Mechanical platform moving system

Abstract

The utility model provides a mechanical platform moving system which is used for solving the problem that a vehicle cannot pass through a deep pit. The mechanical platform is installed at the bottom of the deep pit, when a vehicle needs to pass through the deep pit, the mechanical platform moves from the initial position to the stop position, the supporting legs extend out, the mechanical platform is made to have stability, a section of mechanical road surface is formed on the deep pit, and the vehicle can pass through the mechanical platform; when the vehicle is not allowed to pass through the deep pit, the supporting legs are withdrawn, the mechanical platform moves to the initial position, the mechanical road surface on the deep pit disappears, and the vehicle cannot pass through. The utility model has the advantages of high reliability, high stability and high bearing performance.

Description

Technical Field

[0001] The utility model belongs to the technical field of engineering, and particularly relates to a mobile system. Background Art

[0002] The outdoor environment is complex and the road conditions are bad. When vehicles are driving in the field, they often encounter pits, road collapses and other impassable situations. In order to ensure smooth passage, a fixed bridge is usually built on the deep pit. This method is highly restricted by the environment, has a long construction period, and requires a lot of manpower and material resources. Therefore, a simple and fast way is needed to achieve vehicle passage. Utility Model Content

[0003] In view of this, the utility model proposes a mechanical platform moving system. The mechanical platform described in the utility model is installed at the bottom of a deep pit. When a vehicle needs to pass over the deep pit, the mechanical platform moves from the initial position to the final position and extends its legs to make the mechanical platform stable, forming a section of mechanical road surface above the deep pit for vehicles to pass through. When vehicles are not allowed to pass over the deep pit, the legs are retracted, the mechanical platform moves to the initial position, the mechanical road surface above the deep pit disappears, and vehicles cannot pass through. The initial position refers to the position where the platform's mechanical structure is located when the platform has not been moved out. The final position refers to the position where the platform's mechanical structure is located when the platform moves out to the target position.

[0004] The specific technical solutions are as follows:

[0005] A mechanical platform movement system includes a mechanical platform and an electrical control system. The mechanical platform includes a frame, a lifting mechanism, legs and an electric cylinder. The frame is used to carry vehicles for passage. The frame is provided with criss-cross trusses to play a supporting role. Two adjacent frames are connected by bolts. The legs are installed under the frame. The legs include main legs and auxiliary legs. The main legs are used for the main support when the vehicle is passing, and the auxiliary legs are used for auxiliary support during the frame lifting operation. The electrical control system is used to control the movement of the mechanical platform.

[0006] Furthermore, the outriggers include 4 main outrigger assemblies and 2 auxiliary outrigger assemblies;

[0007] Furthermore, the electrical control system includes a mobile control cabinet and a wired operation box, the mobile control cabinet includes a cabinet body, a power distribution box, a control box, a lifting servo driver and a leg servo driver; the mobile control cabinet controls the electric cylinder and the lifting mechanism through cables; the wired operation box sends instructions to the control box, and the control box sends instructions to the leg servo driver, thereby driving the electric cylinder to realize the extension and retraction of the legs, and the lifting servo driver drives the lifting mechanism to realize the lifting function of the frame; the power distribution box is used to provide power;

[0008] Furthermore, casters are installed at the bottom of the cabinet. The cabinet has two layers in total. The first layer is equipped with the outrigger servo driver. The second layer is designed as a removable partition. The control box and the power distribution box are on the second layer. The lifting servo driver is installed flat behind the control box. The cabinet door is openable. An aviation socket is provided at the back of the cabinet for cable connection.

[0009] Furthermore, the electrical control system also includes an initial position limit switch sensor for providing position information of the mechanical platform when it is retracted into position;

[0010] Auxiliary position limit switch sensor, used to provide position information of the mechanical platform when the auxiliary legs are allowed to extend;

[0011] The end position limit switch sensor is used to provide the position information of the mechanical platform when it moves out to the end position;

[0012] The initial deceleration position limit switch sensor is used to provide deceleration position information when the mechanical platform is retracted;

[0013] The end deceleration position limit switch sensor is used to provide the deceleration position information when the mechanical platform moves out.

[0014] The utility model controls a mechanical platform to move from an initial position to a terminal position, and then retracts from the terminal position to the initial position.

[0015] Beneficial Effects

[0016] 1. During the movement, the platform can move smoothly from the initial position to the final position without any stagnation, and the platform travel control system has high reliability.

[0017] 2. When the outriggers are extending and retracting, they can be fully extended and retracted, and the platform outrigger control system has high reliability.

[0018] 3. The entire mechanical structure of the platform has sufficient hardness to withstand the passage of vehicles over the platform.

[0019] 4. The utility model uses 5 limit switch sensors to accurately determine the platform's removal position, so that the platform can accurately reach the specified position. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the platform structure;

[0021] Figure 2 This is a schematic diagram of the main outrigger retracted state;

[0022] Figure 3 1. It is a schematic diagram of the auxiliary outrigger retracted state;

[0023] Figure 4 This is a schematic diagram of the main outriggers in extended state;

[0024] Figure 5 1. It is a schematic diagram of the auxiliary outrigger in the extended state;

[0025] Figure 6 It is the block diagram of the electrical control system;

[0026] Figure 7a This is the main view of the mobile control cabinet;

[0027] Figure 7b This is the left view of the mobile control cabinet;

[0028] Figure 7c This is the back panel diagram of the mobile control cabinet;

[0029] Figure 8 It is the flow chart of lifting drive system;

[0030] Fig. 9 It is the outrigger drive system flow chart;

[0031] Fig.10 It is the flow chart of the removal of the mechanical platform;

[0032] Fig.11 It is the flow chart of mechanical platform retraction. DETAILED DESCRIPTION

[0033] 1 Mechanical platform

[0034] The mechanical platform is mainly composed of a frame and outriggers. The frame is the main load-bearing component of the platform, and crisscross trusses are arranged between the frames to play a supporting role. Two adjacent frames are connected by bolts. The outriggers include 4 main outrigger assemblies and 2 auxiliary outrigger assemblies, all of which are installed in the platform structure. The main outriggers are used for supporting the platform in the working state, and the auxiliary outriggers are used for auxiliary support when the platform is moved out of the operation.

[0035] In daily storage state, the outriggers are folded up and hidden in the platform structure.

[0036] There are five limit switch sensors on the platform, which are installed in five positions, namely the initial position, auxiliary position, end position, initial deceleration position and end deceleration position.

[0037] The five positions all use rocker type limit switches, and the detection points use bump blocks, which are welded and installed on the side of the fixing seat and the guide rail base.

[0038] 2. Electrical control system of mechanical platform

[0039] The electrical control system consists of a mobile control cabinet (power distribution box, control box, servo drive), a wired operation box and sensors.

[0040] The mobile control cabinet controls 6 electric cylinders (including motors) and 2 lifting mechanisms (including motors) through cables. Workflow: The wired operation box sends instructions to the control box, the controller sends instructions to the outrigger servo driver, the outrigger servo driver drives the 6 electric cylinders (including motors) to realize the extension and retraction function of the 6 outriggers, and the travel driver drives the 2 lifting mechanisms (including motors) to realize the travel function of the platform.

[0041] Power distribution box: A circuit breaker with leakage protection, overload protection and other safety protection functions is installed in the power distribution box, which is used to control the power switch control of the entire electrical equipment. Two voltage-stabilizing switching power supply modules are also installed in the box to complete the conversion from AC380V to DC24V; a 480W switching power supply provides control power input to the control box, travel drive and servo drive, a 240W switching power supply provides power to the brake of the travel motor, and the 380V output of the circuit breaker provides 380V power to the servo drive.

[0042] Control box: The control box consists of a controller, a terminal board, 8 aviation sockets, 10 buttons and 3 indicator lights. It mainly completes the logical sequence control of the entire operation process, and realizes the transmission control of the travel motor and electric cylinder through the lifting servo drive and servo drive.

[0043] Servo drive: The servo drive receives instructions sent by the controller. The travel servo drive drives the rotation of the travel motor to control the movement of the platform; the outrigger servo drive drives the extension and retraction of the outrigger electric cylinder to realize the extension and retraction of the outrigger.

[0044] 2.1 Mobile control cabinet

[0045] Mobile control cabinet Figure 7a -c, casters are installed at the bottom of the cabinet, which can be pushed manually. The cabinet has two layers, the first layer is equipped with the outrigger servo driver; the second layer is designed as a removable partition, and the travel driver is installed flat behind the control box; the control box and power distribution box are on the second layer, and the cabinet door is designed to be openable for easy opening.

[0046] There are 17 aviation sockets on the back of the cabinet for cable connection, including:

[0047] First layer: ground socket, walking motor 1 feedback interface, walking motor 2 feedback interface, outrigger motor 1 feedback interface, outrigger motor 2 feedback interface, outrigger motor 3 feedback interface, outrigger motor 4 feedback interface, outrigger motor 5 feedback interface, outrigger motor 6 feedback interface and sensor interface, a total of 10 sockets;

[0048] The second layer: 380V power socket, travel motor power output, outrigger 1 and 2 power output, outrigger 3 and 4 power output, outrigger 4 and 5 power output, spare socket and operation box interface, a total of 7 sockets;

[0049] The mobile control cabinet is an independent trolley structure with rollers at the bottom. The cabinet door and front and rear covers are all equipped with waterproof strips. The four wheels under the cabinet are also equipped with shock-absorbing devices and braking devices. It can be pushed by hand to the designated location, and the movement of the rollers can be fixed by the foot brake device.

[0050] 2.2 Drive system

[0051] The lifting drive system is composed of 2 lifting motors, 2 lifting servo drivers and 1 power module; the control box controls the servo commands of the 2 lifting motors to push the platform to move, and the travel motor has a brake function.

[0052] The outrigger drive system is composed of 6 outrigger motors, 6 outrigger servo drivers and 1 power module; the outrigger extension and retraction are achieved through the control box's servo command control of the 6 outrigger motors.

[0053] 2.3 Wired operation box

[0054] The operation box is used to control the operation. It is connected to the aviation socket before use. The wired operation box has 10 handles, as well as a power indicator light, a motor operation indicator light and a communication status indicator light.

[0055] (1) When the power is turned on, the power indicator light will turn on after the system self-check delays for 5 seconds;

[0056] (2) Press the "Motor Start" button, and the system will detect the online status of the eight servo drives. When all eight servo drives are online normally, the communication indicator light will be on and the system is ready. If the communication indicator light is off, it means that at least one servo drive has a communication failure.

[0057] (3) Press the "Servo Start" button, the outrigger servo driver is ready, and the outrigger electric cylinder is ready;

[0058] (4) Press the "Platform Move Out" or "Platform Retract" button to control the platform to move out or retract;

[0059] (5) Press the "main outrigger extend" or "main outrigger retract" button to control the four main outriggers to extend or retract simultaneously;

[0060] (6) Press “Auxiliary outrigger extend” or “Auxiliary outrigger retract” to control the two auxiliary outriggers to extend or retract at the same time;

[0061] 2.4 Sensors

[0062] There are five limit switch sensors on the platform, which are installed in five positions, namely the initial position, auxiliary position, end position, initial deceleration position and end deceleration position.

[0063] The initial position indicates the position of the platform when it is retracted. When the platform is retracted and passes through the initial position limit, the motor stop signal is triggered and the platform stops moving;

[0064] The auxiliary position indicates the position of the platform when the auxiliary legs are allowed to extend. When the platform passes through the auxiliary position limit, the motor stop signal is triggered and the platform stops moving;

[0065] The end position indicates the position of the platform when it moves out. When the platform moves out and passes through the end position limit, the motor stop signal is triggered and the platform stops moving;

[0066] The initial deceleration position means that when the platform is retracted, the speed of the platform at this position is reduced to half of the original speed, and it returns to the initial position at a slow speed;

[0067] The terminal deceleration position means that when the platform moves out, the speed of the platform at this position is reduced to half of the original speed, and it moves out to the terminal position at a slow speed.

[0068] 3. Movement control method of mechanical platform

[0069] 3.1. Removal of mechanical platform:

[0070] After the controller receives the platform move-out instruction, it sends the move-out and running speed instructions to the walking servo driver. After receiving the instructions, the walking servo driver controls the motor to run and move out of the platform. When the platform moves out to the auxiliary position, the controller detects the auxiliary signal and sends a stop instruction to the walking servo, and the platform stops moving. Then extend the auxiliary outrigger. When the controller receives the auxiliary outrigger extension instruction, the controller sends an enable instruction to the auxiliary outrigger servo and then sends the running speed instruction. After receiving the instruction, the auxiliary outrigger servo controls the electric cylinder to extend at a given speed. When the outrigger reaches the set amount, the outrigger continues to extend at a given slower speed. The controller starts to detect the working current of the outrigger. When the controller detects that the working current of the outrigger reaches the set value and lasts for more than 0.5S, the controller sends a stop instruction to the auxiliary outrigger servo to stop the operation of the electric cylinder. Then continue to move out of the platform. When the platform moves out to the end position and the controller detects the buffer position signal, the controller sends a speed instruction to the walking servo to decelerate to half of the current speed. After the controller detects the end position signal, the controller sends a stop instruction to the walking servo to stop the platform from moving. Then lower the main outrigger. When the controller receives the command to lower the main outrigger, it will send an enable command to the outrigger servo drivers of the four main outriggers and then send a speed command. The outrigger servo driver controls the main outrigger electric cylinder to extend and run. When the outrigger reaches the set amount, the main outrigger continues to extend at a given slower speed. The controller starts to detect the working current of the outrigger. When the controller detects that the working current of the outrigger reaches the set value and lasts for more than 0.5S, the controller sends a stop command to the four main outrigger servos to stop the main outriggers. The entire platform is moved out.

[0071] 3.2. Retraction of the mechanical platform:

[0072] First, retract the main outrigger. After the controller receives the command to retract the main outrigger, it sends an enable command to the 4 main outrigger servo drivers and then sends a displacement command to retract to zero position. After receiving the command, the main outrigger servo controls the electric cylinder to retract, and the main outrigger stops automatically after reaching zero position. Then retract the platform. After receiving the command to retract the platform, the controller sends a retract and running speed command to the walking servo. After receiving the command, the servo driver controls the motor to run and retract the platform. When the platform is retracted to the auxiliary position, the controller detects the auxiliary signal and sends a stop command to the walking servo, and the platform stops moving. Then retract the auxiliary outrigger. After receiving the command to retract the auxiliary outrigger, the controller sends a displacement command to retract to zero position to the auxiliary outrigger servo. After receiving the command, the auxiliary outrigger servo controls the electric cylinder to retract at a given speed, and stops running when the controller detects that the auxiliary outrigger reaches zero position. Then continue to retract the platform. When the platform is retracted to the initial position and the controller detects the buffer position signal, the controller sends a speed command to the walking servo to decelerate to half of the current speed until the controller detects the initial position signal, and the controller sends a stop command to the walking servo to stop the platform from moving. The entire platform is recovered.

[0073] For a deep pit, when its upper surface cannot be kept in the guiding road state, a mechanical platform can be installed on its bottom surface. When vehicles need to pass through the upper surface of the deep pit, the mechanical platform moves out to form a mechanical road surface; when the upper surface of the deep pit does not allow vehicles to pass, the mechanical platform is retracted and the mechanical road surface disappears.

Claims

1. A mechanical platform moving system, characterized in that: It includes a mechanical platform and an electrical control system. The mechanical platform includes a frame, a lifting mechanism, legs and an electric cylinder. The frame is used to carry vehicles for passage. The frame is provided with criss-cross trusses to play a supporting role. Two adjacent frames are connected by bolts. The lifting mechanism is used to realize the lifting and lowering of the frame. The legs are installed under the frame. The legs include main legs and auxiliary legs. The main legs are used for the main support when the vehicle is passing, and the auxiliary legs are used for auxiliary support during the frame lifting operation. The electrical control system is used to control the movement of the mechanical platform.

2. A mechanical platform moving system according to claim 1, characterized in that: The outriggers consist of 4 main outrigger assemblies and 2 auxiliary outrigger assemblies.

3. A mechanical platform moving system according to claim 1 or 2, characterized in that: The electrical control system includes a mobile control cabinet and a wired operation box. The mobile control cabinet includes a cabinet body, a power distribution box, a control box, a lifting servo driver and an outrigger servo driver. The mobile control cabinet controls the electric cylinder and the lifting mechanism through cables. The wired operation box sends instructions to the control box, and the control box sends instructions to the outrigger servo driver, thereby driving the electric cylinder to realize the extension and retraction of the outrigger. The control box sends instructions to the lifting servo driver, and the lifting servo driver drives the lifting mechanism to realize the lifting function of the frame. The power distribution box is used to provide power.

4. A mechanical platform moving system according to claim 3, characterized in that: Casters are installed at the bottom of the cabinet. The cabinet has two layers in total. The first layer is installed with the outrigger servo driver; the second layer is designed as a removable partition. The control box and power distribution box are on the second layer, and the lifting servo driver is installed flat behind the control box; the cabinet door is openable; an aviation socket is provided on the back of the cabinet for cable connection.

5. A mechanical platform moving system according to claim 4, characterized in that: The electrical control system also includes, The initial position limit switch sensor is used to provide the position information of the mechanical platform when it is retracted into position; Auxiliary position limit switch sensor, used to provide position information of the mechanical platform when the auxiliary legs are allowed to extend; The end position limit switch sensor is used to provide the position information of the mechanical platform when it moves out to the end position; The initial deceleration position limit switch sensor is used to provide deceleration position information when the mechanical platform is retracted; The end deceleration position limit switch sensor is used to provide the deceleration position information when the mechanical platform moves out.

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