CN109083661A - A kind of steering system and method for concrete spraying trolley - Google Patents
A kind of steering system and method for concrete spraying trolley Download PDFInfo
- Publication number
- CN109083661A CN109083661A CN201811093796.4A CN201811093796A CN109083661A CN 109083661 A CN109083661 A CN 109083661A CN 201811093796 A CN201811093796 A CN 201811093796A CN 109083661 A CN109083661 A CN 109083661A
- Authority
- CN
- China
- Prior art keywords
- concrete spraying
- spraying trolley
- wheel
- control valve
- trolley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000005507 spraying Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims 1
- 238000011897 real-time detection Methods 0.000 description 7
- 238000013519 translation Methods 0.000 description 4
- 230000015271 coagulation Effects 0.000 description 3
- 238000005345 coagulation Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Road Paving Machines (AREA)
Abstract
The present invention provides a kind of steering system for concrete spraying trolley, including four hydraulic cylinders and the control valve being connected to hydraulic cylinder, is equipped with inside hydraulic cylinder and extends and retracts measurement of length tool for measure hydraulic cylinder.It further include processing unit, the hydraulic cylinder that processing unit is obtained according to measuring tool extends and retracts length to obtain the angle of the wheel of concrete spraying trolley.It further include driving unit, driving unit adjusts the angle of the wheel of concrete spraying trolley according to the angle drive control valve of the wheel of concrete spraying trolley.A kind of forward method for concrete spraying trolley is also provided.It can be realized the accurate centering of wheel, to avoid the problem that walking aspect occurs in actual operation in concrete ejection trolley.
Description
Technical field
The invention belongs to concrete spraying trolley technical fields, and in particular to a kind of steering for concrete spraying trolley
System and method.
Background technique
Mine working generally has road narrow, uneven, the more feature of bend.But it mostly uses now
In mine working concrete spraying trolley wheel all cannot good centering, usually in actual operation occur walking aspect
The problem of.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, providing one kind, to can be realized wheel precisely right
In, thus avoid the problem that concrete ejection trolley occur in actual operation walking aspect for concrete spraying trolley
Steering control system and method.
In order to solve the above-mentioned technical problem, technical solution proposed by the present invention are as follows:
A kind of steering system for concrete spraying trolley, including four hydraulic cylinders and the control being connected to hydraulic cylinder
Valve processed is equipped with inside hydraulic cylinder and extends and retracts measurement of length tool for measure hydraulic cylinder.It further include processing
Unit, the hydraulic cylinder that processing unit is obtained according to measuring tool extend and retract length to obtain concrete spraying trolley
The angle of wheel.It further include driving unit, driving unit is according to the angle drive control valve tune of the wheel of concrete spraying trolley
The angle of the wheel of whole concrete spraying trolley.
Steering system according to the present invention for concrete spraying trolley can be implemented to measure liquid by measuring tool
Compressing cylinder extends and retracts length, carrys out real-time detection wheel angle through the processing unit, by driving unit according to real-time inspection
The wheel angle measured adjusts wheel angle so that wheel centering is more accurate, thus can be avoided in the prior art by
In wheel cannot good centering, caused concrete ejection trolley occur in actual operation walking aspect the problem of.
For above-mentioned technical proposal, the further improvement that can also be discussed below.
Steering system according to the present invention for concrete spraying trolley, in one preferred embodiment, driving
The front and back wheel of unit drive control valve adjustment concrete spraying trolley rotates simultaneously, and the rotation direction phase of front and back wheel
Instead.
By driving unit adjust automatically control valve come so that front and back wheel rotation direction on the contrary, front and back wheel be in eight words
Shape arrangement, so that the cross-shaped state of front and back wheel, the circle of rotation is smaller, it is thereby possible to reduce the turning radius of car body, so as to
Enough improve adaptability of the concrete spraying trolley in this complex work environment of mine working.
In another preferred embodiment, the front and back vehicle of driving unit drive control valve adjustment concrete spraying trolley
It takes turns while turning to, and front and back wheel is in parastate always.
By driving unit adjust automatically control valve come so that front and back wheel turns to simultaneously, front and back wheel is in parallel always
State, car body can carry out the translation of different angle, so as to improve the meeting in the mine working of working environment complexity
Safety, so as to further increase adaptability of the concrete spraying trolley in this complex work environment of mine working.
In another preferred embodiment, the front vehicle wheel of driving unit drive control valve adjustment concrete spraying trolley
It turns to, and the rear wheel centering of concrete spraying trolley.
By driving unit adjust automatically control valve come so that front vehicle wheel turns to, rear wheel centering can make concrete
Wet shot trolley passes through the precise alignment of the coordinative role realization rear wheel of measuring tool and processing unit in the normal mode of operation,
So as to improve adaptability of the concrete spraying trolley in this complex work environment of mine working.
In another preferred embodiment, the rear wheel of driving unit drive control valve adjustment concrete spraying trolley
It turns to, and the front vehicle wheel centering of concrete spraying trolley.
By driving unit adjust automatically control valve come so that rear wheel turns to, front vehicle wheel centering can make concrete
Wet shot trolley realizes the precise alignment of front vehicle wheel under operating mode of moving backward by the coordinative role of measuring tool and processing unit,
So as to improve adaptability of the concrete spraying trolley in this complex work environment of mine working.
Further, in one preferred embodiment, measuring tool includes displacement sensor.Using displacement sensor
As measuring tool, structure can simplify, and measure accurately and reliably, it is simple to operate.
The forward method of concrete spraying trolley according to a second aspect of the present invention, comprising: step 1: using described above
Measuring tool measurement hydraulic cylinder extend and retract length.Step 2: using processing unit described above according to measurement
The hydraulic cylinder that tool obtains extends and retracts length to obtain the angle of the wheel of concrete spraying trolley.Step 3: it adopts
Concrete spraying platform is adjusted according to the angle drive control valve of the wheel of concrete spraying trolley with driving unit described above
The angle of the wheel of vehicle.
The forward method of concrete spraying trolley according to the present invention, due to implementing to measure hydraulic oil using measuring tool
Cylinder extends and retracts length, using processing unit come real-time detection wheel angle, is gone out using driving unit according to real-time detection
Wheel angle adjust wheel angle so that wheel centering is more accurate, therefore can be avoided in the prior art due to vehicle
Wheel cannot good centering, caused concrete ejection trolley occurs in actual operation walking in terms of the problem of.
For above-mentioned technical proposal, the further improvement that can also be discussed below.
Further, in one preferred embodiment, measuring tool includes displacement sensor.
Using displacement sensor as measuring tool, structure can simplify, and measure accurate and reliable, side easy to operate
Just.
In one preferred embodiment, the control valve is driven to adjust concrete using driving unit described above
The front and back wheel of wet shot trolley rotates simultaneously, and the rotation direction of front and back wheel is opposite.
Using driving unit adjust automatically control valve come so that front and back wheel rotation direction on the contrary, front and back wheel be in eight words
Shape arrangement, so that the cross-shaped state of front and back wheel, the circle of rotation is smaller, it is thereby possible to reduce the turning radius of car body, so as to
Enough improve adaptability of the concrete spraying trolley in this complex work environment of mine working.
In another preferred embodiment, the control valve is driven to adjust coagulation using driving unit described above
The front and back wheel of native wet shot trolley turns to simultaneously, and front and back wheel is in parastate always.
Using driving unit adjust automatically control valve come so that front and back wheel turns to simultaneously, front and back wheel is in parallel always
State, car body can carry out the translation of different angle, so as to improve the meeting in the mine working of working environment complexity
Safety, so as to further increase adaptability of the concrete spraying trolley in this complex work environment of mine working.
Compared with prior art, the present invention has the advantages that can be realized the accurate centering of wheel, to avoid concrete ejection
There is the problem of walking aspect in actual operation in trolley.
Detailed description of the invention
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.Wherein:
Fig. 1 schematically illustrates the steering system for concrete spraying trolley of the embodiment of the present invention；
Fig. 2 schematically illustrates the hydraulic system of the embodiment of the present invention.
In the accompanying drawings, identical component uses identical appended drawing reference.The attached drawing is not drawn according to the actual ratio.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, invention is further described in detail, but does not therefore limit this
The protection scope of invention.
Fig. 1 schematically illustrates the transfer 10 for concrete spraying trolley of the embodiment of the present invention；Fig. 2 is schematic
Show the hydraulic system of the embodiment of the present invention.
As depicted in figs. 1 and 2, the steering system 10 for concrete spraying trolley of the embodiment of the present invention, including four
Hydraulic cylinder 1 and the control valve 2 being connected to hydraulic cylinder 1 are equipped with for measuring stretching for hydraulic cylinder 1 inside hydraulic cylinder 1
Out and retract measurement of length tool.It further include processing unit, the hydraulic cylinder 1 that processing unit is obtained according to measuring tool is stretched
Out and length is retracted to obtain the angle of the wheel 3 of concrete spraying trolley.It further include driving unit, driving unit is according to coagulation
The angle drive control valve 2 of the wheel 3 of native wet shot trolley adjusts the angle of the wheel 3 of concrete spraying trolley.According to the present invention
The steering system for concrete spraying trolley of embodiment can implement the stretching for measuring hydraulic cylinder by measuring tool
With retraction length, carry out real-time detection wheel angle through the processing unit, the wheel angle gone out by driving unit according to real-time detection
Degree is to adjust wheel angle so that wheel centering is more accurate, therefore can be avoided in the prior art since wheel cannot be very
There is the problem of walking aspect in actual operation in good centering, caused concrete ejection trolley.
Steering system according to the present invention for concrete spraying trolley, in one preferred embodiment, driving
The front and back wheel 3 that unit drive control valve 2 adjusts concrete spraying trolley rotates simultaneously, and the rotation direction of front and back wheel 3
On the contrary.By driving unit adjust automatically control valve come so that front and back wheel rotation direction on the contrary, front and back wheel be in splayed
Arrangement, so that the cross-shaped state of front and back wheel, the circle of rotation is smaller, it is thereby possible to reduce the turning radius of car body, so as to
Improve adaptability of the concrete spraying trolley in this complex work environment of mine working.
In another preferred embodiment, the front and back vehicle of driving unit drive control valve adjustment concrete spraying trolley
Wheel 3 turns to simultaneously, and front and back wheel 3 is in parastate always.By driving unit adjust automatically control valve come so that preceding
Rear wheel turns to simultaneously, and front and back wheel is in parastate always, and car body can carry out the translation of different angle, so as to mention
Meeting safety of the height in the mine working of working environment complexity, so as to further increase concrete spraying trolley in mine
Adaptability in this complex work environment of mountain tunnel.
In third preferred embodiment, driving unit drive control valve 2 adjusts the front truck of concrete spraying trolley
Wheel 3 turns to, and 3 centering of rear wheel of concrete spraying trolley.By driving unit adjust automatically control valve come so that front truck
It rotates to rear wheel centering can make concrete spraying trolley pass through measuring tool and processing list in the normal mode of operation
The coordinative role of member realizes the precise alignment of rear wheel, and so as to improve concrete spraying trolley, in mine working, this is complicated
Adaptability in working environment.
In the 4th preferred embodiment, driving unit drive control valve 2 adjusts the rear car of concrete spraying trolley
Wheel 3 turns to, and 3 centering of front vehicle wheel of concrete spraying trolley.By driving unit adjust automatically control valve come so that rear car
It rotates to front vehicle wheel centering can make concrete spraying trolley single by measuring tool and processing under operating mode of moving backward
The coordinative role of member realizes the precise alignment of front vehicle wheel, and so as to improve concrete spraying trolley, in mine working, this is complicated
Adaptability in working environment.
Further, in one preferred embodiment, measuring tool includes displacement sensor.Using displacement sensor
As measuring tool, structure can simplify, and measure accurately and reliably, it is simple to operate.
The forward method for concrete spraying trolley of embodiment according to a second aspect of the present invention, comprising: step 1: adopt
Length is extended and retracted with measuring tool measurement hydraulic cylinder 1 described above.Step 2: processing list described above is used
The hydraulic cylinder 1 that member is obtained according to measuring tool extends and retracts length to obtain the angle of the wheel of concrete spraying trolley
Degree.Step 3: it is adjusted using driving unit described above according to the angle drive control valve 2 of the wheel 3 of concrete spraying trolley
The angle of the wheel 3 of whole concrete spraying trolley.The forward method of concrete spraying trolley according to an embodiment of the present invention, due to
That implements measurement hydraulic cylinder using measuring tool extends and retracts length, using processing unit come real-time detection wheel angle
Degree adjusts wheel angle so that wheel centering is more smart according to the wheel angle that real-time detection goes out using driving unit
Really, thus can be avoided in the prior art due to wheel cannot good centering, caused concrete ejection trolley is in practical work
Occurs the problem of walking aspect in work.Further, in one preferred embodiment, measuring tool includes displacement sensing
Device.Using displacement sensor as measuring tool, structure can simplify, and measure accurately and reliably, it is simple to operate.
In one preferred embodiment, the control valve 2 is driven to adjust coagulation using driving unit described above
The front and back wheel 3 of native wet shot trolley rotates simultaneously, and the rotation direction of front and back wheel 3 is opposite.It is adjusted automatically using driving unit
Whole control valve comes so that the rotation direction of front and back wheel is on the contrary, front and back wheel is arranged in splayed, so that front and back wheel is in intersection
The circle of state, rotation is smaller, it is thereby possible to reduce the turning radius of car body, so as to improve concrete spraying trolley in mine
Adaptability in this complex work environment of mountain tunnel.
In another preferred embodiment, it drives the control valve 2 to adjust using driving unit described above to mix
The front and back wheel 3 of solidifying soil wet shot trolley turns to simultaneously, and front and back wheel 3 is in parastate always.Certainly using driving unit
Dynamic adjustment control valve comes so that front and back wheel while turning to, and front and back wheel is in parastate always, and car body can carry out difference
The translation of angle, so as to improve the meeting safety in the mine working of working environment complexity, so as to further
Improve adaptability of the concrete spraying trolley in this complex work environment of mine working.
In third preferred embodiment, concrete is adjusted using driving unit drive control valve 2 described above
The front vehicle wheel 3 of wet shot trolley turns to, and 3 centering of rear wheel of concrete spraying trolley.Pass through driving unit adjust automatically control
Valve processed comes so that front vehicle wheel turns to, and rear wheel centering can make concrete spraying trolley pass through survey in the normal mode of operation
The coordinative role of amount tool and processing unit realizes the precise alignment of rear wheel, so as to improve concrete spraying trolley in mine
Adaptability in this complex work environment of mountain tunnel.
In the 4th preferred embodiment, concrete is adjusted using driving unit drive control valve 2 described above
The rear wheel of wet shot trolley turns to, and the front vehicle wheel centering of concrete spraying trolley.It is controlled by driving unit adjust automatically
Valve comes so that rear wheel turns to, and front vehicle wheel centering can make concrete spraying trolley pass through measurement under operating mode of moving backward
The coordinative role of tool and processing unit realizes the precise alignment of front vehicle wheel, so as to improve concrete spraying trolley in mine
Adaptability in this complex work environment of tunnel.
As shown in Figure 1, specifically, two steering systems of the front and back for concrete spraying trolley of the embodiment of the present invention
10, wherein two hydraulic cylinders 1 are connected with bearing block 4, steering wheel 5 respectively by two hinge joints, pass through two hydraulic cylinders
The 1 flexible angle to change wheel 3, realizes the purpose of steering.Connecting rod 6 connects left and right turn disk 5 by two hinge joints,
To make two wheels 3 always in parallel state.Four displacement sensors are mounted on the inside of four hydraulic cylinders 1, and four
The cylinder body of hydraulic cylinder 1 is hinged with left and right turn disk 5 respectively, and steering wheel 5 is connected by retarder 7 and wheel 3.Four hydraulic oil
The piston rod of cylinder 1 is articulated on bearing block 4, and bearing block 4 is welded on front-rear axle, and connecting rod 6 is cut with scissors with left and right turn disk 5 respectively
It connects.Front and back wheel carries out centering by calibration, is passed to processing unit record.Wheel is realized not by driving unit drive control valve
Same rotation mode has the indicator light of front wheels and rear wheels centering in the driver's cabin of concrete spraying trolley, can show whether wheel is right
In, if wheel is centering, indicator light do not work, and wheel flashes indicator light when centering, and the indicator light is always on when wheel centering.
As shown in Fig. 2, specifically, the hydraulic system of the embodiment of the present invention, power section includes the tooth driven by engine 8
Wheel pump 9, control valve 2 include steering control valve and directional control valve.Wherein, steering control valve control hydraulic cylinder 1 stretches out and contracts
The length returned, to control the steering angle of wheel 3, directional control valve controls the stretching or retraction of hydraulic cylinder 1, passes through control
The different conditions of the two groups of hydraulic cylinders 1 in front and back are made to realize different steering patterns.
According to above-described embodiment, it is seen then that the steering system and method for the present invention for concrete spraying trolley, energy
The accurate centering of wheel is enough realized, to avoid the problem that walking aspect occurs in actual operation in concrete ejection trolley.
Although by reference to preferred embodiment, invention has been described, the case where not departing from the scope of the present invention
Under, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as there is no structures to rush
Prominent, items technical characteristic mentioned in the various embodiments can be combined in any way.The invention is not limited to texts
Disclosed in specific embodiment, but include all technical solutions falling within the scope of the claims.
Claims (10)
1. a kind of steering system for concrete spraying trolley is connected to including four hydraulic cylinders and with the hydraulic cylinder
Control valve, which is characterized in that
It is equipped with inside the hydraulic cylinder and extends and retracts measurement of length tool for measure the hydraulic cylinder；
The steering system for concrete spraying trolley, further includes processing unit, the processing unit is according to the measurement
The hydraulic cylinder that tool obtains extends and retracts length to obtain the angle of the wheel of concrete spraying trolley；
The steering system for concrete spraying trolley, further includes driving unit, the driving unit is wet according to concrete
The angle of the wheel of spray booth vehicle drives the angle of the wheel of the control valve adjustment concrete spraying trolley.
2. the steering system according to claim 1 for concrete spraying trolley, which is characterized in that the driving unit
It drives the front and back wheel of the control valve adjustment concrete spraying trolley while rotating, and the rotation direction phase of front and back wheel
Instead.
3. the steering system according to claim 1 for concrete spraying trolley, which is characterized in that the driving unit
It drives the front and back wheel of the control valve adjustment concrete spraying trolley while turning to, and front and back wheel is in parallel shape always
State.
4. the steering system according to claim 1 for concrete spraying trolley, which is characterized in that the driving unit
The front vehicle wheel of the control valve adjustment concrete spraying trolley is driven to turn to, and the rear wheel centering of concrete spraying trolley.
5. the steering system according to claim 1 for concrete spraying trolley, which is characterized in that the driving unit
The rear wheel of the control valve adjustment concrete spraying trolley is driven to turn to, and the front vehicle wheel centering of concrete spraying trolley.
6. the steering system according to any one of claim 1 to 5 for concrete spraying trolley, which is characterized in that
The measuring tool includes displacement sensor.
7. a kind of forward method for concrete spraying trolley characterized by comprising
Step 1: length is extended and retracted using what the measuring tool described in claim 1 measured the hydraulic cylinder；
Step 2: the hydraulic cylinder obtained using the processing unit described in claim 1 according to the measuring tool
Length is extended and retracted to obtain the angle of the wheel of concrete spraying trolley；
Step 3: institute is driven according to the angle of the wheel of concrete spraying trolley using the driving unit described in claim 1
State the angle of the wheel of control valve adjustment concrete spraying trolley.
8. the forward method according to claim 7 for concrete spraying trolley, which is characterized in that the measuring tool
Including displacement sensor.
9. the forward method according to claim 7 or 8 for concrete spraying trolley, which is characterized in that using above-mentioned
Driving unit described in claim 1 drives the front and back wheel of the control valve adjustment concrete spraying trolley while rotating,
And the rotation direction of front and back wheel is opposite.
10. the forward method according to claim 7 or 8 for concrete spraying trolley, which is characterized in that using above-mentioned
Driving unit described in claim 1 drives the front and back wheel of the control valve adjustment concrete spraying trolley while turning to,
And front and back wheel is in parastate always.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093796.4A CN109083661A (en) | 2018-09-19 | 2018-09-19 | A kind of steering system and method for concrete spraying trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093796.4A CN109083661A (en) | 2018-09-19 | 2018-09-19 | A kind of steering system and method for concrete spraying trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109083661A true CN109083661A (en) | 2018-12-25 |
Family
ID=64841838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811093796.4A Pending CN109083661A (en) | 2018-09-19 | 2018-09-19 | A kind of steering system and method for concrete spraying trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109083661A (en) |
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