1. A computer-controlled imaging system, characterized by: comprises an imaging device (1) and a movable device (2) which is arranged at the bottom of the imaging device (1) and is used for driving the imaging device (1) to move; the movable device (2) comprises a supporting plate (21) and four supporting sliding wheels (22) arranged on the periphery of the bottom of the supporting plate (21), a mounting groove (11) is formed in the bottom of the imaging device (1), the supporting plate (21) is fixedly arranged in the mounting groove (11), and the supporting sliding wheels (22) partially extend out of the mounting groove (11); the movable device (2) further comprises a locking structure (3) arranged on the sliding wheel and a control component (4) used for controlling the locking structure (3) to be opened or closed.

2. A computer controlled imaging system according to claim 1, wherein: the supporting sliding wheel (22) comprises a connecting plate (221), a bracket (222) and a pulley (223), the connecting plate (221) is arranged on the bottom of the supporting plate (21), the connecting plate (221) is connected with the bracket (222) in a directional rotating mode through a connecting disc, two sides of the bottom of the bracket (222) are provided with fixing lug plates (224), and the pulley (223) is arranged between the two fixing lug plates (224) through a shaft; the locking structure (3) comprises a first locking piece (31) for simultaneously limiting the rotation between a connecting plate (221) on more than one supporting sliding wheel (22) and a bracket (222), and a second locking piece (32) for simultaneously limiting the rolling of more than one sliding wheel (223).

3. A computer controlled imaging system according to claim 2, wherein: the connecting disc comprises a first disc (225) and a second disc (226) which are arranged up and down, the upper end face of the first disc (225) is fixed on the connecting plate (221), the first disc (225) is fixedly connected with the second disc (226) through a connecting shaft (227), a connecting groove opening is formed in the support (222), the connecting shaft (227) is arranged in the connecting groove opening, the support (222) is clamped between the first disc (225) and the second disc (226), and ball bearings are further arranged between the first disc (225) and the support (222) and between the second disc (226) and the support (222); a plurality of limiting columns (2261) distributed circumferentially at equal intervals are arranged at the outer edge of the bottom of the second disc (226), and a limiting notch (2262) is formed by a gap between every two adjacent limiting columns (2261); the first locking piece (31) comprises a positioning pin (311) arranged between the two fixing ear plates (224) and a limiting plate (312) rotatably arranged on the positioning pin (311), one end face, right opposite to the support (222), of the limiting plate (312) is provided with an elastic supporting part (3121) obliquely arranged towards the second disc (226), the end part of the elastic supporting part (3121) abuts against the support (222), and one side, close to the second disc (226), of the limiting plate (312) is provided with a plurality of inserting pieces (3122);

under a normal state, the elastic supporting part (3121) pushes one end of the limiting plate (312) close to the second disc (226) to move downwards, so that the inserting sheet (3122) on the limiting plate (312) is positioned right below the limiting notch (2262) on the second disc (226); the first locking piece (31) further comprises a first power part (313) which is used for driving one side of the limiting plate (312) far away from the second disc (226) to move downwards, so that the inserting sheets (3122) on the limiting plate (312) move upwards and are respectively embedded into the corresponding limiting notches (2262) on the second disc (226).

4. A computer controlled imaging system according to claim 3, wherein: the first power part (313) comprises four first hydraulic cylinders (3131), four first three-position four-way reversing valves (3132), an oil pump (3133) and oil grooves (3134), the first hydraulic cylinders (3131) are respectively arranged at the bottom of each support (222), piston rods of the first hydraulic cylinders (3131) are opposite to one ends, far away from the inserting sheets (3122), of the limiting plates (312) corresponding to the first hydraulic cylinders, the first three-position four-way reversing valves (3132) are provided with oil inlets P1, oil return ports T1, working oil ports A1 and working oil ports B1, oil inlet ends of the oil pumps (3133) are connected with the oil grooves (3134) through pipelines, oil outlet ends of the oil pumps are connected with the oil inlets P1 through pipelines, the working oil ports A1 are respectively connected with oil ports of rodless cavities of the first hydraulic cylinders (3131), and the working oil ports B1 are respectively connected with the ports of the first hydraulic cylinders (3131) with rod cavities, the control part (4) comprises a PLC control unit (41) for controlling the running states of the first three-position four-way reversing valve (3132) and the oil pump (3133);

the PLC control unit (41) starts an oil pump (3133), when a first three-position four-way reversing valve (3132) is switched to the left position, hydraulic oil in an oil groove (3134) flows to a rodless cavity of a first hydraulic cylinder (3131) after passing through the oil pump (3133), an oil inlet P1 and a working oil port A1 in sequence, oil is returned from a rod cavity of the first hydraulic cylinder (3131), a piston rod of the first hydraulic cylinder (3131) is made to approach a limiting plate (312), the piston rod is pressed down after contacting the limiting plate (312), an inserting sheet (3122) on the limiting plate (312) is made to approach a limiting notch (2262) of a second disc (226) and is embedded into the limiting notch (2262), and a connecting plate (221) on a supporting sliding wheel (22) is locked with a support (222);

when the first three-position four-way reversing valve (3132) is switched to the middle position, the valve is in a disconnected state;

when the first three-position four-way reversing valve (3132) is switched to the right position, hydraulic oil in the oil groove (3134) flows through the oil pump (3133), the oil inlet P and the working oil port B in sequence, and then flows into the rod cavity of the first hydraulic cylinder (3131), oil return is performed in the rod-free cavity of the first hydraulic cylinder (3131), so that the piston rod of the first hydraulic cylinder (3131) moves towards the direction away from the limiting plate (312), the inserting sheet (3122) on the limiting plate (312) is separated from the limiting notch (2262) on the second disc (226), and the connecting plate (221) on the supporting sliding wheel (22) and the support (222) are opened.

5. A computer controlled imaging system according to claim 4, wherein: the first power part (313) further comprises a speed regulation device (3135) for controlling the extension or contraction speed of the piston rod of the first hydraulic cylinder (3131), the speed regulation device (3135) comprises an on-off valve (3136) and a throttle valve (3137), the on-off valve (3136) and the throttle valve (3137) are connected in parallel to a pipeline between the oil pump (3133) and the oil inlet P1, the on-off valve (3136) is controlled to be opened or closed by the PLC control unit (41), the end of the piston rod of the first hydraulic cylinder (3131) is provided with a first pressure sensor (3138), when the pressure value detected by the first pressure sensor (3138) gradually increases to a preset threshold value, indicating that the insert sheet (3122) on the limit plate (312) is completely inserted into the notch limit (2262), the oil inlet P1 is communicated with the working oil port a1, and the first pressure sensor (3138) detects the pressure value, the PLC control unit (41) disconnects the on-off valve (3136); when the oil inlet P1 is communicated with the working oil port B1, the PLC control unit (41) opens the on-off valve (3136).

6. A computer controlled imaging system according to claim 5, wherein: the first locking piece (31) further comprises a second power part (314) for finely adjusting the bracket (222), and the second power part is used for driving the bracket (222) to rotate in the rotating and locking process so that the limiting notch (2262) on the second disc (226) is aligned with the inserting sheet (3122).

7. A computer controlled imaging system according to claim 6, wherein: the second power part (314) comprises motors (3141), first transmission gears (3142), second transmission gears (3143) and second pressure sensors (3144), the motors (3141) are four and are respectively arranged at the bottoms of the connecting plates (221), the output shaft of each motor (3141) is arranged downwards and is respectively connected with the first transmission gears (3142), the second transmission gears (3143) are four and are respectively sleeved and fixed on the outer surface of the connecting end of the bracket (222) and are respectively meshed with the first transmission gears (3142), the second pressure sensors (3144) are four and are respectively arranged on inserting pieces (3122) on each limiting plate (312), each second pressure sensor (3144) faces the bottom of the second disc (226), after the inserting pieces (3122) are embedded into the limiting notch (2262), the upper end face of the inserting pieces (3122) and the second pressure sensors (3144) do not contact with the bottom of the limiting notch (2262) A section;

in the locking process of the connecting plate (221) and the bracket (222) on each supporting sliding wheel (22), when one or more second pressure sensors (3144) detect pressure values, the PLC control unit (41) switches the first three-position four-way reversing valve (3132) to a middle position, opens the corresponding motor (3141), drives the second transmission gear (3143) and the bracket (222) to rotate through the first transmission gear (3142), when the pressure values detected by the second pressure sensors (3144) are gradually reduced to '0', the PLC control unit (41) closes the motor (3141), continuously switches the first three-position four-way reversing valve (3132) to a left position, and after the pressure values detected by the first pressure sensor (3138) on the first hydraulic cylinder (3131) are gradually increased to a preset threshold value, the PLC control unit (41) switches the first three-position four-way reversing valve (3132) to the middle position, the oil pump (3133) is turned off.

8. A computer controlled imaging system according to claim 7, wherein: the second locking piece (32) comprises more than one locking block group (321), and each locking block group (321) is respectively arranged on the fixing lug plate (224) of each bracket (222) and used for clamping or loosening the corresponding side wall of the pulley (223) so as to lock or unlock the pulley (223); the locking block group (321) comprises locking blocks (3211) and sliding blocks (3212), the number of the locking blocks (3211) is two, the locking blocks are symmetrically arranged on two fixed ear plates (224) at two sides of the pulley (223), the number of the sliding blocks (3212) is two, the sliding blocks are respectively arranged on the two locking blocks (3211) in a sliding manner, and the locking block group (321) further comprises a third power part (3213) which is used for driving the two sliding blocks (3212) to be close to or far away from the pulley (223) simultaneously so as to clamp or loosen the pulley (223).

9. A computer controlled imaging system according to claim 8, wherein: an included angle between one end face of the locking block (3211) opposite to the pulley (223) and the side wall of the pulley (223) is an acute angle, one end face of the sliding block (3212) opposite to the pulley (223) is parallel to the side wall of the pulley (223), the sliding block (3212) slides along one end face of the locking block (3211) opposite to the pulley (223), the third power part (3213) comprises two second hydraulic cylinders (3214), the two second hydraulic cylinders (3214) are respectively arranged on one end face of the locking block (3211) opposite to the pulley (223), the sliding block (3212) is provided with a guide block (3215) which is arranged in a sliding manner along a direction perpendicular to the side wall of the pulley (223) so as to be close to or far away from the pulley (223), and piston rods on the second hydraulic cylinders (3214) are respectively arranged on the guide block (3215); the third power part (3213) further comprises a second three-position four-way reversing valve (3216), the second three-position four-way reversing valve (3216) has the same structure as the first three-position four-way reversing valve (3132), and is electrically connected to the PLC control unit (41), and has an oil inlet P2, an oil return port T2, a working oil port a2, and a working oil port B2, the oil inlet P2 is connected in parallel between the speed adjusting device (3135) and the oil inlet P1 through a pipeline, the oil return port T2 leads to the oil groove (3134) through a pipeline, the working oil port a2 is respectively connected to the ports of the rodless cavities of the two second hydraulic cylinders (3214), the working oil port B2 is respectively connected to the ports of the two second hydraulic cylinders (3214) having rod cavities, and a third pressure sensor (3217) is further disposed at one end of the slider (3212) opposite to the side wall of the pulley (223);

in the process of locking the pulley (223), the PLC control unit (41) opens the oil pump (3133), switches the second three-position four-way reversing valve (3216) to the neutral position, opens the on-off valve (3136), when the third pressure sensor (3217) detects a pressure value, the PLC control unit (41) disconnects the on-off valve (3136), when the pressure value detected by the third pressure sensor (3217) gradually increases to a preset threshold value, the PLC control unit (41) switches the second three-position four-way reversing valve (3216) to the neutral position, and the oil pump (3133) is closed;

in the process of opening the pulley (223), the PLC control unit (41) opens the oil pump (3133), switches the second three-position four-way reversing valve (3216) to the right position, opens the on-off valve (3136) to enable the sliding block (3212) to be separated from the pulley (223), and after the sliding block (3212) is reset, the PLC control unit (41) switches the second three-position four-way reversing valve (3216) to the middle position to close the oil pump (3133).

10. A control method for the computer controlled imaging system of claim 9, characterized by: the control method is used for controlling the state of the movable device (2), and concretely comprises the following steps,

when the imaging device (1) is locked, the PLC control unit (41) respectively controls the first locking piece (31) and the second locking piece (32) so as to lock the bracket (222) on the supporting sliding wheel (22) on the connecting plate (221) and lock the pulley (223);

control of the first locking member (31):

step one, a PLC control unit (41) starts an oil pump (3133), a break-make valve (3136) and a first three-position four-way reversing valve (3132) to the left position, so that a piston rod on a first hydraulic cylinder (3131) extends outwards and approaches a limiting plate (312);

step two, after the pressure value detected by the first pressure sensor (3138) is detected, the PLC control unit (41) disconnects the on-off valve (3136), and after the pressure value detected by the first pressure sensor (3138) gradually increases to a preset threshold value, the PLC control unit (41) switches the first three-position four-way reversing valve (3132) to a middle position, and closes the oil pump (3133), wherein in the process, after the pressure value detected by the second pressure sensor (3144) is detected, the PLC control unit (41) switches the first three-position four-way reversing valve (3132) to the middle position, opens the corresponding motor (3141), finely adjusts the support (222), and when the pressure value detected by each second pressure sensor (3144) is '0', the PLC control unit (41) closes the motor (3141) again, and switches the first three-position four-way reversing valve (3132) to a left position;

control of the second locking member (32):

step one, a PLC control unit (41) starts an oil pump (3133), a break-make valve (3136) and a second three-position four-way reversing valve (3216) is switched to the left position, so that a piston rod on a second hydraulic cylinder (3214) extends outwards, and a sliding block (3212) is pushed to approach a pulley (223);

step two, after the third pressure sensor (3217) detects a pressure value, the PLC control unit (41) disconnects the on-off valve (3136), and after the pressure value detected by the third pressure sensor (3217) gradually increases to a preset threshold, the PLC control unit (41) switches the second three-position four-way reversing valve (3216) to a neutral position, and closes the oil pump (3133);

when the imaging device (1) is moved, the PLC control unit (41) respectively controls the first locking piece (31) and the second locking piece (32) to release the bracket (222) and the connecting plate (221) on the supporting sliding wheel (22) and open the pulley (223);

control of the first locking member (31): the PLC control unit (41) opens the oil pump (3133), opens the on-off valve (3136), switches the first three-position four-way reversing valve (3132) to the right position, so that a piston rod on the first hydraulic cylinder (3131) contracts and is far away from the limiting plate (312), after the PLC control unit (41) resets, the PLC control unit (3133) is closed, and the first three-position four-way reversing valve (3132) is switched to the middle position;

control of the second locking member (32): the PLC control unit (41) opens the oil pump (3133), opens the on-off valve (3136), switches the second three-position four-way reversing valve (3216) to the right position, retracts a piston rod on the second hydraulic cylinder (3214), enables the sliding block (3212) to be far away from the pulley (223), and after the resetting, the PLC control unit (41) closes the oil pump (3133) and switches the second three-position four-way reversing valve (3216) to the middle position.

Background

As for the image forming apparatus, it is generally used in the printer, the copier and other apparatuses, and with the updating of the technology, the function of the image forming apparatus is increasing, and the processing speed is also increasing, resulting in that the size of the image forming apparatus is also increasing, and the image forming apparatus is similar to a desk cabinet and can only be placed on the ground. Because the size is enlarged, it is very inconvenient in the handling process, therefore some imaging devices of today all install the truckle, conveniently move through the truckle, however after setting up the truckle, it is unstable again, will move after receiving great external force, can only place in wall corner department, though some truckles at present have the auto-lock structure, like the chinese invention patent application of publication No. CN103847432B, lock or open the truckle through manual mode, but it is not very convenient, because the lower extreme utensil ground of the outer casing of imaging device is nearer, the height to ground is less, therefore inconvenient controls the truckle through foot or hand, for this reason it is necessary to improve it.

Disclosure of Invention

The present invention is directed to a mobile imaging system with automatic control and a control method thereof, so as to improve the stability and the convenience of moving of the imaging device.

The purpose of the invention is realized as follows: a computer-controlled imaging system, characterized by: comprises an imaging device and a movable device which is arranged at the bottom of the imaging device and is used for driving the imaging device to move; the movable device comprises a supporting plate and four supporting sliding wheels arranged on the periphery of the bottom of the supporting plate, an installation groove is formed in the bottom of the imaging device, the supporting plate is fixedly arranged in the installation groove, and the supporting sliding wheels partially extend out of the installation groove; the movable device also comprises a locking structure arranged on the sliding wheel and a control component used for controlling the locking structure to be opened or closed.

The invention is further configured to: the supporting sliding wheel comprises a connecting plate, a support and a pulley, the connecting plate is arranged on the bottom of the supporting plate, the connecting plate is connected with the support in a directional rotating mode through a connecting plate, two sides of the bottom of the support are provided with fixing lug plates, and the pulley is arranged between the two fixing lug plates through a shaft; the locking structure comprises a first locking piece and a second locking piece, wherein the first locking piece is used for simultaneously limiting the rotation between a connecting plate on one or more supporting sliding wheels and the bracket, and the second locking piece is used for simultaneously limiting the rolling of one or more pulleys.

The invention is further configured to: the connecting disc comprises a first disc and a second disc which are arranged up and down, the upper end face of the first disc is fixed on the connecting plate, the first disc is fixedly connected with the second disc through a connecting shaft, a connecting groove opening is formed in the support, the connecting shaft is arranged in the connecting groove opening, the support is clamped between the first disc and the second disc, and ball bearings are further arranged between the first disc and the support and between the second disc and the support; a plurality of limiting columns are circumferentially distributed at equal intervals at the outer edge of the bottom of the second disc, and a limiting notch is formed by a gap between every two adjacent limiting columns; the first locking piece comprises a positioning pin arranged between the two fixing lug plates and a limiting plate rotatably arranged on the positioning pin, one end face, opposite to the support, of the limiting plate is provided with an elastic supporting part which is obliquely arranged towards the second disc, the end part of the elastic supporting part is abutted against the support, and one side, close to the second disc, of the limiting plate is provided with a plurality of inserting pieces;

under a normal state, the elastic supporting part pushes one end of the limiting plate close to the second disc to move downwards, so that the inserting piece on the limiting plate is positioned right below the limiting notch on the second disc; the first locking piece further comprises a first power part, and the first power part is used for driving one side, far away from the second disc, of the limiting plate to move downwards, so that the inserting pieces on the limiting plate move upwards and are respectively embedded into corresponding limiting notches on the second disc.

The invention is further configured to: the first power part comprises four first hydraulic cylinders, a first three-position four-way reversing valve, an oil pump and an oil groove, the four first hydraulic cylinders are respectively arranged at the bottoms of the brackets, piston rods of the first hydraulic cylinders are opposite to one ends, far away from the inserting pieces, of the limiting plates corresponding to the piston rods of the first hydraulic cylinders, each first three-position four-way reversing valve is provided with an oil inlet P1, an oil return T1, a working oil port A1 and a working oil port B1, the oil inlet ends of the oil pumps are connected with the oil groove through pipelines, the oil outlet ends of the oil pumps are connected with the oil inlets P1 through pipelines, the working oil ports A1 are respectively connected with ports of rodless cavities of the first hydraulic cylinders, the working oil ports B1 are respectively connected with ports of rod cavities of the first hydraulic cylinders, and the control part comprises a PLC control unit for controlling the first three-position four-way reversing valve and the running state of the oil pump;

the PLC control unit starts the oil pump, when the first three-position four-way reversing valve is switched to the left position, hydraulic oil in the oil groove flows to a rodless cavity of the first hydraulic cylinder after passing through the oil pump, the oil inlet P1 and the working oil port A1 in sequence, oil is returned from the rod cavity of the first hydraulic cylinder, a piston rod of the first hydraulic cylinder is made to approach the limiting plate, the piston rod is pressed downwards after contacting the limiting plate, the inserting piece on the limiting plate is made to approach the limiting notch of the second disc and is embedded into the limiting notch, and the connecting plate on the supporting sliding wheel is locked with the support;

when the first three-position four-way reversing valve is switched to the middle position, the first three-position four-way reversing valve is in a disconnected state;

when first tribit four-way reversing valve switches to right position, hydraulic oil in the oil groove loops through oil pump, oil inlet P, behind the working oil port B, has the pole intracavity to first pneumatic cylinder of flow direction, and the rodless chamber of first pneumatic cylinder carries out the oil return, makes the piston rod of first pneumatic cylinder remove to keeping away from the limiting plate direction, makes the inserted sheet on the limiting plate break away from the spacing notch on the second disc, will support the connecting plate on the movable pulley and open with the support.

The invention is further configured to: the first power part further comprises a speed regulating device, the speed regulating device is used for controlling the extending or contracting speed of the piston rod of the first hydraulic cylinder and comprises an on-off valve and a throttle valve, the on-off valve and the throttle valve are connected in parallel to a pipeline between the oil pump and an oil inlet P1, the on-off valve is controlled to be opened or closed by the PLC control unit, a first pressure sensor is arranged at the end part of the piston rod of the first hydraulic cylinder, when a pressure value detected by the first pressure sensor gradually increases to a preset threshold value, the insertion piece on the limiting plate is completely embedded into the limiting groove, the oil inlet P1 is communicated with the working oil port A1, and after the first pressure sensor detects the pressure value, the PLC control unit disconnects the on-off valve; when the oil inlet P1 is communicated with the working oil port B1, the PLC control unit opens the on-off valve.

The invention is further configured to: the first locking piece further comprises a second power part used for finely adjusting the support, and in the rotating and locking process, the first power part is used for driving the support to rotate, so that the limiting notch in the second disc is right opposite to the inserting sheet.

The invention is further configured to: the second power part comprises motors, first transmission gears, four second transmission gears and four second pressure sensors, the four motors are respectively arranged at the bottom of the connecting plate, output shafts of the motors are downwards arranged and are respectively connected with the first transmission gears, the four second transmission gears are respectively sleeved on the outer surface of the connecting end of the bracket and are respectively meshed with the first transmission gears, the four second pressure sensors are respectively arranged on inserting pieces on each limiting plate, each second pressure sensor faces the bottom of the second disc, and after the inserting pieces are embedded into the limiting notches, the upper end surfaces of the inserting pieces and the second pressure sensors are not in contact with the bottoms of the limiting notches;

in the locking process of the connecting plate and the support on each supporting sliding wheel, when one or more second pressure sensors detect pressure values, the PLC control unit switches the first three-position four-way reversing valve to a middle position, the corresponding motor is started, the second transmission gear and the support are driven to rotate through the first transmission gear, when the pressure values detected by the second pressure sensors are all gradually reduced to 0, the PLC control unit closes the motor, the first three-position four-way reversing valve is continuously switched to a left position, and after the pressure values detected by the first pressure sensors on the first hydraulic cylinder are gradually increased to a preset threshold value, the PLC control unit switches the first three-position four-way reversing valve to the middle position and closes the oil pump.

The invention is further configured to: the second locking piece comprises more than one locking block group, and each locking block group is respectively arranged on the fixing lug plate of each bracket and used for clamping or loosening the corresponding side wall of the pulley so as to lock or unlock the pulley; the locking block group comprises two locking blocks and two sliding blocks, the two locking blocks are symmetrically arranged on two fixed lug plates on two sides of the pulley, the two sliding blocks are respectively arranged on the two locking blocks in a sliding mode, and the locking block group further comprises a third power part which is used for driving the two sliding blocks to be close to or far away from the pulley simultaneously so as to clamp or loosen the pulley.

The invention is further configured to: an included angle between one end face, opposite to the pulley, of the locking block and the side wall of the pulley is an acute angle, one end face, opposite to the pulley, of the sliding block is parallel to the side wall of the pulley, the sliding block slides along one end face, opposite to the pulley, of the sliding block, the third power part comprises two second hydraulic cylinders, the two second hydraulic cylinders are arranged on one end face, opposite to the pulley, of the locking block respectively, guide blocks are arranged on the sliding block in a sliding mode in a direction perpendicular to the side wall of the pulley to be close to or far away from the pulley, and piston rods on the second hydraulic cylinders are arranged on the guide blocks respectively; the third power part further comprises a second three-position four-way reversing valve, the structure of the second three-position four-way reversing valve is the same as that of the first three-position four-way reversing valve, the second three-position four-way reversing valve is electrically connected with the PLC control unit, the second three-position four-way reversing valve is provided with an oil inlet P2, an oil return port T2, a working oil port A2 and a working oil port B2, the oil inlet P2 is connected between the speed regulating device and the oil inlet P1 in parallel through a pipeline, the oil return port T2 is communicated with the oil groove through a pipeline, the working oil port A2 is respectively connected with ports of rodless cavities of the two second hydraulic cylinders, the working oil port B2 is respectively connected with ports of rod cavities of the two second hydraulic cylinders, and one end, opposite to the side wall of the pulley, of the slide block is further provided with a third pressure sensor;

in the process of locking the pulley, the PLC control unit starts the oil pump, switches the second three-position four-way reversing valve to a middle position, starts the on-off valve, disconnects the on-off valve after the third pressure sensor detects a pressure value, switches the second three-position four-way reversing valve to the middle position after the pressure value detected by the third pressure sensor gradually increases to a preset threshold value, and closes the oil pump;

in the process of opening the pulley, the PLC control unit opens the oil pump, switches the second three-position four-way reversing valve to the right position, opens the on-off valve to enable the sliding block to be separated from the pulley, and after the sliding block is reset, the PLC control unit switches the second three-position four-way reversing valve to the middle position to close the oil pump.

A control method for the above computer-controlled imaging system, wherein the control method is for controlling a state of a movable device, as follows,

when the imaging device is locked, the PLC control unit respectively controls the first locking piece and the second locking piece so as to lock the bracket on the supporting sliding wheel on the connecting plate and lock the pulley;

control of the first locking member:

the method comprises the following steps that firstly, a PLC control unit starts an oil pump, a break-make valve is started, a first three-position four-way reversing valve is switched to a left position, and a piston rod on a first hydraulic cylinder extends outwards and approaches a limiting plate;

step two, after the first pressure sensor detects a pressure value, the PLC control unit disconnects the on-off valve, after the pressure value detected by the first pressure sensor gradually increases to a preset threshold value, the PLC control unit switches the first three-position four-way reversing valve to a middle position and closes the oil pump, wherein in the process, after the second pressure sensor detects the pressure value, the PLC control unit switches the first three-position four-way reversing valve to the middle position, the corresponding motor is started, the bracket is finely adjusted, when the pressure values detected by the second pressure sensors are all '0', the PLC control unit closes the motor again and switches the first three-position four-way reversing valve to a left position;

and controlling the second locking piece:

step one, the PLC control unit opens the oil pump, opens the on-off valve, and switches the second three-position four-way reversing valve to the left position, so that a piston rod on the second hydraulic cylinder extends outwards and pushes the sliding block to approach the pulley;

step two, after the third pressure sensor detects a pressure value, the PLC control unit disconnects the on-off valve, and after the pressure value detected by the third pressure sensor gradually increases to a preset threshold value, the PLC control unit switches the second three-position four-way reversing valve to a middle position and closes the oil pump;

when the imaging device is moved, the PLC control unit respectively controls the first locking piece and the second locking piece to release the bracket and the connecting plate which support the sliding wheel and open the sliding wheel;

control of the first locking member: the PLC control unit starts the oil pump, the on-off valve is started, the first three-position four-way reversing valve is switched to the right position, a piston rod on the first hydraulic cylinder is contracted to be away from the limiting plate, and after the oil pump is reset, the PLC control unit closes the oil pump and switches the first three-position four-way reversing valve to the middle position;

and controlling the second locking piece: the PLC control unit opens the oil pump, the on-off valve is opened, the second three-position four-way reversing valve is switched to the right position, the piston rod on the second hydraulic cylinder is contracted, the sliding block is far away from the pulley, and after the sliding block is reset, the PLC control unit closes the oil pump and switches the second three-position four-way reversing valve to the middle position.

The invention has the beneficial effects that:

1. for can realizing rolling and universal rotation about supporting the movable pulley, be provided with the connecting plate for this, support and pulley, be connected for rotating between connecting plate and the support, the pulley then sets up on two fixed otic placodes of support, then comes the rotation between control connection board and the support through first retaining member, comes the roll of control pulley through the second retaining member, and then realizes automated control, not only convenient operation, locking is firm moreover, is difficult not hard up.

2. The first power part for driving the limiting plate to move is controlled in a hydraulic mode and mainly comprises a first hydraulic cylinder, a first three-position four-way reversing valve, an oil pump and an oil groove, each support is controlled for improving stability, the first three-position four-way reversing valve is an electromagnetic valve for reversing and switching on and off, the first hydraulic cylinder is controlled through the first three-position four-way reversing valve, and due to the fact that the four first hydraulic cylinders are identical in operation dynamic, the control can be carried out only through one first three-position four-way reversing valve, the control is very convenient, and large cost is not needed.

3. In order to avoid that the motion speed of a piston rod on the first hydraulic cylinder is high, and the limiting plate is easy to break after the limiting plate is directly pressed down under high pressure for a long time, the hydraulic control system is further provided with a speed regulating device, and the speed regulating device is realized by controlling hydraulic oil flowing into the first three-position four-way reversing valve;

when the hydraulic cylinder is locked, the oil pump is started through the PLC control unit, the on-off valve is started, the first three-position four-way reversing valve is switched to the left position, and a piston rod on the first hydraulic cylinder extends outwards and approaches the limiting plate; after the first pressure sensor detects a pressure value, the PLC control unit disconnects the on-off valve, and after the pressure value detected by the first pressure sensor gradually increases to a preset threshold value, the PLC control unit switches the first three-position four-way reversing valve to a middle position to close the oil pump;

when the hydraulic cylinder is opened, the PLC control unit starts the oil pump, the on-off valve is started, the first three-position four-way reversing valve is switched to the right position, a piston rod on the first hydraulic cylinder is contracted to be away from the limiting plate, after the hydraulic cylinder is reset, the PLC control unit closes the oil pump, and the first three-position four-way reversing valve is switched to the middle position;

the mode of firstly approaching fast and then braking slowly is adopted for locking, so that the braking effect can be improved, and the initial stress of the limiting plate can be reduced, so that the service life of the limiting plate is prolonged.

4. During the braking test, it is often found that individual brackets are difficult to lock, resulting in instability, the fundamental reason is caused by the existence of the limiting post on the second disc, because the lower end part of the limiting post has a certain width, although the limiting post is arranged into an arc shape, the problem can be reduced, namely, the inserting sheet can slide into the limiting notch under the cambered surface, but if the inserting sheet is right opposite to the lower end part of the limiting post, after the first hydraulic cylinder drives the limit plate to move downwards, the insert can gradually move towards the lower end part of the limit column in the process of moving upwards and gradually abut against the lower end part of the limit column, thereby leading the bracket not to be locked and easily bending and breaking the insert after a long time, therefore, the invention is also provided with a second power device for finely adjusting the bracket, in the rotating and locking process, the bracket is driven to rotate, so that the limiting notch on the second disk is aligned to the inserting sheet.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the construction of the mobile device of the present invention;

FIG. 3 is a schematic diagram of the construction of the mobile device of the present invention;

FIG. 4 is a schematic diagram of another view of the mobile device of the present invention;

FIG. 5 is a schematic view of the internal structure of the mobile device of the present invention;

FIG. 6 is a control connection diagram of the latch structure of the present invention;

FIG. 7 is a control block diagram of the control component of the present invention;

FIG. 8 is an enlarged view at A in FIG. 2;

the reference numbers in the figures are:

1. an imaging device; 11. mounting grooves; 2. a movable device; 21. a support plate; 22. supporting the sliding wheel; 221. a connecting plate; 222. a support; 223. a pulley; 224. fixing the ear plate; 225. a first disc; 226. A second disc; 2261. a limiting column; 2262. a limiting notch; 227. a connecting shaft; 3. a locking structure; 31. A first locking member; 311. positioning pins; 312. a limiting plate; 3121. an elastic support portion; 3122. inserting sheets; 313. a first power section; 3131. a first hydraulic cylinder; 3132. a first three-position four-way reversing valve; 3133. an oil pump; 3134. an oil sump; 3135. a speed regulating device; 3136. an on-off valve; 3137. a throttle valve; 3138. a first pressure sensor; 314. a second power section; 3141. a motor; 3142. a first drive gear; 3143. a second transmission gear; 3144. a second pressure sensor; 32. a second locking member; 321. a locking block group; 3211. a locking block; 3212. a slider; 3213. a third power section; 3214. a second hydraulic cylinder; 3215. a guide block; 3216. a second three-position four-way reversing valve; 3217. a third pressure sensor; 4. a control component; 41. and a PLC control unit.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention is clearly and completely described below with reference to the accompanying drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. For convenience of description, the dimensions of the various features shown in the drawings are not necessarily drawn to scale. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

A computer-controlled imaging system, as shown in fig. 1 and 2, comprises an imaging device 1 and a movable device 2 arranged at the bottom of the imaging device 1 and used for driving the imaging device 1 to move; the movable device 2 comprises a supporting plate 21 and four supporting sliding wheels 22 arranged on the periphery of the bottom of the supporting plate 21, the bottom of the imaging device 1 is provided with a mounting groove 11, the supporting plate 21 is fixedly arranged in the mounting groove 11, and part of the supporting sliding wheels 22 extends out of the mounting groove 11; the movable device 2 further comprises a locking structure 3 arranged on the sliding wheel and a control component 4 for controlling the locking structure 3 to open or close.

At present, the movement of some large-scale imaging devices is realized by using casters, and the large-scale imaging devices are locked or unlocked in a manual mode, because the casters are positioned at the bottom, the operation is very inconvenient, especially for the devices with lower chassis, therefore, the invention adopts an automatic control mode to realize the locking or unlocking, and the state of the locking structure 3 is controlled by the control part 4.

As shown in fig. 3, 4 and 5, the supporting sliding wheel 22 of the present invention includes a connecting plate 221, a bracket 222 and a pulley 223, wherein the connecting plate 221 is disposed on the bottom of the supporting plate 21, the connecting plate 221 and the bracket 222 are directionally and rotatably connected by a connecting disc, two sides of the bottom of the bracket 222 are provided with fixing lugs 224, and the pulley 223 is disposed between the two fixing lugs 224 by a shaft; the locking structure 3 includes a first locking member 31 for simultaneously restricting rotation between the connection plate 221 of the one or more supporting slide wheels 22 and the bracket 222, and a second locking member 32 for simultaneously restricting rolling of the one or more pulleys 223.

The supporting sliding wheel 22 is provided with a connecting plate 221, a bracket 222 and a pulley 223 for realizing rolling and universal rotation, the connecting plate 221 and the bracket 222 are rotatably connected, the pulley 223 is arranged on two fixed ear plates 224 of the bracket 222, then the rotation between the connecting plate 221 and the bracket 222 is controlled through a first locking piece 31, the rolling of the pulley 223 is controlled through a second locking piece 32, and further automatic control is realized.

The connecting disc comprises a first disc 225 and a second disc 226 which are arranged up and down, the upper end face of the first disc 225 is fixed on a connecting plate 221, the first disc 225 and the second disc 226 are fixedly connected through a connecting shaft 227, a connecting notch is formed in a support 222, the connecting shaft 227 is arranged in the connecting notch, the support 222 is clamped between the first disc 225 and the second disc 226, and ball bearings are further arranged between the first disc 225 and the support 222 and between the second disc 226 and the support 222; a plurality of circumferentially equidistantly distributed limiting columns 2261 are arranged at the outer edge of the bottom of the second disc 226, and a limiting notch 2262 is formed in a gap between every two adjacent limiting columns 2261; the first locking piece 31 comprises a positioning pin 311 arranged between the two fixed ear plates 224 and a limiting plate 312 rotatably arranged on the positioning pin 311, the limiting plate 312 is provided with an elastic supporting part 3121 which is obliquely arranged towards the second disc 226 opposite to one end face of the bracket 222, the end part of the elastic supporting part 3121 is abutted against the bracket 222, and one side of the limiting plate 312 close to the second disc 226 is provided with a plurality of inserting pieces 3122;

under a normal state, the elastic supporting portion 3121 pushes the end of the limiting plate 312 close to the second disk 226 to move downward, so that the inserting sheet 3122 on the limiting plate 312 is located right below the limiting notch 2262 on the second disk 226; the first locking member 31 further includes a first power portion 313 for driving the side of the position-limiting plate 312 away from the second disc 226 to move downwards, so that the tabs 3122 on the position-limiting plate 312 move upwards and are respectively engaged with the corresponding position-limiting notches 2262 on the second disc 226.

In order to realize the rotation between the bracket 222 and the connecting plate 221, a connecting plate is provided for this purpose, and comprises a first disc 225 and a second disc 226, the bracket 222 is rotatably arranged between the first disc 225 and the second disc 226, and ball bearings are arranged at the joints of the three discs, so that the friction force is reduced through the ball bearings, and the rotation is further facilitated; of course, for the locking between the bracket 222 and the connecting plate 221, the invention uses the first locking member 31 for control, the bottom of the second disc 226 is provided with the limiting post 2261, so that the gap between the adjacent limiting posts 2261 forms the limiting notch 2262 for limiting, the fixing ear plate 224 is provided with the limiting plate 312, the limiting plate 312 is provided with the elastic supporting portion 3121 and the inserting piece 3122, the lever principle is adopted, by pressing down one end of the limiting plate 312, the other end of the limiting plate 312 is tilted, and then the tilted end is inserted into the limiting notch 2262, so as to achieve the purpose of limiting, the elastic supporting portion 3121 is used for supporting one end of the limiting plate 312 with the inserting piece 3122, in a normal state, the inserting piece 3122 is located right below the second disc 226, when the bracket 222 needs to be locked, by applying downward pressure to the other end of the limiting plate 312, is very convenient.

As shown in fig. 5, 6 and 7, the first power part 313 of the present invention includes a first hydraulic cylinder 3131, a first three-position four-way selector valve 3132, an oil pump 3133 and an oil sump 3134, the first hydraulic cylinder 3131 has four, the hydraulic cylinders are respectively arranged at the bottoms of the brackets 222, a piston rod of the first hydraulic cylinder 3131 faces to one end, far away from the insert 3122, of the corresponding limit plate 312, the first three-position four-way reversing valve 3132 has an oil inlet P1, an oil return T1, an oil working port a1 and an oil working port B1, an oil inlet end of the oil pump 3133 is connected to the oil groove 3134 through a pipeline, an oil outlet end of the oil pump is connected to the oil inlet P1 through a pipeline, the oil working ports a1 are respectively connected to ports of rodless cavities of the first hydraulic cylinders 3131, the oil working ports B1 are respectively connected to ports of rod cavities of the first hydraulic cylinders 3131, and the control component 4 includes a PLC control unit 41 for controlling the operating states of the first three-position four-way reversing valve 3132 and the oil pump 3133;

when the PLC control unit 41 turns on the oil pump 3133 and switches the first three-position four-way directional valve 3132 to the left position, the hydraulic oil in the oil groove 3134 flows through the oil pump 3133, the oil inlet P1 and the working oil port a1 in sequence and then flows into the rodless cavity of the first hydraulic cylinder 3131, the hydraulic oil returns from the rod cavity of the first hydraulic cylinder 3131, the piston rod of the first hydraulic cylinder 3131 approaches the limiting plate 312, and presses down the limiting plate 312 after contacting the limiting plate 312, so that the insert 3122 on the limiting plate 312 approaches the limiting notch 2262 of the second disc 226 and is inserted into the limiting notch 2262, and the connecting plate 221 on the support pulley 22 is locked with the bracket 222;

when the first three-position four-way reversing valve 3132 is switched to the neutral position, it is in a disconnected state;

when the first three-position four-way selector valve 3132 is switched to the right position, the hydraulic oil in the oil groove 3134 passes through the oil pump 3133, the oil inlet P, and the working oil port B in sequence, and then flows into the rod cavity of the first hydraulic cylinder 3131, and the rodless cavity of the first hydraulic cylinder 3131 returns the oil, so that the piston rod of the first hydraulic cylinder 3131 moves away from the position-limiting plate 312, the insert piece 3122 on the position-limiting plate 312 is separated from the position-limiting notch 2262 on the second circular disc 226, and the connecting plate 221 on the supporting pulley 22 and the bracket 222 are opened.

Regarding the first power part 313 for driving the movement of the stopper plate 312, the present invention is hydraulically controlled, and mainly includes a first hydraulic cylinder 3131, a first three-position four-way directional valve 3132, an oil pump 3133, and an oil groove 3134, for improving stability, each of the brackets 222 is controlled, the first three-position four-way directional valve 3132 is a solenoid valve for performing switching, and the first hydraulic cylinder 3131 is controlled by the first three-position four-way directional valve 3132, and since the operation dynamics of the four first hydraulic cylinders 3131 are uniform, it is very convenient to control only one first three-position four-way directional valve 3132, and a large cost is not required.

As shown in fig. 6 and 7, the first power part 313 of the present invention further includes a speed regulation device 3135 for controlling the extension or contraction speed of the piston rod of the first hydraulic cylinder 3131, the speed regulation device 3135 includes an on-off valve 3136 and a throttle valve 3137, the on-off valve 3136 and the throttle valve 3137 are connected in parallel to a pipe between the oil pump 3133 and the oil inlet P1, the on-off valve 3136 is controlled to be opened or closed by the PLC control unit 41, an end of the piston rod of the first hydraulic cylinder 3131 is provided with a first pressure sensor 3138, when a pressure value detected by the first pressure sensor 3138 gradually increases to a preset threshold value, it indicates that the insert piece 3122 on the limit plate 312 is completely inserted into the limit notch 2262, the oil inlet P1 is communicated with the working oil port a1, and the PLC control unit 41 disconnects the on-off valve 3136 after the pressure value is detected by the first pressure sensor 3138; when the oil inlet P1 is communicated with the working oil port B1, the PLC control unit 41 opens the on-off valve 3136.

In order to avoid that the piston rod of the first hydraulic cylinder 3131 moves faster and the stop plate 312 is easily broken after the stop plate 312 is pressed down by a larger pressure for a long time, the present invention further provides a speed adjusting device 3135, wherein the speed adjusting device 3135 controls the hydraulic oil flowing into the first three-position four-way directional valve 3132, and certainly, in order to achieve a fast braking, the speed adjusting device 3135 needs to be continuously adjusted, and the specific operation is as follows,

when the hydraulic cylinder is locked, the oil pump 3133 is opened through the PLC control unit 41, the on-off valve 3136 is opened, and the first three-position four-way directional valve 3132 is switched to the left position, so that the piston rod of the first hydraulic cylinder 3131 extends outward and approaches the limiting plate 312; after the first pressure sensor 3138 detects a pressure value, the PLC control unit 41 turns off the on-off valve 3136, and after the pressure value detected by the first pressure sensor 3138 gradually increases to a preset threshold value, the PLC control unit 41 switches the first three-position four-way directional valve 3132 to a neutral position, and closes the oil pump 3133;

when the hydraulic cylinder is opened, the PLC control unit 41 opens the oil pump 3133, opens the on-off valve 3136, switches the first three-position four-way reversing valve 3132 to the right position, so that the piston rod on the first hydraulic cylinder 3131 is contracted away from the limit plate 312, and after the hydraulic cylinder is reset, the PLC control unit 41 closes the oil pump 3133, and switches the first three-position four-way reversing valve 3132 to the middle position;

the mode of firstly quickly approaching and then slowly braking is adopted for locking, so that the braking effect can be improved, the initial stress of the limiting plate 312 can be reduced, and the service life of the limiting plate is prolonged.

During the braking test, it is found that there are often times that individual holders 222 are difficult to lock, resulting in instability, the root cause of which is caused by the presence of the limiting post 2261 on the second disc 226, and since the lower end of the limiting post 2261 has a certain width, although it is arranged in an arc shape, it is possible to reduce the occurrence of problems, that is, the insertion sheet 3122 can slide into the limiting notch 2262 under the arc shape, but if the insertion sheet 3122 is right opposite to the lower end of the limiting post 2261, after the first hydraulic cylinder 3131 drives the limiting plate 312 to move down, the insertion sheet 3122 will gradually move towards the lower end of the limiting post 2261 during the moving up process and gradually abut against the lower end of the limiting post 2261, resulting in that the holders 222 are not locked and the insertion sheet 3122 is easily bent and broken after a long time, for this purpose, the present invention further provides a second power device for fine tuning the holders 222, during the rotational locking process, for driving the holders, the limit notch 2262 on the second disc 226 is aligned with the insert 3122;

as shown in fig. 3, 4 and 5, the second power part 314 includes a motor 3141, a first transmission gear 3142, a second transmission gear 3143 and a second pressure sensor 3144, four motors 3141 are respectively disposed at the bottom of the connection plate 221, an output shaft of each motor 3141 is disposed downward and is respectively connected with the first transmission gear 3142, four second transmission gears 3143 are respectively sleeved and fixed on an outer surface of the connection end of the bracket 222 and are respectively engaged with the first transmission gears 3142, four insertion pieces 3122 are respectively disposed on each limit plate 312, each second pressure sensor 3144 faces the bottom of the second disc 226, and after the insertion pieces 3122 are inserted into the limit notches 2262, the upper end surfaces of the insertion pieces 3122 and the second pressure sensors 3144 do not contact the bottom of the limit notches 2262;

in the process of locking the connection plate 221 on each support sliding wheel 22 with the bracket 222, when one or more second pressure sensors 3144 detect pressure values, the PLC control unit 41 switches the first three-position four-way directional valve 3132 to the middle position, turns on the corresponding motor 3141, drives the second transmission gear 3143 and the bracket 222 to rotate through the first transmission gear 3142, and when the pressure values detected by the second pressure sensors 3144 all gradually decrease to "0", the PLC control unit 41 turns off the motor 3141, continuously switches the first three-position four-way directional valve 3132 to the left position, and after the pressure value detected by the first pressure sensor 3138 on the first hydraulic cylinder 3131 gradually increases to a preset threshold value, the PLC control unit 41 switches the first three-position four-way directional valve 3132 to the middle position, and turns off the oil pump 3133.

The second power device is realized by adopting a motor 3141 and a gear transmission mode, under the action of the motor 3141, the first transmission gear 3142 is driven to rotate, so that the second gear meshed with the first gear is driven to rotate, and the bracket 222 is driven to rotate, so that the aim of fine adjustment is fulfilled;

for the operation of the second power device, the PLC control unit 41 is adopted for controlling, and a second pressure sensor 3144 is arranged;

when the brackets 222 are locked, in order to reduce the wear of the inserts 3122, when the pressure value detected by the second pressure sensor 3144 on one or more of the inserts 3122 indicates that the corresponding insert 3122 is not completely aligned with the limit notch 2262 but faces the limit post 2261, and therefore, after the pressure value is detected, the corresponding bracket 222 needs to be finely adjusted, first the PLC control unit 41 switches the first three-position four-way reversing valve 3132 to the middle position, so that the first hydraulic cylinder 3131 stops operating, then the motor 3141 corresponding to the insert 3122 with the detected pressure value is turned on, and the motor 3141 drives the corresponding bracket 222 to rotate, so that the insert 3122 is separated from the limit post 2261, and when the pressure values detected by all the second pressure sensors 3144 are gradually reduced to "0", it indicates that all the inserts 3122 are aligned with the limit notch 2262, and then the PLC control unit 41 switches the first three-position four-way reversing valve 3132 to the left position, continuing to drive the limiting plate 312 to rotate, so that the inserting sheet 3122 is completely inserted into the limiting notch 2262, that is, after the pressure value detected by the first pressure sensor 3138 gradually increases to the preset threshold value, the PLC control unit 41 closes the oil pump 3133, and switches the first three-position four-way reversing valve 3132 to the neutral position;

when the bracket 222 is opened, the PLC control unit 41 opens the oil pump 3133, opens the on-off valve 3136, switches the first three-position four-way directional valve 3132 to the right position, so that the piston rod of the first hydraulic cylinder 3131 is rapidly retracted away from the position-limiting plate 312, and after the reset, the PLC control unit 41 closes the oil pump 3133, and switches the first three-position four-way directional valve 3132 to the neutral position.

As shown in fig. 6, 7 and 8, the second locking member 32 of the present invention comprises more than one locking block set 321, each locking block set 321 is respectively disposed on the fixing ear plate 224 of each bracket 222 for clamping or releasing the corresponding side wall of the pulley 223 to lock or unlock the pulley 223; the locking block group 321 comprises two locking blocks 3211 and two sliding blocks 3212, the two locking blocks 3211 are symmetrically disposed on the two fixing ear plates 224 on two sides of the pulley 223, the two sliding blocks 3212 are slidably disposed on the two locking blocks 3211, and the locking block group 321 further comprises a third power portion 3213 for driving the two sliding blocks 3212 to approach or separate from the pulley 223 simultaneously to clamp or release the pulley 223.

An included angle between one end face of the locking block 3211 opposite to the pulley 223 and the side wall of the pulley 223 is an acute angle, one end face of the sliding block 3212 opposite to the pulley 223 is parallel to the side wall of the pulley 223, the sliding block 3212 slides along the locking block 3211 opposite to one end face of the pulley 223, the third power part 3213 comprises two second hydraulic cylinders 3214, the two second hydraulic cylinders 3214 are respectively arranged on one end face of the locking block 3211 opposite to the pulley 223, the sliding block 3212 is provided with a guide block 3215 which is arranged in a sliding manner in a direction perpendicular to the side wall of the pulley 223 so as to be close to or far away from the pulley 223, and piston rods on the second hydraulic cylinders 3214 are respectively arranged on the guide blocks 3215; the third power part 3213 further includes a second three-position four-way directional valve 3216, the second three-position four-way directional valve 3216 has the same structure as the first three-position four-way directional valve 3132 and is electrically connected to the PLC control unit 41, and has an oil inlet P2, an oil return port T2, a working oil port a2 and a working oil port B2, the oil inlet P2 is connected in parallel between the speed adjusting device 3135 and the oil inlet P1 through a pipeline, the oil return port T2 is led to the oil groove 3134 through a pipeline, the working oil port a2 is respectively connected to ports of rodless cavities of the two second hydraulic cylinders 3214, the working oil port B2 is respectively connected to ports of the two second hydraulic cylinders 3214 having rod cavities, and a third pressure sensor 3217 is further disposed at one end of the slider 3212 opposite to a side;

in the process of locking the pulley 223, the PLC control unit 41 opens the oil pump 3133, switches the second three-position four-way reversing valve 3216 to the neutral position, opens the on-off valve 3136, disconnects the on-off valve 3136 when the third pressure sensor 3217 detects a pressure value, switches the second three-position four-way reversing valve 3216 to the neutral position when the pressure value detected by the third pressure sensor 3217 gradually increases to a preset threshold value, and closes the oil pump 3133;

in the process of opening the pulley 223, the PLC control unit 41 opens the oil pump 3133, switches the second three-position four-way selector valve 3216 to the right position, opens the on-off valve 3136, disengages the slider 3212 from the pulley 223, and after the slider 3212 is reset, the PLC control unit 41 switches the second three-position four-way selector valve 3216 to the neutral position, and closes the oil pump 3133.

The invention is provided with a second locking member 32, the second locking member 32 comprises a locking block group 321, the locking block group 321 consists of a locking block 3211 and a sliding block 3212, the locking block 3211 is fixed on a fixed lug plate 224, the sliding block 3212 is slidably arranged on the locking block 3211, the sliding block 3212 is obliquely slidably arranged, and a guide block 3215 is slidably arranged on one side of the sliding block 3212, so that in the process that the second hydraulic cylinder 3214 pushes the guide block 3215 to move, the sliding block 3215 moves on the sliding block 3212, and the sliding block 3212 moves on the locking block 3211, so that the sliding block 3212 is close to or far away from the side wall of the pulley 223; in the process of locking the pulley 223, the sliding blocks 3212 gradually approach the side wall of the pulley 223 and tightly abut against the pulley 223, the pulley 223 is locked under the combined action of the two sliding blocks 3212, and when the pulley 223 needs to be braked in the sliding process, because the stress direction of the sliding blocks 3212 is the same as or opposite to the rolling direction of the pulley 223, the braking requirement of the second hydraulic cylinder 3214 is greatly reduced, and the stability of the sliding blocks 3212 is further improved.

The present invention also provides a control method for the above-described computer-controlled imaging system, wherein the control method is used to control the state of the movable device 2, as follows,

when locking the image forming apparatus 1, the PLC control unit 41 controls the first locking member 31 and the second locking member 32 to lock the bracket 222 supporting the sliding wheel 22 on the connection plate 221 and lock the pulley 223, respectively;

control of the first locking member 31:

step one, the PLC control unit 41 opens the oil pump 3133, opens the on-off valve 3136, and switches the first three-position four-way directional valve 3132 to the left position, so that the piston rod of the first hydraulic cylinder 3131 extends outward and approaches the limiting plate 312;

step two, after the pressure value detected by the first pressure sensor 3138 is detected, the PLC control unit 41 disconnects the on-off valve 3136, and after the pressure value detected by the first pressure sensor 3138 gradually increases to a preset threshold, the PLC control unit 41 switches the first three-position four-way reversing valve 3132 to a neutral position, and closes the oil pump 3133, wherein in the process, after the pressure value detected by the second pressure sensor 3144 is detected, the PLC control unit 41 switches the first three-position four-way reversing valve 3132 to the neutral position, turns on the corresponding motor 3141, finely adjusts the bracket 222, and when the pressure value detected by each second pressure sensor 3144 is "0", the PLC control unit 41 closes the motor 3141 again, and switches the first three-position four-way reversing valve 3132 to a left position;

control of the second locking member 32:

step one, the PLC control unit 41 opens the oil pump 3133, opens the on-off valve 3136, and switches the second three-position four-way directional valve 3216 to the left position, so that the piston rod of the second hydraulic cylinder 3214 extends outward and pushes the sliding block 3212 to approach the pulley 223;

step two, after the third pressure sensor 3217 detects a pressure value, the PLC control unit 41 disconnects the on-off valve 3136, and after the pressure value detected by the third pressure sensor 3217 gradually increases to a preset threshold, the PLC control unit 41 switches the second three-position four-way reversing valve 3216 to a neutral position, and closes the oil pump 3133;

when moving the image forming apparatus 1, the PLC control unit 41 controls the first locking member 31 and the second locking member 32 to release the bracket 222 supporting the sliding wheel 22 and the connection plate 221, respectively, and opens the pulley 223;

control of the first locking member 31: the PLC control unit 41 opens the oil pump 3133, opens the on-off valve 3136, switches the first three-position four-way directional valve 3132 to the right position, so that the piston rod of the first hydraulic cylinder 3131 is retracted away from the position-limiting plate 312, and after the reset, the PLC control unit 41 closes the oil pump 3133, and switches the first three-position four-way directional valve 3132 to the middle position;

control of the second locking member 32: the PLC control unit 41 opens the oil pump 3133, opens the on-off valve 3136, switches the second three-position four-way selector valve 3216 to the right position, retracts the piston rod of the second hydraulic cylinder 3214, moves the slider 3212 away from the pulley 223, and after the reset, the PLC control unit 41 closes the oil pump 3133 and switches the second three-position four-way selector valve 3216 to the neutral position.

Regarding the power supply problem of the electronic components such as the PLC control unit 41, the first three-position four-way selector valve 3132, the second three-position four-way selector valve 3216, the on-off valve 3136, the motor 3141, and the oil pump 3133, the power may be supplied from a built-in charging power source, and the locking structure 3 may be controlled by a control panel provided on the housing of the image forming apparatus 1.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.