CN104648949A - Automatic gear-shift device and control method of hillside orchard single-rail conveyor - Google Patents
Automatic gear-shift device and control method of hillside orchard single-rail conveyor Download PDFInfo
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- CN104648949A CN104648949A CN201410829669.1A CN201410829669A CN104648949A CN 104648949 A CN104648949 A CN 104648949A CN 201410829669 A CN201410829669 A CN 201410829669A CN 104648949 A CN104648949 A CN 104648949A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2812/00—Indexing codes relating to the kind or type of conveyors
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- Mechanical Engineering (AREA)
- Agricultural Machines (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to an automatic gear-shift device and a control method of a hillside orchard single-rail conveyor. The automatic gear-shift device comprises an inclination angle detecting unit, a speed detecting unit, a control unit and a gear-shift executing unit, wherein the inclination angle detecting unit comprises an inclination angle sensor; the speed detecting unit comprises a speed sensor; the gear-shift executing unit comprises a linear motor, a sensing block and a gear-shift stroke detecting switch; the linear motor is a push rod which can linearly move; the push rod is connected with a gear-shift shaft of a differential gear-shift direct-current motor by a gear-shift rod; the sensing block is arranged on the push rod; the gear-shift stroke detecting switch comprises three proximity switches, which are respectively the acceleration gear proximity switch, the balance position proximity switch and the deceleration gear proximity switch; the control unit comprises a controller. Automatic gear-shift can be realized according to a climbing working condition of the conveyor in a working process, so that a working motor always runs in the most reasonable turning moment, and the consumption of an energy source is reduced.
Description
Technical field
The present invention relates to the transportation device of hillside orchard, be specifically related to a kind of hillside orchard monorail conveyer automatic shifting device and control method.
Background technology
Form primarily of actuating device, loading coaster and rail system at the driving hillside orchard monorail conveyer of existing storage battery, wherein, actuating device comprises DC motor, driving system, controller and brake equipment, and rail system is made up of track and ground supports post.Such cargo carrier is large for hill climbing ability, adaptable to massif, the advantages such as carrying capacity is strong.But, there is following defect when storage battery driving hillside orchard monorail conveyer orbits:
1, Power output is more single, and actuating device cannot export best power source according to the climbing operating mode of reality, causes energy dissipation.
Although 2 can select direct current shifting differential motor, the gear that control system None-identified is current, and then self shifter cannot be realized according to climbing operating mode.
Summary of the invention
In view of above shortcomings in prior art, the object of the present invention is to provide a kind of hillside orchard monorail conveyer automatic shifting device, this automatic gear-shifting device can realize self shifter according to the climbing operating mode in transport plane working process, work drive motor is run all the time in the most reasonable moment, reduces the consumption of the energy.
Another object of the present invention is to provide a kind of control method applying the hillside orchard monorail conveyer that above-mentioned hillside orchard monorail conveyer automatic shifting device realizes.
The technical scheme that the present invention solves the problems of the technologies described above is:
A kind of hillside orchard monorail conveyer automatic shifting device, comprises inclination angle detection unit, speed detection unit, control unit and shift performance element, wherein:
Described inclination angle detection unit comprises obliquity sensor;
Described speed detection unit comprises speed sensor, and this speed sensor is made up of proximity switch; Described transport plane is provided with the road wheel of creeping in dentation track, this road wheel be provided with along the circumferential direction be uniformly distributed and external tooth, described speed sensor end face center be right against road wheel external tooth arrange;
Described shift performance element comprises linear electric motors, sensor block and shift stroke detection switch, wherein, described linear electric motors have the push rod of moving linearly, and this push rod is connected by the shifting shaft of Shift lever with the differential shift DC machine for driving transport plane to walk; Described sensor block is arranged on push rod; Described shift stroke detection switch comprises three proximity switches that the sense of motion along push rod distributes, be respectively and accelerate shelves proximity switch, balance position proximity switch and reduction gear proximity switch, wherein, balance position proximity switch is positioned at centre, and acceleration shelves proximity switch and reduction gear proximity switch are positioned at the both sides of balance position proximity switch; When described sensor block with pushrod movement to acceleration shelves proximity switch corresponding position time, described shifting shaft is positioned at acceleration gear, when described sensor block with pushrod movement to during with reduction gear proximity switch corresponding position, described shifting shaft is positioned at acceleration gear, when described sensor block with pushrod movement to during with balance position proximity switch corresponding position, described shifting shaft is positioned at balance position;
Described control unit comprises controller, described obliquity sensor, speed sensor, acceleration shelves proximity switch, balance position proximity switch and reduction gear proximity switch are connected to the signal input part of controller, and described linear electric motors are connected with the signal output part of controller.
A preferred version of hillside orchard monorail conveyer automatic shifting device of the present invention, wherein, described transport plane is provided with the first stay bearing plate, described differential shift DC machine is arranged at the bottom of the first stay bearing plate, described linear electric motors are arranged at the top of the first stay bearing plate, the lower end of described Shift lever is connected with shifting shaft, and upper end upwards extends and is connected with push rod.Described first stay bearing plate is not only convenient to the fixing of the parts such as differential shift DC machine, linear electric motors, road wheel, but also makes push rod, connection between Shift lever and shifting shaft compacter.
Preferably, the end of described push rod is provided with U-lag, and the upper end of described Shift lever is provided with connecting portion, and this connecting portion has two planes be parallel to each other, and the distance between this two plane and the width of described U-lag match; Described connecting portion to extend in U-lag and is bolted anatomical connectivity on push rod.Be convenient to the detachable connection of push rod and Shift lever like this, be convenient to assembling.
Preferably, described sensor block is fixed on the top of push rod and upwards extends; Described shift stroke detection switch-linear hybrid in the top of push rod, and is arranged on the switch mounting blocks that is arranged on the first stay bearing plate.Described like this Shift lever and sensor block are separately positioned on the both sides up and down of push rod, rationally distributed, compact conformation.
Preferably, the upper end of described sensor block extends upwardly to the center exceeding shift stroke detection switch.Guarantee that shift stroke detection switch detects putting in place of sensor block smoothly like this.
A preferred version of hillside orchard monorail conveyer automatic shifting device of the present invention, wherein, described road wheel comprises driving wheel and flower wheel, this driving wheel and flower wheel are arranged on side relative with differential shift DC machine in the first stay bearing plate, wherein, described driving wheel is connected with the output shaft of differential shift DC machine; Described speed sensor is fixed on the first stay bearing plate by attaching parts, and the center of its end face is right against described driving wheel; The toothing of the dentation track that described transport plane is upper is arranged at downside, and described road wheel is positioned at the below of dentation track, and the external tooth on road wheel is meshed with described toothing.
A preferred version of hillside orchard monorail conveyer automatic shifting device of the present invention, wherein, described transport plane is provided with the second stay bearing plate be arranged in parallel with the first stay bearing plate, is connected between the first stay bearing plate and the second stay bearing plate by supporting traverse; Described second stay bearing plate is provided with electric cabinet, and described controller is arranged in electric cabinet.
A preferred version of the present invention, wherein, described controller is made up of micro controller system.
A preferred version of hillside orchard monorail conveyer automatic shifting device of the present invention, wherein, also comprise magnet stopper, this magnet stopper is arranged on the output shaft of differential shift DC machine.Adopt the object of this preferred version to be to control the speed of transport plane when descending, transport plane should control in suitable scope in descending hourly velocity, unsuitable too fast; By described obliquity sensor, the acceleration/accel of transport plane can be detected in real time, when speed is excessive, controls magnet stopper by control unit and brake, thus by the speeds control of transport plane within suitable scope, guarantee transport plane safe in operation.
Apply a control method for the hillside orchard monorail conveyer that above-mentioned hillside orchard monorail conveyer automatic shifting device realizes, comprise the following steps:
(1) obliquity sensor detects the current dip angle signal of transport plane in real time, and this dip angle signal is fed back to control unit; Control unit, according to the direction of travel of the transport plane set in this dip angle signal again coupling system, judges that transport plane is current and is in upward slope state or descending state, if detected as upward slope state, then perform step (2);
(2) tach signal of the real-time detect lines travelling wheel of speed sensor, and by speed feedback signal to control unit; The tach signal that control unit is returned according to speed sensor feedback also in conjunction with the current operating power of differential shift DC machine, calculates the current output torque obtaining differential shift DC machine; Under normality, sensor block is positioned at and balance position proximity switch corresponding position, and shifting shaft is positioned at balance position; Control unit according to the difference of moment calculated, make following control action respectively:
(2.1) when the moment calculated is greater than setting moment, judge that whether the gear of current differential shift DC machine is at deep low gear again, if not at deep low gear, then control to move back one grade: control unit sends control signal to linear electric motors, push rod is driven to drive Shift lever motion, pushing the shifting shaft being positioned at balance position to deceleration gear makes transport plane slow down, in this process, sensor block on push rod moves to and reduction gear proximity switch corresponding position from balance position proximity switch corresponding position, and when reduction gear proximity switch detects that sensor block arrives, the signal that puts in place is sent to control unit, control unit sends control signal to linear electric motors, allow push rod, sensor block, Shift lever, shifting shaft resets, wait for shift action next time,
(2.2) when the moment calculated is less than setting moment, judge that whether the gear of current differential shift DC machine is the most high-grade again, if not the most high-grade, then control into one grade: control unit sends control signal to linear electric motors, push rod is driven to drive Shift lever motion, the shifting shaft being positioned at balance position being pushed to accelerate gear makes transport plane accelerate, in this process, sensor block on push rod is from moving to balance position proximity switch corresponding position and accelerating a grade proximity switch corresponding position, and when accelerating shelves proximity switch and detecting that sensor block arrives, the signal that puts in place is sent to control unit, control unit sends control signal to linear electric motors, allow push rod, sensor block, Shift lever, shifting shaft resets, wait for shift action next time.
A preferred version of the control method of hillside orchard monorail conveyer of the present invention, wherein, in step (1), when judging that transport plane is current and being in descending state, performs following steps:
(3) tach signal of the real-time detect lines travelling wheel of speed sensor, and by speed feedback signal to control unit; This rotating speed and setting speed compare by control unit, if current rotating speed is greater than setting speed, then exports control signal and control magnet stopper brake, until current rotating speed falls within setting speed scope, control magnet stopper and unclamp.
The principle of work of hillside orchard monorail conveyer automatic shifting device of the present invention is:
First the state of kinematic motion that transport plane is current is judged.The current angle of inclination of transport plane can be detected by obliquity sensor, the sense of motion of the transport plane set in coupling system again, (angle of inclination being arranged in the transport plane on the same slope of track is consistent can to judge to be in upward slope state, the state of putting down away or descending state by transport plane, therefore need the direction of travel knowing transport plane in advance could judge transport plane current be go up a slope or descending, the direction of travel of transport plane presets in systems in which before work).
Then the mode of operation of differential shift DC machine is calculated.Because road wheel is provided with well-distributed external tooth, therefore just right with it speed sensor is by detecting the quantity by the external tooth of its detection range, just the rotating speed of road wheel can be calculated to obtain by controller, again by reading the current power of differential shift DC machine, the moment (moment equals power divided by rotating speed) of the current output of differential shift DC machine can be calculated.
Finally carry out gear adjustment.When determining that transport plane is in upward slope state, in order to allow the output torque of differential shift DC machine be within suitable scope, guaranteeing that motor is in best mode of operation, needing to carry out gear adjustment.Drive differential shift DC machine built-in drop-gear box and the gearshift of transport plane walking, externally show as and there is shifting shaft stretch out, can gear be changed by promoting shifting shaft, thus change the output torque of differential shift DC machine.
The gear shifting action of differential shift DC machine provides power by linear electric motors, promotes shifting shaft carry out by push rod and gear-shift shaft.Under normality, sensor block is positioned at and balance position proximity switch corresponding position, and shifting shaft is positioned at balance position.When the moment that differential shift DC machine is current is greater than the scope of setting, need to move back shelves, to underspeed, reduce moment, moving back a grade process is: controller sends control signal to linear electric motors, push rod is driven to drive Shift lever motion, pushing the shifting shaft being positioned at balance position to deceleration gear makes transport plane slow down, in this process, sensor block on push rod also moves to and reduction gear proximity switch corresponding position from balance position proximity switch corresponding position, and when reduction gear proximity switch detects that sensor block arrives, show that gear shifting action completes, and then send to controller the signal that puts in place, controller sends control signal to linear electric motors, allow push rod, sensor block, Shift lever, shifting shaft resets, wait for shift signal next time.And when the moment that differential shift DC machine is current is less than the scope of setting, need into shelves, to improve speed, increase moment, entering a grade process is: controller sends control signal to linear electric motors, push rod is driven to drive Shift lever motion, the shifting shaft being positioned at balance position being pushed to accelerate gear makes transport plane accelerate, in this process, sensor block on push rod is also from moving to balance position proximity switch corresponding position and accelerating a grade proximity switch corresponding position, and when accelerating shelves proximity switch and detecting that sensor block arrives, show that gear shifting action completes, and then send to controller the signal that puts in place, controller sends control signal to linear electric motors, allow push rod, sensor block, Shift lever, shifting shaft resets, wait for shift signal next time.Above-mentioned enter shelves or move back grade action and carry out at any time according to the signal real-time monitored, sometimes continuous several times may be needed to enter shelves (prerequisite is current is not be in Gao unit) or continuous several times moves back shelves (prerequisite is current is not be in Gao unit), until differential shift DC machine is in best mode of operation.
Above-mentioned is regulate the gear of transport plane when upward slope state, makes differential shift DC machine be in best mode of operation, and when transport plane is in descending state, needs to allow transport plane be in best kinematic velocity by the mode of brake, guarantee safe in operation; For this reason, in preferred version of the present invention, also comprise magnet stopper on the output shaft being arranged on differential shift DC machine, thus brake when transport plane excessive velocities, make transport plane all can be in best mode of operation when ascents and descents.
The present invention compared with prior art has following beneficial effect:
1, the state of kinematic motion first utilizing obliquity sensor current to transport plane judges, the unique texture of the road wheel of recycling transport plane, the rotating speed of speed sensor detect lines travelling wheel is set, and then the output torque that the differential shift DC machine to can be regarded as in conjunction with the power of differential shift DC machine is current, provide foundation for automatically controlling gearshift.
2, make cargo carrier for according to different slopes type automatic gear-shifting speed changing function, differential shift DC machine is run all the time in the most reasonable moment, reduce the consumption of the energy, extend the machine operation life-span.
3, the operation of transport plane is more simple, and orchard worker, without the need to car manipulation, improves the safety of transport plane.
Accompanying drawing explanation
Fig. 1 and Fig. 2 is the perspective view of a detailed description of the invention of hillside orchard monorail conveyer automatic shifting device of the present invention, and wherein, Fig. 1 is front elevation, and Fig. 2 is back view.
Fig. 3 is for the application of installation of automatic shifting shown in Fig. 1 and Fig. 2 is to the practical constitution diagram of transport plane.
Fig. 4 is hillside orchard monorail conveyer automatic shifting device workflow diagram of the present invention.
Fig. 5 is the electric functional block diagram of hillside orchard monorail conveyer automatic shifting device of the present invention.
Number in the figure and title as follows:
| 1 | Differential shift DC motor | 2 | Shift lever |
| 3 | Push rod | 4 | Sensor block |
| 5 | Accelerate shelves proximity switch | 6 | Balance position proximity switch |
| 7 | Reduction gear proximity switch | 8 | Switch mounting blocks |
| 9 | Electric cabinet | 10 | Second stay bearing plate |
| 11 | Supporting traverse | 12 | Linear electric motors |
| 13 | First stay bearing plate | 14 | Change speed gear box |
| 15 | Driving wheel | 16 | External tooth |
| 17 | Speed sensor | 18 | Flower wheel |
| 19 | Dentation track | 20 | Actuating device |
| 21 | Loading coaster | 22 | Rail supported post |
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
See Fig. 1 ~ Fig. 5, hillside orchard monorail conveyer automatic shifting device of the present invention primarily of inclination angle detection unit, speed detection unit, control unit and shift performance element, wherein:
Described inclination angle detection unit comprises obliquity sensor.
Described speed detection unit comprises speed sensor 17, and this speed sensor 17 is made up of proximity switch.Described transport plane is provided with the road wheel of creeping in dentation track 19, this road wheel be provided with along the circumferential direction be uniformly distributed and external tooth 16, the external tooth 16 that described speed sensor 17 end face center is right against road wheel is arranged.
Described shift performance element comprises linear electric motors 12, sensor block 4 and shift stroke detection switch, wherein, described linear electric motors 12 have the push rod 3 of moving linearly, the driving voltage of these linear electric motors 12 is 24V, push rod 3 stroke is 100mm, and speed is 40mm/s, and described push rod 3 is connected by the shifting shaft of Shift lever 2 with the differential shift DC machine 1 for driving transport plane to walk, described shifting shaft one end extend in drop-gear box 14, and the other end is connected with Shift lever 2; Described sensor block 4 is arranged on push rod 3; Described shift stroke detection switch comprises three proximity switches that the sense of motion along push rod 3 distributes, be respectively and accelerate shelves proximity switch 5, balance position proximity switch 6 and reduction gear proximity switch 7, wherein, balance position proximity switch 6 is positioned at centre, and acceleration shelves proximity switch 5 and reduction gear proximity switch 7 are positioned at the both sides of balance position proximity switch 6; When described sensor block 4 moves to when accelerating grade proximity switch 5 corresponding position with push rod 3, described shifting shaft is positioned at and accelerates gear (namely adding a grade), when described sensor block 4 moves to reduction gear proximity switch 7 corresponding position with push rod 3, described shifting shaft is positioned at and accelerates gear (namely complete and subtract a grade), when described sensor block 4 moves to balance position proximity switch 6 corresponding position with push rod 3, described shifting shaft is positioned at balance position.
See Fig. 1 and Fig. 2, described transport plane is provided with the first stay bearing plate 13, described differential shift DC machine 1 is arranged at the bottom of the first stay bearing plate 13, described linear electric motors 12 are arranged at the top of the first stay bearing plate 13, the lower end of described Shift lever 2 is connected with shifting shaft, and upper end upwards extends and is connected with push rod 3.The end of described push rod 3 is provided with U-lag, and the upper end of described Shift lever 2 is provided with connecting portion, and this connecting portion has two planes be parallel to each other, and the distance between this two plane and the width of described U-lag match; Described connecting portion to extend in U-lag and is bolted anatomical connectivity on push rod 3.Described sensor block 4 is fixed on the top of push rod 3 and upwards extends; Described shift stroke detection switch-linear hybrid in the top of push rod 3, and is arranged on the switch mounting blocks 8 that is arranged on the first stay bearing plate 13.The upper end of described sensor block 4 extends upwardly to the center exceeding shift stroke detection switch, guarantees that shift stroke detection switch detects putting in place of sensor block 4 smoothly.
See Fig. 1 ~ Fig. 3, described road wheel comprises driving wheel 15 and flower wheel 18, this driving wheel 15 and flower wheel 18 are arranged on side relative with differential shift DC machine 1 in the first stay bearing plate 13, and wherein, described driving wheel 15 is connected with the output shaft of differential shift DC machine 1; Described speed sensor 17 is fixed on the first stay bearing plate 13 by attaching parts, and the center of its end face is right against described driving wheel 15.Described transport plane is provided with being connected by supporting traverse 11 between the second stay bearing plate 10, first stay bearing plate 13 and the second stay bearing plate 10 of be arrangeding in parallel with the first stay bearing plate 13; Described second stay bearing plate 10 is provided with electric cabinet 9, and described control unit is arranged in electric cabinet 9.
Hillside orchard monorail conveyer automatic shifting device of the present invention also comprises magnet stopper, and this magnet stopper is arranged on the output shaft of differential shift DC machine 1.Can control the speed of transport plane when descending like this, transport plane should control in suitable scope in descending hourly velocity, unsuitable too fast; By described obliquity sensor, the acceleration/accel of transport plane can be detected in real time, when speed is excessive, controls magnet stopper by control unit and brake, thus by the speeds control of transport plane within suitable scope, guarantee transport plane safe in operation.
See Fig. 5, described control unit comprises controller, and this controller comprises upper computer and lower computer, and this upper computer and lower computer are formed by the micro controller system of STM32 type.Described lower computer is connected with current sensor, voltage sensor, magnet stopper, electric machine controller, DC machine, shift stroke detection switch, gear position sensor, tachogen, obliquity sensor etc. respectively, wherein, described current sensor and voltage sensor for detecting working current and the voltage of differential shift DC machine 1, in order to calculate its operating power; Described magnet stopper is used for braking transport plane; Described electric machine controller is used for controlling the work of differential shift DC machine 1; Described gear position sensor is for detecting the current gear of differential shift DC machine 1; This lower computer is mainly used in the data of collecting each sensor, and by producing control signal after computing, controls the component workings such as magnet stopper, differential shift DC machine 1 and linear electric motors 12.Described upper computer is connected with button, read-out etc., is also connected with remote controller by wireless serial; Between this upper computer and lower computer by 485 buses connect, between upper computer and lower computer also with keep away barrier model calling; This upper computer is mainly used in receiving push button signalling, remote signal etc., and exports the signals such as gear information to read-out, carries out data exchange with lower computer simultaneously.
See Fig. 3, described transport plane mainly comprises loading coaster 21, actuating device 20 and dentation track 19, wherein, described loading coaster 21 is connected with actuating device 20, and this actuating device 20 is primarily of formations such as described differential shift DC machine 1 and automatic shifting devices of the present invention; The toothing of described dentation track 19 is arranged at downside, and described road wheel is positioned at the below of dentation track 19, and the external tooth 16 on road wheel is meshed with described toothing; This dentation track 19 is fixed on the ground by rail supported post 22.
See Fig. 4 and Fig. 5, the control method of the hillside orchard monorail conveyer that application of the present invention above-mentioned hillside orchard monorail conveyer automatic shifting device realizes, comprises the following steps:
(1) obliquity sensor detects the current dip angle signal of transport plane in real time, and this dip angle signal is fed back to control unit; Control unit, according to the direction of travel of the transport plane set in this dip angle signal again coupling system, judges that transport plane is current and is in upward slope state or descending state, if detected as upward slope state, then perform step (2);
(2) tach signal of the real-time detect lines travelling wheel of speed sensor 17, and by speed feedback signal to control unit; The tach signal that control unit feeds back according to speed sensor 17 also in conjunction with the current operating power of differential shift DC machine 1, calculates the current output torque obtaining differential shift DC machine 1; Under normality, sensor block 4 is positioned at and balance position proximity switch 6 corresponding position, and shifting shaft is positioned at balance position; Control unit according to the difference of moment calculated, make following control action respectively:
(2.1) when the moment calculated is greater than setting moment, judge that whether the gear of current differential shift DC machine 1 is at deep low gear again, if not at deep low gear, then control to move back one grade: control unit sends control signal to linear electric motors 12, push rod 3 is driven to drive Shift lever 2 to move, pushing the shifting shaft being positioned at balance position to deceleration gear makes transport plane slow down, in this process, sensor block 4 on push rod 3 moves to and reduction gear proximity switch 7 corresponding position from balance position proximity switch 6 corresponding position, and when reduction gear proximity switch 7 detects that sensor block 4 arrives, the signal that puts in place is sent to control unit, control unit sends control signal to linear electric motors 12, allow push rod 3, sensor block 4, Shift lever 2, shifting shaft resets, wait for shift action next time,
(2.2) when the moment calculated is less than setting moment, judge that whether the gear of current differential shift DC machine 1 is the most high-grade again, if not the most high-grade, then control into one grade: control unit sends control signal to linear electric motors 12, push rod 3 is driven to drive Shift lever 2 to move, the shifting shaft being positioned at balance position being pushed to accelerate gear makes transport plane accelerate, in this process, sensor block 4 on push rod 3 is from moving to balance position proximity switch 6 corresponding position and accelerating grade proximity switch 5 corresponding position, and when accelerating shelves proximity switch 5 and detecting that sensor block 4 arrives, the signal that puts in place is sent to control unit, control unit sends control signal to linear electric motors 12, allow push rod 3, sensor block 4, Shift lever 2, shifting shaft resets, wait for shift action next time.
In step (1), when judging that transport plane is current and being in descending state, perform following steps:
(3) tach signal of the real-time detect lines travelling wheel of speed sensor 17, and by speed feedback signal to control unit; This rotating speed and setting speed compare by control unit, if current rotating speed is greater than setting speed, then exports control signal and control magnet stopper brake, until current rotating speed falls within setting speed scope, control magnet stopper and unclamp.
See Fig. 1 ~ Fig. 5, the principle of work of hillside orchard monorail conveyer automatic shifting device of the present invention is:
First the state of kinematic motion that transport plane is current is judged.The current angle of inclination of transport plane can be detected by obliquity sensor, the sense of motion of the transport plane set in coupling system again, (angle of inclination being arranged in the transport plane on the same slope of track is consistent can to judge to be in upward slope state, the state of putting down away or descending state by transport plane, therefore need the direction of travel knowing transport plane in advance could judge transport plane current be go up a slope or descending, the direction of travel of transport plane presets in systems in which before work).
Then the mode of operation of differential shift DC machine 1 is calculated.Because road wheel is provided with well-distributed external tooth, therefore just right with it speed sensor 17 is by detecting the quantity by the external tooth of its detection range, just the rotating speed of road wheel can be calculated to obtain by controller, again by calculating the current power of differential shift DC machine 1, the moment (moment equals power divided by rotating speed) of the current output of differential shift DC machine 1 can be calculated.
Finally carry out gear adjustment.When determining that transport plane is in upward slope state, in order to allow the output torque of differential shift DC machine 1 be within suitable scope, guaranteeing that motor is in best mode of operation, needing to carry out gear adjustment.Drive differential shift DC machine 1 built-in drop-gear box and the gearshift of transport plane walking, externally show as and there is shifting shaft stretch out, can gear be changed by promoting shifting shaft, thus change the output torque of differential shift DC machine 1.
The gear shifting action of differential shift DC machine 1 provides power by linear electric motors 12, promotes shifting shaft carry out by push rod 3 and gear-shift shaft.Under normality, sensor block 4 is positioned at and balance position proximity switch 6 corresponding position, and shifting shaft is positioned at balance position.When the moment that differential shift DC machine 1 is current is greater than the scope of setting, need to move back shelves, to underspeed, reduce moment, moving back a grade process is: controller sends control signal to linear electric motors 12, push rod 3 is driven to drive Shift lever 2 to move, pushing the shifting shaft being positioned at balance position to deceleration gear makes transport plane slow down, in this process, sensor block 4 on push rod 3 also moves to and reduction gear proximity switch 7 corresponding position from balance position proximity switch 6 corresponding position, and when reduction gear proximity switch 7 detects that sensor block 4 arrives, show that gear shifting action completes, and then send to controller the signal that puts in place, controller sends control signal to linear electric motors 12, allow push rod 3, sensor block 4, Shift lever 2, shifting shaft resets, wait for shift signal next time.And when the moment that differential shift DC machine 1 is current is less than the scope of setting, need into shelves, to improve speed, increase moment, entering a grade process is: controller sends control signal to linear electric motors 12, push rod 3 is driven to drive Shift lever 2 to move, the shifting shaft being positioned at balance position being pushed to accelerate gear makes transport plane accelerate, in this process, sensor block 4 on push rod 3 is also from moving to balance position proximity switch 6 corresponding position and accelerating grade proximity switch 5 corresponding position, and when accelerating shelves proximity switch 5 and detecting that sensor block 4 arrives, show that gear shifting action completes, and then send to controller the signal that puts in place, controller sends control signal to linear electric motors 12, allow push rod 3, sensor block 4, Shift lever 2, shifting shaft resets, wait for shift signal next time.Above-mentioned enter shelves or move back grade action and carry out at any time according to the signal real-time monitored, sometimes continuous several times may be needed to enter shelves (prerequisite to be current be not be in most high tap position) or continuous several times moves back shelves (prerequisite is current is not be in lowest gear), until differential shift DC machine 1 is in best mode of operation.
Above-mentioned is regulate the gear of transport plane when upward slope state, makes differential shift DC machine 1 be in best mode of operation, and when transport plane is in descending state, needs to allow transport plane be in best kinematic velocity by the mode of brake, guarantee safe in operation; For this reason, also comprise in the present invention be arranged on differential shift DC machine 1 output shaft on magnet stopper, thus to brake when transport plane excessive velocities, make transport plane all can be in best mode of operation when ascents and descents.
Above-mentioned is the present invention's preferably embodiment; but embodiments of the present invention are not by the restriction of foregoing; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. a hillside orchard monorail conveyer automatic shifting device, is characterized in that, comprises inclination angle detection unit, speed detection unit, control unit and shift performance element, wherein:
Described inclination angle detection unit comprises obliquity sensor;
Described speed detection unit comprises speed sensor, and this speed sensor is made up of proximity switch; Described transport plane is provided with the road wheel of creeping in dentation track, this road wheel be provided with along the circumferential direction be uniformly distributed and external tooth, described speed sensor end face center be right against road wheel external tooth arrange;
Described shift performance element comprises linear electric motors, sensor block and shift stroke detection switch, wherein, described linear electric motors have the push rod of moving linearly, and this push rod is connected by the shifting shaft of Shift lever with the differential shift DC machine for driving transport plane to walk; Described sensor block is arranged on push rod; Described shift stroke detection switch comprises three proximity switches that the sense of motion along push rod distributes, be respectively and accelerate shelves proximity switch, balance position proximity switch and reduction gear proximity switch, wherein, balance position proximity switch is positioned at centre, and acceleration shelves proximity switch and reduction gear proximity switch are positioned at the both sides of balance position proximity switch; When described sensor block with pushrod movement to acceleration shelves proximity switch corresponding position time, described shifting shaft is positioned at acceleration gear, when described sensor block with pushrod movement to during with reduction gear proximity switch corresponding position, described shifting shaft is positioned at deceleration gear, when described sensor block with pushrod movement to during with balance position proximity switch corresponding position, described shifting shaft is positioned at balance position;
Described control unit comprises controller, described obliquity sensor, speed sensor, acceleration shelves proximity switch, balance position proximity switch and reduction gear proximity switch are connected to the signal input part of controller, and described linear electric motors are connected with the signal output part of controller.
2. hillside orchard monorail conveyer automatic shifting device according to claim 1, it is characterized in that, described transport plane is provided with the first stay bearing plate, described differential shift DC machine is arranged at the bottom of the first stay bearing plate, described linear electric motors are arranged at the top of the first stay bearing plate, the lower end of described Shift lever is connected with shifting shaft, and upper end upwards extends and is connected with push rod.
3. hillside orchard monorail conveyer automatic shifting device according to claim 2, it is characterized in that, the end of described push rod is provided with U-lag, the upper end of described Shift lever is provided with connecting portion, this connecting portion has two planes be parallel to each other, and the distance between this two plane and the width of described U-lag match; Described connecting portion to extend in U-lag and is bolted anatomical connectivity on push rod.
4. hillside orchard monorail conveyer automatic shifting device according to claim 2, it is characterized in that, described sensor block is fixed on the top of push rod and upwards extends; Described shift stroke detection switch-linear hybrid in the top of push rod, and is arranged on the switch mounting blocks that is arranged on the first stay bearing plate.
5. hillside orchard monorail conveyer automatic shifting device according to claim 4, it is characterized in that, the upper end of described sensor block extends upwardly to the center exceeding shift stroke detection switch.
6. the hillside orchard monorail conveyer automatic shifting device according to any one of Claims 1 to 5, it is characterized in that, described road wheel comprises driving wheel and flower wheel, this driving wheel and flower wheel are arranged on side relative with differential shift DC machine in the first stay bearing plate, wherein, described driving wheel is connected with the output shaft of differential shift DC machine; Described speed sensor is fixed on the first stay bearing plate by attaching parts, and the center of its end face is right against described driving wheel; The toothing of the dentation track that described transport plane is upper is arranged at downside, and described road wheel is positioned at the below of dentation track, and the external tooth on road wheel is meshed with described toothing.
7. hillside orchard monorail conveyer automatic shifting device according to claim 2, it is characterized in that, described transport plane is provided with the second stay bearing plate be arranged in parallel with the first stay bearing plate, is connected between the first stay bearing plate and the second stay bearing plate by supporting traverse; Described second stay bearing plate is provided with electric cabinet, and described controller is arranged in electric cabinet.
8. hillside orchard monorail conveyer automatic shifting device according to claim 1, it is characterized in that, also comprise magnet stopper, this magnet stopper is arranged on the output shaft of differential shift DC machine.
9. application rights requires a control method for the hillside orchard monorail conveyer that the hillside orchard monorail conveyer automatic shifting device according to any one of 1 ~ 8 realizes, it is characterized in that, comprises the following steps:
(1) obliquity sensor detects the current dip angle signal of transport plane in real time, and this dip angle signal is fed back to control unit; Control unit, according to the direction of travel of the transport plane set in this dip angle signal again coupling system, judges that transport plane is current and is in upward slope state or descending state, if detected as upward slope state, then perform step (2);
(2) tach signal of the real-time detect lines travelling wheel of speed sensor, and by speed feedback signal to control unit; The tach signal that control unit is returned according to speed sensor feedback also in conjunction with the current operating power of differential shift DC machine, calculates the current output torque obtaining differential shift DC machine; Under normality, sensor block is positioned at and balance position proximity switch corresponding position, and shifting shaft is positioned at balance position; Control unit according to the difference of moment calculated, make following control action respectively:
(2.1) when the moment calculated is greater than setting moment, judge that whether the gear of current differential shift DC machine is at deep low gear again, if not at deep low gear, then control to move back one grade: control unit sends control signal to linear electric motors, push rod is driven to drive Shift lever motion, pushing the shifting shaft being positioned at balance position to deceleration gear makes transport plane slow down, in this process, sensor block on push rod moves to and reduction gear proximity switch corresponding position from balance position proximity switch corresponding position, and when reduction gear proximity switch detects that sensor block arrives, the signal that puts in place is sent to control unit, control unit sends control signal to linear electric motors, allow push rod, sensor block, Shift lever, shifting shaft resets, wait for shift action next time,
(2.2) when the moment calculated is less than setting moment, judge that whether the gear of current differential shift DC machine is the most high-grade again, if not the most high-grade, then control into one grade: control unit sends control signal to linear electric motors, push rod is driven to drive Shift lever motion, the shifting shaft being positioned at balance position being pushed to accelerate gear makes transport plane accelerate, in this process, sensor block on push rod is from moving to balance position proximity switch corresponding position and accelerating a grade proximity switch corresponding position, and when accelerating shelves proximity switch and detecting that sensor block arrives, the signal that puts in place is sent to control unit, control unit sends control signal to linear electric motors, allow push rod, sensor block, Shift lever, shifting shaft resets, wait for shift action next time.
10. the control method of hillside orchard monorail conveyer according to claim 9, is characterized in that, in step (1), when judging that transport plane is current and being in descending state, performs following steps:
(3) tach signal of the real-time detect lines travelling wheel of speed sensor, and by speed feedback signal to control unit; This rotating speed and setting speed compare by control unit, if current rotating speed is greater than setting speed, then exports control signal and control magnet stopper brake, until current rotating speed falls within setting speed scope, control magnet stopper and unclamp.
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