Balanced lifting device, vehicle-mounted exchange box system and multi-oil cylinder synchronization method
AssigneeChengdu Wutian Iot Technology Co., Ltd.
InventorJinliang Tang
Life of this patent
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Abstract
A balanced lifting device comprises at least two lifting arms arranged opposite to each other, each lifting arm comprises a balance arm and an actuating arm driving the balance arm to move, the balance arm is rotatably connected to the actuating arm at a rotatably connected part, and a first drive device is arranged between the balance arm and the actuating arm to drive the balance arm to a horizontal state throughout the lifting process. A vehicle-mounted exchange box system and a multi-oil cylinder synchronization method are also provided in the present invention. A cargo box may be lifted stably to improve the operation safety, the vehicle utilization rate is improved by saving the waiting time for loading and unloading in the transfer process.
Claims8
A balanced lifting device, comprising:
- at least two lifting arms arranged opposite to each other, wherein each one of the at least two lifting arms comprises a balance arm and an actuating arm driving the balance arm to move, the balance arm is rotatably connected to the actuating arm at a rotatably connected part, a first drive device is arranged between the balance arm and the actuating arm to drive the balance arm to a horizontal state throughout the lifting process, the balance arm is provided with a first connecting device and a second connecting device in butt joint with a box, and the rotatably connected part is located between the first connecting device and the second connecting device;
- the actuating arm comprises a frame body and a drive device used for adjusting the telescopic length of the frame body and controlling the pendulum angle of the frame body, wherein the frame body comprises at least two support arms, with the adjacent support arms rotatably connected in sequence, the frame body comprises a movable support arm and a main support arm, and the drive device comprises a second drive device used for driving the movable support arm to swing and a third drive device used for driving the main support arm to swing;
- displacement sensors are arranged on the first drive device, the second drive device and the third drive device, contact sensors are arranged on the first connecting device and the second connecting device, the balanced lifting device further comprises an underframe arranged on a vehicle, with the actuating arms all arranged on the underframe, one side, close to the box, of the underframe, is provided with a first distance measuring module and a camera, and four corners of the underframe are provided with second distance measuring modules.
A multi-oil cylinder synchronization method, comprising following steps:
- obtaining desired motion trajectory parameter values X, Y and Z of two lifting arms:
- the motion trajectory parameter values comprise a desired telescopic length value Z of a first drive device, a desired telescopic length value Y of a second drive device and a desired telescopic length value X of a third drive device;
- calculating error values Δs between the two lifting arms at the current moment:
- obtaining AD values Δad read by displacement sensors corresponding to the first drive device, the second drive device and the third drive device at the current moment;
- calculating telescopic length values S of the first drive device, the second drive device and the third drive device in the two lifting arms respectively at the current moment according to the obtained values Δad;
- calculating telescopic length error values Δs between the first drive device, the second drive device and the third drive device in the two lifting arms at the current moment respectively according to the obtained telescopic length value S;
- calculating difference values e(t):
- calculating the difference values e(t) between the telescopic length values S of the first drive device, the second drive device and the third drive device at the current moment and the desired telescopic length values X, Y and Z of the first drive device, the second drive device and the third drive device respectively according to the obtained X, Y and Z values and the obtained telescopic length values S;
- conducting compensation operation:
- conducting compensation operation by inputting the obtained telescopic length error values Δs and the obtained difference values e(t) into a PID controller to obtain compensation values Δd;
- calculating telescopic lengths S of the corresponding first drive device, second drive device and third drive device according the compensation values Δd obtained from the e(t) of the previous node.
Dependencies are inferred from the claim text.