CN113371545B - Vehicle-mounted cable anti-pulling control method and system and tracked vehicle - Google Patents
Vehicle-mounted cable anti-pulling control method and system and tracked vehicle Download PDFInfo
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- CN113371545B CN113371545B CN202110551873.1A CN202110551873A CN113371545B CN 113371545 B CN113371545 B CN 113371545B CN 202110551873 A CN202110551873 A CN 202110551873A CN 113371545 B CN113371545 B CN 113371545B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H49/00—Unwinding or paying-out filamentary material; Supporting, storing or transporting packages from which filamentary material is to be withdrawn or paid-out
- B65H49/18—Methods or apparatus in which packages rotate
- B65H49/20—Package-supporting devices
- B65H49/24—Rollers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H49/00—Unwinding or paying-out filamentary material; Supporting, storing or transporting packages from which filamentary material is to be withdrawn or paid-out
- B65H49/18—Methods or apparatus in which packages rotate
- B65H49/20—Package-supporting devices
- B65H49/32—Stands or frameworks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H49/00—Unwinding or paying-out filamentary material; Supporting, storing or transporting packages from which filamentary material is to be withdrawn or paid-out
- B65H49/18—Methods or apparatus in which packages rotate
- B65H49/20—Package-supporting devices
- B65H49/32—Stands or frameworks
- B65H49/324—Constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H57/00—Guides for filamentary materials; Supports therefor
- B65H57/006—Traversing guides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H57/00—Guides for filamentary materials; Supports therefor
- B65H57/14—Pulleys, rollers, or rotary bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to the technical field of material grabbing equipment, and provides a vehicle-mounted cable anti-pulling control method and system and a tracked vehicle. The vehicle-mounted cable pulling-prevention control method comprises the following steps: acquiring a deviation signal of deviation of the cable when the cable is pulled out of the winding drum; controlling the travel of the tracks of the tracked vehicle in accordance with the offset signal. According to the vehicle-mounted cable anti-pulling control method and system and the tracked vehicle, the walking mode of the track of the tracked vehicle is controlled by acquiring the deviation signal after the cable is deviated, so that the deviation of the cable is corrected by the walking of the track, and the cable can be prevented from being pulled to generate friction on the ground so as to damage the cable.
Description
Technical Field
The application relates to the technical field of tracked vehicles, in particular to a vehicle-mounted cable pull-prevention control method and system and a tracked vehicle.
Background
In the related art, the electric material grabbing machine is a tracked vehicle, the electric material grabbing machine is provided with a winding drum, the winding drum is wound with a cable, the cable is pulled out from the winding drum when the material grabbing machine runs, and the pulled cable is dragged on the ground for a length of 100 meters. Normally, the cable is relatively stationary with respect to the ground.
However, when the material grabbing machine is turned left and right by a large margin, the outgoing resistance of the cable from the winding drum is greatly increased until the cable is blocked. At the moment, the material grabbing machine pulls the cable and drags the cable on the ground, so that the cable and foreign matters on the ground are rubbed, and even the cable is scratched.
Therefore, how to prevent the cable from being pulled to generate friction on the ground when the cable is not correctly led out is a problem to be solved urgently.
Content of application
In view of this, a first aspect of the present application is to provide a vehicle-mounted cable anti-pulling control method, which solves the technical problem in the background art that a cable is pulled due to incorrect cable outgoing, and then friction is generated on the ground, so that damage is easily caused.
In the vehicle-mounted cable pull-prevention control method provided by the first aspect of the application, a cable is wound on a winding drum of a tracked vehicle, and the cable is pulled out to the ground, and the vehicle-mounted cable pull-prevention control method comprises the following steps: acquiring a deviation signal of deviation of the cable when the cable is pulled out of the winding drum; controlling the travel of a track of the tracked vehicle in accordance with the offset signal.
According to the vehicle-mounted cable pulling-prevention control method, the deviation signal after the cable is deviated is obtained and is easy to obtain, then the walking mode of the crawler of the tracked vehicle is controlled according to the deviation signal, so that the deviation-occurring cable is corrected through the walking of the crawler, the control method is simple and reliable, the implementation is easy, and the purpose of preventing the cable from being pulled to generate friction on the ground so as to damage the cable can be achieved.
With reference to the first aspect, in a possible implementation manner, the controlling walking of a track of the tracked vehicle according to the offset signal specifically includes: sending out an electric signal according to the offset signal; and controlling the crawler to stop walking according to the electric signal.
With reference to the first aspect, in a possible implementation manner, the vehicle-mounted cable pull-prevention control method further includes: acquiring a left-side crawler backward signal, a left-side crawler forward signal, a right-side crawler backward signal and a right-side crawler forward signal of the tracked vehicle; controlling a left-side crawler of the tracked vehicle to stop moving backwards and controlling a right-side crawler of the tracked vehicle to stop moving forwards according to a left-side offset signal, the left-side crawler backward signal and the right-side crawler forward signal in the offset signals; or according to the right offset signal, the right track backward signal and the left track forward signal in the offset signals, controlling the right track of the tracked vehicle to stop backward and controlling the left track of the tracked vehicle to stop forward.
The second aspect of the application aims to provide a vehicle-mounted cable pull-prevention control system, and the technical problem that the cable is pulled due to the fact that the cable is not led out correctly in the background technology, and then friction is generated on the ground to cause damage is solved.
A cable pull-prevention control system provided in a second aspect of the present application is configured to implement the cable pull-prevention control method in any one of the foregoing implementation manners, and the cable pull-prevention control system includes: the deviation detection device is configured to acquire and send a deviation signal of deviation of the cable pulled out of the reel; the control device is in communication connection with the deviation detection device and is configured to acquire the deviation signal sent by the deviation detection device so as to control the walking of the crawler belt vehicle.
The cable pull-prevention control system in the application is used for implementing the vehicle-mounted cable pull-prevention control method in any implementation mode, so that the technical effect of any vehicle-mounted cable pull-prevention control method is achieved, and the details are not repeated here.
With reference to the second aspect, in a possible implementation manner, the offset detection apparatus includes: the detection switch is in communication connection with the control device; the elastic piece is arranged at intervals with the detection switch; the guide plate is connected with the elastic piece; wherein the cable is deflected to press the guide plate so that the guide plate contacts the detection switch; or the cable is separated from the guide plate, so that the guide plate is separated from the detection switch.
With reference to the second aspect, in one possible implementation manner, the elastic member includes: a return spring; the shaft can rotate and is connected with the return spring; wherein the shaft is connected with the guide plate.
With reference to the second aspect, in a possible implementation manner, the vehicle-mounted cable pull-prevention control system further includes: the creeper is arranged on the tracked vehicle and is configured to be pulled out to the ground after the cable passes through the creeper; wherein the offset detection device is connected with the wire arranger.
With reference to the second aspect, in a possible implementation manner, the control device includes: the controller is in communication connection with the offset detection device and is configured to acquire a left offset signal or a right offset signal in the offset signals sent by the offset detection device; the controller is in communication connection with the left-side crawler forward control valve, the left-side crawler backward control valve, the right-side crawler forward control valve and the right-side crawler backward control valve respectively, and is configured to control the left-side crawler backward control valve and the right-side crawler forward control valve to stop acting respectively according to the left-side offset signal; or the controller is configured to control the right-side track backward movement control valve and the left-side track forward movement control valve to stop operating according to the right-side offset signal.
With reference to the second aspect, in a possible implementation manner, the control device further includes: the first relay is electrically connected with the left crawler retreating control valve; the second relay is electrically connected with the right crawler forward control valve; the third relay is electrically connected with the left crawler forward control valve; the fourth relay is electrically connected with the right crawler retreating control valve; wherein, skew detection device includes left side position detection switch and right side position detection switch, first relay with the second relay respectively with left side position detection switch electric connection, the third relay with the fourth relay respectively with right side position detection switch electric connection.
The third aspect of the present application aims to provide a tracked vehicle, which solves the technical problem that in the background art, when the tracked vehicle provided with a winding drum walks, the cable is pulled due to the fact that the cable is not correctly led out, and then friction is generated on the ground, so that damage is easy to occur.
A third aspect of the present application provides the tracked vehicle comprising: a drum configured to wind a cable pulled out to the ground; an in-vehicle cable pull-prevention control system in any implementation.
The tracked vehicle in this application, owing to including the on-vehicle cable in any above-mentioned implementation prevents drawing control system, consequently has the technical effect of the on-vehicle cable of any above-mentioned implementation prevents drawing control system, no longer gives details here.
Drawings
Fig. 1 is a flowchart illustrating a method for controlling pull-prevention of a vehicle-mounted cable according to some implementations of the present disclosure.
Fig. 2 is a flowchart illustrating the method for controlling the track of the tracked vehicle according to the offset signal according to the on-board cable pulling prevention control method provided by the implementation shown in fig. 1.
Fig. 3 is a flowchart illustrating a method for controlling pull-proof of a vehicle-mounted cable according to another implementation manner shown in fig. 1.
Fig. 4 is a block diagram illustrating components of an in-vehicle cable control system according to some implementations of the present disclosure.
Fig. 5 is a block schematic diagram illustrating components of an in-vehicle cable control system provided by some implementations described in fig. 4.
Fig. 6 is a schematic structural diagram of an offset detection device of the vehicle-mounted cable control system according to some implementations shown in fig. 4.
Fig. 7 is a circuit diagram of an on-board cable control system deviation detection apparatus provided in accordance with some other implementations described in fig. 4.
FIG. 8 illustrates a schematic representation of a cable run-out for a tracked vehicle according to some implementations of the present disclosure.
Fig. 9 is a schematic diagram illustrating a normal cable pull-out condition of a tracked vehicle according to some implementations of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Application forSUMMARY
In order to solve the technical problem that the cable is pulled to cause friction on the ground due to the fact that the cable is not correctly led out on a winding drum in the prior art, and therefore the cable is easy to damage, the tracked vehicle is provided with a left side track and a right side track, and the tracked vehicle inevitably has a left and right swinging phenomenon in the walking process, namely, the cable inevitably has a left deviation or a right deviation phenomenon after being led out on the winding drum.
In order to solve the technical problems, the basic concept of the application is to provide a vehicle-mounted cable anti-pulling control method and system which are simple in structure and can realize cable anti-pulling by controlling the running mode of a track of a tracked vehicle under the condition that a cable is deviated after being led out, and the tracked vehicle, so that the deviated cable can be timely corrected, the cable is not pulled after being deviated, the deviated cable is corrected by controlling the running mode of the track, and finally the cable can be prevented from being pulled on the ground to be abraded or damaged. The vehicle-mounted cable anti-pulling control method is split into two layers: the first layer is used to acquire the offset signal of the cable. The second layer is used for controlling the walking of the corresponding crawler belt through the offset signal, and the control mode is simple and reliable and is easy to realize.
It should be noted that the vehicle-mounted cable pull-prevention control system provided by the application is used for realizing a vehicle-mounted cable pull-prevention control method. Specifically, the mechanical structure is designed to complete a specific work task in a manner of completing a specific mechanical action or information transmission through a corresponding mechanical structure or a part or all of components in the mechanical structure.
Having described the general principles of the present application, various non-limiting embodiments of the present application will now be described with reference to the accompanying drawings.
Exemplary vehicle Cable Pull-prevention control method
Fig. 1 is a flowchart illustrating a method for controlling pull-prevention of a vehicle-mounted cable according to some implementations of the present disclosure. As shown in fig. 1, the vehicle-mounted cable pull-prevention control method includes:
step 101: the deviation signal of the cable pulling-out reel 600 is obtained, wherein the cable 200 is wound on the reel 600 of the tracked vehicle and pulled out to the ground, after the cable is pulled out, when the tracked vehicle swings left and right, the cable pulled out of the reel 600 can deviate, and in order to avoid the cable being pulled and friction with the ground due to overlarge cable deviation, a certain deviation amount needs to be taken before the cable is pulled and is not pulled. By acquiring the deviation signal of the cable, the state that the cable is deviated but not pulled can be known in time after the cable is deviated.
Step 102: controlling the running of the track of the tracked vehicle according to the deviation signal enables the deviation of the deviated cable to be corrected by controlling the running of the track, so as to prevent the cable from continuing to deviate and being pulled. The control method is simple, reliable and easy to achieve, and can achieve the purpose of preventing the cable from being pulled to generate friction on the ground to damage the cable.
Fig. 2 is a flowchart illustrating the method for controlling the track of the tracked vehicle according to the offset signal according to the on-board cable pulling prevention control method provided by the implementation shown in fig. 1. As shown in fig. 2, in a possible implementation, the controlling of the running of the track of the tracked vehicle according to the offset signal specifically comprises:
step 201: an electrical signal is sent according to the offset signal, and circuit control can be realized through the electrical signal.
Step 203: the crawler belt is controlled to stop walking according to the electric signal, the walking of the crawler belt can be controlled through circuit control, and the control mode is simple and reliable.
Fig. 3 is a flowchart of a method for controlling pull-out of a vehicle-mounted cable according to another implementation manner shown in fig. 1. As shown in fig. 3, in a possible implementation manner, the vehicle-mounted cable pull-prevention control method further includes:
step 301: obtain tracked vehicle's left side track signal of retreating, left side track signal of advancing, right side track signal of retreating and right side track signal of advancing, this is because tracked vehicle has left side track 510 and right side track 520, can send left side track signal of advancing when left side track 510 advances, can send left side track signal of retreating when left side track 510 retreats. Similarly, the right crawler 520 may send a right crawler forward signal when moving forward, and the right crawler 520 may send a right crawler backward signal when moving backward, and the left crawler 510 and the right crawler 520 may be controlled to travel by respectively obtaining the left crawler backward signal, the left crawler forward signal, the right crawler backward signal, and the right crawler forward signal.
Wherein, the left side and the right side are respectively the left side and the right side of the advancing direction X of the tracked vehicle.
Step 303: according to the left side deviation signal, the left side track backward signal and the right side track forward signal in the deviation signal, controlling the left side track of the tracked vehicle to stop backward and controlling the right side track of the tracked vehicle to stop forward, when the left side deviation signal of the cable is obtained, it can be judged that the cable has left side deviation, at the moment, the left side track backward signal and the right side track forward signal are obtained, if the left side track 510 continues backward and the right side track 520 continues forward, the left side deviation of the cable 200 is more serious, therefore, the left side track 510 is controlled to stop backward according to the left side track backward signal, and the right side track is controlled to stop forward according to the right side track forward signal, so that the cable 200 which has left side deviation can be prevented from continuing to shift to the left side, the deviation rectifying function can be achieved, and the cable 200 is prevented from being pulled.
Or step 305: and controlling the right-side crawler belt of the crawler vehicle to stop moving backwards and controlling the left-side crawler belt of the crawler vehicle to stop moving forwards according to the right-side deviation signal, the right-side crawler belt backward signal and the left-side crawler belt forward signal in the deviation signals. Similarly, when the right side deviation signal of the cable is acquired, it can be judged that the cable has right side deviation, at this moment, a right side track retreating signal and a left side track advancing signal are acquired, and if the right side track retreats continuously and the left side track 510 advances continuously, the right side deviation of the cable 200 is more serious, so that the right side track 520 stops retreating according to the right side track retreating signal and the left side track 510 stops advancing according to the left side track advancing signal, and the cable with the right side deviation can be prevented from continuing to deviate to the right side, so that the deviation rectification function can be played, and the cable 200 is prevented from being pulled.
Exemplary in-vehicle Cable Pull-prevention control System
Fig. 4 is a block diagram illustrating components of an in-vehicle cable control system according to some implementations of the present disclosure. As shown in fig. 4, the cable pull-prevention control system is configured to implement the cable pull-prevention control method in any one of the foregoing implementation manners, and includes: the deviation detecting device 110 is configured to acquire and send a deviation signal of the deviation of the cable pull-out reel 600, so as to send out the deviation signal of the cable 200 for processing, wherein the deviation signal includes a left deviation signal and a right deviation signal. The control device 120 is in communication connection with the deviation detection device 110, and the control device 120 is configured to obtain the deviation signal sent by the deviation detection device 110 to control the walking of the crawler belt of the tracked vehicle 200, so that the deviation of the cable 200 is controlled by controlling the walking of the crawler belt, the purpose of deviation correction is achieved, and the method is easy to implement.
In addition, the cable pull-prevention control system in the present application is used for implementing the vehicle-mounted cable pull-prevention control method in any one of the above implementation manners, so that the technical effect of the vehicle-mounted cable pull-prevention control method is achieved, and details are not described herein.
Fig. 5 is a block schematic diagram illustrating components of an onboard cable control system provided by some implementations described in fig. 4. As shown in fig. 5, in one possible implementation, the offset detection apparatus 110 includes: a detection switch 111, an elastic member 113, and a guide plate 115.
Specifically, the detection switch 111 is communicatively connected to the control device 120, and the elastic member 113 and the detection switch 111 are disposed at a distance from each other, for example, the elastic member 113 and the detection switch 111 may be disposed side by side. The guide plate 115 is connected to the elastic member 113 so that the guide plate 115 can be restored by the elastic force of the elastic member 113 after the collision occurs. Wherein the cable is deflected to press the guide plate 115 such that the guide plate 115 contacts the detection switch 111, thereby enabling the detection switch 111 to send the detected signal to the control device 120 for processing. Or the cable 200 is separated from the guide plate 115 under the elastic restoring force of the elastic member 113 of the guide plate 115, so that the guide plate 115 is separated from the detection switch 111, and the effect of cable deviation correction through control can be judged. It can be understood that the deviation of the cable is reduced by controlling the walking mode of the crawler, so that the cable can be separated from the guide plate 115, then the guide plate 115 is separated from the detection switch 111, the detection switch 111 sends the detected signal to the control device 120, and therefore the deviation of the cable can be judged to be reduced, the purpose of correcting the deviation of the cable with the deviation is achieved, and the cable cannot be pulled.
As shown in fig. 5, in a possible implementation, the elastic member 113 includes: a return spring 1131 and a shaft 1133, the shaft 1133 being rotatable and the shaft 1133 being connected with the return spring 1131, wherein the shaft 1133 is connected with the guide plate 115. Wherein, one side of the casing of the wire arranging device 130 is respectively provided with a mounting seat 117 at the upper and lower positions, one end of the shaft 1133 is rotatably connected with the mounting seat 117 at the upper part, and the other end of the shaft 1133 is rotatably connected with the mounting seat 117 at the lower part, which can be understood as that the shaft 1133 is vertically and rotatably connected between the two mounting seats 117. The return spring 1131 may be a torsion spring, and the torsion spring is connected to the shaft 1133, that is, the torsion spring is sleeved on the shaft 1133, and the torsion spring and the housing of the wire arranging device 130 may also be connected to the mounting seat 117, so as to fix one end of the torsion spring. Of course, the torsion spring may be replaced by a tension spring as long as the shaft 1133 can return. The guide plate 115 may be welded or mounted to the shaft 1133 such that the guide plate 115 may be fixedly connected to the shaft 1133 and may have a tendency to rotate with the rotation of the shaft 1133, thereby triggering the detection switch 111 or disengaging the detection switch 111. In this way, when the cable 200 is deflected to press the guide plate 115, the guide plate 115 tends to rotate under the action of the return spring 1131, so that the guide plate 115 can approach the detection switch 111, and the detection switch 111 sends a deflection signal to the control device 120. The detection switch 111 may be a proximity switch.
With continued reference to fig. 5, in one possible implementation manner, the vehicle-mounted cable anti-pulling control system further includes: the winding displacement ware 130, the winding displacement ware 130 is located on tracked vehicle, and the winding displacement ware 130 is constructed for pulling out to subaerial after the cable passes for the process that the reel 600 was pulled out to the cable is more smooth and easy, can reduce the phenomenon that the cable blocked. Specifically, the wire arranging device 130 includes a housing, and a plurality of guide wheels are respectively disposed at opposite sides of the inside of the housing, and the guide wheels can roll, so that when the cable contacts with the guide wheels, the rolling of the guide wheels can facilitate the cable to be smoothly pulled out of the winding drum 600, and can reduce the friction of the cable. Wherein, the offset detection device 110 is connected with the wire arranger 130 so as to be able to more conveniently acquire the offset signal of the cable pull-out reel 600.
Fig. 6 is a schematic structural diagram of an offset detection device 110 of the vehicle-mounted cable control system according to some implementations shown in fig. 4. As shown in fig. 6, in one possible implementation, the control device 120 includes: and a controller 121, wherein the controller 121 is in communication connection with the offset detection device 110, and the controller 121 is configured to acquire a left offset signal or a right offset signal in the offset signals transmitted by the offset detection device 110. The Controller 121 may be a Programmable Logic Controller (PLC) Controller 121, and the PLC Controller 121 may load the control instruction into a memory at any time for storage and execution. The PLC controller 121 is modularly assembled by an internal CPU, an instruction and data memory, an input/output unit, a power module, and a digital/analog unit, which are not described herein again. Accordingly, controller 121 is communicatively coupled to left-track forward control valve 410, left-track reverse control valve 420, right-track forward control valve 430, and right-track reverse control valve 440, respectively, to enable corresponding control of left-track forward, left-track reverse, right-track forward, and right-track reverse. Specifically, the controller 121 is configured to control the left-side track-backward movement control valve 420 and the right-side track-forward movement control valve 430 to stop operating according to the left-side deviation signal, that is, the controller 121 controls the left-side track to stop backward movement and controls the right-side track to stop forward movement, so that the cable can be prevented from being continuously deviated to the left side. Or the controller 121 is configured to control the right-side track backward movement control valve 440 and the left-side track forward movement control valve 410 to stop operating according to the right-side deviation signal, that is, the controller 121 controls the right-side track to stop backward movement and controls the left-side track to stop forward movement, so that the cable can be prevented from continuing to generate the right-side deviation.
More specifically, tracked vehicle 200 includes a left-side track forward signal acquisition module 310 to acquire a left-side track forward signal, tracked vehicle 200 includes a left-side track backward signal acquisition module 320 to acquire a left-side track backward signal, tracked vehicle 200 includes a right-side track forward signal acquisition module 330 to acquire a right-side track forward signal, and tracked vehicle 200 includes a right-side track backward signal acquisition module 340 to acquire a right-side track backward signal. The detection switch 111 includes a left side detection switch 1111 and a right side detection switch 1113.
Fig. 7 is a circuit diagram of an on-board cable control system deviation detecting device 110 provided in some other implementations described in fig. 4. As shown in fig. 7, in a possible implementation, the control device 120 further includes: the relay assembly includes a first relay 1231, a second relay 1233, a third relay 1235, and a fourth relay 1237, wherein the first relay 1231, the second relay 1233, the third relay 1235, and the fourth relay 1237 are intermediate relays, respectively. The controller 121 is provided with a first circuit interface module 1211, a second circuit interface module 1213, a third circuit interface module 1215 and a fourth circuit interface module 1217, the first relay 1231 is electrically connected to the second circuit interface 1213, and the first relay 1231 is electrically connected to the left-side track retraction control valve 420, so that the first relay 1231 can control the left-side track to retract. The second relay 1233 is electrically connected to the third circuit interface 1215, and the second relay 1233 is electrically connected to the right-side track advance control valve 430, so that the second relay 1233 can control the right-side track to advance. The third relay 1235 is electrically connected to the first circuit interface 1211, and the third relay 1235 is electrically connected to the left-side track advance control valve 410, so that the third relay 1235 can control the left-side track to advance. The fourth relay 1237 is electrically connected to the fourth circuit interface 1217, and the fourth relay 1237 is electrically connected to the right-side track retreat control valve 440, so that the fourth relay 1237 can control the right-side track to retreat. Wherein, skew detection device 110 includes left side position detect switch 111 and right side position detect switch 111, first relay 1231 and second relay 1233 respectively with left side position detect switch 111 electric connection for the left side skew signal that left side position detect switch 111 detected can cut off the circuit that left side track retreated and cut off the circuit that right side track gos forward through first relay 1231 and second relay 1233, thereby can prevent that the cable from continuing to take place the left side skew. Similarly, the third relay 1235 and the fourth relay 1237 are electrically connected to the right position detection switch 111, respectively, so that the right offset signal detected by the right position detection switch 111 can cut off the circuit for the right crawler to move backward and the circuit for the left crawler to move forward through the third relay 1235 and the fourth relay 1237, thereby preventing the cable from moving forward.
Exemplary tracked vehicle
FIG. 8 illustrates a schematic view of a tracked vehicle having an offset cable according to some implementations of the present disclosure; as shown in fig. 8, the tracked vehicle comprises: reel 600 and in any implementation an onboard cable pull-prevention control system, reel 600 is configured to wind a cable that is pulled out to the ground. The tracked vehicle may be a grapple machine.
The tracked vehicle in the application has the technical effect of the vehicle-mounted cable pull-prevention control system in any one implementation mode, and is not described again.
Fig. 9 is a schematic diagram illustrating a normal cable pull-out condition of a tracked vehicle according to some implementations of the present disclosure. As shown in fig. 9, after the deviation of the cable is corrected by the vehicle-mounted cable pull-prevention control system, the cable can be normally pulled out, so that the cable is prevented from being clamped.
This application is through the sensing device who strengthens the left and right deviation of cable in the export of reel 600, when detecting the left and right large-angle skew of cable, the action direction of material machine driving track is grabbed in the restriction, prevents that the automobile body from wriggling and continue to pull the cable hard to the mesh that prevents the cable and draw has been reached.
When the cable is seriously pulled to the left side after being outgoing, the actions of the left crawler belt moving backwards and the right crawler belt moving forwards are limited, and the cable is prevented from being pulled further. When the left crawler belt is pulled to the right side seriously, the action that the right crawler belt moves backwards and the left crawler belt moves forwards is limited.
In this application, flared side pull detection devices are provided on both sides of the cable management device 130, wherein when the cable is not side pulled, the arc guide plates are inwardly abutted by the return springs 1131. When the cable is pulled laterally, the arc-shaped guide plate is pressed to trigger the proximity switch.
In addition, the control circuit of the crawler belt running can be directly cut off by the relay.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An anti-pulling control method for a vehicle-mounted cable, wherein the cable is wound on a winding drum of a tracked vehicle and is pulled out to the ground, is characterized by comprising the following steps:
acquiring a deviation signal of deviation of the cable when the cable is pulled out of the winding drum;
controlling the running of a track of the tracked vehicle according to the offset signal;
acquiring a left-side crawler backward signal, a left-side crawler forward signal, a right-side crawler backward signal and a right-side crawler forward signal of the tracked vehicle;
controlling a left-side crawler of the tracked vehicle to stop moving backwards and controlling a right-side crawler of the tracked vehicle to stop moving forwards according to a left-side offset signal, the left-side crawler backward signal and the right-side crawler forward signal in the offset signals; or
And controlling the right-side track of the tracked vehicle to stop moving backwards and controlling the left-side track of the tracked vehicle to stop moving forwards according to the right-side offset signal, the right-side track moving backwards signal and the left-side track moving forwards in the offset signals.
2. The vehicle-mounted cable pulling prevention control method according to claim 1, wherein the controlling of the walking of the crawler vehicle according to the offset signal specifically comprises:
sending out an electric signal according to the offset signal;
and controlling the crawler to stop walking according to the electric signal.
3. An in-vehicle cable pull-prevention control system for implementing the in-vehicle cable pull-prevention control method according to claim 1 or 2, the in-vehicle cable pull-prevention control system comprising:
the deviation detection device is configured to acquire and send a deviation signal that the cable is pulled out of the reel and deviates;
the control device is in communication connection with the deviation detection device and is configured to acquire the deviation signal sent by the deviation detection device so as to control the walking of the crawler belt vehicle;
the control device includes:
the controller is in communication connection with the offset detection device and is configured to acquire a left offset signal or a right offset signal in the offset signals sent by the offset detection device;
the controller is in communication connection with the left-side crawler forward control valve, the left-side crawler backward control valve, the right-side crawler forward control valve and the right-side crawler backward control valve respectively, and is configured to control the left-side crawler backward control valve and the right-side crawler forward control valve to stop operating respectively according to the left-side offset signal; or the controller is configured to control the right-side track backward movement control valve and the left-side track forward movement control valve to stop operating according to the right-side offset signal.
4. The vehicular cable pull-prevention control system according to claim 3, wherein the deviation detecting means comprises:
the detection switch is in communication connection with the control device;
the elastic piece and the detection switch are arranged at intervals;
the guide plate is connected with the elastic piece;
wherein the cable is deflected to press the guide plate so that the guide plate contacts the detection switch; or the cable is separated from the guide plate, so that the guide plate is separated from the detection switch.
5. The vehicular cable pull-prevention control system according to claim 4, wherein the elastic member comprises:
a return spring;
the shaft can rotate and is connected with the return spring;
wherein the shaft is connected with the guide plate.
6. The vehicular cable pull-prevention control system according to claim 3, further comprising:
the creeper is arranged on the tracked vehicle and is configured to pull out the cable to the ground after the cable passes through the creeper;
wherein the offset detection device is connected with the wire arranger.
7. The vehicular cable pull-prevention control system according to claim 3, wherein the control device further comprises:
the first relay is electrically connected with the left crawler retreating control valve;
the second relay is electrically connected with the right crawler forward control valve;
the third relay is electrically connected with the left crawler forward control valve;
the fourth relay is electrically connected with the right crawler retreating control valve;
wherein, skew detection device includes left side position detection switch and right side position detection switch, first relay with the second relay respectively with left side position detection switch electric connection, the third relay with the fourth relay respectively with right side position detection switch electric connection.
8. A tracked vehicle, characterized in that it comprises:
a drum configured to wind a cable drawn out to the ground;
the vehicular cable pulling prevention control system according to any one of claims 3 to 7.
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| CN114180406B (en) * | 2022-01-14 | 2023-10-17 | 通威新能源工程设计四川有限公司 | Intelligent installation control equipment for photovoltaic module and application method of intelligent installation control equipment |
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| CN113371545A (en) | 2021-09-10 |
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