A precise positioning and control device for a walking trolley

Abstract

The utility model discloses a kind of walking trolley precision positioning and control device, belong to vehicle transportation technical field, including base shell, the bottom rotationally connected with the roller for vehicle movement of base shell, the inner chamber of base shell is fixedly installed with variable-frequency motor, the below of base shell is provided with track for providing the roller sliding, the top of track is provided with the vernier pointer for detecting the position of the device, the side of track is engraved with scale ruler, and the position of material preparation trolley is accurately detected by scale ruler, the inner chamber of base shell is rotatably connected with two movable plates, by setting the sectional speed control of variable-frequency motor, when the distance between feeding point and base shell is less than 1.2 meters, trolley motor frequency is 50Hz, when the distance between feeding point and base shell is less than 0.6 meters, trolley motor frequency is 25Hz, when the distance between feeding point and base shell is less than 0.05 meters, base shell stops moving, and stop position deviation is controlled within 2cm.

Description

Technical Field

[0001] This utility model relates to the field of vehicle transportation technology, specifically a precise positioning and control device for a mobile vehicle. Background Technology

[0002] The core function of the mobile cart is to achieve efficient and automated material transportation. Through precise positioning and flexible scheduling, it can replace human labor to complete tasks, effectively improving efficiency, reducing material loss and safety risks, thereby promoting the widespread application of mobile carts in the field of particulate matter transportation.

[0003] The existing technology has the following problems: Existing mobile trolleys cannot monitor their position in real time. When the trolley reaches the feeding port, a position switch is needed to trigger the trolley motor to stop it. However, due to the trolley's inertia, it continues to slide a certain distance after reaching the limit switch position before stopping. This results in the trolley consistently failing to stop properly, deviating from the feeding port. This necessitates frequent manual operation and may also cause material spillage during feeding, polluting the environment and increasing the workload of on-site personnel. Therefore, this utility model provides a precise positioning and control device for mobile trolleys to solve the aforementioned problems. Utility Model Content

[0004] The purpose of this invention is to provide a precise positioning and control device for a mobile cart to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A precise positioning and control device for a mobile trolley includes a base shell. Rollers for vehicle movement are rotatably connected to the bottom of the base shell. A variable frequency motor is fixedly installed inside the base shell. A track for providing sliding for the rollers is provided below the base shell. A vernier pointer for detecting the device's position is provided above the track. A scale is engraved on the side of the track, and the position of the material preparation trolley is precisely detected by the scale. Two movable plates are rotatably connected to the inner cavity of the base shell. A generator for receiving materials is fixedly installed on the top of the two movable plates. A lifting structure for tilting the generator is rotatably connected to the inner cavity of the base shell.

[0007] As a further embodiment of this utility model, the inner cavity of the base shell is rotatably connected to a reversible belt for driving the roller to rotate. The reversible belt is fixedly connected to the output shaft of the variable frequency motor through the drive wheel, so that the trolley can support forward and backward bidirectional movement, adapt to the positioning requirements of different generator feeding ports, and realize flexible movement within the entire stroke range.

[0008] As a further embodiment of this utility model, the lifting structure includes a rotating disk, which is rotatably connected to the inner cavity of the base shell. The bottom of both movable plates is fixedly connected to an arc-shaped shell, and a push rod for pushing the arc-shaped shell to flip is fixedly connected to one end of the rotating disk near the arc-shaped shell.

[0009] As a further embodiment of this utility model, the outer wall of the rotating disk is rotatably connected to a toothed block for driving and pushing the rotating disk to rotate, and the bottom of the rotating disk is rotatably connected to a gear, and the toothed block is meshed with the gear.

[0010] As a further embodiment of this utility model, the generator is provided with a fixed baffle for limiting the range of material movement. The fixed baffle is located at the midpoint of the generator's inner cavity, and the movement of the material in the generator's inner cavity is limited by the fixed baffle during its movement.

[0011] As a further embodiment of this invention, a limiting baffle for restricting the rollers is fixedly connected to the top of the track, and the limiting baffle is located at the top of the rollers.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] 1. When this utility model is used, by setting segmented speed control of the variable frequency motor, when the distance between the feeding point and the base shell is less than 1.2 meters, the frequency of the trolley motor is 50Hz; when the distance between the feeding point and the base shell is less than 0.6 meters, the frequency of the trolley motor is 25Hz; when the distance between the feeding point and the base shell is less than 0.05 meters, the base shell stops moving, controlling the stopping position deviation within 2cm. At the same time, in coordination with the mechanical tilting action of the lifting structure, when the vehicle is about to stop, the rotating disc causes the push rod to push the generator tilt along the arc groove. The material moves backward due to gravity to counteract the inertial force of the trolley. With the help of the fixed baffle inside the generator, the amplitude of material shaking is reduced, avoiding the problem of leakage caused by the material pushing the vehicle forward due to inertia when stopping, which would cause the feed port of the generator to be out of alignment with the feeding port. This achieves dual precise control of dynamic speed regulation and inertia cancellation.

[0014] 2. When this utility model is used, the variable frequency motor and reversible belt can be used to make the trolley reverse and adjust when the position of the trolley deviates from the predetermined position. This eliminates the need for frequent personnel intervention, avoids material spillage caused by inaccurate positioning, reduces the labor intensity of on-site personnel, and protects the environment. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a precise positioning and control device for a mobile cart.

[0016] Figure 2This is a side view of the overall structure of a precise positioning and control device for a mobile cart.

[0017] Figure 3 This is a schematic diagram of the rotating disk of a precise positioning and control device for a walking trolley.

[0018] Figure 4 This is a schematic diagram of the gear structure of a precision positioning and control device for a walking trolley.

[0019] Figure 5 This is a schematic diagram of the structure of a roller in a precise positioning and control device for a walking trolley.

[0020] Figure 6 This is a schematic diagram of the track structure of a precision positioning and control device for a mobile trolley.

[0021] In the diagram: 1. Base shell; 2. Movable plate; 3. Generator; 4. Lifting structure; 5. Roller; 6. Variable frequency motor; 7. Track; 301. Arc-shaped limiting block; 302. Annular limiting belt; 303. Fixed baffle; 401. Rotating disk; 402. Arc-shaped shell; 403. Push rod; 404. Arc-shaped groove; 405. Fixed block; 406. Flipping block; 407. Tooth block; 408. Gear; 409. Motor; 501. Reversible belt; 502. Connecting shaft; 503. Fixed bending plate; 701. Vernier pointer; 702. Scale; 703. Limiting baffle; 803. Pressure rod; 804. Extension block. Detailed Implementation

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

[0023] Please see Figures 1-6A precise positioning and control device for a mobile cart includes a base shell 1. Rollers 5 for vehicle movement are rotatably connected to the bottom of the base shell 1. A variable frequency motor 6 is fixedly installed inside the base shell 1. The device controls the cart's speed in advance by controlling the variable frequency motor 6. The speed is reduced as the cart approaches a stopping position to decrease inertia. The actual position of the cart is compared with a pre-set stopping position, and the frequency of the variable frequency motor 6 is controlled based on the deviation value. This allows for segmented speed control and precise positioning of the cart throughout its entire travel range. The lower part of the base shell 1... A track 7 is provided for the sliding of rollers 5. Rollers 5 are slidably connected to the inner cavity of track 7 and are supported by track 7 to run smoothly on a fixed path, ensuring the accuracy of the movement direction. A vernier pointer 701 for detecting the position of the device is provided above track 7. Vernier pointer 701 is fixedly installed on the outer wall of the base shell 1. A scale 702 is engraved on the side of track 7, and the position of the material preparation trolley is accurately detected by the scale 702. The scale 702 uses the principle of electromagnetic induction to detect the displacement of the trolley, so that when the trolley... During operation, the vernier pointer 701 and the scale 702 generate relative motion, which induces a change in electromotive force through magnetic line cutting. The displacement of the trolley is calculated by detecting the change in electromotive force, achieving real-time position monitoring. Two movable plates 2 are rotatably connected to the inner cavity of the base shell 1. Generators 3 for receiving materials are fixedly installed on the top of the two movable plates 2. There are twelve generators 3 in total, and six are fixed to the top of one movable plate 2. When the trolley stops at a position that deviates from the feeding port of the generator 3, the variable frequency motor 6 is re-controlled to rotate in both directions. The trolley is positioned to prevent material leakage during feeding. The inner cavity of the base shell 1 is rotatably connected to a lifting structure 4 for tilting the generator 3. When the generator 3 is tilted in the opposite direction to the movement of the base shell 1, the material follows the tilt and slides down to the lower side. This makes the forward inertial force of the trolley counteract the backward movement of the material caused by the tilt. In conjunction with the variable frequency motor 6, this ensures that the trolley stops accurately and reduces the swaying and movement of the trolley caused by the material pushing it forward due to inertia when the trolley stops.

[0024] Specifically, an arc-shaped limiting block 301 is fixedly installed on the top of the movable plate 2, and the generator 3 is located on top of the arc-shaped limiting block 301, so that the arc-shaped limiting block 301 fits against the bottom of the generator 3 through its arc-shaped contour, providing initial positioning support. An annular limiting band 302 for limiting the generator 3 is provided above the arc-shaped limiting block 301 and is fixed to the top of the movable plate 2 by threaded nails. The number of arc-shaped limiting blocks 301 and annular limiting bands 302 is the same as the number of generators 3. The generator 3 is located below the annular limiting band 302 and is surrounded by the annular limiting band 302 around the outer wall of the generator 3, forming an upper and lower clamping limiting structure with the arc-shaped limiting block 301.

[0025] Please see Figures 1-2 and Figures 5-6 The inner cavity of the base shell 1 is rotatably connected to a reversible belt 501 for driving the rollers 5 to rotate. The reversible belt 501 is fixedly connected to the output shaft of the variable frequency motor 6 via a drive wheel, enabling the trolley to support forward and backward bidirectional movement, adapting to the positioning requirements of different feed ports of the generator 3, and achieving flexible movement within the entire stroke range. Specifically, the rollers 5 are grouped into sets of four, and a connecting shaft 502 is fixedly connected between every two rollers 5. The outer wall of the connecting shaft 502 is rotatably connected to the inner cavity of the reversible belt 501 via a driven wheel. The bearing is rotatably connected to a fixing plate 503 for fixing the roller 5. The top of the fixing plate 503 is fixedly connected to the bottom of the base shell 1. Specifically, the top of the reversible belt 501 is rotatably connected to a pressure rod 803 for limiting the rotation path of the reversible belt 501. Both ends of the pressure rod 803 are rotatably connected to extension blocks 804 through bearings. The top of the extension blocks 804 is fixedly connected to the bottom of the base shell 1 and the pressure rod 803 limits the rotation range of the reversible belt 501 to prevent the reversible belt 501 from contacting the bottom of the base shell 1 and causing wear.

[0026] Please see Figures 2-4 The lifting structure 4 includes a rotating disk 401, which is rotatably connected to the inner cavity of the base shell 1. Four rotating disks 401 are provided, each rotatably connected to the inner cavity of the base shell 1 via bearings. Arc-shaped shells 402 are fixedly connected to the bottom of both movable plates 2. A push rod 403 for pushing the arc-shaped shell 402 is fixedly connected to one end of the rotating disk 401 near the arc-shaped shell 402. Each of the four rotating disks 401 has a push rod 403 fixedly connected to one end of the arc-shaped shell 402. Each pair of push rods 403 is slidably connected to the outer wall of one arc-shaped shell 402. Specifically, arc-shaped grooves 404 for limiting the push rods 403 are provided at both ends of the arc-shaped shell 402. The push rods 403 are slidably connected to the outer wall of the arc-shaped shell 402. The inner cavity of the groove 404 is used to prevent the arc shell 402 from separating from the push rod 403. Two fixed blocks 405 are rotatably connected to the bottom of the two movable plates 2 away from the arc shell 402. The two fixed blocks 405 are rotatably connected to the two fixed blocks 405 through a roller. The top of the flip block 406 is fixedly connected to the bottom of the movable plate 2. The four rotating disks 401 rotate simultaneously, and the push rod 403 pushes the arc shell 402 and the flip block 406 to flip in the opposite direction to the movement of the trolley and flip upward around the roller. This causes the movable plate 2 and the generator 3 to tilt, so that the material slides backward due to gravity, which counteracts the inertial force of the trolley moving forward and prevents the material from rushing out of the feeding port when the trolley stops.

[0027] Please see Figures 2-4The outer wall of the rotating disk 401 is rotatably connected to a toothed block 407 for driving the rotating disk 401 to rotate. The two diagonally arranged rotating disks 401 have multiple toothed blocks 407 on their outer surfaces. The bottom of the rotating disk 401 is rotatably connected to a gear 408, and the toothed blocks 407 mesh with the gear 408. Specifically, the inner cavity of the base shell 1 is fixedly installed with two motors 409 for driving the gear 408 to rotate. The positions of the two motors 409 are the same as those of the gear 408, and they are diagonally arranged. By driving the motors 409, their output shafts drive the gears 408 to rotate. The gears 408 drive the rotating disks 401 to rotate synchronously through the toothed blocks 407, thereby causing the push rod 403 fixed on the rotating disk 401 to slide along the arc groove 404, pushing the arc shell 402 to tilt the movable plate 2 and the generator 3. The diagonally arranged rotating disks 401 achieve synchronous driving of the four sets of rotating disks 401 through the meshing of the toothed blocks 407 and the gears 408, ensuring that the force on both sides of the movable plate 2 is uniform.

[0028] Please see Figures 1-3 The generator 3 is equipped with a fixed baffle 303 to limit the range of material movement. The fixed baffle 303 is located at the midpoint of the inner cavity of the generator 3 and forms a rigid separation during movement, limiting the range of material movement in the inner cavity of the generator 3 and preventing the trolley from tilting or shaking due to the shift of the center of gravity.

[0029] Please see Figure 6 The top of the track 7 is fixedly connected with a limiting baffle 703 for limiting the roller 5. The limiting baffle 703 is located on the top of the roller 5. There are two limiting baffles 703, which are fixedly connected to the top two ends of the track 7 respectively. The limiting baffles 703 prevent the roller 5 from leaving the track 7, ensuring that the trolley runs smoothly along a fixed path. At the same time, they help maintain the relative positional accuracy between the roller 5 and the vernier pointer 701, ensuring the stability of the vernier pointer 701 when detecting displacement.

[0030] The working principle of this utility model is as follows:

[0031] First, the variable frequency motor 6 is driven to rotate the roller 5 via the reversible belt 501, thereby moving the base shell 1. The position of the trolley is monitored in real time based on the electromagnetic induction principle of the scale 702 and the vernier pointer 701. As it approaches the feeding point, the speed is gradually reduced. When the distance between the feeding point and the base shell 1 is less than 1.2 meters, the trolley motor frequency is 50Hz. When the distance between the feeding point and the base shell 1 is less than 0.6 meters, the trolley motor frequency is 25Hz. When the distance between the feeding point and the base shell 1 is less than 0.05 meters, the base shell 1 stops moving. This allows the trolley to control its running speed in segments throughout its entire stroke range and achieve precise positioning.

[0032] Simultaneously, as it approaches the feeding point, the motor 409 of the lifting structure 4 drives the gear 408 to rotate, which in turn drives the two rotating disks 401 to rotate synchronously by 180°. This causes the rotating disks 401 to drive the push rod 403 to lift the arc-shaped shell 402 upward along the arc-shaped groove 404, pushing the movable plate 2 and the generator 3 to tilt with the flipping block 406 and the fixed block 405 as fulcrums. This causes the material to move backward due to gravity, counteracting the inertial force of the trolley. The fixed baffle 303 also helps to limit the shaking of the material inside the generator 3. After the base shell 1 stops moving, the motor 409 is driven again to drive the two rotating disks 401 to rotate 180° again to reset. This causes the rotating disks 401 to drive the push rod 403 to push the arc-shaped shell 402 downward along the arc-shaped groove 404, causing the movable plate 2 and the generator 3 to return to a horizontal state, allowing the generator 3 to connect with the feeding port for easy material entry.

[0033] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A precise positioning and control device for a walking vehicle, comprising a base shell (1), characterized in that, The bottom of the base shell (1) is rotatably connected to a roller (5) for vehicle movement. A variable frequency motor (6) is fixedly installed in the inner cavity of the base shell (1). A track (7) for providing sliding for the roller (5) is provided below the base shell (1). A vernier pointer (701) for detecting the position of the device is provided above the track (7). A scale (702) is engraved on the side of the track (7), and the position of the material preparation trolley is accurately detected by the scale (702). Two movable plates (2) are rotatably connected to the inner cavity of the base shell (1). A generator (3) for receiving materials is fixedly installed on the top of the two movable plates (2). A lifting structure (4) for pushing the generator (3) to tilt is rotatably connected to the inner cavity of the base shell (1).

2. The precise positioning and control device for a walking trolley according to claim 1, characterized in that, The inner cavity of the base shell (1) is rotatably connected to a reversible belt (501) for driving the roller (5) to rotate. The reversible belt (501) is fixedly connected to the output shaft of the variable frequency motor (6) through the drive wheel, so that the trolley can support forward and backward bidirectional movement, adapt to the positioning requirements of the feeding port of different generators (3), and realize flexible movement within the entire stroke range.

3. The precise positioning and control device for a walking trolley according to claim 1, characterized in that, The lifting structure (4) includes a rotating disk (401), which is rotatably connected to the inner cavity of the base shell (1). The bottom of the two movable plates (2) are fixedly connected to an arc-shaped shell (402). The end of the rotating disk (401) near the arc-shaped shell (402) is fixedly connected to a push rod (403) for pushing the arc-shaped shell (402) to flip.

4. The precise positioning and control device for a walking trolley according to claim 3, characterized in that, The outer wall of the rotating disk (401) is rotatably connected to a toothed block (407) for driving and pushing the rotating disk (401) to rotate. The bottom of the rotating disk (401) is rotatably connected to a gear (408), and the toothed block (407) and the gear (408) are meshed together.

5. The precise positioning and control device for a walking trolley according to claim 1, characterized in that, The generator (3) is provided with a fixed baffle (303) for limiting the range of material movement. The fixed baffle (303) is located at the midpoint of the inner cavity of the generator (3) and limits the range of material movement in the inner cavity of the generator (3) during movement.

6. The precise positioning and control device for a walking trolley according to claim 1, characterized in that, The top of the track (7) is fixedly connected to a limiting baffle (703) for limiting the roller (5), and the limiting baffle (703) is located on the top of the roller (5).

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