CN114391386A - Automatic reverse slope adjusting mechanism and control method thereof - Google Patents
Automatic reverse slope adjusting mechanism and control method thereof Download PDFInfo
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- CN114391386A CN114391386A CN202111631023.9A CN202111631023A CN114391386A CN 114391386 A CN114391386 A CN 114391386A CN 202111631023 A CN202111631023 A CN 202111631023A CN 114391386 A CN114391386 A CN 114391386A
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- 230000002441 reversible effect Effects 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 238000007667 floating Methods 0.000 claims description 41
- 230000001276 controlling effect Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 2
- 230000010354 integration Effects 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims 1
- 239000003921 oil Substances 0.000 abstract description 78
- 238000012423 maintenance Methods 0.000 abstract description 13
- 239000010721 machine oil Substances 0.000 abstract description 11
- 230000000694 effects Effects 0.000 description 6
- 230000007423 decrease Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 230000000994 depressogenic effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 230000007425 progressive decline Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0426—Machines for pruning vegetation on embankments and road-sides
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0435—Machines specially adapted for shaping plants, e.g. topiaries
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Abstract
The invention discloses a reverse slope automatic adjusting mechanism and a control method thereof, wherein the reverse slope automatic adjusting mechanism comprises a guide rail frame arranged on a chassis, a moving seat arranged on the guide rail frame, a working arm group arranged on the moving seat, a machine arranged on the working arm group, a working arm oil cylinder used for driving the working arm group and the machine to rise and fall, a machine oil cylinder used for driving the machine to incline in the left-right direction, a driving motor used for driving the moving seat and the working arm group to horizontally move on the guide rail frame in the left-right direction, an adjusting valve group and an electric system used for controlling the adjusting valve group, and the driving motor, the working arm oil cylinder and the machine oil cylinder are all connected with the adjusting valve group. The invention ensures that the greening comprehensive maintenance vehicle can ensure straight running and avoid the condition of side inclination while the machine can automatically work on the ground when encountering the conditions of uphill or ground bulge, downhill or ground depression in the reverse slope operation.
Description
Technical Field
The invention relates to the field of road greening maintenance and landscaping, in particular to a reverse slope automatic adjusting mechanism on a greening comprehensive maintenance vehicle and a control method thereof.
Background
A comprehensive greening maintenance vehicle is a special maintenance vehicle which is specially designed and produced aiming at greening pruning of middle hedges, side slopes, primary and secondary roads and the like of highways. During operation, the working arm group and the machines of the greening comprehensive maintenance vehicle are adjusted to reach the preset trimming position, then the vehicle is enabled to move forwards to automatically trim, the vehicle saves time and labor, and the safety of operators can be guaranteed. However, in the traveling process of the existing comprehensive greening maintenance vehicle, particularly when the mower is attached to the ground of a reverse slope for corresponding operation, if the conditions of uphill slope/raised ground and downhill slope/depressed ground are met, it is difficult to ensure that the mower is always in a proper working state of being attached to the ground, and the working efficiency is affected; meanwhile, if the position of the machine tool is adjusted in real time only manually, great inconvenience is brought to construction operation, and construction efficiency and quality are seriously affected; furthermore, if the operation is not timely, the vehicle is even caused to incline, and a safety accident occurs.
Chinese patent, publication No. CN111527814A, discloses an automatic floating mechanism of a greening comprehensive maintenance vehicle and a control system and method thereof, wherein when the floating operation is proposed, the main arm floating button on the operating handle is pressed to start the main arm of the mower in a floating state, the two-position two-way solenoid valve I and the two-position two-way solenoid valve II are electrified to lead the rod cavity of the main arm oil cylinder to be communicated with oil, the rodless cavity of the main arm oil cylinder is communicated with the energy accumulator I and the energy accumulator II through the two-position two-way solenoid valve III, at the moment, the pressure sensor detects the pressure value A of the rodless cavity, the setting of a certain pressure set value percentage B is completed by a pressure set value increasing button and a pressure set value decreasing button on the display control panel, comparing with the current pressure sensor monitoring value A, performing PID automatic adjustment control, by controlling the relevant actions of the hydraulic valve group, A = B is real-timely, and different road conditions are further dealt with.
Although the problem that the machine tool cannot be fit for being tightly attached to the ground when climbing uphill or downhill to a certain extent is solved in the prior art, the machine tool cannot be guaranteed to be in a suitable tightly-attached working state with the ground of a reverse slope in reverse slope operation, the machine tool has a common operation effect, and meanwhile, the technical problem that the slope of an operation surface is uneven, so that lateral supporting force is too large, straight line driving of a vehicle cannot be guaranteed, the vehicle is tilted in serious cases, and the operation safety is low cannot be solved in the reverse slope operation.
For this reason, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide an automatic reverse slope adjusting mechanism and a control method thereof, and aims to solve the technical problems that in the current reverse slope operation of the greening comprehensive maintenance vehicle provided in the background technology, when an uphill slope or a raised ground surface, a downhill slope or a depressed ground surface occurs, a machine tool cannot be always in a proper close-fitting working state with the ground surface, the machine tool has a common operation effect, and meanwhile, because the slope is uneven, the lateral supporting force is too large, the greening comprehensive maintenance vehicle cannot ensure straight running, even heels in severe cases, and the operation safety is low.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic reverse slope adjusting mechanism comprises a guide rail frame arranged on a chassis, a moving seat arranged on the guide rail frame, a working arm group arranged on the moving seat, machines arranged on the working arm group, a working arm oil cylinder, a machine oil cylinder, a driving motor, an adjusting valve group and an electrical system used for controlling the adjusting valve group, wherein the driving motor, the working arm oil cylinder and the machine oil cylinder are all connected with the adjusting valve group, the driving motor is used for driving the moving seat and the working arm group to horizontally move on the guide rail frame and is arranged on the moving seat, the working arm oil cylinder is used for driving the working arm group and the machines to ascend and descend and is connected between the working arm group and the moving seat, the machine oil cylinder is used for driving the machines to incline in the left-right direction and is connected between the machines and the working arm group, and the electrical system comprises a controller, a display control panel, an operating handle and a pressure sensor used for measuring the pressure value of a rodless cavity of the working arm oil cylinder, the operating handle is provided with a working arm floating button, an implement floating button and a reverse slope button, the display control panel is provided with a pressure set value progressive increase button and a pressure set value progressive decrease button, corresponding buttons on the display control panel are pressed, a corresponding control instruction CAN be sent to the controller through the CAN bus, and the controller receives the operating instruction of the display control panel and the operating handle and a pressure signal transmitted by the pressure sensor through the CAN bus and then indicates the operation of the adjusting valve group.
Furthermore, the adjusting valve group comprises a main valve I, a main valve II, a main valve III, a two-position valve I, a two-position valve II, a two-position valve III, a two-position valve IV, a two-position valve V, a two-position valve VI, a two-position valve VII, an energy accumulator and two balance valves which are connected through hydraulic pipelines, wherein the main valve I, the main valve II and the main valve III are all three-position seven-way electromagnetic valves, and the two-position valve I, the two-position valve II, the two-position valve III, the two-position valve IV, the two-position valve V, the two-position valve VI and the two-position valve VII are all two-position two-way electromagnetic valves;
furthermore, the port A and the port B of the main valve I are respectively connected with the driving motor in series, the two balance valves are connected in parallel on a hydraulic pipeline between the driving motor and the main valve I after being connected together in parallel, the port A of the main valve II is sequentially connected with the two-position valve III and the rodless cavity of the working arm oil cylinder in series, the two-position valve I is connected in parallel on the hydraulic pipeline between the two-position valve III and the rodless cavity of the working arm oil cylinder, the two-position valve I is sequentially connected with the energy accumulator and the pressure sensor in series, the port B of the main valve II is connected with the rod cavity of the working arm oil cylinder in series, the two-position valve II is connected in parallel on the hydraulic pipeline between the port B of the main valve II and the rod cavity of the working arm oil cylinder, the port A of the main valve III is sequentially connected with the two-position valve VII and the rod cavity of the machine oil cylinder in series, the port B of the main valve III is sequentially connected with the two-position valve VI and the rodless cavity of the machine oil cylinder in series, the two-position valve IV is connected with the two-position valve V in series, the two-position valve IV is connected to a hydraulic pipeline between the two-position valve VII and a rod cavity of the machine tool oil cylinder in parallel, and the two-position valve V is connected to a hydraulic pipeline between the two-position valve VI and a rodless cavity of the machine tool oil cylinder in parallel;
the invention also provides a control method of the automatic reverse slope adjusting mechanism,
firstly, the control method comprises a working arm group and a machine tool lifting and descending control method, and the specific operation process principle is as follows:
automatic floating operation:
pressing a working arm floating button on an operating handle, starting a working arm floating instruction through a controller, electrifying a two-position valve I and a two-position valve II, enabling a working arm oil cylinder to descend under the action of the self weight G of a working arm group and a machine tool, detecting a rodless cavity pressure value A of the working arm oil cylinder by a pressure sensor at the moment, finishing the setting of a certain pressure set value percentage B through a pressure set value increasing button and a pressure set value decreasing button on a display control panel, comparing the pressure set value increasing button with a current pressure sensor monitoring value A, performing PID (proportion integration differentiation) automatic adjustment control, and enabling A = B in real time;
active operation:
when the pressure value A of the rodless cavity of the working arm oil cylinder is smaller than the pressure set value B, the controller sends a control instruction to enable the electromagnet YA3 and the two-position valve III of the main valve II to be electrified, high-pressure oil enters from the port A of the main valve II, the rodless cavity of the working arm oil cylinder is filled with oil, and oil is drained from the rod cavity, so that the pressure value A of the rodless cavity of the working arm oil cylinder is = the pressure set value B, and the situation is shown that the rod cavity of the working arm oil cylinder extends out, so that the working arm group is lifted, and the machine tool is driven to ascend;
when the pressure value A of the rodless cavity of the working arm oil cylinder is larger than the pressure set value B, the controller sends a control instruction to enable the electromagnet YA4 and the two-position valve III of the main valve II to be electrified, high-pressure oil enters from the port B of the main valve II, the rod cavity of the working arm oil cylinder is filled with oil, and the rodless cavity is drained with oil, so that the pressure value A of the rodless cavity of the working arm oil cylinder is larger than the pressure set value B, the situation is shown that the rod cavity of the working arm oil cylinder retracts, the working arm group falls down, and the machine tool is driven to descend;
secondly, the method comprises a control method for controlling the left and right inclination of the machine tool, and the specific operation process principle is as follows:
automatic floating operation:
pressing down a tool floating button on an operating handle, starting a tool floating instruction through a controller, and enabling a two-position valve IV and a two-position valve V to be electrified, so that a rodless cavity and a rod cavity of a tool oil cylinder are communicated with each other, and the tool is automatically inclined to the same gradient with the ground in the left-right direction under the influence of the gravity of the tool;
active operation:
the controller sends a control command to enable the electromagnet YA5, the two-position valve VI and the two-position valve VII of the main valve III to be electrified, and high-pressure oil enters from the port A of the main valve III, so that a rod cavity of the machine tool oil cylinder is filled with oil, and oil is drained without the rod cavity, namely a piston rod of the machine tool oil cylinder retracts, and left-side inclination of the machine tool is realized;
the controller sends a control command to enable the electromagnet YA6, the two-position valve VI and the two-position valve VII of the main valve III to be electrified, and high-pressure oil enters from the port B of the main valve III, so that the rodless cavity of the machine tool oil cylinder is filled with oil, the rod cavity is drained with oil, the piston rod of the machine tool oil cylinder extends out, and the right-direction inclination of the machine tool is realized;
finally, the control method comprises the following specific operation process principle that the moving seat and the working arm group horizontally move left and right on the guide rail frame:
after the working arm floating button and the machine tool floating button on the operating handle are pressed down, the machine tool can be attached to a reverse slope by means of pressure C = G-B, meanwhile, a vehicle runs, the reverse slope button of the operating handle is pressed down, at the moment, the command of the working arm floating button is cancelled, the controller transmits a reverse slope command, namely along with the change of the slope of the reverse slope during running, the reverse supporting force E of the controller on the machine tool changes simultaneously, and the E = C is achieved in real time by controlling the relevant action of the adjusting valve group, namely:
if the slope of the reverse slope is horizontal, E = C, the working arm set does not act at the moment, and the vehicle keeps running in a straight line;
if the slope of the reverse slope is increased or raised, E is greater than C, the pressure value A of the rodless cavity of the corresponding working arm oil cylinder is reduced, A is smaller than B, then the controller transmits an instruction, the left electromagnet YA1 of the main valve I is electrified, the driving motor rotates clockwise, the moving seat and the working arm group are driven to move towards the left, and when E = C, the movement is finished, and at the moment, the vehicle keeps running in a straight line;
if the slope of the reverse slope is reduced or sunken, E < C, the pressure value A of the rodless cavity of the corresponding working arm oil cylinder is increased, A is larger than B, then the controller transmits a command, the right electromagnet YA2 of the main valve I is electrified, the driving motor rotates anticlockwise, the moving seat and the working arm group are driven to move towards the right, and when E = C, the movement is finished, and at the moment, the vehicle keeps running in a straight line.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention discloses an automatic reverse slope adjusting mechanism on a greening comprehensive maintenance vehicle, which is provided with a working arm oil cylinder for driving a working arm group and an implement to rise and fall, an implement oil cylinder for driving the implement to incline in the left-right direction, and a driving motor for driving a movable seat and the working arm group to horizontally move left and right on a guide rail frame, through the synergistic action of an electric system, an adjusting valve group, the driving motor, the working arm oil cylinder and the implement oil cylinder, when an uphill slope or a raised ground surface, a downhill slope or a depressed ground surface occurs in the reverse slope operation, the implement can still automatically work on the ground, the operation effect of the implement on the reverse slope operation is greatly improved, and the working arm group and the movable seat can horizontally move left and right on the guide rail frame in real time when the implement automatically works on the ground, so that the slope degree of a working surface is not constant in the reverse slope construction operation, the lateral supporting force of the operation is too large, so that the comprehensive greening maintenance vehicle cannot run linearly and even heels, the operation safety and the operation efficiency are greatly improved, and the operation effect of the machine is further ensured;
2. the invention controls the lifting and descending of the working arm group and the machine tool, the left and right direction inclination of the machine tool, and the horizontal left and right movement of the moving seat and the working arm group on the guide rail frame through the synergistic action of the main valve I, the main valve II, the main valve III, the two-position valve I, the two-position valve II, the two-position valve III, the two-position valve IV, the two-position valve V, the two-position valve VI, the two-position valve VII, the energy accumulator and the two balance valves, drives the working arm group and the machine tool to lift and descend through efficiently adjusting the telescopic change of the working arm oil cylinder, adjusts the height of the machine tool in real time, drives the left and right direction inclination of the machine tool through efficiently adjusting the telescopic change of the machine tool oil cylinder, adjusts the fitting degree of the machine tool and the reverse slope in real time, finally keeps the gradient of the machine tool and the reverse slope consistent, enables the machine tool to automatically work according to the road condition of the reverse slope, further ensures the working efficiency and the working effect of the machine tool, the horizontal positions of the movable seat and the working arm group are efficiently adjusted, so that the reverse supporting force of the reverse slope on the machine tool is adjusted in real time, and the operation safety of the machine tool is further ensured;
3. the energy accumulator is connected with the rodless cavity of the working arm oil cylinder through the two-position valve I, so that the effects of buffering and shock absorption are achieved, the flexibility of the whole operation is effectively realized, and the safety and the stability of the operation are further ensured; meanwhile, through the arrangement of the balance valve, when the driving motor does not work, pressure limiting protection is carried out, and the safety of operation is enhanced.
Drawings
FIG. 1 is a schematic view of the working state of the automatic reverse slope adjustment mechanism of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic view of the operation of the drive motor;
FIG. 4 is a first schematic diagram of the electrical system of the present invention;
FIG. 5 is a second schematic structural view of an electrical system according to the present invention;
FIG. 6 is a schematic view of the operating principle of the valve block of the present invention;
in the figure: 1. the hydraulic control system comprises a chassis, 2, a guide rail frame, 3, a moving seat, 4, a working arm group, 5, an implement, 6, a working arm cylinder, 7, an implement cylinder, 8, a driving motor, 9, an electrical system, 91, a controller, 92, a display control panel, 93, a pressure set value increasing button, 94, a pressure set value decreasing button, 95, an operating handle, 96, a working arm floating button, 97, an implement floating button, 98, a reverse slope button, 99, a pressure sensor, 10, an adjusting valve group, 101, a main valve I, 102, a main valve II, 103, a main valve III, 104, a two-position valve I, 105, a two-position valve II, 106, a two-position valve III, 107, a two-position valve IV, 108, a two-position valve V, 109, a two-position valve VI, 110, a two-position valve VII, 111, an energy accumulator, 112 and a balance valve.
Detailed Description
The technical scheme of the invention is clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1 to 6, an automatic adjusting mechanism for a reverse slope is shown, which includes a guide rail frame 2, the guide rail frame 2 is installed at the front of a chassis 1, a moving seat 3 is installed on the guide rail frame 2, a working arm group 4 and a driving motor 8 are installed on the moving seat 3, the driving motor 8 is used for driving the moving seat 3 and the working arm group 4 to horizontally move left and right on the guide rail frame 2, an implement 5 is installed at the end of the working arm group 4, a working arm cylinder 6 is connected between the working arm group 4 and the moving seat 3, the working arm cylinder 6 is used for driving the working arm group 4 and the implement 5 to lift and descend, an implement cylinder 7 is connected between the implement 5 and the working arm group 4, the implement cylinder 7 is used for driving the implement 5 to incline in the left and right direction, the implement cylinder 7, the working arm cylinder 6 and the driving motor 8 are all connected with an adjusting valve group 10,
the adjusting valve group 10 is also provided with an electrical system 9 in a matching way; the electric system comprises a controller 91, a display control panel 92, an operation handle 95 and a pressure sensor 99, wherein the pressure sensor 99 is used for measuring the pressure value of a rodless cavity of the working arm oil cylinder 6, the operation handle 95 is provided with a working arm floating button 96, an implement floating button 97 and a reverse slope button 98, the display control panel 92 is provided with a pressure set value increasing button 93 and a pressure set value decreasing button 94 (the pressure set value increasing button 93 can increase the pressure set value within the range of 0-100% on the basis of the initial set value, the pressure set value increases by 10% every time of pressing, the pressure set value decreasing button 94 can decrease the pressure set value within the range of 0-100% on the basis of the initial set value, the pressure value decreases by 10% every time of pressing, so that the pressure value can be adjusted when touching the ground), the corresponding button on the display control panel 92 is pressed, the controller 91 CAN send a corresponding control instruction to the controller 91 through the CAN bus, and the controller 91 CAN instruct the adjusting valve group 10 to operate after receiving the operation instruction of the display control panel 92 and the operation handle 95 and the pressure signal transmitted by the pressure sensor 99 through the CAN bus;
wherein, the adjusting valve group 10 comprises a main valve I101, a main valve II 102 and a main valve III 103, the main valve I101, the main valve II 102 and the main valve III 103 are three-position seven-way electromagnetic valves and share an oil inlet P, an oil return port T and a pilot feedback port LS, an A port and a B port of the main valve I101 are respectively connected with a driving motor 8 in series, a hydraulic pipeline between the driving motor 8 and the main valve I101 is connected with two balance valves 112 in parallel, the two balance valves 112 are connected together in parallel, an A port of the main valve II 102 and a rodless cavity of a working arm oil cylinder 6 are connected in series, and a two-position valve III 106 is connected in series between the A port of the main valve I101 and the rodless cavity of the working arm oil cylinder 6, a two-position valve I104 is connected in parallel with a hydraulic pipeline between the two-position valve III 106 and the rodless cavity of the working arm oil cylinder 6, the two-position valve I104 is sequentially connected with an energy accumulator 111 and a pressure sensor 99 in series, the energy accumulator 111 is connected with the rodless cavity of the working arm oil cylinder 6 through the two-position valve I104, the buffering and shock absorption effects are achieved, operation flexibility is effectively guaranteed, the port B of the main valve II 102 is connected with a rod cavity of the working arm oil cylinder 6 in series, the port B of the main valve II 102 is connected with a two-position valve II 105 in parallel on a hydraulic pipeline between the port B of the main valve II 102 and the rod cavity of the working arm oil cylinder 6, the port A of the main valve III 103 is connected with the rod cavity of the machine oil cylinder 7 in series, a two-position valve VII 110 is connected between the port A of the main valve III 103 and the rod cavity of the machine oil cylinder 7 in series, a two-position valve IV 107 is connected between the port B of the main valve III 103 and the rod-free cavity of the machine oil cylinder 7 in parallel, a two-position valve VI 109 is connected between the two-position valve VI 109 and the rod-free cavity of the machine oil cylinder 7 in parallel, the two-position valve IV 107 and the two-position valve V108 are connected in series, the two-position valve I104, the two-position valves II 105, III valve 106, the two-position valve IV 107, the rod cavity V108, the rod cavity, The two-position valve V108, the two-position valve VI 109 and the two-position valve VII 110 are two-position two-way electromagnetic valves (all the hydraulic elements are connected through hydraulic pipelines).
The specific detailed control method comprises the following steps:
1. the hydraulic control process (which can be divided into automatic floating operation and active operation) of the lifting and descending of the working arm group 4 and the machine tool 5 is as follows:
during automatic floating operation, a working arm floating button 96 of an operating handle 95 is pressed, a working arm floating instruction is started through a controller 91, a two-position valve I104 and a two-position valve II 105 are electrified, so that a working arm oil cylinder 6 descends under the action of the self weight G of a working arm group 4 and an implement 5, a pressure sensor 99 detects a rodless cavity pressure value A of the working arm oil cylinder 6 at the moment, the setting of a certain pressure setting value percentage B is completed through a pressure setting value increasing button 93 and a pressure setting value decreasing button 94 on a display control panel 92, the pressure setting value percentage B is compared with a monitoring value A of the current pressure sensor 99, PID automatic adjustment control is carried out, and A = B is achieved in real time;
furthermore, when the device is actively operated,
when the pressure value a of the rodless cavity of the working arm cylinder 6 is smaller than the pressure set value B, the controller 91 sends a control instruction, so that the electromagnet YA3 of the main valve ii 102 and the two-position valve iii 106 are electrified, high-pressure oil enters from the port a of the main valve ii 102, the rodless cavity of the working arm cylinder 6 is filled with oil, and oil is drained from the rod cavity, so that the pressure value a of the rodless cavity of the working arm cylinder 6 = the pressure set value B, which shows that the rod cavity of the working arm cylinder 6 extends out, so that the working arm group 4 is lifted, and the implement 5 is driven to ascend; on the contrary, when the pressure value a of the rodless cavity of the working arm cylinder 6 is greater than the pressure set value B, the controller 91 sends a control instruction, so that the electromagnet YA4 of the main valve ii 102 and the two-position valve iii 106 are electrified, high-pressure oil enters from the port B of the main valve ii 102, the rod cavity of the working arm cylinder 6 is filled with oil, the rodless cavity is drained, so that the pressure value a of the rodless cavity of the working arm cylinder 6 is greater than the pressure set value B, which shows that the rod cavity of the working arm cylinder 6 is retracted, so that the working arm group 4 falls down to drive the implement 5 to descend;
2. the hydraulic control process of the implement 5 inclining in the left-right direction (specifically, the automatic floating operation and the active operation can be divided):
during automatic floating operation, the implement floating button 7 on the operating handle 95 is pressed, and an implement floating instruction is started through the controller 91, so that the two-position valve IV 107 and the two-position valve V108 are electrified, the rodless cavity and the rod cavity of the implement oil cylinder 7 are communicated with each other, and the implement 5 is automatically inclined to be consistent with the gradient of the ground in the left-right direction under the influence of the gravity of the implement 5;
furthermore, when the device is actively operated,
the controller 91 sends a control command to electrify the electromagnet YA5, the two-position valve VI 109 and the two-position valve VII 110 of the main valve III 103, and high-pressure oil enters from the A port of the main valve III 103, so that the rod cavity of the machine tool oil cylinder 7 is filled with oil, the rodless cavity is drained with oil, the piston rod of the machine tool oil cylinder 7 retracts, and the left-direction inclination of the machine tool 5 is realized; on the contrary, the controller 91 sends a control command to electrify the electromagnet YA6, the two-position valve VI 109 and the two-position valve VII 110 of the main valve III 103, and high-pressure oil enters from the port B of the main valve III 103, so that the rodless cavity of the machine tool oil cylinder 7 is filled with oil, and the rod cavity is drained with oil, which is expressed that the piston rod of the machine tool oil cylinder 7 extends out, and the right-direction inclination of the machine tool 5 is realized;
3. the hydraulic control process that the movable seat 3 and the working arm group 4 horizontally move left and right on the guide rail frame 2 is as follows:
after the working arm floating button 96 and the implement floating button 97 on the operating handle 95 are pressed, the implement 5 is attached to the reverse slope with the pressure C = G-B, and at the same time, the vehicle (greening integrated maintenance vehicle) runs, and the reverse slope button 98 of the operating handle 95 is pressed, at this time, the instruction of the working arm floating button 96 is cancelled, the controller 91 transmits the reverse slope instruction, that is, the reverse supporting force E of the implement 5 is changed simultaneously along with the change of the slope of the reverse slope during running, and the E = C is made in real time by controlling the relevant action of the regulating valve group 10, that is:
in the first case, if the gradient of the reverse slope is horizontal, E = C, at this time, the working arm set 4 does not act, and the vehicle keeps running straight; in the second case, if the gradient of the reverse slope increases or bulges, E > C, the pressure value a of the rodless cavity of the corresponding working arm cylinder 6 decreases, so that a < B, and then the controller 91 transmits a command to energize the left electromagnet YA1 of the main valve i 101, so that the driving motor 8 rotates clockwise to drive the movable seat 3 and the working arm group 4 to move to the left, and when the movement is finished when E = C, the vehicle keeps running straight, so that the anti-support force E decreases, thereby effectively ensuring that the roll force of the vehicle does not increase and the operation is stable; in the third case, when the slope of the reverse slope decreases or recedes, E < C, the pressure value a of the rodless chamber of the corresponding arm cylinder 6 increases, resulting in a pressure value a > B, and then the controller 91 transmits a command to energize the right electromagnet YA2 of the main valve i 101, so that the drive motor 8 rotates counterclockwise to move the movable seat 3 and the arm group 4 to the right, and when the movement is completed when E = C, the vehicle keeps traveling straight.
Claims (9)
1. The utility model provides an automatic guiding mechanism of reverse slope, including establishing the guide rail frame on the chassis, establish the removal seat on the guide rail frame, establish the work arm group on removing the seat, establish the machines on the work arm group, be used for driving work arm group and machines to rise the work arm hydro-cylinder that descends, a serial communication port, still including the machines hydro-cylinder that is used for driving machines left and right sides direction slope, be used for driving and remove the seat and the drive motor that the work arm group moved about guide rail frame level, be used for with drive motor, the adjusting valve group that work arm hydro-cylinder and machines hydro-cylinder are connected, and be used for controlling the electrical system of adjusting valve group.
2. The automatic adjusting mechanism of a reverse slope according to claim 1, wherein the driving motor is installed on a movable base, the working arm cylinder is connected between the working arm group and the movable base, the implement cylinder is connected between the implement and the working arm group, the electrical system comprises a controller, a display control panel, an operating handle, and a pressure sensor for measuring the pressure value of the rodless cavity of the working arm cylinder, the operating handle is provided with a working arm floating button, an implement floating button and a reverse slope button, the display control panel is provided with a pressure set value increasing button and a pressure set value decreasing button, the corresponding buttons on the display control panel are pressed, the controller CAN send corresponding control commands to the controller through a CAN bus, and after the controller receives the operating commands of the display control panel and the operating handle and the pressure signal transmitted by the pressure sensor through the CAN bus, and indicating the operation of the regulating valve group.
3. The automatic reverse slope adjusting mechanism as claimed in claim 2, wherein the adjusting valve set comprises a main valve I, a main valve II, a main valve III, a two-position valve I, a two-position valve II, a two-position valve III, a two-position valve IV, a two-position valve V, a two-position valve VI, a two-position valve VII, an energy accumulator and two balance valves which are connected through hydraulic pipelines, the main valve I, the main valve II and the main valve III are three-position seven-way electromagnetic valves, and the two-position valve I, the two-position valve II, the two-position valve III, the two-position valve IV, the two-position valve V, the two-position valve VI and the two-position valve VII are two-position two-way electromagnetic valves.
4. The automatic reverse slope adjusting mechanism as claimed in claim 3, wherein the port A and the port B of the main valve I are respectively connected with the driving motor in series, the port A of the main valve II is sequentially connected with the two-position valve III and the rodless cavity of the working arm cylinder in series, the port B of the main valve II is connected with the rod cavity of the working arm cylinder in series, the port A of the main valve III is sequentially connected with the two-position valve VII and the rod cavity of the machine cylinder in series, and the port B of the main valve III is sequentially connected with the two-position valve VI and the rodless cavity of the machine cylinder in series.
5. The automatic reverse slope adjusting mechanism according to claim 4, wherein the two balance valves are connected in parallel and then connected in parallel to a hydraulic pipeline between the driving motor and the main valve I, the two-position valve I is connected in parallel to a hydraulic pipeline between the two-position valve III and a rodless cavity of the working arm cylinder, the two-position valve I is sequentially connected in series with the energy accumulator and the pressure sensor, the two-position valve II is connected in parallel to a hydraulic pipeline between a port B of the main valve II and a rod cavity of the working arm cylinder, the two-position valve IV is connected in series with the two-position valve V, the two-position valve IV is connected in parallel to a hydraulic pipeline between the two-position valve VII and the rod cavity of the machine cylinder, and the two-position valve V is connected in parallel to a hydraulic pipeline between the two-position valve VI and the rodless cavity of the machine cylinder.
6. The method for controlling an automatic reverse slope adjusting mechanism according to any one of claims 1 to 5, comprising a method for controlling the lifting and lowering of the working arm set and the implement, a method for controlling the left-right tilt of the implement, and a method for controlling the horizontal left-right movement of the movable base and the working arm set on the rail frame.
7. The control method of the automatic reverse slope adjusting mechanism according to claim 6, wherein the working arm set and the machine tool lifting and descending control method have the following specific operation process principles:
automatic floating operation:
pressing a working arm floating button on an operating handle, starting a working arm floating instruction through a controller, electrifying a two-position valve I and a two-position valve II, enabling a working arm oil cylinder to descend under the action of the self weight G of a working arm group and a machine tool, detecting a rodless cavity pressure value A of the working arm oil cylinder by a pressure sensor at the moment, finishing the setting of a certain pressure set value percentage B through a pressure set value increasing button and a pressure set value decreasing button on a display control panel, comparing the pressure set value increasing button with a current pressure sensor monitoring value A, performing PID (proportion integration differentiation) automatic adjustment control, and enabling A = B in real time;
active operation:
when the pressure value A of the rodless cavity of the working arm oil cylinder is smaller than the pressure set value B, the controller sends a control instruction to enable the electromagnet YA3 and the two-position valve III of the main valve II to be electrified, high-pressure oil enters from the port A of the main valve II, the rodless cavity of the working arm oil cylinder is filled with oil, and oil is drained from the rod cavity, so that the pressure value A of the rodless cavity of the working arm oil cylinder is = the pressure set value B, and the situation is shown that the rod cavity of the working arm oil cylinder extends out, so that the working arm group is lifted, and the machine tool is driven to ascend;
when the pressure value A of the rodless cavity of the working arm oil cylinder is larger than the pressure set value B, the controller sends a control instruction to enable the electromagnet YA4 and the two-position valve III of the main valve II to be electrified, high-pressure oil enters from the port B of the main valve II, the rod cavity of the working arm oil cylinder is filled with oil, the rodless cavity is drained with oil, the pressure value A of the rodless cavity of the working arm oil cylinder is larger than the pressure set value B, the situation is shown that the rod cavity of the working arm oil cylinder retracts, and the working arm group falls down to drive the machine tool to descend.
8. The method for controlling the automatic reverse slope adjusting mechanism according to claim 7, wherein the method for controlling the left-right inclination of the implement has the following operation principle:
automatic floating operation:
pressing down a tool floating button on an operating handle, starting a tool floating instruction through a controller, and enabling a two-position valve IV and a two-position valve V to be electrified, so that a rodless cavity and a rod cavity of a tool oil cylinder are communicated with each other, and the tool is automatically inclined to the same gradient with the ground in the left-right direction under the influence of the gravity of the tool;
active operation:
the controller sends a control command to enable the electromagnet YA5, the two-position valve VI and the two-position valve VII of the main valve III to be electrified, and high-pressure oil enters from the port A of the main valve III, so that a rod cavity of the machine tool oil cylinder is filled with oil, and oil is drained without the rod cavity, namely a piston rod of the machine tool oil cylinder retracts, and left-side inclination of the machine tool is realized;
the controller sends a control command to electrify the electromagnet YA6, the two-position valve VI and the two-position valve VII of the main valve III, and high-pressure oil enters from the port B of the main valve III, so that the rodless cavity of the machine tool oil cylinder is filled with oil, and the rod cavity is drained with oil, the piston rod of the machine tool oil cylinder extends out, and the right-direction inclination of the machine tool is realized.
9. The method for controlling the automatic reverse slope adjustment mechanism according to claim 8, wherein the moving seat and the working arm group move horizontally and leftwards and rightwards on the guide rail frame according to the following specific operation process principle:
after the working arm floating button and the machine tool floating button on the operating handle are pressed down, the machine tool can be attached to a reverse slope by means of pressure C = G-B, meanwhile, a vehicle runs, the reverse slope button of the operating handle is pressed down, at the moment, the command of the working arm floating button is cancelled, the controller transmits a reverse slope command, namely along with the change of the slope of the reverse slope during running, the reverse supporting force E of the controller on the machine tool changes simultaneously, and the E = C is achieved in real time by controlling the relevant action of the adjusting valve group, namely:
if the slope of the reverse slope is horizontal, E = C, the working arm set does not act at the moment, and the vehicle keeps running in a straight line;
if the slope of the reverse slope is increased or raised, E is greater than C, the pressure value A of the rodless cavity of the corresponding working arm oil cylinder is reduced, A is smaller than B, then the controller transmits an instruction, the left electromagnet YA1 of the main valve I is electrified, the driving motor rotates clockwise, the moving seat and the working arm group are driven to move towards the left, and when E = C, the movement is finished, and at the moment, the vehicle keeps running in a straight line;
if the slope of the reverse slope is reduced or sunken, E < C, the pressure value A of the rodless cavity of the corresponding working arm oil cylinder is increased, A is larger than B, then the controller transmits a command, the right electromagnet YA2 of the main valve I is electrified, the driving motor rotates anticlockwise, the moving seat and the working arm group are driven to move towards the right, and when E = C, the movement is finished, and at the moment, the vehicle keeps running in a straight line.
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| CN202111631023.9A CN114391386A (en) | 2021-12-29 | 2021-12-29 | Automatic reverse slope adjusting mechanism and control method thereof |
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| CN202111631023.9A CN114391386A (en) | 2021-12-29 | 2021-12-29 | Automatic reverse slope adjusting mechanism and control method thereof |
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