CN114261661A - Compression vehicle press filling control method and device, electronic equipment and compression vehicle - Google Patents
Compression vehicle press filling control method and device, electronic equipment and compression vehicle Download PDFInfo
- Publication number
- CN114261661A CN114261661A CN202111513692.6A CN202111513692A CN114261661A CN 114261661 A CN114261661 A CN 114261661A CN 202111513692 A CN202111513692 A CN 202111513692A CN 114261661 A CN114261661 A CN 114261661A
- Authority
- CN
- China
- Prior art keywords
- scraper
- oil cylinder
- place
- sliding plate
- move
- 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.)
- Granted
Links
Images
Landscapes
- Control Of Presses (AREA)
- Refuse-Collection Vehicles (AREA)
Abstract
The application discloses a compression vehicle pressure filling control method, a compression vehicle pressure filling control device, electronic equipment and a compression vehicle, wherein the compression vehicle pressure filling control method comprises the following steps: in the press filling process, whether the scraper and the sliding plate move in place or not is judged according to relevant operation parameters of a hydraulic system; if the scraper and the sliding plate do not move in place, the scraper oil cylinder and the sliding plate oil cylinder are controlled to move reversely, and then the steps are repeated until the scraper and the sliding plate move in place to finish the press-filling operation. This application when the circulation of filling by pressure goes wrong, will judge whether action of scraper blade, slide target in place according to hydraulic system's relevant operation parameter, if not target in place, then automatic control mends and scrapes (going upward) the solution, has eliminated the jam condition, need not artifical the solution, has improved work efficiency and customer satisfaction, ensures to fill every time and is effectively to fill, improves work efficiency, has avoided the waste of the energy.
Description
Technical Field
The application relates to the technical field of environmental sanitation equipment, in particular to a compression vehicle press-filling control method and device, electronic equipment and a compression vehicle.
Background
The compression vehicle is generally composed of two parts: dustbin box and filler. Be provided with scraper blade hydro-cylinder and slide hydro-cylinder in the filler, be provided with in the box and push away the shovel hydro-cylinder, fill rubbish into the box through scraper blade and slide hydro-cylinder combined action in, the combined action resolvable is: spreading a scraper, descending a sliding plate, scraping the scraper, and ascending the sliding plate; meanwhile, the push shovel oil cylinder is used for propping up the garbage when charging, so that the garbage is prevented from collapsing.
Whether the common scraper oil cylinder and the common slide plate oil cylinder in the market are in place at present is realized through a proximity switch, and when the proximity switch senses, the default oil cylinder is in place to execute the next action. When the garbage in the box body forms a blocking block, too much garbage in the filling device or foreign matters are blocked, so that the scraping of the scraping plate and the upward movement of the sliding plate are not in place, the time logic is generally repeated, but the mode has the following defects:
1. the problem is solved only by manual operation without an automatic solution, but is limited by personal proficiency and working conditions, time and labor are wasted in manual solution, and working efficiency is affected.
2. If the blockage situation occurs in the press-filling process, the mechanism only executes repeated press-filling, but cannot effectively fill, and the energy is wasted.
Disclosure of Invention
The embodiment of the application provides a compression vehicle press-filling control method on the one hand, so as to solve the technical problem that the garbage cannot be effectively filled due to the fact that the existing compression vehicle cannot be timely eliminated when the press-filling blockage occurs.
The technical scheme adopted by the application is as follows:
a compression vehicle pressure filling control method comprises the following steps:
in the press filling process, whether the scraper and the sliding plate move in place or not is judged according to relevant operation parameters of a hydraulic system;
if the scraper and the sliding plate do not move in place, the scraper oil cylinder and the sliding plate oil cylinder are controlled to move reversely, and then the steps are repeated until the scraper and the sliding plate move in place to finish the press-filling operation.
Further, the method also comprises the following steps:
and if the number n of times of controlling the reverse rotation of the scraper oil cylinder and the slide plate oil cylinder is greater than a set threshold value, controlling the rodless cavity oil of the push shovel oil cylinder to flow back to the oil tank through the electromagnetic directional valve, and enabling the push shovel oil cylinder to retract to drive the push shovel to retreat for a certain distance.
Further, in the press-filling process, whether the scraper and the sliding plate act in place or not is judged according to relevant operation parameters of a hydraulic system, and the press-filling method specifically comprises the following steps:
when the scraper scraping working condition is met, when the system pressure signal is monitored to reach the set overflow pressure, if the approach switch signal of scraper scraping is received at the same time or first, the scraper is judged to be in place, and if the approach switch signal of scraper scraping is not received, the scraper is judged to be not in place;
when the slide plate moves upwards, when the pressure signal of the system is monitored to reach the set overflow pressure, if the proximity switch signal of the slide plate moving upwards is received at the same time or first, the slide plate is judged to move in place, and if the proximity switch signal of the slide plate moving upwards is not received, the slide plate is judged not to move in place.
Furthermore, when the system pressure signal is monitored, the obtained system pressure signal is filtered, and the pressure instantaneous value of the hydraulic oil cylinder during emergency stop or reversing is filtered, so that a stable system pressure signal is obtained.
Further, in the press-filling process, whether the scraper and the sliding plate act in place or not is judged according to relevant operation parameters of a hydraulic system, and the press-filling method specifically comprises the following steps:
after the scraper scraping working condition lasts for a set duration, if the monitored actual measurement extension length of the scraper oil cylinder is equal to the maximum extension length of the scraper oil cylinder, the scraper is judged to be in place, and if the monitored actual measurement extension length of the scraper oil cylinder is not equal to the maximum extension length of the scraper oil cylinder, the scraper is judged to be out of place;
after the slide plate is continuously set for a long time under the uplink working condition of the slide plate, if the actual measurement extension length of the slide plate oil cylinder is monitored to be equal to the maximum extension length of the slide plate oil cylinder, the slide plate is judged to be in place, and if the actual measurement extension length of the slide plate oil cylinder is monitored not to be equal to the maximum extension length of the slide plate oil cylinder, the slide plate is judged to be not in place.
Further, if the actions of the scraper and the sliding plate are not in place, the scraper oil cylinder and the sliding plate oil cylinder are controlled to reversely act and then the steps are repeated until the actions of the scraper and the sliding plate are in place to finish press filling, and the method specifically comprises the following steps:
if the actions of the scraper and the sliding plate are not in place, the scraper oil cylinder and the sliding plate oil cylinder are controlled to reversely act, and then the scraper oil cylinder and the sliding plate oil cylinder are controlled to act according to a normal press-filling operation sequence;
and if the scraper and the sliding plate are detected to be in place, completing the press filling operation, otherwise, returning to the step.
This application another aspect still provides a compression car pressure filling controlling means, includes:
the position judging module is used for judging whether the scraper and the sliding plate move in place or not according to relevant operation parameters of the hydraulic system in the press filling process;
and the filler anti-blocking control module is used for controlling the scraper oil cylinder and the sliding plate oil cylinder to reversely rotate and then repeating the steps if the actions of the scraper and the sliding plate are not in place until the scraper and the sliding plate are in place and the press filling is finished.
Further, still include:
and the anti-blocking control module of the garbage bin is used for controlling the rodless cavity oil of the push shovel oil cylinder to flow back to the oil tank if the number n of times of controlling the reverse rotation of the actions of the scraper oil cylinder and the sliding plate oil cylinder is greater than a set threshold value, so that the push shovel oil cylinder retracts to drive the push shovel to retreat for a certain distance.
The present application also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the compressed vehicle hydraulic filling control method when executing the program.
This application another aspect still provides a compression car, including the hydraulic system that tamps, still includes:
and the controller is in control connection with the hydraulic system for pressure filling and is used for realizing the pressure filling control method of the compression vehicle.
Compared with the prior art, the method has the following beneficial effects:
the application provides a compression vehicle pressure filling control method and device, electronic equipment and a compression vehicle, wherein the compression vehicle pressure filling control method comprises the following steps: in the press filling process, whether the scraper and the sliding plate move in place or not is judged according to relevant operation parameters of a hydraulic system; if the scraper and the sliding plate do not move in place, the scraper oil cylinder and the sliding plate oil cylinder are controlled to move reversely, and then the steps are repeated until the scraper and the sliding plate move in place to finish the press-filling operation. This application when the circulation of filling by pressure goes wrong, will judge whether action of scraper blade, slide target in place according to hydraulic system's relevant operation parameter, if not target in place, then automatic control mends and scrapes (going upward) the solution, has eliminated the jam condition, need not artifical the solution, has improved work efficiency and customer satisfaction, ensures to fill every time and is effectively to fill, improves work efficiency, has avoided the waste of the energy.
In addition to the objects, features and advantages described above, other objects, features and advantages will be apparent from the present application. The present application will now be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a schematic flow chart of a compression truck hydraulic filling control method according to a preferred embodiment of the present application.
Fig. 2 is a schematic view of the structure of the compression vehicle.
Fig. 3 is a schematic illustration of a preferred embodiment of the present application of a hydraulic system for hydraulic packing.
Fig. 4 is a schematic flow chart of a compressed vehicle pressure filling control method according to another preferred embodiment of the present application.
Fig. 5 is a schematic view of a trash can blockage in another preferred embodiment of the present application.
FIG. 6 is a schematic diagram of the pressure versus time coordinates of the hydraulic system of the preferred embodiment of the present application.
Fig. 7 is a schematic diagram of a compressed vehicle pressure filling control device module according to the preferred embodiment of the present application.
Fig. 8 is a schematic view of a compressed vehicle hydraulic filling control device module according to another preferred embodiment of the present application.
Fig. 9 is a schematic block diagram of an electronic device entity of the preferred embodiment of the present application.
Fig. 10 is an internal structural view of a computer device of the preferred embodiment of the present application.
FIG. 11 is a schematic view of the compression vehicle module structure according to the preferred embodiment of the present application.
In the figure: 1. a chassis; 2. pushing and shoveling; 3. a dustbin; 4. a slide plate cylinder; 5. a scraper oil cylinder; 6. an electromagnetic directional valve; 7. a push shovel cylinder; 8. a push shovel valve; 9. a pressure transmitter; 10. a multi-way directional valve; 11. ordinary garbage; 12. and (6) blocking the block.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, a method for controlling the pressure filling of a compression vehicle includes the steps of:
s1, judging whether the scraper and the sliding plate move in place according to relevant operation parameters of the hydraulic system in the press filling process;
and S2, if the movement of the scraper and the sliding plate is not in place, controlling the scraper oil cylinder 5 and the sliding plate oil cylinder 4 to reversely move, and repeating the steps until the movement of the scraper and the sliding plate is in place to finish the press-filling operation.
The compression vehicle related to the embodiment comprises a chassis 1, a garbage can 3, a push shovel 2 positioned in the garbage can, a filler, a sliding plate oil cylinder 4 and a scraper oil cylinder 5 positioned in the filler, wherein the sliding plate oil cylinder 4 and the scraper oil cylinder 5 respectively drive a sliding plate and a scraper to move, and garbage in the filler is filled into the garbage can 3 to realize garbage filling.
Fig. 3 is a schematic diagram of a hydraulic system for pressure filling according to the present embodiment, which includes a slide plate cylinder 4, a blade cylinder 5, a shovel cylinder 7, a shovel valve 8, and a multi-way directional valve 10, and in order to implement the control method of the present embodiment, the hydraulic system of the present embodiment is modified based on the existing hydraulic system as follows: firstly, a pressure transmitter 9 is arranged on a main oil supply pipeline at the output end of the oil pump; a normally closed electromagnetic directional valve 6 communicated with an oil tank is connected to the side of a pipeline between a rodless cavity of the push shovel oil cylinder 7 and the push shovel valve 8; thirdly, displacement sensors are arranged on the slide plate oil cylinder 4 and the scraper oil cylinder 5.
The embodiment provides a compression vehicle pressure filling control method, which comprises the following steps: in the press filling process, whether the scraper and the sliding plate move in place or not is judged according to relevant operation parameters of a hydraulic system; if the scraper and the sliding plate do not move in place, the scraper oil cylinder 5 and the sliding plate oil cylinder 4 are controlled to move reversely, and then the steps are repeated until the scraper and the sliding plate move in place to finish the press-filling operation. This embodiment is when the circulation of filling by pressure goes wrong, will judge the scraper blade according to hydraulic system's relevant operation parameter, whether the slide moves in place, if not in place, then automatic control mends and scrapes (going upward) the solution, control the circulation of filling by pressure of rubbish compression car promptly through compiling new control logic, eliminate the jam condition in the filler, it is too much to have avoided rubbish in the filler, the scraper blade, the slide moves not in place, the problem of rubbish can't be effectively filled, need not artifical the solution, work efficiency and customer satisfaction have been improved, it is effectively filled to ensure to fill every time, and the work efficiency is improved, and the waste of the energy is avoided.
In the preferred embodiment of the present application, in the press-filling process, whether the scraper and the slide plate move in place is judged according to the relevant operation parameters of the hydraulic system, and the method specifically comprises the following steps:
s101, when a scraping plate scraping working condition is detected, when a system pressure signal reaches a set overflow pressure, if a proximity switch signal that the scraping plate is in place is received at the same time or first, judging that the scraping plate moves in place, and if the proximity switch signal that the scraping plate is in place is not received, judging that the scraping plate does not move in place;
s102, when the slide plate is in an ascending working condition, when the system pressure signal is monitored to reach the set overflow pressure, if a proximity switch signal that the slide plate is in the ascending position is received at the same time or first, the slide plate is judged to be in the position, and if the proximity switch signal that the slide plate is in the ascending position is not received, the slide plate is judged not to be in the position.
In order to solve the problem of garbage blockage in the filling device, a brand new press filling circulation control logic is provided to realize automatic identification and automatically control press filling actions (hereinafter referred to as program control repair scraping (ascending).
In the press filling circulation, the scraper is scraped in place, and when the sliding plate moves upwards in place, the system pressure is consistent with the pressure on the pressure oil pipeline of the multi-way valve reversing valve 7.
In the embodiment, a pressure signal SP of the system, a proximity switch signal G1 of the slide plate in the upward position and a proximity switch signal G2 of the scraper in the scraping position are monitored in real time by a pressure transmitter 9 externally connected to an oil pressure pipeline of an electric control system and a multi-way reversing valve 10, so that stroke control and scraping supplement (upward) are carried out.
Taking scraper scraping as an example, when the electric control system controller shows that the working condition of scraper scraping is adopted, when the system pressure signal SP is monitored to reach the overflow pressure of the multi-way reversing valve 10, the time of the system pressure signal SP is compared with the time of the proximity switch signal G2 in place with the scraper scraping to judge whether the scraping needs to be supplemented or not:
the time length when the system pressure signal SP of the pressure transmitter 9 is received and reaches the relief pressure is delta t1During the scraping process, if the proximity switch signal G2 for scraping the scraper is received at the same time or first, the scraper is defaulted to be in place at the moment, the scraping industry is normal, and the advance control and the supplementary scraping are not needed.
On the contrary, when the system pressure signal SP reaches the relief pressure of the multi-way directional control valve 10, the time duration is Δ t1And if the approach switch signal G2 that the scraper is in place in the scraping mode is not received, the situation that the scraper cannot be in place in the scraping mode due to excessive garbage in the filling device is considered, the scraping operation is abnormal, program control repairing scraping is conducted, and normal operation of the scraper is guaranteed.
When the condition that the stroke is needed to be controlled for scraping is judged, the vertical horse performs one-time action reverse rotation, namely the electromagnet Yv6 of the multi-way reversing valve 10 is controlled to be electrified, the scraper oil cylinder 5 retracts, the scraper is opened in place, the proximity switch G3 with the scraper opened in place sends a signal, the electromagnet Yv4 is electrified, the sliding plate oil cylinder 4 extends out, the sliding plate moves upwards in place and the proximity switch G1 sends a signal, the electromagnet Yv3 is electrified, the sliding plate oil cylinder 4 retracts, the sliding plate moves downwards, the electrifying duration of the electromagnet Yv3 is (delta t-delta t)2*n1) Second, wherein, delta t is the down-in-place time of the slide plate oil cylinder, delta t2Reduced down time, n, for a set single determination of a filling cycle anomaly1For continuously judging the number of times of abnormal filling operation), when the electromagnet Yv3 is powered off, the electromagnet Yv5 is powered on, the scraper oil cylinder 5 is extended out, the scraper is scraped, and the normal filling operation is executedAnd (6) operating. At this time, if it is monitored that the system pressure signal SP reaches the relief pressure of the multi-way directional control valve 10 for a period of time Δ t1And then, if the approach switch signal G2 that the scraper is in the scraping position is not received, executing the program-controlled scraping supplement operation again until the time length of the approach switch signal G2 that the scraper is in the scraping position before the monitored system pressure signal SP reaches the overflow pressure of the multi-way reversing valve 10 is delta t1And stopping the program-controlled scraping supplement program and executing normal pressure filling circulation. The operation of scraping is mended to the process accuse, can guarantee that it is effective packing to pack each time.
Similarly, when the electronic control system indicates a slide up condition, the time period when the system pressure signal SP is monitored to reach the relief pressure of the multi-way reversing valve 10 is Δ t1Meanwhile, if a proximity switch signal G1 that the slide plate moves upwards in place is received at the same time or firstly, the slide plate is defaulted to move in place at the moment, the ascending operation is normal, and the ascending is not required to be controlled and compensated.
On the contrary, when the system pressure signal SP reaches the relief pressure of the multi-way directional control valve 10, the time duration is Δ t1Meanwhile, if the sliding plate in-place ascending proximity switch signal G1 is not received, the sliding plate cannot ascend in place due to excessive garbage in the filler or the blocking block 12 formed in the garbage bin, the sliding plate is abnormal in operation, program control supplement ascending is required, the specific control logic is similar to the program control supplement scraping process, and details are not repeated.
The above embodiment is mainly implemented by determining the time period Δ t for the system pressure signal SP to reach the relief pressure of the multi-way directional control valve 101When the pressure sensor is used, whether blockage occurs or not is determined according to the receiving sequence relation of a proximity switch signal G1 in place when a sliding plate ascends and a proximity switch signal G2 in place when the sliding plate is scraped, namely, only when the sliding plate and the sliding plate are in place, normal filling can be determined, when the system pressure reaches the overflow pressure, the sliding plate and the sliding plate do not move in place, clamping stagnation can be definitely determined in the pressing and filling action process of the sliding plate and the sliding plate due to the blockage, the embodiment is based on the principle, after the clamping stagnation is determined in the pressing and filling action process of the sliding plate and the sliding plate due to the blockage, reverse action is performed at once, the scraper and the sliding plate are controlled to move in a stroke or controlled to move upwards, and therefore the situation that the blockage occurs in the pressing and filling action process of the scraper and the sliding plate is controlled to be repaired is avoidedThe garbage in the filler is too much, the scraper sliding plate does not act in place, and the garbage can not be effectively filled.
In the preferred embodiment of the application, when the system pressure signal is monitored, the obtained system pressure signal is filtered, and the pressure instantaneous value of the hydraulic oil cylinder during emergency stop or reversing is filtered, so that a stable system pressure signal is obtained.
The embodiment can effectively solve the problem of invalid filling of the press filling circulation by performing targeted program control on two reasons of invalid filling, but because of the particularity of the hydraulic system, when the hydraulic oil cylinder is reversed, a hydraulic shock phenomenon (as shown in fig. 6) can occur, wherein in a coordinate graph, P represents pressure, and T represents time. When the hydraulic cylinder moves to time T1, a load is encountered, the pressure increases momentarily from P1, then falls back after Δ T seconds to form a steady pressure P2. The system pressure signal SP of the whole system is filtered by the control program, the influence of hydraulic impact on the whole control program is eliminated, the validity and the accuracy of pressure signal data are ensured, misjudgment and misoperation cannot occur in the whole control program, and the accuracy and the reliability of control are improved.
In the preferred embodiment of the present application, in the press-filling process, whether the scraper and the slide plate move in place is judged according to the relevant operation parameters of the hydraulic system, and the method specifically comprises the following steps:
s111, after the scraper scraping working condition lasts for a set duration, if the actually measured extension length of the scraper cylinder 5 is equal to the maximum extension length of the scraper cylinder 5, judging that the scraper moves in place, and if the actually measured extension length of the scraper cylinder 5 is not equal to the maximum extension length of the scraper cylinder 5, judging that the scraper does not move in place;
and S112, after the slide plate uplink working condition lasts for a set time, if the measured extension length of the slide plate oil cylinder 4 is equal to the maximum extension length of the slide plate oil cylinder 4, judging that the slide plate moves in place, and if the measured extension length of the slide plate oil cylinder 4 is not equal to the maximum extension length of the slide plate oil cylinder 4, judging that the slide plate does not move in place.
In order to solve the problem of garbage blockage in the filling device, another brand new press filling circulation control logic is provided in the embodiment to realize automatic identification and self control of press filling actions (hereinafter referred to as program control repair scraping (ascending).
In a press filling cycle, a scraper is scraped in place, when a slide plate moves upwards in place, a slide plate oil cylinder 4 and a scraper oil cylinder 5 are both completely extended, the completely extended length of the scraper oil cylinder 5 is set to be delta X, the completely retracted length is set to be delta X, and the completely extended time is set to be delta T1; the complete extension length of the slide plate oil cylinder 4 is delta Y, the complete retraction length is delta Y, and the complete extension time is delta T2。
The embodiment realizes the correction control when invalid filling occurs by adding the displacement sensors to the sliding plate oil cylinder 4 and the scraper plate oil cylinder 5 to monitor the stroke of the oil cylinders in real time, and ensures that the filling is valid filling every time.
Taking scraper scraping as an example, when the controller displays that the working condition is scraper scraping, the scraper cylinder 5 starts to extend, and the displacement sensor on the scraper cylinder 5 monitors the extending length of the scraper cylinder 5 in real time. The full extension length of the scraper oil cylinder 5 is delta X, and the full extension time is delta T1, so when the controller displays that the scraper working condition is at the moment (delta T1+ T1) seconds later (in order to ensure the data accuracy, the T1 time monitoring is added), the oil cylinder stroke delta X measured by the displacement sensor above the scraper oil cylinder 5 is measured1When compared with Δ X1When the scraping force is equal to delta X, the scraping work is normal, and the stroke control and the supplementary scraping are not needed.
When the controller displays that the scraper is scraped (delta T1+ T1), the displacement sensor on the scraper oil cylinder measures the stroke delta X of the scraper oil cylinder1When the scraping operation is not equal to delta X, the program judges that the scraping operation is abnormal, and program control scraping supplement is needed.
At the moment, the standing horse performs one-time action reversal, namely the electromagnet Yv6 is controlled to be electrified, the scraper oil cylinder 5 retracts, the scraper is opened in place, and the displacement sensor above the scraper oil cylinder 5 displays delta X1When delta x and Yv4 are electrified, the slide plate cylinder 4 extends, the slide plate moves upwards to the right position, and the slide plate cylinder 4 moves upwardsUpper displacement sensor display Δ Y1When the power is obtained, Yv3 is obtained for power time Delta T3The following were used:
according to the stroke delta Y and the complete extension time delta t of the slide plate oil cylinder 4, the method can be obtained
In the formula: v- -the downward speed of the slide plate cylinder.
Delta Y-full extension of slide plate cylinder
ΔY2Reducing the down length of the ram cylinder
n-continuously judging the number of abnormal filling operations
Electric power supply delta T of sliding plate oil cylinder 43After the second, the electromagnet Yv3 loses power, Yv5 gets power, the scraper oil cylinder 5 extends out, the scraper is scraped, and the normal filling operation is executed. If (delta T1+ T1) second later, the displacement sensor on the scraper oil cylinder 5 measures the stroke delta X of the scraper oil cylinder1Still not equal to Δ X, and again performing programmed scratch-off until Δ X is measured1When the value is equal to delta X, the program is terminated to complement scraping, and a normal action loop is executed.
When the controller shows that the slide plate runs up, the slide plate oil cylinder 4 extends out, and the displacement sensor above the slide plate oil cylinder 4 monitors the extending length delta Y of the slide plate oil cylinder 4 in real time1When the controller displays the slide plate up working condition (delta T) at the moment2+ T1) second later (to ensure data accuracy, increase T1 second time monitoring), when Δ Y1When the sliding plate works normally, and the sliding plate does not need to be advanced to control and supplement to move upwards.
When the controller displays the slide plate to go upwards (delta T)2+ T1) second, the displacement sensor on the skateboard cylinder 4 measures the stroke delta Y of the skateboard cylinder 41When the sliding plate is not equal to delta Y, the program judges that the operation of the sliding plate is abnormal, the stroke control and compensation are needed to be carried out, the control logic is consistent with the program control and compensation scraping, and the description is omitted.
As shown in fig. 4, in a preferred embodiment of the present application, the compression truck press-filling control method further includes the steps of:
and S3, if the number n of times of controlling the reverse rotation of the scraper oil cylinder and the slide plate oil cylinder is larger than a set threshold value, controlling the rodless cavity oil of the push shovel oil cylinder 7 to flow back to the oil tank through the electromagnetic directional valve 6, and enabling the push shovel oil cylinder 7 to retract to drive the push shovel to retreat for a certain distance.
After the program continuously executes the stroke control compensation to move upwards for n times, if the pressure signal SP is still earlier than the sliding plate upwards-to-position proximity switch signal G1, or the controller displays that the sliding plate moves upwards (delta T)2+ T1) second, the displacement sensor on the ram cylinder 4 measures the stroke Delta Y of the ram cylinder 41When the distance is not equal to delta Y, the sliding plate cannot go upwards due to the fact that the garbage in the garbage can 3 forms a blocking block, and at the moment, the pushing shovel is controlled to go backwards by a program (hereinafter referred to as program control pushing shovel).
Aiming at the situation that the common garbage 11 in the garbage can 3 is blocked to form a blocking block 12 (see figure 5), the sliding plate cannot move upwards in place, so that the garbage can not be effectively filled. In the embodiment, an electromagnetic directional valve 6 and a control logic corresponding to the electromagnetic directional valve are added to a rodless cavity of a push shovel oil cylinder 7 of a hydraulic system.
The electromagnetic directional valve 6 of the embodiment is a normally closed type and is arranged on a rodless cavity pipeline of the push shovel oil cylinder 7. When the filling operation working condition is normal, the electromagnetic directional valve 6 does not need to work. And when the program continuously executes the program control compensation ascending for n times and still can not be effectively filled, executing the program control compensation retreating shovel. Namely, the electromagnet Yv7 is electrified, the electromagnetic directional valve 6 is opened, the rodless cavity oil of the push shovel oil cylinder 7 directly flows back to the oil tank through the electromagnetic directional valve 6 without passing through the push shovel valve 8, the push shovel oil cylinder 7 retracts, and the push shovel 2 returns. And when the program judges that the filling operation is normal through the comparison signal, the electromagnet Yv7 loses power. After the push shovel 2 retreats through program control, the slide pressure no longer reduces because the push shovel valve 8 is opened, the push shovel hydro-cylinder 7 contracts one section of contracting to can promote the jam block 12 through lasting high pressure, solve and form in the dustbin 3 and lead to the fact the problem that can't effectively load rubbish, guarantee slide normal operation.
As shown in fig. 7, there is also provided in another preferred embodiment of the present application a compression truck press-fill control apparatus including:
the position judging module is used for judging whether the scraper and the sliding plate move in place or not according to relevant operation parameters of the hydraulic system in the press filling process;
and the filler anti-blocking control module is used for controlling the scraper oil cylinder 5 and the sliding plate oil cylinder 4 to reversely rotate and then repeating the steps if the actions of the scraper and the sliding plate are not in place until the actions of the scraper and the sliding plate are in place to finish press filling.
As shown in fig. 8, in another preferred embodiment of the present application, the compression truck press-fill control apparatus further includes:
and the dustbin anti-blocking control module is used for controlling the rodless cavity oil liquid of the push shovel oil cylinder 2 to flow back to the oil tank if the number n of times of controlling the reverse rotation of the actions of the scraper oil cylinder 5 and the sliding plate oil cylinder 4 is greater than a set threshold value, so that the push shovel oil cylinder 7 retracts to drive the push shovel 2 to retreat for a certain distance.
The respective modules in the above control device may be wholly or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
As shown in fig. 9, another preferred embodiment of the present application further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the compressed truck-filling control method when executing the computer program.
As shown in fig. 10, the preferred embodiment of the present application also provides a computer device, the internal structure of which can be as shown in fig. 10. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with other external computer devices through network connection. The computer program is executed by a processor to implement the steps of the compressed truck filling control method in the above-described embodiment.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less devices than those shown, or may combine certain devices, or have a different arrangement of devices.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The functions of the method of the present embodiment, if implemented in the form of software functional units and sold or used as independent products, may be stored in one or more storage media readable by a computing device. Based on such understanding, part of the contribution to the prior art of the embodiments of the present application or part of the technical solution may be embodied in the form of a software product stored in a storage medium and including several instructions for causing a computing device (which may be a personal computer, a server, a mobile computing device or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
As shown in fig. 11, another preferred embodiment of the present application further provides a compression vehicle, including a hydraulic system for compressing, further including: and the controller is in control connection with the hydraulic system for pressure filling and is used for realizing the pressure filling control method of the compression vehicle.
The above description is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. A compression vehicle pressure filling control method is characterized by comprising the following steps:
in the press filling process, whether the scraper and the sliding plate move in place or not is judged according to relevant operation parameters of a hydraulic system;
if the scraper and the sliding plate do not move in place, the scraper oil cylinder (5) and the sliding plate oil cylinder (4) are controlled to move reversely, and then the steps are repeated until the scraper and the sliding plate move in place to finish the press-filling operation.
2. The compression truck press-fill control method according to claim 1, characterized by further comprising the steps of:
if the number n of times of controlling the reverse actions of the scraper oil cylinder (5) and the sliding plate oil cylinder (4) is larger than a set threshold value, the rodless cavity oil of the push shovel oil cylinder (7) is controlled to flow back to the oil tank through the electromagnetic directional valve (6), so that the push shovel oil cylinder (7) retracts to drive the push shovel (2) to retreat for a certain distance.
3. The compacting control method for the compression vehicle as claimed in claim 1 or 2, wherein in the compacting process, whether the scraper and the sliding plate are in place is judged according to the relevant operation parameters of the hydraulic system, and the method specifically comprises the following steps:
when the scraper scraping working condition is met, when the system pressure signal is monitored to reach the set overflow pressure, if the approach switch signal of scraper scraping is received at the same time or first, the scraper is judged to be in place, and if the approach switch signal of scraper scraping is not received, the scraper is judged to be not in place;
when the slide plate moves upwards, when the pressure signal of the system is monitored to reach the set overflow pressure, if the proximity switch signal of the slide plate moving upwards is received at the same time or first, the slide plate is judged to move in place, and if the proximity switch signal of the slide plate moving upwards is not received, the slide plate is judged not to move in place.
4. The compression truck press-fill control method according to claim 3,
when the system pressure signal is monitored, the obtained system pressure signal is filtered, and the pressure instantaneous value of the hydraulic oil cylinder during emergency stop or reversing is filtered, so that a stable system pressure signal is obtained.
5. The compacting control method for the compression vehicle as claimed in claim 1, wherein in the compacting process, whether the scraper and the sliding plate are in place is judged according to the relevant operation parameters of the hydraulic system, and the method specifically comprises the following steps:
after the scraper scraping working condition lasts for a set duration, if the measured extension length of the scraper oil cylinder (5) is monitored to be equal to the maximum extension length of the scraper oil cylinder (5), the scraper is judged to be in place, and if the measured extension length of the scraper oil cylinder (5) is monitored not to be equal to the maximum extension length of the scraper oil cylinder (5), the scraper is judged to be not in place;
after the slide plate is continuously set for a long time under the uplink working condition, if the actual measurement extension length of the slide plate oil cylinder (4) is monitored to be equal to the maximum extension length of the slide plate oil cylinder (4), the slide plate is judged to be in place, and if the actual measurement extension length of the slide plate oil cylinder (4) is monitored not to be equal to the maximum extension length of the slide plate oil cylinder (4), the slide plate is judged not to be in place.
6. The compression truck press-fill control method according to claim 1,
if the scraper and the sliding plate do not move in place, the scraper oil cylinder (5) and the sliding plate oil cylinder (4) are controlled to move reversely, and then the steps are repeated until the scraper and the sliding plate move in place to finish press filling, and the method specifically comprises the following steps:
if the scraper and the sliding plate do not move in place, the scraper oil cylinder (5) and the sliding plate oil cylinder (4) are controlled to move reversely, and then the scraper oil cylinder (5) and the sliding plate oil cylinder (4) are controlled to move according to a normal press-filling operation sequence;
and if the scraper and the sliding plate are detected to be in place, completing the press filling operation, otherwise, returning to the step.
7. The utility model provides a control device is filled to compression car pressure which characterized in that includes:
the position judging module is used for judging whether the scraper and the sliding plate move in place or not according to relevant operation parameters of the hydraulic system in the press filling process;
and the filler anti-blocking control module is used for controlling the scraper oil cylinder (5) and the sliding plate oil cylinder (4) to reversely rotate and then repeating the steps if the scraper and the sliding plate do not move in place until the scraper and the sliding plate move in place to finish press filling.
8. The compression vehicle packing control device according to claim 7, further comprising:
and the anti-blocking control module of the garbage can is used for controlling the rodless cavity oil liquid of the push shovel oil cylinder (7) to flow back to the oil tank if the number n of times of controlling the reverse rotation of the actions of the scraper oil cylinder (5) and the sliding plate oil cylinder (4) is greater than a set threshold value, so that the push shovel oil cylinder (7) retracts to drive the push shovel to retreat for a certain distance.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of controlling a compressed vehicle hydraulic fill as claimed in any one of claims 1 to 6 when executing the program.
10. The utility model provides a compression car, includes the hydraulic system that tamps, its characterized in that still includes:
the controller is in control connection with the hydraulic system for the compression vehicle, and is used for realizing the method for controlling the compression vehicle to be filled according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513692.6A CN114261661B (en) | 2021-12-13 | 2021-12-13 | Compression vehicle press filling control method and device, electronic equipment and compression vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111513692.6A CN114261661B (en) | 2021-12-13 | 2021-12-13 | Compression vehicle press filling control method and device, electronic equipment and compression vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114261661A true CN114261661A (en) | 2022-04-01 |
| CN114261661B CN114261661B (en) | 2022-11-29 |
Family
ID=80827218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111513692.6A Active CN114261661B (en) | 2021-12-13 | 2021-12-13 | Compression vehicle press filling control method and device, electronic equipment and compression vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114261661B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005343604A (en) * | 2004-06-01 | 2005-12-15 | Fuji Heavy Ind Ltd | Loading device for refuse collecting vehicle |
| JP2008214043A (en) * | 2007-03-05 | 2008-09-18 | Mizuho:Kk | Garbage collecting device |
| CN102951396A (en) * | 2012-10-22 | 2013-03-06 | 湖南恒润高科股份有限公司 | Compression control method for rear-loading garbage compression vehicle |
| CN204297460U (en) * | 2014-12-09 | 2015-04-29 | 湖北航天双龙专用汽车有限公司 | A kind of bi-directional compression control device |
| CN106809582A (en) * | 2015-12-02 | 2017-06-09 | 田荣侠 | A kind of control system of rear loaded garbage compressing cart |
| CN110886731A (en) * | 2018-09-10 | 2020-03-17 | 阿尔特弥斯智能动力有限公司 | Hydraulic device |
-
2021
- 2021-12-13 CN CN202111513692.6A patent/CN114261661B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005343604A (en) * | 2004-06-01 | 2005-12-15 | Fuji Heavy Ind Ltd | Loading device for refuse collecting vehicle |
| JP2008214043A (en) * | 2007-03-05 | 2008-09-18 | Mizuho:Kk | Garbage collecting device |
| CN102951396A (en) * | 2012-10-22 | 2013-03-06 | 湖南恒润高科股份有限公司 | Compression control method for rear-loading garbage compression vehicle |
| CN204297460U (en) * | 2014-12-09 | 2015-04-29 | 湖北航天双龙专用汽车有限公司 | A kind of bi-directional compression control device |
| CN106809582A (en) * | 2015-12-02 | 2017-06-09 | 田荣侠 | A kind of control system of rear loaded garbage compressing cart |
| CN110886731A (en) * | 2018-09-10 | 2020-03-17 | 阿尔特弥斯智能动力有限公司 | Hydraulic device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114261661B (en) | 2022-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7481160B1 (en) | System and method for controlling compactor systems | |
| CN106829280B (en) | Constant compression force adjusting system and control method for rear-mounted compression type garbage truck | |
| CN102758464A (en) | Method for controlling positive-flow hydraulic system of excavator | |
| CN102588396A (en) | Oil cylinder energy recovery and regeneration system | |
| KR20100125133A (en) | Fixed quantity discharging sealer gun and sealer spraying apparatus comprising the same | |
| CN105386478A (en) | Excavator and movable arm potential energy recycling system thereof | |
| CN114261661B (en) | Compression vehicle press filling control method and device, electronic equipment and compression vehicle | |
| CN109058187B (en) | Unloading buffer hydraulic system | |
| CN111846716B (en) | Control method of push shovel of kitchen garbage truck during garbage compression | |
| CN105507362B (en) | Without spill losses loader hydraulic system and its control method | |
| EP1451493B1 (en) | Method for controlling a pressure supply device in a hydraulic circuit | |
| CN102635143B (en) | Energy-saving hydraulic control system of loading machine and control method | |
| CN105484311A (en) | Hydraulic working system of non-overflow-loss loader and control method of hydraulic working system | |
| EP2903921B1 (en) | Loading ramp arrangement and method for setting it up and operating it | |
| CN206720085U (en) | A kind of rear-loading compression type garbage truck constant pressure contracting draught control system | |
| CN108799258B (en) | Movable arm energy recovery system | |
| CN102635144B (en) | Hydraulic system for loader | |
| CN104196692A (en) | Pumping equipment, pumping system and reversing control device and method of pumping system | |
| CN102852184B (en) | Hydraulic control system for loader and control method | |
| CN108153343B (en) | Conjoined compression dustbin and control system and control method thereof | |
| CN102628290A (en) | Grab bucket controller, control system and control method and engineering mechanical equipment | |
| CN203962517U (en) | The two hydraulic system of energy accumulators in double loop and hydraulic pressure beater | |
| CN108361233B (en) | Filling compression control system and post-filling compression garbage truck | |
| CN113978973A (en) | Full-intelligent bucket holding arm hydraulic control method and device, electronic equipment and sanitation vehicle | |
| CN107401535B (en) | Hydraulic motor test bed |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |