CN114735092B - Unbalanced load balancing device and control method suitable for double-brushing operation of wall cleaning vehicle - Google Patents
Unbalanced load balancing device and control method suitable for double-brushing operation of wall cleaning vehicle Download PDFInfo
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- CN114735092B CN114735092B CN202210420577.2A CN202210420577A CN114735092B CN 114735092 B CN114735092 B CN 114735092B CN 202210420577 A CN202210420577 A CN 202210420577A CN 114735092 B CN114735092 B CN 114735092B
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- stabilizer
- vehicle
- oil
- pressure
- valve
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- 238000004140 cleaning Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000003381 stabilizer Substances 0.000 claims abstract description 51
- 229910000639 Spring steel Inorganic materials 0.000 claims abstract description 12
- 230000005484 gravity Effects 0.000 claims abstract description 12
- 239000003921 oil Substances 0.000 claims description 57
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000001680 brushing effect Effects 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/08—Tractors having means for preventing overturning or tipping
- B62D49/085—Counterweight
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a unbalanced load balancing device and a control method suitable for double-brush operation of a wall cleaning vehicle. The stabilizer is arranged on the side surface of an upper auxiliary beam of the vehicle, and the stabilizer adopts a hydraulic cylinder; the piston rod head of the hydraulic cylinder faces the spring steel plate, and a distance is reserved between the piston rod head and the spring steel plate; the oil inlet of the control valve bank is connected with a high-pressure oil source, and the oil outlet of the control valve bank is connected with the stabilizer through a plate type hydraulic lock respectively; the large cavity of the stabilizer is connected with a pressure sensor which is connected with a controller. The supporting force of 4 supporting points of the front axle and the rear axle is ensured through the distributed stabilizer, the stabilizer is added on the operation side to balance the gravity center, and the stabilizer is utilized to balance the unbalanced load problem of the double-brush operation of the wall cleaning vehicle; the plate type hydraulic lock is adopted for preparing an explosion-proof function, so that the safety is high; the pressure is detected in real time, the unbalanced load degree of the vehicle is converted into graphic information, visual impression is improved, pressure is greatly reduced, the arm support is triggered to automatically retract, and the safety of the whole vehicle is guaranteed.
Description
Technical Field
The invention relates to the technical field of wall cleaning vehicles, in particular to a unbalanced load balancing device and a control method suitable for double-brushing operation of a wall cleaning vehicle.
Background
The wall cleaning vehicle is divided into a single brush type and a double brush type, the cantilever crane of the single brush product has lighter dead weight, and the gravity center deviation of the whole vehicle is not obvious after the cantilever crane is unfolded, so that the actual work is not influenced. When the double-arm frame works, working conditions of two arm frames on the same side work exist, because the arm is longer in arm expansion, the dead weight is larger after the rolling brush is added with wet water, the moment in the vertical direction generated by the whole arm frame is larger, the unbalanced load of the whole arm frame is serious during operation, side turning can be even caused during serious operation, and the potential safety hazard is serious.
Disclosure of Invention
In order to solve the technical problems, the invention provides a unbalanced load balancing device and a control method suitable for double-brushing operation of a wall cleaning vehicle. The balancing device and the control method can balance the gravity center of the whole vehicle during operation on the same side of the double brushes, can acquire the unbalanced load condition of the whole vehicle through real-time monitoring, and automatically trigger emergency risk avoiding operation when the balancing device fails, so that the operation safety of the whole vehicle is guaranteed to the greatest extent.
The invention is realized by the following technical scheme: the unbalanced load balancing device suitable for double brushing operation of the wall cleaning vehicle comprises a plurality of stabilizers, wherein the stabilizers are arranged on the side surface of an upper auxiliary beam above a spring steel plate of a front axle or a rear axle of the vehicle, and the stabilizers adopt hydraulic cylinders; the piston rod head of the hydraulic cylinder faces the spring steel plate, and a distance is reserved between the piston rod head and the spring steel plate; the oil inlet of the control valve bank is connected with a high-pressure oil source, and the oil outlet of the control valve bank is connected with the stabilizer through a plate type hydraulic lock respectively; the large cavity of the stabilizer is connected with a pressure sensor which is connected with a controller.
It is further: the number of the stabilizers is 4, 2 stabilizers are respectively arranged on the front axle and the rear axle of the vehicle, and the 4 stabilizers are arranged in a rectangular shape.
The control valve group is provided with an oil inlet P and an oil return port T, and comprises an overflow valve, a pressure maintaining valve and a reversing valve; the oil inlet of the overflow valve is connected with the oil inlet P, and the oil return port of the overflow valve is connected with the oil return port T; the oil inlet of the pressure maintaining valve is connected with the oil inlet P, and the oil return port of the pressure maintaining valve is connected with the oil return port T; and an oil inlet of the reversing valve is connected with an oil inlet P, an oil return port of the reversing valve is connected with an oil return port T, and oil outlets of the reversing valve are respectively connected with the stabilizer through plate type hydraulic locks.
The pressure maintaining valve adopts a two-position two-way electromagnetic valve.
The reversing valve adopts a three-position four-way electromagnetic valve.
The controller is connected with a display, and the display is used for displaying monitoring data of the pressure sensor; the display is mounted in a vehicle cab.
The pressure sensor transmits data to the controller by wire or wirelessly.
A method for controlling unbalanced load in double brushing operation of wall cleaning vehicle comprises the following steps,
a working posture preparation stage;
when the vehicle is ready to start cleaning, arm support operation gesture preparation work is carried out; at the moment, a pressure maintaining valve of the control valve bank is powered on, and the system starts to build pressure;
the reversing valve of the control valve bank is electrified, hydraulic oil enters a rodless cavity of the stabilizer through the plate type hydraulic lock, and the stabilizer stretches out to the right;
the operation monitoring state;
after the vehicle completes the preparation of the operation gesture, the reversing valve of the control valve group is powered off;
when the arm support extends out completely, the center of gravity of the whole vehicle shifts to the working side, and the stabilizer at the working side starts to provide supporting force;
the actual oil pressure in the large cavity of the stabilizer is respectively transmitted to a display in the cab through the pressure sensor, and the pressure fluctuation condition is visually displayed through a graphical interface;
triggering a protection function;
when one or more stabilizer pressures are abnormal, a command is sent to the arm support through the controller; the arm support is retracted, the center of gravity of the whole vehicle is shifted from the operation side to the vehicle, and the operation safety of the whole vehicle is ensured.
Compared with the prior art, the invention has the beneficial effects that: the supporting force of 4 supporting points of the front axle and the rear axle is ensured through the distributed stabilizer, the stabilizer is added on the operation side to balance the gravity center, and the stabilizer is utilized to balance the unbalanced load problem of the double-brush operation of the wall cleaning vehicle; the plate type hydraulic lock is adopted for preparing an explosion-proof function, so that the safety is high; the pressure is detected in real time, the unbalanced load degree of the vehicle is converted into graphic information, visual impression is improved, pressure is greatly reduced, the arm support is triggered to automatically retract, and the safety of the whole vehicle is guaranteed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention.
FIG. 1 is a hydraulic schematic of the present invention;
in the figure: 1. a control valve group; 1-1, an overflow valve; 1-2, a pressure maintaining valve; 1-3, a reversing valve; 2. plate type hydraulic lock; 3. a pressure sensor; 4. a stabilizer.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Example 1
As shown in fig. 1, the vehicle comprises 4 stabilizers 4, wherein 2 stabilizers 4 are respectively arranged on a front axle and a rear axle of the vehicle, and the 4 stabilizers 4 are arranged in a rectangular shape. The stabilizer 4 is arranged on the side surface of the upper auxiliary beam above the spring steel plate of the front axle or the rear axle of the vehicle, and the stabilizer 4 adopts a hydraulic cylinder; the piston rod head of the hydraulic cylinder faces the spring steel plate, and a distance is reserved between the piston rod head and the spring steel plate, so that the piston rod head is prevented from being contacted when the vehicle runs in a non-working mode. .
The control valve group 1 is provided with an oil inlet P and an oil return port T, and the oil inlet of the control valve group 1 is connected with a high-pressure oil source. The control valve group 1 comprises an overflow valve 1-1, a pressure maintaining valve 1-2 and a reversing valve 1-3. The oil inlet of the overflow valve 1-1 is connected with the oil inlet P, and the oil return port of the overflow valve 1-1 is connected with the oil return port T. The pressure maintaining valve 1-2 adopts a two-position two-way electromagnetic valve, an oil inlet of the pressure maintaining valve 1-2 is connected with an oil inlet P, and an oil return port of the pressure maintaining valve 1-2 is connected with an oil return port T. The reversing valve 1-3 adopts a three-position four-way electromagnetic valve, an oil inlet of the reversing valve 1-3 is connected with an oil inlet P, an oil return port of the reversing valve 1-3 is connected with an oil return port T, and oil outlets of the reversing valve 1-3 are respectively connected with the stabilizer 4 through the plate type hydraulic lock 2.
The large cavity of the stabilizer 4 is connected with a pressure sensor 3, and the pressure sensor 3 is connected with a controller. The controller is connected with a display, and the display is used for displaying the monitoring data of the pressure sensor 3; the display is mounted in the vehicle cab. The pressure sensor 3 transmits data to the controller by wire or wirelessly. The wired wireless power system CAN adopt any one of WIFI, bluetooth, zigBee, 2g, 3g, 4g and 5 g.
Before the vehicle enters an operation state, the unbalanced load balancing device is started, the hydraulic cylinder stretches out to the position, and the pressure maintaining valve is started to provide locking support for the hydraulic cylinder. When the vehicle enters an operation state, the front arm support and the rear arm support extend, the center of gravity of the whole vehicle deviates to the working side, the piston rod heads contact the spring steel plates and provide supporting force, the center of gravity of the whole vehicle is balanced, the operation stability is increased, the running operation stability of the whole vehicle is guaranteed, the pressure sensor detects the loop pressure of the rodless cavity of the oil cylinder in real time, data are transmitted to the controller, the pressure condition in the stabilizer is checked in real time, and once the pressure is greatly reduced, the automatic retraction program of the arm support is triggered, the deviation amount is reduced, and the safety of the whole vehicle is guaranteed.
Example two
A method for controlling unbalanced load during double brushing operation of a wall cleaning vehicle comprises the following steps on the basis of the first embodiment:
a working posture preparation stage;
when the vehicle is ready to start cleaning, arm support operation gesture preparation work is carried out; at the moment, the electromagnet YV1 of the pressure maintaining valve 1-2 of the control valve group 1 is powered on, and the system starts to build pressure;
the electromagnet YV3 of the reversing valve 1-3 of the control valve group 1 is powered, hydraulic oil enters a rodless cavity of the stabilizer 4 through the plate type hydraulic lock 2, and the stabilizer 4 stretches out to the right;
the operation monitoring state;
after the vehicle completes the preparation of the operation posture, the electromagnet YV3 of the reversing valve 1-3 of the control valve group 1 is powered off, and the valve core position of the electromagnetic valve is shown in figure 1;
when the arm support extends out completely, the center of gravity of the whole vehicle shifts to the working side, and the stabilizer 4 at the working side starts to provide supporting force;
the actual oil pressure in the large cavities of the 4 stabilizers 4 is respectively transmitted to a display in a cab through the pressure sensor 3, and the pressure fluctuation condition is visually displayed through a graphical interface;
triggering a protection function;
when the pressure of one or more of the 4 stabilizers is abnormal, a command is sent to the arm support through the controller; the arm support is retracted, the center of gravity of the whole vehicle is shifted from the operation side to the vehicle, and the operation safety of the whole vehicle is ensured.
Claims (6)
1. A method for controlling unbalanced load during double brushing operation of a wall cleaning vehicle,
the method is characterized in that:
the stabilizer (4) is arranged on the side surface of the upper auxiliary beam above the spring steel plate of the front axle or the rear axle of the vehicle, and the stabilizer (4) adopts a hydraulic cylinder; the piston rod head of the hydraulic cylinder faces the spring steel plate, and a distance is reserved between the piston rod head and the spring steel plate; an oil inlet of the control valve group (1) is connected with a high-pressure oil source, and an oil outlet of the control valve group (1) is connected with a stabilizer (4) through a plate type hydraulic lock (2) respectively; the large cavity of the stabilizer (4) is connected with a pressure sensor (3), and the pressure sensor (3) is connected with a controller;
the controller is connected with a display, and the display is used for displaying monitoring data of the pressure sensor (3); the display is arranged in a vehicle cab;
the steps are as follows,
a working posture preparation stage;
when the vehicle is ready to start cleaning, arm support operation gesture preparation work is carried out; at the moment, the pressure maintaining valve (1-2) of the control valve group (1) is powered on, and the system starts to build pressure;
the reversing valve (1-3) of the control valve group (1) is powered, hydraulic oil enters a rodless cavity of the stabilizer (4) through the plate type hydraulic lock (2), and the stabilizer (4) stretches out to the right;
the operation monitoring state;
after the vehicle finishes the preparation of the working posture, the reversing valve (1-3) of the control valve group (1) is powered off;
when the arm support extends out completely, the center of gravity of the whole vehicle shifts to the working side, and the stabilizer (4) at the working side starts to provide supporting force;
the actual oil pressure in the large cavity of the stabilizer (4) is respectively transmitted to a display in the cab through the pressure sensor (3), and the pressure fluctuation condition is visually displayed through a graphical interface;
triggering a protection function;
when one or more stabilizer pressures are abnormal, a command is sent to the arm support through the controller; the arm support is retracted, the center of gravity of the whole vehicle is shifted from the operation side to the vehicle, and the operation safety of the whole vehicle is ensured.
2. The method for controlling unbalanced load during double-brush operation of a wall cleaning vehicle according to claim 1, wherein the method comprises the following steps: the number of the stabilizers (4) is 4, 2 stabilizers (4) are respectively arranged on the front axle and the rear axle of the vehicle, and the 4 stabilizers are arranged in a rectangular shape.
3. The method for controlling unbalanced load during double-brush operation of a wall cleaning vehicle according to claim 1, wherein the method comprises the following steps: the control valve group (1) is provided with an oil inlet P and an oil return port T, and the control valve group (1) comprises an overflow valve (1-1), a pressure maintaining valve (1-2) and a reversing valve (1-3); an oil inlet of the overflow valve (1-1) is connected with an oil inlet P, and an oil return port of the overflow valve (1-1) is connected with an oil return port T; an oil inlet of the pressure maintaining valve (1-2) is connected with an oil inlet P, and an oil return port of the pressure maintaining valve (1-2) is connected with an oil return port T; an oil inlet of the reversing valve (1-3) is connected with an oil inlet P, an oil return port of the reversing valve (1-3) is connected with an oil return port T, and oil outlets of the reversing valve (1-3) are respectively connected with the stabilizer (4) through the plate type hydraulic lock (2).
4. A method for controlling unbalanced load in a double-brush operation for a wall cleaning vehicle according to claim 3, wherein: the pressure maintaining valve (1-2) adopts a two-position two-way electromagnetic valve.
5. A method for controlling unbalanced load in a double-brush operation for a wall cleaning vehicle according to claim 3, wherein: the reversing valve (1-3) adopts a three-position four-way electromagnetic valve.
6. The method for controlling unbalanced load during double-brush operation of a wall cleaning vehicle according to claim 1, wherein the method comprises the following steps: the pressure sensor (3) transmits data to the controller by wire or wirelessly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210420577.2A CN114735092B (en) | 2022-04-21 | 2022-04-21 | Unbalanced load balancing device and control method suitable for double-brushing operation of wall cleaning vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210420577.2A CN114735092B (en) | 2022-04-21 | 2022-04-21 | Unbalanced load balancing device and control method suitable for double-brushing operation of wall cleaning vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114735092A CN114735092A (en) | 2022-07-12 |
| CN114735092B true CN114735092B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210420577.2A Active CN114735092B (en) | 2022-04-21 | 2022-04-21 | Unbalanced load balancing device and control method suitable for double-brushing operation of wall cleaning vehicle |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002283823A (en) * | 2001-03-26 | 2002-10-03 | Hino Motors Ltd | Driving axle load increasing device of front two axle vehicle |
| CN101434183A (en) * | 2007-11-15 | 2009-05-20 | 徐天元 | Automobile damper support cylinder |
| CN201753238U (en) * | 2010-08-11 | 2011-03-02 | 河南奔马股份有限公司 | Hydraulic operating mechanism of automobile crane |
| CN202186852U (en) * | 2011-06-21 | 2012-04-11 | 三一汽车起重机械有限公司 | Hydraulic tensioning system and a crane with same |
| CN103482476A (en) * | 2013-09-29 | 2014-01-01 | 徐州重型机械有限公司 | Control device for increasing variable-amplitude falling speed of crane |
| CN205533531U (en) * | 2016-01-28 | 2016-08-31 | 河南骏通车辆有限公司 | Tipper is sub vehicle frame leveling hydraulic control system for leveling |
| CN108385568A (en) * | 2018-02-28 | 2018-08-10 | 徐工集团工程机械有限公司 | Cleaning vehicle |
-
2022
- 2022-04-21 CN CN202210420577.2A patent/CN114735092B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002283823A (en) * | 2001-03-26 | 2002-10-03 | Hino Motors Ltd | Driving axle load increasing device of front two axle vehicle |
| CN101434183A (en) * | 2007-11-15 | 2009-05-20 | 徐天元 | Automobile damper support cylinder |
| CN201753238U (en) * | 2010-08-11 | 2011-03-02 | 河南奔马股份有限公司 | Hydraulic operating mechanism of automobile crane |
| CN202186852U (en) * | 2011-06-21 | 2012-04-11 | 三一汽车起重机械有限公司 | Hydraulic tensioning system and a crane with same |
| CN103482476A (en) * | 2013-09-29 | 2014-01-01 | 徐州重型机械有限公司 | Control device for increasing variable-amplitude falling speed of crane |
| CN205533531U (en) * | 2016-01-28 | 2016-08-31 | 河南骏通车辆有限公司 | Tipper is sub vehicle frame leveling hydraulic control system for leveling |
| CN108385568A (en) * | 2018-02-28 | 2018-08-10 | 徐工集团工程机械有限公司 | Cleaning vehicle |
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| Publication number | Publication date |
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| CN114735092A (en) | 2022-07-12 |
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