A method for preventing diagonal tension and top-pushing angle control protection

Abstract

The present application relates to a kind of angle control protection methods of preventing oblique pull and top, including walking drive motor I, walking drive motor II, walking positioning code reader, moving logistics vehicle power supply, lifting drive motor, lifting positioning encoder, weight detection sensor, lifting steel wire rope, moving logistics vehicle electric control box, walking wheel I, walking wheel II, lifting movable pulley, lifting hook head, closed roof part, connecting rod between double vehicles, article hanger, walking drive motor I and walking drive motor II are respectively used to drive the walking of first moving logistics vehicle and second moving logistics vehicle;The moving logistics vehicle electric control box according to the data read by the lifting positioning encoder real-time calculation and judging the distance between the highest point of the article hanger and the closed roof part, effectively control the height position of the highest point of hanger two ends and the rising operation action of AB two vehicles, prevent the highest point from touching closed roof part, provide technical support and strong guarantee for safety production.

Description

Technical Field

[0001] This invention relates to an angle control and protection method for preventing oblique pulling and overshooting, belonging to the field of control technology for the safe operation of moving logistics vehicles in confined spaces. Background Technology

[0002] Mobile logistics vehicles are widely used in automated logistics and transfer in industries such as pickling and galvanizing, pickling and phosphating, and pickling and passivation, as well as in heavy steel industry and intelligent manufacturing. In large warehouses and factories, mobile logistics vehicles are mainly used for stacking, sorting, and transferring goods, accurately moving goods to designated shelves and achieving intelligent management of the entire process. In industrial production and manufacturing, they can dynamically optimize routes according to production progress to complete the transportation of raw materials, transfer of semi-finished products, and warehousing of finished products. In heavy steel industry, PLC-controlled dual closed-loop mobile logistics vehicle systems are often used in scenarios such as steel coil warehouses and scrap steel warehouses.

[0003] However, in special working conditions involving the transfer of large items, such as pickling, galvanizing, phosphating, and passivation, mobile logistics vehicles often need to operate in pairs. The two vehicles are connected by a connecting rod of constant length, with a hook at the bottom of the connecting rod lifting a hanging device, which carries the production items. During cargo transfer, the production items need to undergo lifting, lowering, and angle adjustment processes at different workstations. Existing control systems primarily rely on encoder values ​​from both vehicles to read the height difference of the hooks and perform simple calculations of height difference and curvature to control the height of the highest points at both ends of the hanging device. When both vehicles are operating at an angle, the hanging device and the items will tilt. Relying solely on encoder differences for linear height comparison makes it difficult to accurately reflect the true spatial height of the highest point of the hanging device (especially the top of the lifting ring). This makes it highly susceptible to the safety hazard of the top of the hanging device accidentally touching the ceiling of the enclosed room during the angled pulling action. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a method for angle control and protection based on anti-oblique pull and top impact, which effectively controls the height position of the highest points at both ends of the hanging device under the moving logistics vehicle and the safe upward movement of vehicles A and B, preventing the highest point from touching the top of the enclosed room and keeping the hanging ring and the highest end of the hanging device within a safe and permissible set value range.

[0005] To achieve the above objectives, the present invention provides a motion logistics vehicle based on an angle control protection method for preventing oblique pulling and overshooting, comprising a travel drive motor I, a travel drive motor II, a travel positioning code reader, a motion logistics vehicle power take-off device, a lifting drive motor, a lifting positioning encoder, a weight detection sensor, a lifting steel wire rope, a motion logistics vehicle electrical control box, travel wheel I, travel wheel II, a lifting pulley, a lifting hook, a closed roof, a connecting rod between the two vehicles, and a hanging device for items. Travel drive motor I and travel drive motor II are respectively used to drive the first and second motion logistics vehicles. The walking wheel II is installed correspondingly and is connected to the walking drive motor I and walking drive motor II respectively; the walking positioning code reader and the moving logistics vehicle power take-off are installed on the moving logistics vehicle body; the lifting drive motor, lifting positioning encoder, lifting wire rope and lifting pulley constitute the lifting transmission assembly, and the lifting wire rope passes around the lifting pulley and connects to the lifting hook; the weight detection sensor is set at the lifting wire rope or the lifting hook to detect the load weight; the moving logistics vehicle electrical control box is installed on the moving logistics vehicle housing to receive signals and output control commands. The enclosed room roof serves as a safety boundary to prevent the moving logistics vehicles from overshooting during lifting and lowering. A connecting rod connects the first and second moving logistics vehicles. A hanging item hanger is suspended below the lifting hook for carrying and transferring items. The signal outputs of the walking positioning code reader, lifting positioning encoder, and weight detection sensor are electrically connected to the signal input of the moving logistics vehicle's electrical control box. The control output of the electrical control box is electrically connected to the control terminals of the walking drive motor I, walking drive motor II, and lifting drive motor to control the walking and lifting actions of the two vehicles. The connecting rod between the two vehicles is a rigid connector with a constant length. The lifting hook is fixedly installed at the lower part of the connecting rod. The lower end of the lifting hook hooks and hangs the lifting ring on the top of the hanging item hanger. The lifting hook and hanging item hanger move up and down below the roof of the enclosed room. The electrical control box of the moving logistics vehicle calculates and determines the distance between the highest point of the hanging item hanger and the roof of the enclosed room in real time based on the data read by the lifting positioning encoder. When the distance is less than a set safety value, the lifting drive motor is restricted from rising.

[0006] Based on the above structure, the design theory and method of this invention are as follows: Based on the design parameters, the length of the connecting rod L0 and the distance from the hook and ring to the side Lb were measured and found through the design drawings. The current position of hook A is read by the absolute encoder of the drum of vehicle A, and the current length H1 of the wire rope of vehicle A is calculated. The current position of hook B is read by the absolute encoder of B car drum, and the current length H2 of wire rope of B car is calculated. The height difference between hook A and hook B is calculated using the difference between H1 and H2 as |H1-H2|, and the absolute value is taken for calculation. The angle β0 between the top of the hook and loop of the hanging fixture and the bottom edge (angle) is measured by the design drawings, and the radian value β is calculated. The set safe height is H; The values ​​of H1 and H2 are defined based on the length of the wire rope (the longer the wire rope, the larger the value), and the angle control protection for anti-oblique pull and top impact is determined according to three working conditions: In the first working condition, γ≤β, when the hooks of cars A and B are raised and lowered at the same speed in parallel, the overshoot protection point is the top of the lifting ring: I. The protection condition for the free lifting and lowering of the hook at end A is: H1 ≥ H; when H1 < H, the lifting of the hook at end A is restricted. II. The protection condition for the free lifting and lowering of the hook at end B is: H2 ≥ H; when H2 < H, the lifting of the hook at end B is restricted. In the second operating condition, γ > β and the hook attachment at end A is low / the hook attachment at end B is high (both vehicles are in oblique pulling state). When end B is rising, there is a risk that the apex of the hook attachment at end B will touch the top. It is necessary to calculate the oblique pulling angle. The calculation method is as follows:

[0007] In the third operating condition, γ > β and the hook attachment at end B is low while the hook attachment at end A is high (both vehicles are operating in a diagonal pulling state). When end A is rising, there is a risk that the apex of the hook attachment at end A will touch the top. Therefore, it is necessary to calculate the diagonal pulling angle. The calculation method is as follows:

[0008] The above is the complete set of design theory methods.

[0009] Based on the length of the wire rope and the angle of the inclined rope, this invention innovatively subdivides the operating conditions into three situations: "constant speed parallel lifting", "A low B high inclined rope", and "A high B low inclined rope". Different protection logics are adopted for different states, realizing all-round and blind-angle anti-overhead control. By introducing a precise angle calculation model (calculating the inclined rope angle γ, the hook angle β and the compensation angle difference α), combined with the hook distance from the side length Lb, the actual lifting compensation amount ΔH of the highest point of the hook under the inclined rope state is accurately calculated. This method overcomes the shortcomings of traditional methods that rely solely on height differences for judgment, achieving precise positioning and protection of the top of the hanger. In the inclined pulling state, the calculated compensation amount ΔH is compared in real time with the current hook height and safety amount H to make accurate decisions on the upward limit. This ensures that the top of the hanger is always within the safe and permissible set value range of the enclosed room top, effectively preventing equipment damage and accidents. It also avoids frequent shutdowns caused by over-protection, significantly improving the safety factor and effective operating rate of the moving logistics vehicle. This method requires no additional complex sensors; control can be achieved using only existing lifting and positioning encoders, resulting in low hardware modification costs. It is particularly suitable for complex automated operating environments with limited space and frequent inclined pulling operations, such as pickling, galvanizing, and heavy steel industries, directly promoting safe production and cost reduction for enterprises. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of two cars, AB, in a horizontal position without any angled pull. Figure 3 This is a schematic diagram showing that the A-end vehicle has a lower mounting bracket and the B-end vehicle has a higher mounting bracket when the two vehicles are in a diagonal tension state. Figure 4 This is a schematic diagram showing that the A-end vehicle has a higher mounting bracket and the B-end vehicle has a lower mounting bracket when the two vehicles are in a diagonal tension state. In the diagram: 1. Walking drive motor I, 2. Walking drive motor II, 3. Walking positioning code reader, 4. Moving logistics vehicle power take-off device, 5. Lifting drive motor, 6. Lifting positioning encoder, 7. Weight detection sensor, 8. Lifting wire rope, 9. Moving logistics vehicle electrical control box, 10. Walking wheel I, 11. Walking wheel II, 12. Lifting pulley, 13. Lifting hook, 14. Enclosed room roof, 15. Linkage between the two vehicles, 16. Item hanging device. Detailed Implementation

[0012] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0013] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0014] The following description, in conjunction with the accompanying drawings, describes the angle control and protection method for the rail-mounted logistics vehicle based on anti-oblique pull and overshoot.

[0015] The moving logistics vehicle is driven by a walking drive motor I1 and a walking drive motor II2, which drive the first and second moving logistics vehicles respectively. Walking wheels I10 and II11 are respectively installed and connected to the walking drive motors I1 and II2. A walking positioning code reader 3 and a moving logistics vehicle power take-off device 4 are installed on the moving logistics vehicle body. A lifting drive motor 5, a lifting positioning encoder 6, a lifting wire rope 8, and a lifting pulley 12 constitute a lifting transmission assembly. The lifting wire rope 8 passes around the lifting pulley 12 and connects to the lifting hook 13. A weight detection sensor 7 is located on the lifting wire rope 8 or the lifting hook 13 to detect the load weight. The moving logistics vehicle electrical control box 9 is installed on the moving logistics vehicle housing to receive signals and output control commands. The top of the enclosed room 14 serves as a safety anti-collision protection boundary for the lifting and lowering operation of the moving logistics vehicle. A connecting rod 15 connects the first and second moving logistics vehicles. An item hanger 16 is suspended from the lifting hook 1. Below 3, for carrying and transferring goods, the signal output terminals of the walking positioning code reader 3, the lifting positioning encoder 6, and the weight detection sensor 7 are electrically connected to the signal input terminals of the moving logistics vehicle electrical control box 9, respectively. The control output terminals of the moving logistics vehicle electrical control box 9 are electrically connected to the control terminals of the walking drive motor I1, the walking drive motor II2, and the lifting drive motor 5, respectively, to control the walking and lifting actions of the two vehicles. The connecting rod 15 between the two vehicles is a rigid connecting member with a constant length. The lifting hook 13 is fixedly installed at the lower part of the connecting rod 15 between the two vehicles. The lower end of the lifting hook 13 hooks and hangs the hanging ring at the top of the item hanger 16. The lifting hook 13 and the item hanger 16 perform lifting and lowering actions below the top 14 of the enclosed room. The moving logistics vehicle electrical control box 9 calculates and judges the distance between the highest point of the item hanger 16 and the top 14 of the enclosed room in real time according to the data read by the lifting positioning encoder 6. When the distance is less than the set safety value, the lifting drive motor 5 is restricted from rising.

[0016] The design theory and method of this invention are as follows: Based on the design parameters, the known conditions of the connecting rod length L0 and the hook-ring distance from the edge Lb are found. The current position of hook A is read using the absolute encoder on drum A, and the current wire rope length H1 of drum A is calculated. The current position of hook B is read using the absolute encoder on drum B, and the current wire rope length H2 of drum B is calculated. The height difference between hook A and hook B is calculated as |H1-H2|, and the absolute value is used for calculation. The angle β0 between the hook-ring apex and the edge bottom is measured from the design drawings, and the radian value β is calculated. The set safety height is H. The values ​​of H1 and H2 are defined according to the length of the wire rope (the longer the wire rope, the larger the value). Three working conditions are used to determine the angle control protection against oblique pull and top impact: 1. In the first working condition, γ≤β, when the hooks of cars A and B are raised and lowered at the same speed in parallel, the overshoot protection point is the top of the lifting ring: I. The protection condition for the free lifting and lowering of the hook at end A is: H1≥H; when H1<H, the lifting of the hook at end A is restricted.

[0017] II. The protection condition for the free lifting and lowering of the hook at end B is: H2≥H; when H2<H, the lifting of the hook at end B is restricted.

[0018] II. In the second operating condition, γ > β and the hook attachment at end A is low / the hook attachment at end B is high (both vehicles are in oblique pulling state). When end B is rising, there is a risk that the apex of the hook attachment at end B will touch the top. It is necessary to calculate the oblique pulling angle. The calculation method is as follows:

[0019] III. In the third operating condition, γ > β and the hook attachment at end B is low / the hook attachment at end A is high (both vehicles are in oblique pulling state). When end A is rising, there is a risk that the apex of the hook attachment at end A will touch the top. It is necessary to calculate the oblique pulling angle. The calculation method is as follows:

[0020] This method can be widely applied in automated logistics transportation in industries such as pickling and galvanizing, pickling and phosphating, and pickling and passivation, as well as in heavy steel industry and intelligent manufacturing. In large warehouses and factories in the logistics industry, mobile logistics vehicles are used for stacking, sorting, and transferring goods. Through an automated control system, these vehicles can accurately move goods from the receiving area to designated shelves and quickly retrieve them upon outbound, achieving intelligent management throughout the entire process. In the industrial manufacturing sector, mobile logistics vehicles can dynamically optimize routes based on real-time production progress and order demands in production lines and large warehouses, completing raw material transportation, semi-finished product transfer, finished product warehousing, and automatic sorting, significantly improving handling efficiency and reducing labor costs. In high-end manufacturing sectors such as automobiles and semiconductors in the field of intelligent manufacturing, intelligent mobile logistics vehicles achieve precise material distribution between production lines. In the heavy steel industry, such as steel mills and metallurgical plants, PLC-controlled dual-closed-loop mobile logistics vehicle systems can operate fully automatically in environments such as steel coil warehouses and scrap steel warehouses, effectively avoiding the safety risks of manual operation.

[0021] In special applications involving the transfer of large items, such as pickling and galvanizing, pickling and phosphating, and pickling and passivation, the production line control system, based on mobile logistics vehicle control technology, actively achieves real-time interaction between production and logistics information. It connects information flow across multiple stages, including feeding, loading, production, unloading, storage, and shipping, comprehensively optimizing the logistics process and significantly improving the safety and operational efficiency of the mobile logistics vehicles. The mobile logistics vehicles operate in pairs, connected by a constant-length linkage. A hook at the bottom of the linkage hooks onto a hanging device, which carries the produced items. These items undergo different processing steps at different workstations, including lifting, lowering, and angle adjustment. When items are lifted, lowered, or pulled at different workstations, the data difference between the two hooks needs to be read based on the encoder values ​​between the two vehicles. Calculations of height difference, curvature, and oblique pull deviation are then performed to effectively control the height of the highest point at both ends of the hanger and the upward movement of the two vehicles (A and B). This prevents the highest point from touching the top of the enclosed room and keeps the hanger's lifting ring and the highest point within the safe and permissible set range, providing strong support for safe production and improved efficiency for the enterprise.

[0022] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] In the description of this specification, the use of terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refers to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0025] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity. Any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. An angle control and protection method for preventing oblique pulling and top impact, including a walking drive motor I (1), a walking drive motor II (2), a walking positioning code reader (3), a moving logistics vehicle power take-off device (4), a lifting drive motor (5), a lifting positioning encoder (6), a weight detection sensor (7), a lifting steel wire rope (8), a moving logistics vehicle electrical control box (9), a walking wheel I (10), a walking wheel II (11), a lifting pulley (12), a lifting hook (13), a closed room top (14), a connecting rod between the two vehicles (15), and an item hanging device (16), characterized in that, The walking drive motor I (1) and walking drive motor II (2) are used to drive the first moving logistics vehicle and the second moving logistics vehicle to move, respectively; the walking wheel I (10) and walking wheel II (11) are respectively installed and connected to the walking drive motor I (1) and walking drive motor II (2) for transmission; the walking positioning code reader (3) and the moving logistics vehicle power take-off device (4) are installed on the moving logistics vehicle body; the lifting drive motor (5), the lifting positioning encoder (6), the lifting wire rope (8) and the lifting pulley (12) constitute the lifting transmission assembly, and the lifting wire rope (8) passes around the lifting pulley (12) and is connected to the lifting hook (13); the weight detection sensor (7) is set at the lifting wire rope (8) or the lifting hook (13); the moving logistics vehicle electrical control box (9) is installed on the moving logistics vehicle housing, and the connecting rod (15) between the two vehicles is connected to the first moving logistics vehicle. Between the logistics vehicle and the second moving logistics vehicle; the item hanger (16) is suspended below the lifting hook (13), the signal output terminals of the walking positioning code reader (3), the lifting positioning encoder (6) and the weight detection sensor (7) are respectively electrically connected to the signal input terminal of the moving logistics vehicle electrical control box (9), the control output terminal of the moving logistics vehicle electrical control box (9) is respectively electrically connected to the control terminal of the walking drive motor I (1), the walking drive motor II (2) and the lifting drive motor (5), the connecting rod (15) between the two vehicles is a rigid connecting piece with a constant length, the lifting hook (13) is fixedly installed at the lower part of the connecting rod (15) between the two vehicles, the lower end of the lifting hook (13) hooks and hangs the hanging ring at the top of the item hanger (16), the lifting hook (13) and the item hanger (16) are below the top (14) of the enclosed room.

2. The design theory and method of the angle control protection method for preventing oblique pull and jacking as described in claim 1 are as follows: 2.1 Based on the design parameters, the length L0 of the connecting rod is determined by measuring the design drawings; 2.2 The current position of hook A is read by the absolute encoder of the drum of vehicle A, and the current length H1 of the wire rope of vehicle A is calculated. 2.3 The current position of hook B is read by the absolute encoder of B car drum, and the current length H2 of wire rope of B car is calculated; 2.4 Calculate the height difference between hook A and hook B using the difference between H1 and H2 as |H1-H2|, and take the absolute value. 2.5 Measure the angle β0 between the top of the hook and loop of the hanging fixture and the bottom edge (angle) using the design drawings, and calculate the radian value β; 2.6 Based on the design parameters, the distance Lb between the hook and the edge is measured from the design drawings; 2.7 The set safe height is H; 2.8 Define the values ​​of H1 and H2 according to the length of the wire rope (the longer the wire rope, the larger the value), and determine the angle control protection against oblique pull and top impact under three working conditions: 2.8.1 In the first working condition, γ≤β, when the hooks of cars A and B are raised and lowered at the same speed in parallel, the overshoot protection point is the top of the lifting ring: I. The protection condition for the free lifting and lowering of the hook at end A is: H1 ≥ H; when H1 < H, the lifting of the hook at end A is restricted. II. The protection condition for the free lifting and lowering of the hook at end B is: H2 ≥ H; when H2 < H, the lifting of the hook at end B is restricted. 2.8.2 In the second working condition, γ > β and the hook attachment at end A is low / end hook attachment at end B is high (both vehicles are in oblique pulling state). When end B is rising, there is a risk that the apex of the hook attachment at end B will touch the top. It is necessary to calculate the oblique pulling angle. The calculation method is as follows: ； ； ； ； ; Substitute calculate: when At this time, the hook at end B can be raised and lowered freely; when At the same time, restrict the upward movement of the hook at end B to prevent the apex of the hanger from touching the top. 2.8.3 In the third working condition, γ > β and the hook attachment at end B is low / the hook attachment at end A is high (both vehicles are in oblique pulling state). When end A is rising, there is a risk that the apex of the hook attachment at end A will touch the top. It is necessary to calculate the oblique pulling angle. The calculation method is as follows: ； ； ； ； ; Substitute calculate: when At this time, the hook at end A can be raised and lowered freely; when At this time, the upward movement of the hook at end A is restricted to prevent the apex of the hanger from touching the top. The above is the complete set of design theory methods.

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