Hoist synchronization linkage control method

Abstract

The lifting machine synchronous linkage control method belongs to the lifting machine technical field of motor vehicles, and particularly relates to a lifting machine synchronous linkage control method. The lifting machine synchronous linkage control method has better use effect. The lifting machine synchronous linkage control method comprises the following steps: stage one: system self-organization and topology learning; after power-on, a master control terminal establishes a network, and each intelligent control node joins and reports a physical position code thereof. The master control terminal configures a "physical neighbor" list for each node according to the position code, and issues the "physical neighbor" list. Each node establishes a stable direct communication link with the neighbor according to the "physical neighbor" list, and forms a cooperative control layer with the physical topology superimposed on the wireless network. Stage two: multi-mode adaptive cooperative control process three working modes which can be seamlessly switched according to the system state.

Description

Technical Field

[0001] This invention belongs to the field of motor vehicle lift technology, and particularly relates to a synchronous linkage control method for a lift. Background Technology

[0002] With the booming development of the domestic and international economies, the land transportation industry has also developed rapidly. The number of large and heavy-duty transport vehicles (various trucks, buses, multi-axle semi-trailers, etc.) is constantly increasing, leading to a corresponding increase in maintenance and repair needs. Consequently, the demand for heavy-duty truck lifts is also growing. Within the entire heavy-duty truck lift sector, heavy-duty mobile pole lifts (these lifts are mostly used in pairs, often in combinations of 4, 6, 8, etc., even numbers) are highly favored in the automotive repair market due to their advantages such as small footprint, strong lifting capacity, flexible mobility, high efficiency, ease of use, and lack of site restrictions. Their demand is continuously increasing.

[0003] Heavy-duty pole lifts are broadly classified into two categories based on their structure: screw-type and hydraulic-type. Hydraulic-type lifts, especially large-tonnage lifts, are relatively easier to manufacture and operate, giving them a significant advantage over screw-type lifts. Therefore, hydraulic-type lifts have a larger market share and their demand is increasing year by year. This situation places increasingly higher demands on the safety, reliability, and ease of use of these lifts, requiring continuous product upgrades and updates. To design a more effective heavy-duty mobile pole lift, a more efficient synchronous control method must be designed to complement it.

[0004] Multi-post lift linkage is a key piece of equipment for the maintenance of large vehicles. Traditional wired linkage methods suffer from drawbacks such as complex wiring, difficulty in relocation, and susceptibility to physical damage. While existing wireless solutions have achieved wireless connectivity, they mostly employ a simple master-slave broadcast command mode, which has the following bottlenecks:

[0005] 1. Synchronization accuracy is strongly coupled with the network: Control accuracy is heavily dependent on the real-time performance and stability of the wireless network. In complex industrial electromagnetic environments, occasional packet loss or delays in the Zigbee network can directly lead to asynchronous actions of the lifting machine, posing a safety hazard.

[0006] 2. Rigid architecture and poor fault tolerance: It adopts a single centralized control architecture. Once the main controller fails or the network is partially interrupted, the entire system may go out of control, lacking the ability to degrade and autonomously preserve itself.

[0007] 3. Low coordination efficiency: The controllers are merely instruction executors, with no information exchange between them. They cannot form a local coordination effect to quickly suppress disturbances and rely entirely on the correction of the central node, resulting in slow response and heavy communication burden.

[0008] Therefore, an advanced control scheme is needed that can achieve high reliability, high precision, and adaptive cooperative lifting in non-ideal wireless environments. Summary of the Invention

[0009] This invention addresses the aforementioned problems by providing a more effective synchronous linkage control method for lifting machines.

[0010] To achieve the above objectives, the present invention adopts the following technical solution: the synchronous linkage control method for the lifting machine of the present invention includes the following steps:

[0011] Phase 1: System Self-Organization and Topology Learning

[0012] After power-on, the main control terminal establishes a network, and each intelligent control node joins and reports its physical location code.

[0013] The master control terminal configures and distributes a "physical neighbor" list for each node based on its location code. Each node then establishes a stable direct communication link with its neighbors, forming a collaborative control layer that overlays the physical topology onto the wireless network.

[0014] Phase Two: Multimodal Adaptive Cooperative Control Process

[0015] Three working modes that can be seamlessly switched according to system status:

[0016] Mode A (Strong Collaborative Optimization Mode): Enabled when network quality is excellent; this is the default high-performance mode.

[0017] a. The main control terminal receives the target command (such as "overall lifting"), generates a smooth global desired displacement-time curve S(t) through the speed planner, and broadcasts it.

[0018] b. Each intelligent control node executes synchronously within each control cycle (e.g., 10ms):

[0019] i. Collect local height Hi and speed Vi.

[0020] ii. Neighbor awareness: Directly exchange {H, V} data with all neighbor nodes in the list and update the local neighbor status table.

[0021] iii. Distributed collaborative computing: The following consistency-feedforward composite control law is used to calculate the speed adjustment ΔVi:

[0022] ΔVi=Kp_g(S(t)-Hi) / / Global target tracking term

[0023] +Kp_lΣ(Hj-Hi) / / Locally highly consistent coordination term

[0024] +Kd_lΣ(Vj-Vi) / / Local velocity consistency coordination term

[0025] +FeedForward(S'(t)) / / Global feedforward term

[0026] Where j is the neighbor node index. The local consistency term enables nodes to proactively align with surrounding nodes, forming a fast self-synchronization.

[0027] c. The global adaptive optimizer of the master terminal monitors the overall synchronization error and fine-tunes the gain parameters Kp_g, Kp_l, and Kd_l broadcast to each node online based on fuzzy rules to adapt to different loads.

[0028] Mode B (Weak Cooperative Fault Tolerance Mode): Triggered when the master terminal detects that the communication quality of a certain node is continuously deteriorating (e.g., packet loss rate > 15%), but the main network is intact.

[0029] a. The master terminal marks the node as a "weak cooperative node" and notifies its neighbors.

[0030] b. For this node, the master control terminal switches to directly sending high-frequency desired position settings for strong control.

[0031] c. During collaborative computation, neighboring nodes temporarily ignore the status information from this "weakly cooperating node" to avoid being interfered with by its erroneous data. This mode achieves isolation and degradation processing of faulty nodes, ensuring the continued safe operation of the main system.

[0032] Mode C (Autonomous Preservation Mode): When the master terminal fails completely or the network is interrupted on a large scale and the nodes cannot receive master control commands, each node will trigger autonomously.

[0033] a. Based on the last valid global objective S(t) and the current neighbor state, the node continues to run for a short period of time (e.g., 2 seconds) relying only on the local consistency coordination term to complete the smooth convergence of the current trend.

[0034] b. Subsequently, each node controls the lift to a smooth stop and locks it, while simultaneously triggering a local audible and visual alarm. This mode ensures safety in the event of a failure under worst-case scenario.

[0035] Phase Three: Safety Closed Loop and Learning

[0036] Throughout the process, the safety monitoring loop, independent of the control algorithm, works continuously to monitor extreme asynchrony, overload, and drop prevention signals. It has the highest interrupt priority and can trigger a hard emergency stop.

[0037] After the task is completed, the system records the performance data of each node to update its reliability weight and optimize the weight of the neighbor list and the mode switching threshold in the future.

[0038] As a preferred embodiment, the present invention uses a master control terminal as the coordinator of the Zigbee network and the core of the system's human-machine interaction to perform multimodal adaptive collaborative control.

[0039] Each node is fixedly installed on a lift and serves as a router for the Zigbee network;

[0040] Each node contains:

[0041] Local closed-loop control unit: drives the motor and collects high-precision position and current signals.

[0042] Neighbor Awareness and Communication Unit: Maintains a "neighbor status table" for direct and rapid exchange of core status information with physically adjacent lift nodes.

[0043] Distributed collaborative algorithm module: Calculates control output based on local state, neighbor state table and master control instructions.

[0044] A multi-hop mesh-type Zigbee wireless network: connects various devices and supports direct communication between nodes.

[0045] As another preferred embodiment, the present invention

[0046] 1. Control cycle: Each control cycle T is 10ms.

[0047] 2. Synchronization error threshold: The maximum allowable static synchronization error is ±3mm.

[0048] 3. PID coefficient tuning principles: Kp_g (global tracking coefficient) ranges from 0.1 to 0.5, Kp_l (local position coordination coefficient) ranges from 0.05 to 0.2, and Kd_l (local velocity coordination coefficient) ranges from 0.01 to 0.1.

[0049] 4. Fuzzy optimizer control rules (example):

[0050] To demonstrate the adaptive adjustment logic of fuzzy optimized PID and verify the feasibility of the algorithm, typical fuzzy control rule examples are given, with the equipment height difference and speed difference as fuzzy inputs and the global proportional coefficient Kp_g increment as the output. The specific fuzzy rules are shown in the table.

[0051] Zhengda Negative Just small

[0052] The present invention will be further described below with reference to an embodiment of four lifting machines operating in tandem and the accompanying drawings.

[0053] like Figure 1As shown, the main control terminal is located on the workshop wall, and the intelligent control nodes (NodeA, B, C, D) of the four lifts form a mesh network. According to the layout, NodeA's neighbors are configured as {B, D}.

[0054] like Figure 2 As shown, each intelligent control node is based on a microprocessor and integrates a Zigbee module, encoder interface, hydraulic motor drive circuit and local safety circuit.

[0055] When the system is running, the overall process is as follows: Figure 3 As shown. It typically operates in mode A: the master controller issues S(t), and each node executes it every 10ms. Figure 4 Process: Read data from its own sensors, quickly exchange data with neighbors (such as Node A, B, and D), and calculate the output using a composite control law. The master controller evaluates every 500ms. If it finds that Node C communication is unstable, the system seamlessly switches to mode B and directly controls Node C. If the master controller loses power, all nodes automatically enter mode C and smoothly stop using the last command and neighbor information.

[0056] Mode switching logic as follows Figure 5 As shown, it is triggered by conditions such as network status and node health.

[0057] This invention is not limited to four lifts; its control method is applicable to linkage systems with two or more lifts. The precise form of the local consistency coordination term and the threshold parameters for multimodal switching can be adjusted according to actual conditions, and these variations all fall within the scope of protection of the claims of this invention.

[0058] Secondly, the main control terminal of this invention includes a power management circuit, a main control circuit, an analog-to-digital converter circuit, a communication interface circuit, an isolated input circuit, an isolated output circuit, an LED indicator circuit, and a buzzer circuit. The power output port of the power management circuit is connected to the power ports of the main control circuit, the analog-to-digital converter circuit, the communication interface circuit, the isolated input / output circuit, and the buzzer circuit, respectively. The signal output port of the analog-to-digital converter circuit is connected to the signal input port of the main control circuit. The input port of the isolated input circuit receives external switch signals through the LED indicator circuit. The output port of the isolated input circuit is connected to the control signal input port of the main control circuit. The control signal output port of the main control circuit is connected to the control signal input port of the isolated output circuit and the control signal input port of the buzzer circuit, respectively.

[0059] Additionally, the isolated input circuit includes:

[0060] Multiple LTV356 optocouplers (U3, U8, U9, U10, U15, U18, etc.) have their input sides connected to external signal components (such as emergency stop, rise, fall, locking teeth, etc.), and their output sides connected to the I / O ports of U25 (such as K_UP, K_DOWN, K_LOCK, K_STOP, etc.) to achieve signal isolation. The external signal components include a button J4, a grounding switch J7, a slow-descent switch J9, and a proximity switch J10 that detects the open and closed states of the lock welding 48 (i.e.,...). Figure 7 The circuit includes a proximity switch (46), a spare switch (J11), a physical switch corresponding to the touch screen (J12), a single-column, double-column, or multi-column working mode switching switch (J16), a buzzer (J2), and a motor contactor contact detection switch (J13) for detecting whether the contactor contacts are stuck together.

[0061] The beneficial effects of this invention.

[0062] This invention relates to the field of industrial wireless control and mechatronics, specifically to a control system and method for intelligent, synchronous, and safe linkage of multiple (two or more) pole lifts in an automotive repair shop via a Zigbee wireless network.

[0063] This invention provides a multimodal adaptive fault-tolerant cooperative lifting control system and method based on Zigbee wireless communication. Its aim is to significantly reduce the system's absolute dependence on network quality and central nodes, and improve synchronization accuracy, system resilience, and intelligence level through an innovative control architecture combining "neighbor-aware distributed cooperation" and "core-supervised multimodal switching."

[0064] Compared with the prior art, the present invention has the following outstanding advantages:

[0065] 1. High synchronization accuracy and strong anti-interference: The innovative local consistency coordination term enables adjacent lifting mechanisms to form a dynamically balanced "cooperative body", which can quickly and spontaneously suppress local disturbances, greatly reducing the sensitivity to the real-time performance of the master control command, and can still maintain excellent synchronization under wireless interference.

[0066] 2. Excellent system resilience: The proposed multimodal adaptive switching mechanism enables the system to gracefully degrade from partial failures (nodes or networks) rather than complete collapse. In mode C, it can even achieve decentralized autonomous safe shutdown, which greatly improves the availability and security of the system.

[0067] 3. High-efficiency communication and low latency impact: Core collaborative computing relies on low-latency local neighbor communication, which reduces bandwidth consumption and latency dependence on the main control channel, resulting in a faster overall system response.

[0068] 4. Possesses online adaptive capability: The global optimizer can adjust control parameters according to actual operating conditions, enabling the system to automatically maintain near-optimal synchronization performance under different loads and speeds.

[0069] 5. Flexible deployment and high level of intelligence: It has been upgraded from a simple instruction execution to an intelligent agent with perception, communication and decision-making capabilities. The system has the characteristics of self-organization, self-adaptation and self-fault tolerance. Attached Figure Description

[0070] Figure 1 This is a schematic diagram of the physical and network topology of the system of the present invention. Figure 2 This is a functional block diagram of the intelligent control node of the present invention. Figure 3 This is the overall flowchart of the multimodal adaptive control method of the present invention. Figure 4 This is the algorithm execution flowchart for a single control cycle under Mode A (Strong Cooperative Optimization Mode). Figure 5 This is a logic state diagram for adaptive switching between three working modes. Figure 6 This is a diagram of the overall appearance of the lift. Figure 7 This is a diagram showing the assembly components of the entire lifting machine. Figure 8 This is a diagram illustrating the components of the lift's column assembly. Figure 9 This is a diagram illustrating the structural composition of the lifting machine's column welding assembly. Figure 10 This is a diagram showing the assembly components of this lift trailer. Figure 11 This is a diagram illustrating the structural composition of the welding components of this lift trailer. Figure 12 , 13 This is a diagram illustrating the structural composition of the welding components for the left and right support feet of this lift. Figure 14 This is a diagram showing the assembly of the electromagnet and support bracket of this lifting machine. Figure 14 The structure can be found in "A Novel Mechanical Safety Lock Mechanism (Patent No.: ZL202320040951.6)". Figure 15 , 16 This is a diagram illustrating the components and structure of the automatic alignment technology for this lift trailer. Figure 17 This is the schematic diagram of the hydraulic system of the lift. Figure 18 This is a diagram showing the connection structure between the pull rope and related components. Figure 19 for Figure 7 The structural diagram after combining views B. Figure 20 This is a structural diagram of the components related to the limit switch. Figure 21 This is a structural diagram of the pin-related components. Figure 22 for Figure 7 Enlarged view of parts A, B, C, and D. Figure 23 This is a schematic diagram of a power management circuit. Figure 24 This is a schematic diagram of the communication interface circuit and the buzzer circuit. Figure 25 This is a schematic diagram of the isolation input circuit and LED indicator circuit. Figure 26 This is the schematic diagram of the main control circuit and the communication interface circuit. Figure 27 This is a schematic diagram of the isolation output circuit and the analog-to-digital conversion circuit. Figure 28 This is a schematic diagram showing the location of limit switch 70. Detailed Implementation

[0071] The synchronous linkage control method for lifting machines of the present invention can be applied to heavy-duty mobile column lifting machines. The heavy-duty mobile column lifting machine includes a column assembly 9, a column assembly 9 includes a column assembly 3-4, a trolley assembly 11 that can move up and down along the column assembly 3-4 is provided on the column assembly 3-4, and an electromagnet and bracket assembly 42 are fixed to the column assembly 3-4 of the column assembly 9 by fasteners.

[0072] The column assembly 3-4 includes a left half-column 4-2 and a right half-column 4-3 arranged opposite to each other. The two side wheels 5-12 of the trolley assembly 11 are respectively placed inside the left half-column 4-2 and the right half-column 4-3. The lower ends of the left half-column 4-2 and the right half-column 4-3 are connected by a base plate 4-19. The upper parts of the left half-column 4-2 and the right half-column 4-3 are connected by a locking frame weld 4-6 and a support plate 4-7. The middle parts of the left half-column 4-2 and the right half-column 4-3 are connected by a middle connecting plate 4-9. The lower parts of the left half-column 4-2 and the right half-column 4-3 are connected by a lower connecting plate 4-13. The support plate 4-7 is used to connect the left and right half-columns, enhancing the overall rigidity, and also supports the locking frame weld 4-6, improving the rigidity of the locking frame.

[0073] The base plate 4-19, the locking frame welding 4-6, the support plate 4-7, the middle connecting plate 4-9, and the lower connecting plate 4-13 are respectively welded to the left half column 4-2 and the right half column 4-3.

[0074] The left half-column 4-2 and the right half-column 4-3 are welded together with the left crossbeam groove 4-16, the pin fixing plate 4-17, the pad plate 4-18, the baffle 4-20, the base fixing ring 4-21, the reinforcing plate 4-22, the crossbeam bottom cover plate 4-23, the right crossbeam groove 4-24, the support arm bottom plate 4-25, the crossbeam blocking plate 4-26, the support arm 4-27, and the support arm blocking plate 4-28 to form a whole.

[0075] The pad 4-18 is connected to the support plate 3-23 by screws 3-21 through the threaded hole on it, which improves the convenience of drilling and tapping on the welded column and the convenience of transferring large parts between processes.

[0076] The left half-column 4-2 and the right half-column 4-3 have reinforcing strips 4-1 welded on their inner sides. The tow wheel 5-12 of the tow vehicle assembly 11 is located between the two reinforcing strips 4-1. The two reinforcing strips 4-1 serve as support rails for the up-and-down movement of the tow wheel 5-12.

[0077] The left half-column 4-2 and the right half-column 4-3 have C-shaped cross-sections. The column body adopts a symmetrical column welding structure with C-shaped grooves, and the cross-sectional dimensions are symmetrical. Each pair of columns used is completely identical, and they are completely interchangeable, regardless of whether they are main or auxiliary, making them very convenient to process, manufacture, and use.

[0078] The left crossbeam groove 4-16 and the right crossbeam groove 4-24 adopt a sloping connection structure with a higher middle and lower sides. A reinforcing plate 4-22 is welded in the middle. The bottom cover plate 4-23 of the crossbeam closes the lower openings of the left crossbeam groove 4-16 and the right crossbeam groove 4-24. The support arm 4-27 has a shape that is lower in the front and higher in the back. The bottom plate 4-25 of the support arm closes the lower opening of the support arm 4-27.

[0079] The column assembly also includes a top cover plate 3-1, which is connected to the upper end of the column assembly 3-4 by screws 3-2 and washers 3-3.

[0080] A shaft 3-16 is installed inside the support arm 4-27. A connecting sleeve 3-8 is installed at the front end of the shaft 3-16. A screw 3-7 is installed on the wall of the connecting sleeve 3-8. A pin 3-14 passes through the connecting sleeve 3-8. An annular groove is provided in the middle of the pin 3-14. The inner end of the screw 3-7 is placed in the annular groove. Both ends of the pin 3-14 pass through the two rear upper connection holes of the front wheel frame 3-10. A nylon wheel 3-12 is installed on the inner front part of the front wheel frame 3-10. A bearing 3-11 is installed at the center hole of the nylon wheel 3-12. A fixed shaft 3-13 passes through the front connection hole of the front wheel frame 3-10 and the bearing 3-11. A retaining ring 3-9 is installed at the end of the fixed shaft 3-13. The front end of the Y-shaped fork 3-18 is connected to the rear end of the shaft 3-16 through a screw 3-17.

[0081] The connecting sleeve has a screw at the rear end of the middle section of welding 3-8, and the shaft 3-16 has a threaded hole at the front end corresponding to the screw;

[0082] The rear end of Y-type fork 3-18 is connected to the lower end of vertical connecting rod 3-34. The upper end of vertical connecting rod 3-34 is connected to the outer end of longitudinal connecting rod 3-35. Bolt 3-27 passes through washer 3-20, support arm 4-27, upper end of bending plate 3-35, and upper end of vertical connecting rod 3-34 in sequence and is screwed into the threaded hole at the outer end of longitudinal connecting rod 3-35.

[0083] The inner end of the longitudinal connecting rod 3-35 is connected to the front end of the connecting frame weld 3-25; the bolt 3-27 passes through the washer 3-26, the rear end hole of the connecting frame weld 3-25, the sleeve 3-29 in sequence, screws over the nut 3-30, and finally screws into the threaded hole at the end of the trailer 3-31.

[0084] The trailer 3-31 is connected to the rear end of the hydraulic trailer bracket welding 3-33 via steel ball 3-32 and screw 3-21. The front end of the hydraulic trailer bracket welding 3-33 is connected to the column assembly 3-4 via screw 3-28 and washer 3-3. The connection structure of this section of trailer 3-31, steel ball 3-32, hydraulic trailer bracket welding 3-33 and column assembly 3-4 can adopt the structure in "202422978659.6 A Novel Mobile Retractable Support Wheel Mechanism".

[0085] The pivot welding 3-15 passes through the two rear lower end connection holes of the front wheel frame welding 3-10; the two spacer sleeves 3-5 are close to both sides of the front wheel frame welding 3-10, limiting the front wheel frame welding 3-10 to the middle position of the support arm 4-27 in the horizontal direction.

[0086] Screws 3-21 and washers 3-22 weld the support plate 3-23 to the column assembly 3-4.

[0087] The support arm base plate 4-25 has a T-shaped opening at the front, with the front end of the opening wider than the rear end. Nylon wheels 3-12 are positioned within this T-shaped opening. This T-shaped opening ensures smooth installation of the support wheel assemblies (3-7, 3-8...3-14) and shaft 3-16 at the front end of the support arm, while also guaranteeing that the support arm 4-27 meets the required strength. The narrow rear end reduces the impact of this opening on the support arm's strength and also facilitates the installation of shaft 3-16.

[0088] The trolley assembly 11 includes a limiting sleeve 5-1, screw 5-2, clamp welding 5-3, washer 5-4, screw 5-5, locking bar welding 5-6, hydraulic cylinder 5-7, trolley welding 5-8, washer 5-9, sliding bearing 5-10, adjusting shim 5-11, trolley wheel 5-12, retaining ring 5-13, screw 5-14, right support foot welding 5-15, nut 5-16, bracket ring 5-17, bracket ring seat 5-18, hydraulic cylinder slide 5-19, screw 5-20, straight connector 5-21, screw 5-22, washer 5-23, washer 5-24, and left support foot welding 5-25;

[0089] There are four trailer wheels 5-12 in total, one on each side and one on the top, one on the bottom, one on the left and one on the right, and the inner hole is equipped with sliding bearings 5-10; the trailer wheels 5-12 are set on the trailer weld 5-8;

[0090] On the component slide plate 6-5 of the trailer welding 5-8, there is a row of rectangular toothed grooves A that are symmetrically arranged on the left and right sides. The rectangular toothed grooves A mate with the rectangular toothed grooves B on the right support foot welding 5-15 and the left support foot welding 5-25.

[0091] The cylinder slide 5-19 is fixed to the top of the piston rod of the cylinder 5-7 by screws 5-20; the lower end face of the slide 5-19 is an arc-shaped surface, and the base fixing ring 4-21 cooperates with the cylinder slide 5-19. The bottom surface inside the base fixing ring 4-21 is a flat surface.

[0092] The hydraulic cylinder 5-7 passes through the support ring 5-17 and the support ring seat 5-18, and is located at the upper end of the support ring seat 5-18. The upper surface of the support ring 5-17 contacts the lower surface of the lower shaft 6-4, and the lower surface of the support ring seat 5-18 contacts the upper ring surface of the large step on the hydraulic cylinder 5-7. The contact surfaces of the support ring 5-17 and the support ring seat 5-18 are a pair of mating spherical surfaces.

[0093] The straight connector 5-21 is located in the groove of the baffle 4-20.

[0094] The straight connector 5-21 is located in the groove of the baffle 4-20 to prevent the oil cylinder from rotating when the straight connector 5-21 is assembled and tightened.

[0095] In the mating surfaces of the support ring 5-17 and the support ring seat 5-18, the support ring seat 5-18 is a spherical convex surface, and the support ring 5-17 is a spherical concave surface, and the two can slide and rotate freely relative to each other on the spherical surface.

[0096] The trailer welding 5-8 includes a front sealing plate 6-1, an upper shaft 6-2, a side upright plate 6-3, a lower shaft 6-4, a sliding plate 6-5, a connecting plate 6-6, a connecting groove 6-7, a groove blocking plate 6-8, and a groove patching plate 6-9; the upper shaft 6-2 is used to install the upper trailer wheel 5-12, and the lower shaft 6-4 is used to install the lower trailer wheel 5-12;

[0097] The front sealing plate 6-1, upper shaft 6-2, lower shaft 6-4 and side upright plate 6-3 are connected and welded into a whole. This part is welded to the slide plate 6-5, connecting groove 6-7, groove blocking plate 6-8 and groove supplement plate 6-9 through connecting plate 6-6 to form the entire trailer welding 5-8.

[0098] The upper shaft 6-2 and the lower shaft 6-4 are concentric stepped shafts at both ends.

[0099] The right support foot welding 5-15 includes a folded right support foot base plate 7-1, an inclined right support foot plate 7-9 on the right support foot base plate 7-1, a right support foot rear stiffener plate 7-3 folded upward at the rear end of the right support foot base plate 7-1, right support foot side plates 7-2 on both sides of the right support foot rear stiffener plate 7-3, a right support foot front stiffener plate 7-5 at the front end of the right support foot side plate 7-2, a right support foot groove plate 7-4 at the upper end of the right support foot side plate 7-2, a right support foot handle 7-10 on the right support foot groove plate 7-4, a right supplement plate 7-6 at the lower end of the right support foot plate 7-9, a vertically arranged right support foot blocking plate 7-8 at the front end of the right support foot plate 7-9, and a folded right supplement angle 7-7 on the inner side of the right support foot base plate 7-1;

[0100] The left support foot welding 5-25 includes a right support left support foot base plate 8-8, a left support foot plate 8-1 set on the left support foot base plate 8-8 at an angle, a left support foot rear stiffener plate 8-10 folded upward at the rear end of the left support foot base plate 8-8, left support foot side plates 8-2 on both sides of the left support foot rear stiffener plate 8-10, a left support foot front stiffener plate 8-4 at the front end of the left support foot side plate 8-2, a left support foot groove plate 8-3 at the upper end of the left support foot side plate 8-2, a left support foot handle 8-9 set on the left support foot groove plate 8-3, a left supplement plate 8-7 at the lower end of the left support foot plate 8-1, a vertically set left support foot blocking plate 8-5 at the front end of the left support foot plate 8-1, and a folded left supplement angle 8-6 set on the inner side of the left support foot base plate 8-8;

[0101] The right support foot welding 5-15 and the left support foot welding 5-25 are symmetrically arranged on both sides of the trailer assembly 11.

[0102] Both the left foot plate 8-1 and the right foot plate 7-9 are machined with anti-slip grooves.

[0103] Battery 58 is mounted on rear bracket welding 53; rear bracket welding 53 is fixed to column assembly 3-4 of column assembly 9 by screws 52, washers 17, and nuts 22; charger 54, AC contactor 56, rear cover assembly 61, and rear cover welding 65 are installed on rear bracket welding 53; electrical control box 64 is installed on rear cover assembly 61; pump station 59 is installed on column assembly 3-4 of column assembly 9. Electrical control box 64 controls the starting and stopping of pump station 59 to achieve the lifting and lowering of the lift. Pump station 59 adopts a dual-speed design with two types of solenoid valves of different flow rates. Pump station 59 controls the lifting and lowering of hydraulic cylinder 5-7; electrical control box 64 controls battery 58 to supply power to pump station 59.

[0104] The height measuring ruler 68 is fixed to the column assembly 3-4 of the column assembly 9 by the height measuring ruler fixing plate 67, screw 16, washer 17 and washer 43;

[0105] Figure 7 View B (The structure after combining Figure B is shown in the appendix) Figure 19 See attached diagram for the connection structure of the pull rope and related components. Figure 18 The components in the figure 68 form the reversing wheel assembly for the pull rope of the height measuring ruler 68. The pull rope is connected to the trailer welding 5-8 of the trailer assembly 11 via the reversing wheel assembly and fastening screws 10.

[0106] The reversing pulley assembly of the height measuring ruler 68 includes a washer 17, a nut 22, a pulley bracket 23, a spacer pad 24, a pad 25, a screw 26, a screw 27, a pulley shaft 28, a screw 29, a nylon pulley 30, an anti-derailment nylon pulley 31, and a nut 32. The pulley bracket 23 is connected to the column assembly 3-4 via the washer 17, nut 22, and pad 25. The nylon pulley 30 is connected to the pulley bracket 23 via the screw 27, pulley shaft 28, spacer pad 24, and nut 32. The anti-derailment nylon pulley 31 at the lower part of the nylon pulley 30 is connected to the pulley bracket 23 via the screw 29.

[0107] The column assembly 9 is equipped with a wireless communication module, and the detection signal output port of the height measuring ruler 68 is connected to the signal input port of the wireless communication module.

[0108] The wireless communication module uses a Zigbee wireless communication module.

[0109] The lifts consist of four units, located at the four corners of the same rectangle. Based on the height measurement data of each lift (68), the four lifts are controlled to rise and fall simultaneously via a hydraulic system.

[0110] The column assemblies 9 form a star network. The central node coordinates and controls each column assembly 9 to rise and fall at the same horizontal level. The entire system enables any button on any column to control all columns. In an emergency, all columns stop moving.

[0111] The electromagnet and bracket assembly 42 is fixed to the column assembly 3-4 of the column assembly 9 by screws 37 and washers 17 and 43; the locking weld 48 is connected to the electromagnet and bracket assembly 42 by screw A; the locking weld 48 is also mounted on the column assembly 3-4 of the column assembly 9 by shaft 47; it also includes a proximity switch 46 for detecting the open and closed states of the locking weld 48.

[0112] The electromagnet and bracket assembly 42 includes an electromagnet 9-4, which is fixed to the electromagnet bracket 9-2 by screws 9-1 and nuts 9-3. The electromagnet bracket 9-2 includes an upper crossbeam, which protrudes upwards at the middle and both ends and has connecting holes. A connecting screw 37 passes through the connecting holes and screws into the threaded holes on the locking bracket weld 4-6. The lower end of the upper crossbeam is connected to the upper end of the vertical frame. The lower end of the vertical frame bends outwards to form a lower crossbeam. A transverse mounting hole is provided at the outer end of the lower crossbeam. The front end of the connecting screw 9-1 passes through the connecting hole and mounting hole at the lower end of the electromagnet 9-4 in sequence and is screwed with a nut 9-3. The middle and upper ends of the vertical frame have a middle crossbeam extending outwards. An annular bracket is provided at the outer end of the middle crossbeam, through which the electromagnet 9-4 passes. The upper end of the electromagnet 9-4 is connected to the connecting rod 9-7 by screws 9-8, washers 9-6, and nuts 9-5. The entire electromagnet and bracket assembly 42 is connected by screws A (…). Figure 14It is connected to the protruding connecting rod on the lock weld 48. The lock weld 48 is also connected to the hole on the lock frame weld 4-6 via the shaft 47.

[0113] When electromagnet 9-4 in the electromagnet and bracket assembly 42 is de-energized, the top drive end of electromagnet 9-4 moves upward under the eccentric action of its own return spring and locking weld 48. Locking weld 48 engages with the locking teeth on the trailer lock bar weld 5-6, locking the trailer assembly 11. When electromagnet 9-4 in the electromagnet and bracket assembly 42 is energized and attracted, the trailer assembly 11 rises under electrical control with a delay (lock bar weld 5-6 rises), disengaging the locking bar weld 5-6 of the trailer assembly 11. Then, the top drive end of electromagnet 9-4 moves downward, and locking weld 48 immediately opens. After the delay ends, the trailer assembly 11 begins to descend.

[0114] There are two connecting rods 9-7. The front end of the lower connecting screw 9-8 passes through the lower end connecting hole of one connecting rod 9-7, the upper end connecting hole of the electromagnet 9-4, and the lower end connecting hole of the other connecting rod 9-7, and is screwed with a washer 9-6 and a nut 9-5.

[0115] The front end of the upper connecting screw A passes through the upper connecting hole of one side connecting rod 9-7, locks and welds the rear connecting hole of 48, and the upper connecting hole of the other side connecting rod 9-7, and is screwed with a washer and nut.

[0116] The lower end of the locking weld 48 is provided with a shaft hole for the shaft 47 to pass through. The locking frame welds 4-6 on both sides of the shaft hole of the locking weld 48 are provided with shaft holes on both sides. The shaft 47 is provided with retaining rings at both ends. The upper front end of the locking weld 48 is provided with locking teeth corresponding to the locking bar welds 5-6. The locking frame welds 4-6 are provided with openings corresponding to the rotation trajectory of the locking weld 48.

[0117] The column assembly 9 is equipped with a pin 15 and a limit switch 70. The pin 15 is installed in a hole in the pin fixing plate 4-17. The pin 15 has a stepped protrusion, and a spring 14 is installed on the stepped protrusion. The spring 14 is fixed in the hole of the pin fixing plate 4-17 by the pin cover plate 13. Under the action of the spring 14, the stepped protrusion on the pin 15 is pressed against the step in the hole of the pin fixing plate 4-17. After the pin 15 falls to the ground with the column assembly 9, it is lifted by the ground, and its upper end moves upward, triggering the contact rod of the limit switch 70, causing the limit switch 70 to actuate and giving a signal that the lift has landed.

[0118] A front cover 8 is provided between the front ends of the two side column assemblies 3-4. The upper and lower ends of the front cover 8 are sewn into a cylindrical shape. The lower pressure plate 18 is inserted into the lower cylindrical part of the front cover 8. The two ends of the lower pressure plate 18 are exposed. The two ends are fixed to the bottom of the column assembly 9 with screws 16. The upper hanging plate 7 is inserted into the upper cylindrical part of the front cover 8. The two ends are exposed. The two ends are fixed to the top of the column assembly 9 with tension springs 6.

[0119] A rubber block 4 is provided at the upper end of the column assembly 9.

[0120] The hydraulic system includes an oil filter element 12-1. The inlet of the oil filter element 12-1 is connected to the oil tank 12-12 and the outlet of the relief valve 12-5. The outlet of the oil filter element 12-1 is connected to the inlet of the gear pump 12-2. The gear pump 12-2 is driven by the motor 12-3. The outlet of the gear pump 12-2 is connected to the inlet of the relief valve 12-5 and the inlet of the check valve 12-4. The outlet of the check valve 12-4 is connected to the inlet of the explosion-proof valve 12-11, the inlet of the unloading valve 12-7, and the inlet of the unloading valve 12-8. The outlet of the explosion-proof valve 12-11 is connected to the oil inlet of the cylinder 12-6. The outlet of the unloading valve 12-7 is connected to the inlet of the throttle valve 12-10. The outlet of the unloading valve 12-8 is connected to the inlet of the throttle valve 12-9.

[0121] The throttle valve 12-9 has a small orifice diameter, and the throttle valve 12-10 has a large orifice diameter.

[0122] During ascent, motor 12-3 drives gear pump 12-2 to rotate and supply oil to hydraulic cylinder 12-6, causing the two paired lifts A and B to rise simultaneously. If the height difference between lifts A and B exceeds the set value, an adjustment action is triggered.

[0123] Suppose that at a certain moment, lift A has a higher lifting height than lift B has a lower lifting height. The control program of lift A sends a signal to open the unloading valve 12-8 and release oil through the small-diameter throttle valve 12-9. The amount of hydraulic oil flowing into the oil cylinder 12-6 decreases, the lifting speed slows down, and the difference in lifting height between the two lifts gradually decreases.

[0124] When the control program detects that the lifting heights of lifts A and B are synchronized, the control program of lift A sends a signal to close the unloading valve 12-8 to stop oil leakage and restore the normal lifting control mode.

[0125] If the lifting heights of lifts A and B still fail to synchronize within the set time, the control program of lift A sends another signal to open the unloading valve 12-7 and introduce oil leakage through the large-diameter throttle valve 12-10, increasing the oil leakage rate and further reducing the amount of hydraulic oil flowing into the oil cylinder 12-6. The lifting speed will then be further slowed down until the lifting heights of lifts A and B reach synchronization. At this point, the control program sends a signal to close the unloading valves 12-7 and 12-8, stop oil leakage, and restore the normal lifting control mode.

[0126] During descent, the control programs of lifts A and B simultaneously send signals to open their respective unloading valves 12-7 and 12-8, releasing oil simultaneously through the small-orifice throttle valve 12-9 and the large-orifice throttle valve 12-10. If the height difference between the two lifts exceeds the set value, an adjustment action will be triggered.

[0127] Suppose that at a certain moment, lift A is at a higher height and lift B is at a lower height, the control program of lift B will send a signal to close the unloading valve 12-8 and stop the oil leakage through the small-diameter throttle valve 12-9. This will reduce the amount of hydraulic oil flowing out of the oil cylinder 12-6, slow down the descent speed, and gradually reduce the difference in descent height between lifts A and B.

[0128] When the control program detects that the descent heights of lifts A and B are synchronized, the control program of lift B will send a signal to open the unloading valve 12-8 and continue to drain oil through the small-diameter throttle valve 12-9 to restore the normal descent mode.

[0129] If the descent heights of lifts A and B fail to synchronize within the set time, the control program of lift B will issue another signal to close unloading valve 12-7, open unloading valve 12-8, stop oil leakage through the large-diameter throttle valve 12-10, and resume oil leakage through the small-diameter throttle valve 12-9, further reducing the oil leakage rate and thus further reducing the amount of hydraulic oil flowing out of cylinder 12-6. The descent speed of lift B will then further slow down until the descent heights of lifts A and B reach synchronization. At this point, the control program of lift B will issue a signal to open unloading valve 12-7, resume oil leakage through the large-diameter throttle valve 12-10, and return to normal descent mode.

[0130] The power management circuit includes:

[0131] Pin 1 of the LM2596-12 chip U2 is connected to Vin, pin 2 to Vout, pin 3 to GND, pin 4 to FB, and pin 5 to on / off. The Vout output of U2 is +12V, which is filtered by inductor L1 (47µH) to provide +12V power to the system.

[0132] The base of NPN transistor Q1 is connected to JP5 via resistor R3, Zener diode D3, and the controlled switch K1.2 of relay K1. JP5 is connected to the normally closed contact of the emergency stop switch. The collector of Q1 is connected to the control terminal K1.1 of relay K1.

[0133] The +24V voltage is divided by resistors R16 and R17 and then connected to AD2.

[0134] AVCC is connected to VEREF+ via R6.

[0135] Pin 1 of the LM2596-5V chip U5 is connected to Vin, pin 2 to Vout, pin 3 to GND, pin 4 to FB, and pin 5 to on / off. The Vout output of U5 is +5V, which is filtered by inductor L3 (47µH) to provide +5V power to the system.

[0136] The 78L05 chip U4 has pin 3 connected to Vin (+12V), pin 2 connected to GND, and pin 1 connected to Vout (+5V) to provide a stable +5V for the low-voltage digital section.

[0137] Relay K1 is a power cut-off protection relay for the entire machine. When the emergency stop button is pressed, it cuts off power to all output terminals, achieving a double protection purpose.

[0138] AD2 is used to detect the battery voltage and display the battery level.

[0139] VEREF+ is the reference voltage.

[0140] The main control circuit includes:

[0141] STC15W4K60S4 microcontroller U25:

[0142] P1.0 to P1.2 are connected to the ADC input;

[0143] P3.0 to P3.7 are connected to serial communication, control signal input / output, and SPI signals;

[0144] P2.0 to P2.3 are connected to the 93C46 EEPROM memory;

[0145] P4.0 to P4.7 are connected to control signals;

[0146] P5.1 connects to the buzzer control signal; P5.2 to P5.4 connect to the 485 transmission signal.

[0147] P6.0 to P6.7 are connected to analog-to-digital conversion circuits and communication interface circuits;

[0148] P7.0 to P7.7 are connected to the isolated input circuit.

[0149] The communication interface circuit includes:

[0150] The ZigBee module has interfaces H1 and H2. H1 connects to RF / LINE and RF_SETUP, while H2 connects to TXD-ZIGB and RXD-ZIGB.

[0151] like Figure 24 As shown, this circuit board has ZigBee wireless module interfaces H1 and H2. H2 is used for power supply and serial data communication (RXD / TXD), while H1 is used for SPI high-speed channel and mode selection signals (RF / LINE, RF_SETUP).

[0152] The analog-to-digital conversion circuit includes:

[0153] Pin 6 of the AD7705 chip U17 is connected to AIN2+, pin 7 to AIN1+, pin 8 to AIN1-, pin 9 to REFIN+, pin 11 to AIN2-, pin 2 to MCLKin, pin 3 to MCLKout, pin 4 to CS, pin 12 to DRDY, pin 13 to DOUT, pin 14 to DIN, pin 15 to VDD, and pin 16 to GND. U17 communicates with U25 via the SPI interface to complete the acquisition and conversion of analog signals. AIN1+ is connected to the height sensor J8 (i.e., height measuring ruler 68) to transmit the analog value of the height.

[0154] The communication interface circuit includes:

[0155] The T1IN~T4IN pins (7, 6, 20, 21) of the SP213 / MAX213 chip U12 are connected to the serial port output of U25; the T1OUT~T4OUT pins (2, 3, 1, 28) of U12 are connected to the external RS232 interface.

[0156] J6 (MainL) and J18 (MainR) are the interfaces between the main column and the first machine in the opposite column, similar to the function of U11. J6 and J18 determine the position of the main column and the first slave column in the queue.

[0157] Pin 1 of the 485 chip U7 is connected to RO, pin 2 to / RE, pin 3 to DE, pin 4 to DI, pin 6 to A, pin 7 to B, pin 8 to VCC, and pin 5 to GND. The A and B buses of U7 are connected to external 485 communication devices. J3 is used for 485 communication between columns.

[0158] Pins 2, 4, and 27 of SP213 / MAX213 / ADM213 chip U1 are connected to J1, pins 9, 4, and 27 of U1 are connected to J5, pins 8, 5, and 26 of U1 are connected to pins 14, 11, and 12 of 74HC595 chip U11 respectively, and pins 15, 1, 2, and 3 of U11 are connected to SI0 to SI3 respectively.

[0159] U1 and U11 are used for machine ID self-identification during wired communication, that is, the machine's position in the queue can be automatically identified by different wiring, without the need for software settings.

[0160] In wired communication mode, a hardware ID automatic identification system is constructed using a multi-channel RS-232 transceiver chip U1 and a shift register U11. After the system powers on, the main control chip writes an incrementing address scan code to U11 via the SPI interface. U11 converts this into a parallel level output to a dedicated identification pin on the wired communication interface. Since the internal jumper configurations of cables corresponding to nodes at different physical locations (such as head nodes, intermediate nodes, and tail nodes) are different, the MCU automatically determines the node's sequence number in the queue based on the unique correspondence between the scan code currently output by U11 and the echo signal received by U1. This eliminates the need for software programming or DIP switches to complete node identification in wired networking. When the system detects an unconnected wired cable, this identification process automatically shuts down, and the circuit board seamlessly switches to wireless Zigbee communication mode.

[0161] During power-on initialization, the MCU first checks if a ZigBee module is inserted into its interface. If the module is present, the system automatically sets up to wireless networking mode. The MCU interacts with the ZigBee module via serial port to obtain real-time altitude and speed information of neighboring nodes and executes a distributed cooperative algorithm. If the module is absent, the system automatically switches to wired mode and activates the hardware ID identification circuit composed of U1 and U11, thereby achieving hardware compatibility and adaptive switching between wired and wireless communication modes.

[0162] The isolated output circuit includes:

[0163] Multiple 9014 transistors (Q4 to Q9) are used. The collector output of the transistors controls the relay (such as K2.1) via an optocoupler to control the external load (such as an electromagnet, unloading valve, buzzer); the base of the transistors receives the control signal from the main control circuit.

[0164] The external load includes electromagnet JP6, contactor JP7 and unloading valve JP9.

[0165] The LED indicator circuit includes:

[0166] Multiple LEDs (LED1 to LED21) are connected to external signals through 2.7k resistors (such as R2, R19, R20, R26, etc.) to indicate the system operating status.

[0167] The buzzer circuit includes:

[0168] The buzzer (sounds when the device drops below the CE safety position, anti-pinch) J2 is driven by NPN transistor Q10 (9014). The base of Q10 is connected to the BEE control pin of U25 via resistor R14 (1kΩ), the collector is connected to the buzzer J2, and the emitter is connected to GND.

[0169] Work process description

[0170] (1) Power-on start-up process

[0171] After the system is connected to a +24V power supply, the LM2596-12 and LM2596-5V step down to output +12V and +5V respectively, which are then supplied to the MCU and digital circuits via the 78L05. The MCU (U25) is powered on and reset, reads its internal program and initializes peripherals such as I / O, ADC, SPI, and serial port, and then enters standby or running state.

[0172] (2) Signal acquisition process

[0173] External analog signals (such as current, voltage, pressure, etc.) are input to the AD7705 (U17) through AIN1+, AIN1-, etc. The MCU configures the sampling channel and gain of U17 through the SPI interface and starts the ADC conversion. After the conversion is completed, the DRDY pin of U17 goes low. The MCU detects this and reads the conversion result through SPI, storing it in memory for logic judgment.

[0174] (3) Input signal processing

[0175] External switching signals (such as emergency stop, rise, fall, locking, limit, etc.) are isolated by optocouplers (such as U3, U8, etc.) and then input to the MCU's I / O port. The MCU detects level changes in a polling or interrupt manner and executes corresponding actions (such as stopping motor output, changing running direction, triggering alarm, etc.) according to preset logic.

[0176] (4) Output control process

[0177] Based on the logic judgment result, the MCU outputs high / low levels through the I / O port to control the optocoupler (such as U13, U14, etc.) to be turned on or off. The output side of the optocoupler drives the coil of the relay (such as K2.1, etc.) to be energized or de-energized. The relay contacts switch the working state of the external load (such as electromagnet, unloading valve, buzzer, contactor, etc.).

[0178] (5) Communication process

[0179] RS232 communication: The MCU's serial port is connected to U12 (SP213). U12 converts TTL level to RS232 level, enabling full-duplex communication between multiple posts.

[0180] RS485 communication: The MCU transmits and receives data through the DI and RO pins of U7 (485 chip), and controls the transmission and reception direction through the / RE and DE pins to achieve half-duplex 485 bus communication, which can connect multiple columns.

[0181] SPI Communication: The MCU communicates with the U17 via SPI through pins such as P6.0, P6.1, and P1.3 (MOSI) to achieve data transmission.

[0182] (6) Status indication process

[0183] The MCU controls the corresponding LEDs to light up, turn off, or flash based on the system's operating stage, fault status, and communication status, allowing operators to judge the equipment's working status on-site.

[0184] (7) Buzzer alarm process

[0185] When the system detects a fault (such as emergency stop pressed, limit trigger, communication timeout, etc.), the MCU's BEE pin outputs a PWM or high-level signal to drive Q10 to conduct, causing buzzer J2 to emit an alarm sound; after the fault is cleared, BEE outputs a low level, and the buzzer stops.

[0186] As shown in the figure Figure 7 The part number is marked as follows: one or two digits following the name, such as "front guard 8", "pin cover 13"; 2. Except Figure 7 In addition, the part numbers in other attached drawings are labeled in the format of "name ab", such as "top cover 3-1" and "middle connecting plate 4-9". Here, 3-1 indicates that the "top cover" is located in... Figure 8 In the diagram, part number 1; 4-9 indicates that the "connecting plate" is located in... Figure 9 In the diagram, the part number is 9, and so on.

[0187] The column assembly 3-4 consists of the following components ( Figure 9 ): Reinforcing strip 4-1; Left half column 4-2; Right half column 4-3; Base plate 4-4; Cable routing conduit 4-5; Lock frame welding 4-6; Support plate 4-7; Support 4-8; Middle connecting plate 4-9; Cable routing conduit 4-10; Cable routing conduit 4-11; Bracket plate 4-12; Lower connecting plate 4-13; Bracket fixing plate 4-14; Support plate 4-15; Left crossbeam groove 4-16; Pin fixing plate 4-17; Pad plate 4-18; Base plate 4-19; Baffle plate 4-20; Base fixing ring 4-21; Reinforcing plate 4-22; Crossbeam bottom cover plate 4-23; Right crossbeam groove 4-24; Support arm bottom plate 4-25; Crossbeam blocking plate 4-26; Support arm 4-27; Support arm blocking plate 4-28;

[0188] There are four reinforcing strips 4-1, which are welded to the inner sides of the two opposite surfaces of the left half column 4-2 and the right half column 4-3 respectively. They can strengthen the left half column 4-2 and the right half column 4-3 to improve their bending and torsional strength, thereby improving the bending and torsional strength of the entire column assembly 3-4. At the same time, they also serve as the support guide rail for the up and down movement of the trolley wheels 5-12 of the trolley assembly 11.

[0189] The left half-column 4-2 and the right half-column 4-3 are welded together via a locking frame (4-6), support plate 4-7, middle connecting plate 4-9, lower connecting plate 4-13, and base plate 4-19. The lower sides of the left half-column 4-2 and the right half-column 4-3 are welded together with the left crossbeam groove 4-16, pin fixing plate 4-17, pad plate 4-18, baffle plate 4-20, base fixing ring 4-21, reinforcing plate 4-22, crossbeam bottom cover plate 4-23, right crossbeam groove 4-24, support arm bottom plate 4-25, crossbeam blocking plate 4-26, support arm 4-27, and support arm blocking plate 4-28 to form a single unit.

[0190] The lower part of the entire column assembly 3-4, connecting to the left crossbeam groove 4-16 and right crossbeam groove 4-24 on both sides of the left half-column 4-2 and right half-column 4-3, adopts a sloping connection structure with a higher center and lower sides. A reinforcing plate 4-22 (one on each side) is welded in the middle, and then the lower openings of the left crossbeam groove 4-16 and right crossbeam groove 4-24 are closed by the crossbeam bottom cover plate 4-23 (one on each side). This shape and internal structure fully considers the stress state of the entire column assembly 3-4, meeting strength requirements, while also distinguishing it from similar products with a unique appearance. Similarly, the support arms 4-27 (one on each side) adopt the same design concept, with a lower front and higher rear. The lower opening is closed by the support arm bottom plate 4-25, forming a sturdy rectangular tube structure, thus meeting and adapting to the strength requirements during use, while also possessing a unique appearance.

[0191] Compared to a single-piece bent column, this structural column avoids the problems of bending, twisting, deformation, and reshaping associated with the single-piece bent column. Furthermore, the internal welded reinforcing strip 4-1 addresses the issue of reduced strength in the split column, while also reducing the diameter of the trailer wheels 5-12, thus lightening the size and weight of the rollers.

[0192] Column assembly ( Figure 8 The components are as follows: Top cover plate 3-1; Screw 3-2; Washer 3-3; Column assembly 3-4; Spacer sleeve 3-5; Retaining ring 3-6; Screw 3-7; Connecting sleeve welding 3-8; Retaining ring 3-9; Front wheel frame welding 3-10; Bearing 3-11; Nylon wheel 3-12; Fixed shaft 3-13; Pin shaft 3-14; Rotating shaft welding 3-15; Shaft 3-16; Screw 3-17; Y-type fork 3-18; Bolt 3-19; Washer 3-20; Screw 3-21; Washer 3-22; Support plate welding 3-23; Connecting frame welding 3-25; Washer 3-26; Bolt 3-27; Screw 3-28; Gasket 3-29; Nut 3-30; Purchased parts for two-ton trailer 3-31; Steel ball 3-32; Hydraulic trailer bracket welding 3-33;

[0193] The column assembly adopts a novel movable and retractable support wheel mechanism (a utility model patent has been applied for for this project, patent number: ZL202422978659.6), which improves the lifting stability when the lift is raising a vehicle. For a detailed description, please refer to the specification document of patent number: ZL202422978659.6, which will not be described here.

[0194] The components of the 5-8 welded structure of the trailer are as follows ( Figure 11 The structure comprises: front end plate 6-1; upper shaft 6-2; side upright plate 6-3; lower shaft 6-4; sliding plate 6-5; connecting plate 6-6; connecting groove 6-7; groove blocking plate 6-8; groove reinforcement plate 6-9. The upper shaft 6-2 and lower shaft 6-4 have essentially the same structure, with concentric stepped shafts at both ends, connecting to the central square section to form an integral irregular shaft. The front end plate 6-1, upper shaft 6-2, lower shaft 6-4, and side upright plate 6-3 are welded together to form a single unit. This unit is further welded to the sliding plate 6-5, connecting groove 6-7, groove blocking plate 6-8, and groove reinforcement plate 6-9 via connecting plate 6-6 to form the entire trailer welding 5-8. The integral structure of the upper shaft 6-2 and lower shaft 6-4 has high strength and good coaxiality, effectively reducing post-welding deformation issues in the trailer welding 5-8. The entire trailer is welded with 5-8 welds, resulting in good overall rigidity, high strength, and convenient processing and welding, thus meeting the lifting requirements of the entire lift for large-tonnage vehicles.

[0195] The 11 components of the motorcycle assembly are as follows ( Figure 10 ): Limiting sleeve 5-1; Screw 5-2; Clamp welding 5-3; Washer 5-4; Screw 5-5; Locking bar welding 5-6; Hydraulic cylinder 5-7; Carrier welding 5-8; Washer 5-9; Sliding bearing 5-10; Adjusting shim 5-11; Carrier wheel 5-12; Retaining ring 5-13; Screw 5-14; Right support foot welding 5-15; Nut 5-16; Bracket ring 5-17; Bracket ring seat 5-18; Hydraulic cylinder slide plate 5-19; Screw 5-20; Straight connector 5-21; Screw 5-22; Washer 5-23; Washer 5-24; Left support foot welding 5-25;

[0196] The tow wheel 5-12 has four wheels in total, one on each side and one on the other. The inner hole is equipped with a sliding bearing 5-10, which is an oil-free self-lubricating bearing. This helps the tow wheel 5-12 to rotate flexibly and is easy to replace after wear.

[0197] On the component slide plate 6-5 of the welding 5-8 of the trailer, there is a row of rectangular toothed grooves A that are symmetrical from left to right. Figure 11 The rectangular toothed groove A is welded to the rectangular toothed groove B on the right support foot 5-15 and the left support foot 5-25. Figure 12 With proper coordination, the right support foot can be welded to 5-15 and the left support foot to 5-25 and locked in a certain working position to prevent lateral slippage caused by uneven load or tilting after being loaded, thus ensuring safe use.

[0198] Separate columns are easy to process.

[0199] The slide plate 5-19 is fixed to the top of the piston rod of the hydraulic cylinder 5-7 by screw 5-20. Figure 10 The downward-facing end). The downward-facing side of slide 5-19 is part of a very large diameter spherical surface ( Figure 16 When the hydraulic cylinder 5-7 rests on the plane within the fixing ring 4-21 of the column base via the spherical abutment of the sliding plate 5-19, the hydraulic cylinder 5-7 can swing within a range of an inverted conical surface. This conical surface can be considered to have its vertex on the base plate 4-19, coinciding with the center of the fixing ring 4-21, and its centerline coincides with the centerline of the hydraulic cylinder 5-7. The assembly relationship of the above components is shown in [reference needed]. Figure 16 For the convenience of reference in the following description, the entire component assembly that enables the conical surface to oscillate will be referred to as the oscillation mechanism M.

[0200] upper plane of bracket ring 5-17 ( Figure 10 (Direction, same below) contacts the lower plane of the lower shaft 6-4; the lower plane of the bracket ring seat 5-18 contacts the upper ring surface of the large step on the hydraulic cylinder 5-7 ( Figure 10 (Arrow C position) Contact. The contact surfaces of the support ring 5-17 and the support ring seat 5-18 are a pair of mating spherical surfaces. In this mating surface, the support ring seat 5-18 is a convex spherical surface, and the support ring 5-17 is a concave spherical surface. The two can slide and rotate freely relative to each other on this spherical surface. Their assembly relationship is shown in the appendix. Figure 15 Due to the spherical fit between the support ring 5-17 and the support ring seat 5-18, the axis of the hydraulic cylinder 5-7 can swing around the fitted spherical surface within a certain range. For the convenience of reference in the following description, the entire component assembly that enables spherical swing is referred to as the spherical swing mechanism N. Figure 15 The radian value of the spherical arc can be 0.5°.

[0201] The aforementioned swing mechanism M and spherical swing mechanism N work together to form an automatic alignment (automatic verticality) fine-tuning mechanism for the lifting trolley during the lifting process. This fine-tuning mechanism can also compensate for manufacturing errors present in the manufacturing process of the column assembly 3-4 and the trolley welding 5-8. This ensures that the entire lifting machine will not experience jamming or unevenness during lifting due to manufacturing errors in the column assembly 3-4 and the trolley welding 5-8.

[0202] The right support foot is welded to 5-15 as follows ( Figure 12 ): Right foot support base plate 7-1; Foot support side plate 7-2; Foot support rear stiffener plate 7-3; Foot support groove plate 7-4; Foot support front stiffener plate 7-5; Patch plate 7-6; Patch corner 7-7; Foot support blocking plate 7-8; Right foot support plate 7-9; Foot support handle 7-10;

[0203] The left support foot is welded to 5-25 as follows ( Figure 13): Left foot support plate 8-1; Foot support side plate 8-2; Foot support groove plate 8-3; Foot support front stiffener plate 8-4; Foot support end plate 8-5; Corner supplement 8-6; Supplement plate 8-7; Left foot support bottom plate 8-8; Foot support handle 8-9; Foot support rear stiffener plate 8-10;

[0204] The right support foot welding 5-15 and the left support foot welding 5-25 are symmetrical parts, which work together to lift the car tires. The left support foot plate 8-1 and the right support foot plate 7-9 are both machined with anti-slip grooves to increase friction and facilitate tire (vehicle) stability during the lifting process.

[0205] Complete machine assembly ( Figure 6 The composition is as follows ( Figure 7 ): 1. Screw; 2. Washer; 3. Rubber pad bracket; 4. Rubber block; 5. Hanging spring nail; 6. Tension spring; 7. Upper hanging plate; 8. Front guard; 9. Column assembly; 11. Motor assembly; 12. Screw; 13. Pin cover plate; 14. Spring; 15. Pin; 16. Screw; 17. Washer; 18. Lower pressure plate; 19. Fork seat welding; 20. Washer; 21. Screw; 22. Nut; 23. Rope pulley bracket; 24. Spacer pad; 25. Pad; 26. Screw; 27. Rope pulley shaft; 28. Screw; 29. ​​Nylon rope pulley; 30. Anti-detachment nylon pulley; 31. Nut; 32. Washer; 33. Screw; 34. Rubber buffer pad; 35. Pad; 36. Screw; 37. Angle stop; 38. Nut; 39. Safety seat and 40. Fuse; 41. Screw; 42. Electromagnet and bracket assembly; 43. Washer; 44. Retaining ring; 45. Proximity switch base plate; 46. Proximity switch; 47. Shaft; 48. Lock welding; 49. Washer; 50. Screw; 51. Screw; 52. Rear bracket welding; 53. Charger; 54. Screw; 55. AC contactor; 56. Standard guide rail; 57. Battery; 58. Pump station; 59. Screw; 60. Rear cover assembly; 61. Self-sealing sealing ring; 62. Screw; 63. Electrical control box; 64. Rear cover welding; 65. Remote sensing antenna; 66. Height gauge fixing plate; 67. Height gauge; 68. Switch cover; 69. Limit switch; 70. Screw; 71. Washer; 72. Screw; 73.

[0206] The front cover 8 is sewn into a cylindrical shape at both ends. The lower pressure plate 18 is inserted into the lower cylindrical part of the front cover 8, with both ends exposed. The lower pressure plate 18 is fixed to the bottom of the column assembly 9 with screws 16, thus fixing one end of the front cover 8.

[0207] The upper mounting plate 7 is inserted into the upper cylindrical part of the front cover 8, with both ends exposed. The upper mounting plate 7 is fixed to the column assembly 9 by tension springs 6 at both ends. The pre-tension force of the tension springs 6 makes the front cover 8 taut and aesthetically pleasing.

[0208] A rubber block 4 is provided at the upper end of the pillar assembly 9. When lifting special vehicles, the rubber block 4 prevents the top from hitting the vehicle body and also serves a decorative purpose.

[0209] like Figure 21As shown, pin 15 is installed in a hole in pin fixing plate 4-17. Pin 15 has a stepped protrusion, and a spring 14 is installed on the stepped protrusion. The spring 14 is fixed in the hole of pin fixing plate 4-17 by pin cover plate 13. Under the action of spring 14, the stepped protrusion on pin 15 is pressed against the step in the hole of pin fixing plate 4-17. When pin 15 is lowered to the ground along with column assembly 9, it is lifted by the ground. Its upper end moves upward, triggering the contact rod of limit switch 70, which actuates the limit switch 70, giving a signal that the lift has landed, indicating that the lift can be lifted at this time.

[0210] like Figure 20 As shown, the limit switch 70 is fixed to the switch cover 69 by screws 71 and nuts 32, and the switch cover 69 is fixed to the column assembly 3-4 by screws 73 and washers 72.

[0211] Two batteries (58 in total, one above the other) are mounted on the rear bracket welding 53. The rear bracket welding 53 is fixed to the column assembly 9 (column assembly 3-4) by screws 52, washers 17, and nuts 22. The rear bracket welding 53 also houses the charger 54, AC contactor 56, rear cover assembly 61, and rear cover welding 65. The electrical control box 64 is mounted on the rear cover assembly 61. The pump station 59 is mounted on the column assembly 9 (column assembly 3-4). The electrical control box 64 controls the starting and stopping of the pump station 59 to raise and lower the lift. The pump station 59 employs a dual-speed design with two types of solenoid valves of varying flow rates. Under the control of the electrical control box 64, this design ensures that the lift does not require frequent motor starts and stops during raising and lowering, achieving smooth lifting and avoiding shaking or creeping.

[0212] The height measuring ruler 68 is fixed to the column assembly 9 (column assembly 3-4) by the height measuring ruler fixing plate 67 and related fixing screws, washers, etc. Figure 7 The components in View B form the reversing pulley assembly for the height measuring ruler 68's pull rope. The pull rope is connected to the trailer assembly 11 (trailer welding 5-8) via this reversing pulley assembly. Thus, the rising and falling heights of the trailer assembly 11 are converted into the extension or retraction length of the height measuring ruler 68's pull rope. The purpose of setting up the reversing pulley assembly is to ensure that when the height measuring ruler 68 rises, it corresponds to the extension of the pull rope, and when it falls, it corresponds to retraction. This ensures that when the lift is not in operation (not in use), the pull rope winding spring inside the height measuring ruler 68 is in a relaxed, non-working state (similar to the unused state of a measuring tape), which helps extend the service life of the height measuring ruler 68. In use, the four lifts (controlled to rise and fall simultaneously based on the data from the four height measuring rulers) are linked and controlled (hydraulic control) for coordinated lifting and lowering, resulting in high precision.

[0213] Each column is equipped with a height sensor and a Zigbee wireless communication module. The columns form a star network, and the central node coordinates and controls all columns to maintain the same horizontal height when rising and falling. The entire system allows any button on any column to control all columns. In an emergency, all columns stop operating to ensure safety.

[0214] The pull rope is an integral part of the height measuring tape. It is wound around a rope winder inside the tape, which is connected to a sensor within the tape. The length of the pull rope as it is pulled out and retracted is converted into a rotation angle signal from the sensor, thus converting the lifting height of the hoist into the sensor's electrical signal. (The pulling and retracting of the height measuring tape's pull rope is similar to the pulling and retracting of a steel tape measure used in daily life.)

[0215] Electromagnet and bracket assembly 42 ( Figure 7 , Figure 14 It is fixed to the column assembly 9 (column assembly 3-4) by screw 37 and washers 17 and 43. Locking is performed by welding 48 with screw A ( Figure 14 The electromagnet and bracket assembly 42 is connected to the locking weld 48. The locking weld 48 is simultaneously mounted on the column assembly 9 (column assembly 3-4) via the shaft 47. For convenience in the following description, the component consisting of the electromagnet and bracket assembly 42, locking weld 48, shaft 47, and column assembly 9 is referred to as component D. This component D, together with the trailer assembly 11 (mainly the locking bar weld 5-6), forms the important safety locking mechanism of this lift. This mechanism uses a utility model patent technology already applied for by our company: a novel mechanical safety locking mechanism (patent number: ZL202320040951.6). For a detailed description, please refer to the relevant explanatory documents of this patent; it will not be described here.

[0216] It should be further explained that, based on the above-mentioned "a novel mechanical safety lock mechanism" patent, a proximity switch 46 is added to detect the open and closed states of the lock welding 48. This ensures that when the paired lifts are lowered, there is another layer of protection against inconsistent descent heights caused by an abnormal opening of the lock welding 48 of a particular lift (the lifts involved in this patent are used in multiple pairs). (Another protection measure is the electronic control detection and comparison of the height signal from the height measuring ruler 68.)

[0217] Hydraulic system ( Figure 17 The components are as follows: oil filter element 12-1; gear pump 12-2; motor 12-3; check valve 12-4; relief valve 12-5; oil cylinder 12-6; unloading valve 12-7; unloading valve 12-8; throttle valve 12-9; throttle valve 12-10; explosion-proof valve 12-11; oil tank 12-12. Throttle valve 12-9 has a small orifice, and throttle valve 12-10 has a large orifice.

[0218] This lifting platform employs a multi-unit wireless control system, with the paired lifting platforms raised and lowered synchronously via a program. This synchronization relies entirely on the program's real-time comparison of the height information between the paired lifting platforms (via the height sensors on each platform). Figure 22 The difference is obtained by using a height measuring ruler (68) in the middle, and is achieved by dynamically adjusting the working state of the hydraulic system.

[0219] The following section uses the example of two lifts, A and B, being used in pairs to illustrate the specific control method.

[0220] (1) During ascent, motor 12-3 drives gear pump 12-2 to rotate and supply oil to cylinder 12-6, causing the two paired lifts to rise simultaneously. If the height difference between lifts A and B is detected in real-time and compared with their respective height gauges (…), the lifts will rise simultaneously. Figure 22 If the height gauge reading (68) exceeds the set value (5mm), an adjustment action will be triggered.

[0221] Suppose that at a certain moment, lift A has a high lifting height while lift B has a low lifting height (or vice versa), the control program of lift A will send a signal to open the unloading valve 12-8 and release oil through the small-diameter throttle valve 12-9. This will reduce the amount of hydraulic oil flowing into the oil cylinder 12-6, slow down the lifting speed, and gradually reduce the difference in lifting height between the two lifts.

[0222] When the control program detects that the lifting heights of lifts A and B are synchronized (within 5mm), the control program of lift A will send a signal to close the unloading valve 12-8 to stop oil leakage and restore the normal lifting control mode.

[0223] If the lifting heights of lifts A and B still cannot reach synchronization within the set time (lifter A's lifting height is still too high), the control program of lift A will send another signal to open the unloading valve 12-7 and introduce oil leakage through the large-diameter throttle valve 12-10, increasing the oil leakage speed and further reducing the amount of hydraulic oil flowing into the oil cylinder 12-6. The lifting speed will then be further slowed down until the lifting heights of lifts A and B reach synchronization. At this point, the control program will send a signal to close the unloading valves 12-7 and 12-8, stop oil leakage, and restore the normal lifting control mode.

[0224] (2) During descent, the control programs of lifts A and B simultaneously send signals to open their respective unloading valves 12-7 and 12-8, and simultaneously release oil through the small-diameter throttle valve 12-9 and the large-diameter throttle valve 12-10. If the height difference between the two lifts exceeds the set value (5mm), an adjustment action will be triggered.

[0225] Suppose that at a certain moment, lift A is at a high height (slow descent) and lift B is at a low height (fast descent), the control program of lift B will send a signal to close the unloading valve 12-8 and stop the oil leakage through the small-diameter throttle valve 12-9. This will reduce the amount of hydraulic oil flowing out of the oil cylinder 12-6, slow down the descent speed, and gradually reduce the difference in descent height between lifts A and B.

[0226] When the control program detects that the descent height of lifts A and B is synchronized (within 5mm), the control program of lift B will send a signal to open the unloading valve 12-8 and continue to drain oil through the small-diameter throttle valve 12-9 to restore the normal descent mode.

[0227] If the descent heights of lifts A and B fail to synchronize within the set time (lift B remains lower (descending faster)), the control program for lift B will issue another signal: closing unloading valve 12-7, opening unloading valve 12-8, stopping oil leakage through the large-diameter throttle valve 12-10, and resuming oil leakage through the small-diameter throttle valve 12-9, further reducing the oil leakage rate. This further reduces the amount of hydraulic oil flowing out of cylinder 12-6, causing lift B to descend at a slower speed until the descent heights of lifts A and B synchronize. At this point, the control program for lift B will issue a signal to open unloading valve 12-7, resume oil leakage through the large-diameter throttle valve 12-10, and return to normal descent mode.

[0228] The orifice sizes of the throttle valves 12-9 (small orifice) and 12-10 (large orifice) (small orifice φ1.0 mm, large orifice φ2.0 mm) were determined based on multiple experiments. This combination of orifice sizes ensures both rapid and efficient adjustment, while preventing the extreme situation where one of the two lifts needs to stop to participate in the adjustment, thus avoiding pauses during ascent and descent and guaranteeing smoothness during these processes.

[0229] Furthermore, the combination of large and small orifice throttle valves in the hydraulic system enables dual-speed descent. In addition to the normal descent speed, a slower setting can be added to meet the needs of different situations.

[0230] A multimodal adaptive fault-tolerant cooperative lifting control system based on Zigbee wireless communication, characterized in that it includes:

[0231] A master control terminal: serving as the coordinator of the Zigbee network and the core of the system's human-computer interaction, with an embedded multimodal management module and a global adaptive optimizer.

[0232] Multiple lift intelligent control nodes: Each node is fixedly installed on one lift and acts as a router for the Zigbee network, including:

[0233] Local closed-loop control unit: drives the motor and collects high-precision position and current signals.

[0234] Neighbor Awareness and Communication Unit: Maintains a "neighbor status table" for direct and rapid exchange of core status information with physically adjacent lift nodes.

[0235] Distributed collaborative algorithm module: Calculates control output based on local state, neighbor state table and master control instructions.

[0236] A multi-hop Mesh Zigbee wireless network: connects all the above devices and supports direct communication between nodes.

[0237] A control method based on the above system, characterized by comprising the following steps:

[0238] Phase 1: System Self-Organization and Topology Learning

[0239] 1. After power-on, the main control terminal establishes a network, and each intelligent control node joins and reports its physical location code.

[0240] 2. The master terminal configures and distributes the "physical neighbor" list for each node based on the location code. Each node then establishes a stable direct communication link with its neighbors, forming a collaborative control layer that overlays the physical topology onto the wireless network.

[0241] Phase Two: Multimodal Adaptive Cooperative Control Process

[0242] The core of this invention lies in three working modes that can be seamlessly switched according to system status:

[0243] Mode A (Strong Collaborative Optimization Mode): Enabled when network quality is excellent; this is the default high-performance mode.

[0244] a. The main control terminal receives the target command (such as "overall lifting"), generates a smooth global desired displacement-time curve S(t) through the speed planner, and broadcasts it.

[0245] b. Each intelligent control node executes synchronously within each control cycle (e.g., 10ms):

[0246] i. Collect local height Hi and speed Vi.

[0247] ii. Neighbor awareness: Directly exchange {H, V} data with all neighbor nodes in the list and update the local neighbor status table.

[0248] iii. Distributed collaborative computing: The following consistency-feedforward composite control law is used to calculate the speed adjustment ΔVi:

[0249] ΔVi=Kp_g(S(t)-Hi) / / Global target tracking term

[0250] +Kp_lΣ(Hj-Hi) / / Locally highly consistent coordination term

[0251] +Kd_lΣ(Vj-Vi) / / Local velocity consistency coordination term

[0252] +FeedForward(S'(t)) / / Global feedforward term

[0253] Where j is the neighbor node index. The local consistency term enables nodes to proactively align with surrounding nodes, forming a fast self-synchronization.

[0254] c. The global adaptive optimizer of the master terminal monitors the overall synchronization error and fine-tunes the gain parameters Kp_g, Kp_l, and Kd_l broadcast to each node online based on fuzzy rules to adapt to different loads.

[0255] Mode B (Weak Cooperative Fault Tolerance Mode): Triggered when the master terminal detects that the communication quality of a certain node is continuously deteriorating (e.g., packet loss rate > 15%), but the main network is intact.

[0256] a. The master terminal marks the node as a "weak cooperative node" and notifies its neighbors.

[0257] b. For this node, the master control terminal switches to directly sending high-frequency desired position settings for strong control.

[0258] c. During collaborative computation, neighboring nodes temporarily ignore the status information from this "weakly cooperating node" to avoid being interfered with by its erroneous data. This mode achieves isolation and degradation processing of faulty nodes, ensuring the continued safe operation of the main system.

[0259] Mode C (Autonomous Preservation Mode): When the master terminal fails completely or the network is interrupted on a large scale and the nodes cannot receive master control commands, each node will trigger autonomously.

[0260] a. Based on the last valid global objective S(t) and the current neighbor state, the node continues to run for a short period of time (e.g., 2 seconds) relying only on the local consistency coordination term to complete the smooth convergence of the current trend.

[0261] b. Subsequently, each node controls the lift to a smooth stop and locks it, while simultaneously triggering a local audible and visual alarm. This mode ensures safety in the event of a failure under worst-case scenario.

[0262] Phase Three: Safety Closed Loop and Learning

[0263] 1. Throughout the process, the safety monitoring loop, independent of the control algorithm, works continuously to monitor extreme asynchrony, overload, and anti-drop signals, and has the highest interrupt priority, which can trigger a hard emergency stop.

[0264] 2. After the task is completed, the system records the performance data of each node to update its reliability weight and optimize the weight of the neighbor list and the mode switching threshold in the future.

[0265] This invention features various safety protection measures, including safety lock open status detection (proximity switch 46, electromagnet and bracket assembly 42, lock welding 48), mobile trolley landing detection (limit switch 70), synchronization and fall protection (height gauge 68, explosion-proof valves 12-11), and battery reverse charging protection (AC contactor 56). It maximizes the safety of personnel, equipment, and vehicles.

[0266] This invention's column employs a symmetrical C-shaped groove welded structure, consisting of a left and right half-column. Compared to traditional integrally bent columns, this completely avoids bending, twisting, deformation, and subsequent shaping difficulties. The reinforcing strips welded to the inner side not only strengthen the split column and improve its bending and torsional resistance, but also serve as lifting guides for the towing wheels, reducing the diameter and weight of the towing wheels. Each paired column is identical, completely interchangeable regardless of whether it is a primary or secondary column, making manufacturing, use, and maintenance extremely convenient.

[0267] Based on the column structure, this invention adopts a lifting trolley with a matching rectangular cross-section, left and right symmetry, and vertically arranged supporting rollers for guidance. The structure is simple, easy to process and manufacture, and has good rigidity and strong load-bearing capacity.

[0268] This invention employs a symmetrical support foot structure that is easy to adjust and lock, offering high rigidity and strength, and adapting to lifting vehicles with tires of different diameters, thus expanding the lift's applicability. Simultaneously, the tire support surface of the support feet features an anti-slip design, improving stability and reliability during lifting.

[0269] This invention employs a lifting cylinder with an inverted top structure and a plunger-type cylinder, ensuring sufficient thrust while also promoting rust prevention during use. The cylinder has a built-in explosion-proof valve, providing protection against sudden hydraulic system depressurization due to pipe rupture or other causes, preventing the lifting trailer from falling rapidly and protecting personal and vehicle safety.

[0270] This invention employs an automatic alignment (automatic verticality) adaptive technology for the lifting vehicle. During the lifting process, if the ground has a certain angle (less than 1°) of inclination (the lifting machine itself requires the ground to be level to ensure safety during use) or if there are manufacturing errors during the manufacturing process, the lifting force of the lifting machine can be kept in the same direction as the vehicle's weight. This is beneficial for the balance of forces among the various structures of the lifting machine and extends its service life.

[0271] The present invention provides a wireless lifting synchronous dual-speed dynamic control and monitoring system to ensure that the lifting and lowering of the lift are synchronized and stable, while also providing a variable speed lowering function to meet the needs of different usage conditions.

Claims

1. A synchronous linkage control method for a lifting machine, characterized in that... Includes the following steps: Phase 1: System Self-Organization and Topology Learning After power-on, the main control terminal establishes a network, and each intelligent control node joins and reports its physical location code; The master terminal configures and distributes the "physical neighbor" list for each node based on the location code; each node then establishes a stable direct communication link with its neighbors, forming a collaborative control layer that overlays the physical topology onto the wireless network. Phase Two: Multimodal Adaptive Cooperative Control Process Three working modes that seamlessly switch based on system status: Mode A: Enabled when network quality is excellent; this is the default high-performance mode. a. The main control terminal receives the target command, generates a smooth global desired displacement-time curve S(t) through the velocity planner, and broadcasts it; b. Each intelligent control node within each control cycle; c. The global adaptive optimizer of the main control terminal monitors the overall synchronization error and fine-tunes the gain parameters Kp_g, Kp_l, and Kd_l broadcast to each node online based on fuzzy optimization PID rules to adapt to different loads; Mode B: Triggered when the master terminal detects that the communication quality of a certain node is continuously deteriorating, but the main network is intact; a. The master terminal marks the node as a "weak cooperative node" and notifies its neighbors; b. For this node, the master control terminal switches to directly sending high-frequency desired position settings for strong control; c. During collaborative computing, neighboring nodes temporarily ignore the state information from the "weak collaborative node" to avoid being interfered with by its erroneous data; Mode C: When the master control terminal fails completely or the network is interrupted on a large scale and the nodes cannot receive master control commands, each node will trigger the mode autonomously. a. Based on the last valid global objective S(t) and the current neighbor state, the node continues to run for a short period of time, relying only on the local consistency coordination term, to complete the smooth convergence of the current trend; b. Subsequently, each node controls the lifting machine to a smooth stop and locks it, while simultaneously triggering a local audible and visual alarm; Phase Three: Safety Closed Loop and Learning Throughout the process, the safety monitoring loop, independent of the control algorithm, works continuously to monitor extreme asynchrony, overload, and drop prevention signals. It has the highest interrupt priority and can trigger a hard emergency stop. After the task is completed, the system records the performance data of each node to update its reliability weight and optimize the weight of the neighbor list and the mode switching threshold in the future.

2. The synchronous linkage control method for the lifting machine according to claim 1, characterized in that... b. Each intelligent control node executes synchronously within each control cycle: i. Collect local height Hi and speed Vi; ii. Neighbor awareness: Directly exchange {H, V} data with all neighbor nodes in the list and update the local neighbor status table; iii. Distributed collaborative computing: The following consistency-feedforward composite control law is used to calculate the speed adjustment ΔVi: ΔVi=Kp_g(S(t)-Hi) / / Global target tracking term +Kp_lΣ(Hj-Hi) / / Locally highly consistent coordination term +Kd_lΣ(Vj-Vi) / / Local velocity consistency coordination term +FeedForward(S'(t)) / / Global feedforward term Where j is the neighbor node index; the local consistency term enables nodes to actively align with surrounding nodes, forming a fast self-synchronization.

3. The synchronous linkage control method for the lifting machine according to claim 1, characterized in that... A master control terminal acts as the coordinator of the Zigbee network and the core of the system's human-machine interaction, performing multimodal adaptive collaborative control; Each node is fixedly installed on a lift and serves as a router for the Zigbee network; Each node contains: Local closed-loop control unit: drives the motor and acquires high-precision position and current signals; Neighbor perception and communication unit: Maintains a "neighbor status table" for direct and rapid exchange of core status information with physically adjacent lift nodes; Distributed collaborative algorithm module: Calculates control output based on local state, neighbor state table, and master control instructions; A multi-hop mesh Zigbee wireless network: connects various devices and supports direct communication between nodes.

4. The synchronous linkage control method for the lifting machine according to claim 1, characterized in that... Control cycle: Each control cycle T is 10ms; Continuous degradation of node communication quality refers to a packet loss rate >15%; Continue running for a short period of 2 seconds; Synchronization error threshold: The maximum allowable static synchronization error is ±3mm; PID coefficient tuning principles: the global tracking coefficient Kp_g ranges from 0.1 to 0.5, the local position coordination coefficient Kp_l ranges from 0.05 to 0.2, and the local velocity coordination coefficient Kd_l ranges from 0.01 to 0.

1.

5. The synchronous linkage control method for a lifting machine according to claim 1, characterized in that... The fuzzy optimization PID control rules use the equipment height difference and speed difference as fuzzy inputs and the increment of the global tracking coefficient Kp_g as the output. The fuzzy rules are shown in the table below. 。 6. The synchronous linkage control method for a lifting machine according to claim 1, characterized in that... The method for coordinated control of four lifting machines is as follows: The main control terminal is located on the workshop wall, and the intelligent control nodes NodeA, B, C, and D of the four lifts form a mesh network; according to the layout, the neighbors of NodeA are configured as {B, D}. Each intelligent control node is based on a microprocessor and integrates a Zigbee module, encoder interface, hydraulic motor drive circuit and local safety circuit. When the system is running, it operates in mode A: the master controller issues S(t), and each node executes the following process every 10ms: reads its own sensors, quickly exchanges data with its neighbors, and calculates the output using a composite control law; the master controller evaluates every 500ms, and if it finds that the NodeC communication is unstable, the system seamlessly switches to mode B and directly controls the NodeC; if the master controller loses power, all nodes automatically enter mode C and stop smoothly by relying on the last instruction and neighbor information.

7. The synchronous linkage control method for a lifting machine according to claim 1, characterized in that... The main control terminal includes a power management circuit, a main control circuit, an analog-to-digital converter circuit, a communication interface circuit, an isolated input circuit, an isolated output circuit, an LED indicator circuit, and a buzzer circuit. The power output port of the power management circuit is connected to the power ports of the main control circuit, the analog-to-digital converter circuit, the communication interface circuit, the isolated input / output circuit, and the buzzer circuit, respectively. The signal output port of the analog-to-digital converter circuit is connected to the signal input port of the main control circuit. The input port of the isolated input circuit receives external switch signals through the LED indicator circuit. The output port of the isolated input circuit is connected to the control signal input port of the main control circuit. The control signal output port of the main control circuit is connected to the control signal input port of the isolated output circuit and the control signal input port of the buzzer circuit, respectively.

8. The synchronous linkage control method for a lifting machine according to claim 7, characterized in that... The isolated input circuit includes: Multiple LTV356 optocouplers have their input sides connected to external signal components and their output sides connected to the I / O ports of U25 to achieve signal isolation. The external signal components include a button J4, a grounding switch J7, a slow descent switch J9, a proximity switch J10 for detecting the open and closed states of the lock welding (48), a spare switch J11, a physical switch corresponding to the touch screen J12, a single-column, double-column, or multi-column working mode switching switch J16, a buzzer J2, and a motor contactor contact detection switch J13 for detecting whether the contactor contacts are stuck together.

9. The synchronous linkage control method for a lifting machine according to claim 8, characterized in that... The locking weld (48) is connected to the electromagnet and bracket assembly (42) by screw A; the locking weld (48) is also installed on the column assembly (3-4) of the column assembly (9) by shaft (47).

10. The synchronous linkage control method for a lifting machine according to claim 9, characterized in that... The column assembly (3-4) includes a left half column (4-2) and a right half column (4-3) arranged opposite to each other. The two side wheels (5-12) of the trailer assembly (11) are respectively placed in the left half column (4-2) and the right half column (4-3). The lower ends of the left half column (4-2) and the right half column (4-3) are connected by a base plate (4-19).

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