixedly installed on the connecting frame (4).

6. The intelligent suspended conveyor system based on single-chip microcomputer control according to claim 5, characterized in that: The adapter also includes a pawl (22), a lever (23), and a ratchet (24). The pawl (22) is slidably mounted on the hollow frame (21). A return spring is provided between the pawl (22) and the hollow frame (21). The lever (23) is fixedly mounted on the pawl (22). The ratchet (24) is fixedly mounted on the drive disc (110). The ratchet (24) is in contact with the pawl (22).

7. The intelligent suspended conveyor system based on single-chip microcomputer control according to claim 6, characterized in that: The adapter also includes a reciprocating lead screw (25), a sliding button (26), a second belt (27), and an L-shaped rod (28). The reciprocating lead screw (25) is rotatably mounted on the connecting frame (4). The sliding button (26) is threaded onto the reciprocating lead screw (25). A placement frame (5) is provided on the sliding button (26). The drive button (20) is connected to the reciprocating lead screw (25) via the second belt (27). The L-shaped rod (28) is fixedly mounted on the sliding button (26).

8. The intelligent suspended conveyor system based on single-chip microcomputer control according to claim 1, characterized in that, The suspended conveying system also includes a protective device installed on the placement frame (5) for providing lateral protection for materials at a specific height, including a sleeve frame (30) and a U-shaped block (31), wherein the sleeve frame (30) is sleeved on the reciprocating lead screw (25) and the U-shaped block (31) is fixedly installed on the sleeve frame (30).

9. The intelligent suspended conveyor system based on single-chip microcomputer control according to claim 8, characterized in that: The protective device also includes a contact block (32), a drive block (33), a slide rod (34), a baffle (35), a second spring (36), and a groove (37). The contact block (32) is slidably mounted on the U-shaped block (31), the drive block (33) is fixedly mounted on the contact block (32), the slide rod (34) is slidably mounted on the placement frame (5), a return spring is provided between the contact block (32) and the U-shaped block (31), the surface of the contact block (32) near the placement frame (5) is set as an inclined surface, the top of the drive block (33) is set as an inclined surface, the baffle (35) is fixedly mounted on the slide rod (34), the second spring (36) is set between the baffle (35) and the placement frame (5), and the groove (37) is opened on the baffle (35).

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