CN101879754A - Automatically steering cross-track mortar vehicle chassis and mortar vehicle - Google Patents
Automatically steering cross-track mortar vehicle chassis and mortar vehicle Download PDFInfo
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- CN101879754A CN101879754A CN 201010229019 CN201010229019A CN101879754A CN 101879754 A CN101879754 A CN 101879754A CN 201010229019 CN201010229019 CN 201010229019 CN 201010229019 A CN201010229019 A CN 201010229019A CN 101879754 A CN101879754 A CN 101879754A
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- mortar
- track
- turn
- chassis
- cross
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatically steering cross-track mortar vehicle chassis and a mortar vehicle. The mortar vehicle chassis comprises a frame, a control component and more than one wheel set fixed at the bottom of the frame, wherein the wheel set comprises a walking support, wheels, a steering component and a driving component; the walking support is provided with more than one ranging sensors used for detecting distance between the wheel and the inner wall of a walking track; the control component receives a distance signal collected by the ranging sensors and outputs the control signal to the stirring component after judging whether the signal is safe according to the distance signal. The mortar vehicle comprises the above mortar vehicle chassis and a mortar uploading installed on the mortar vehicle chassis. The invention has the advantages of simple structure, low cost, wide applicable scope and the like and ensures walking safety, reliability and the like.
Description
Technical field
The present invention is mainly concerned with from walking the field, chassis, refers in particular to a kind of chassis of walking certainly and mortar vehicle that is used for mortar equipment.
Background technology
The non-fragment orbit high-speed railway passes through zones such as Plain, mountain area, hills, river, lake, inevitable so various comparatively complicated special construction highway sections have appearred, overpass of long tunnel (single line or two-wire), cross a river stream or the like for example, and existing road tires formula mortar vehicle will be difficult to satisfy the practice of construction demand in this special construction highway section, this just needs the mortar vehicle of striding track travel, the mortar vehicle that can travel on special construction highway sections such as tunnel, overpass.
Summary of the invention
The technical problem to be solved in the present invention just is: at the technical problem that prior art exists, the invention provides a kind of simple and compact for structure, with low cost, can on multiple special construction highway section, walk, applied widely, can guarantee the security of walking and the cross-track mortar chassis and the mortar vehicle that can turn to automatically of reliability.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of cross-track mortar chassis that can turn to automatically, the more than one wheels that comprise vehicle frame, Control Component and be fixed in bottom of frame, described wheels comprise mobile roof support, wheel, steering assembly and walking driven unit, it is characterized in that: be equiped with the distance measuring sensor that is used for detecting distance between wheel and the walking track madial wall more than on the described mobile roof support, described Control Component receives the distance signal of distance measuring sensor collection and judges whether to output control signals to steering assembly after the safety according to this distance signal.
As a further improvement on the present invention:
Described all wheels that are fixed on the same mobile roof support link together by steering drag link.
Describedly be two wheels that relative shape is arranged in the vehicle frame left and right sides and link together by track rod.
Being equiped with on the described mobile roof support is used for more than one rolling with the track madial wall contacts the directive wheel that cooperates.
Along the direct of travel of wheel, the front portion of described directive wheel is equipped with and is used for detecting the feeler whether the place ahead has obstacle.
Described steering assembly be external part link to each other with mobile roof support turn to oil cylinder.
The present invention further discloses a kind of mortar vehicle, comprise on the mortar and adorning, it is characterized in that: be installed on the described mortar on above-mentioned any described cross-track mortar chassis.
Compared with prior art, the invention has the advantages that:
1, the present invention's cross-track mortar chassis and mortar vehicle that can turn to automatically, simple and compact for structure, with low cost, applied widely, can guarantee the security and the reliability of walking.
2, the present invention's cross-track mortar chassis and mortar vehicle that can turn to automatically, finish to turn to the centering function automatically by the sensor telemetry, the manual operation button is set, the control hydraulic jack is finished the manual steering function, automatically turning error is little, and manual steering is easy and simple to handle.
3, the present invention's cross-track mortar chassis and mortar vehicle that can turn to automatically, by the hydraulic pressure part flow arrangement, guarantee many group wheels simultaneously synchronously toward a directional steering, various linkages further guarantee the synchronism that each wheels turns to, and especially are fit to turning to of special road conditions.
4, the present invention's cross-track mortar chassis and mortar vehicle that can turn to automatically, measure distance between wheel and the track inwall by ultrasonic sensor, control each wheels and turn to automatically by being converted to the signal of telecommunication after calculating, effectively prevent collision, guarantee the stability and the security of walking, and turn to quick, easy to operate.
5, the present invention's cross-track mortar chassis and mortar vehicle that can turn to automatically is provided with directive wheel, and in the single line construction, directive wheel is close to the raceway groove wall, forces straight-line travelling or forced steering, does not need automatic steering system; In the two-wire construction, in the time of can not adopting the directive wheel forced steering, directive wheel is realized the anticollision function.
Description of drawings
Fig. 1 is the walking states schematic diagram of the present invention in application example;
Fig. 2 is a main TV structure schematic diagram of the present invention;
Fig. 3 is a plan structure schematic diagram of the present invention;
Fig. 4 is the local enlarged diagram of the present invention when walking states;
Principle schematic when Fig. 5 is crab of the present invention row.
Marginal data:
1, vehicle frame; 2, wheels; 21, mobile roof support; 22, wheel; 23, distance measuring sensor; 24, directive wheel; 25, feeler; 4, Control Component; 5, steering drag link; 6, track rod; 7, turn to oil cylinder; 8, railway roadbed; 9, gutter; 10, adorn on the mortar.
The specific embodiment
Below with reference to Figure of description and specific embodiment the present invention is described in further details.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the cross-track mortar chassis that the present invention can turn to automatically, comprise vehicle frame 1, Control Component 4 and the more than one wheels 2 that are fixed in vehicle frame 1 bottom, wheels 2 comprise mobile roof support 21, wheel 22, steering assembly and walking driven unit, the walking driven unit is used for wheel 22 is driven to finish the walking of whole chassis, this walking driven unit can adopt the bi-directional drive assembly, guarantees that promptly the chassis can be forward or walking backward.Steering assembly is used for driving wheel 22 swing and turns to finish, steering assembly be external part link to each other with mobile roof support 21 turn to oil cylinder 7.Be equiped with the distance measuring sensor 23 that is used for detecting distance between wheel 22 and the walking track madial wall more than on the mobile roof support 21, Control Component 4 is used for receiving the distance signal of distance measuring sensor 23 collections and judges whether to output control signals to steering assembly after the safety according to this distance signal, if unsafe, promptly turn to oil cylinder 7 to promote mobile roof supports 21 and finish and turn to by control element (for example magnetic valve etc.) control.Control Component 4 adopts the PLC controllers, can be directly fixed on the vehicle frame 1, also can combine with the control system adorned on the mortar.Distance measuring sensor 23 adopts ultrasonic sensor.
In the present embodiment, all wheels 22 that are fixed on the same mobile roof support 21 link together by steering drag link 5.Being two wheels 2 that relative shape is arranged in vehicle frame 1 left and right sides links together by track rod 6.The effect of track rod 6, steering drag link 5 is that four wheels 22 of coordinating in each wheels keep turning to synchronously.
During walking, be example as track with the gutter 9 of railway roadbed 8 both sides, be installed near the wheel 22 distance measuring sensor 23 will with the certain frequency launching beam measure between wheel 22 sides and the railway roadbed 8 apart from a.Simultaneously, be installed in the distance b that near the wheel 22 of vehicle frame 1 opposite side another distance measuring sensors 23 will be measured opposite side.The PLC controller obtains after two distance signal a, the b, with the absolute value c of the difference of a, b and the value d contrast of setting, whether the distance between wheel 22 and the railway roadbed 8 is provided judgement safely, promptly as c during less than d, then be judged as safety,, then be judged as dangerous as c during more than or equal to d.Be judged to be when safe, do not send the execution signal; When being judged to be when dangerous, PLC control will provide one and carry out signal.This signal sends the magnetic valve that control turns to oil cylinder 7 to through after amplifying, opens solenoid valve, and hydraulic oil enters and turns to oil cylinder 7, promotes mobile roof support 21 and realizes turning to of wheel 22.When turn to reach certain angle after, the distance between wheel 22 sides and the railway roadbed 8 will reach safe distance, turns to oil cylinder 7 will stop to continue to turn to, and make wheel 22 carry out backspace command, after reaching wheel 22 craspedodrome states, turn to oil cylinder 7 to stop action, magnetic valve is closed.Distance measuring sensor 23, PLC controller enter measurement, judgement, execution, the feedback of next cycle again, carry out to turn to and go round and begin again.According to above logical relation, the cross-track mortar car can be realized walking automatically, turning to according to the profile of railway roadbed 8, eliminates the scraping potential safety hazard.
In the present embodiment, being equiped with on the mobile roof support 21 is used for more than one rolling with the track madial wall of walking contacts the directive wheel 24 that cooperates.After distance measuring sensor 23 broke down, the sidewall of wheel 22 was near railway roadbed 8, and directive wheel 24 will contact with railway roadbed 8, and directive wheel 24 applies an opposition, made wheel 22 paste railway roadbed 8 walkings, can not bump and play a mechanical protection function.At the directive wheel 24 anterior feelers of installing 25, stride the rail mortar vehicle in walking, whether feeler 25 will have obstacle to detect to wheel 22 the place aheads, transmit an obstacle signal for the PLC controller, the PLC controller is promptly controlled the drive system of car load, halts, and guarantees safety.
In the present embodiment, be altogether three wheels 2,, be arranged in the driven wheels 2 that are at vehicle frame 1 middle part wherein as two front and rears that are separately positioned on vehicle frame 1 that drive wheels 2.Because high-speed railway asphalt mortar, bituminous mortar pouring construction technology particularity, mortar vehicle low speed walking (being not more than) in 6km/h, narrow work-yard makes three wheels 2 should have the independent steering function, advances to adapt to, falls back, turns to requirement during the crab row.Do not have the rigidity leverage to link to each other between three wheels 2, turning between each wheels 2 does not have logical relation.Three kinds turn in the pattern (advance and turn to pattern, turning backward pattern, crab row to turn to pattern), and except that the crab row mode can only manually be controlled, all the other two kinds of patterns all had manually, automatic mode, and can switch fast.
Forward mode: when advancing, two wheels 22 can be realized turning in the anterior driving wheels 2, and other two wheels 2 at rear portion keep the straight-line travelling state.
" fall back " mode": when retreating, the front portion that can turn to originally drives wheels 2 and turns to function to be lockable, and keeps the straight-line travelling state.The wheels 2 at middle part turn to function to be lockable, and can only keep straight-line travelling, and four wheels 22 have the function of turning in the driving wheels 2 at rear portion, and this is with original progression basically identical.
Crab row mode: referring to Fig. 5, this is a kind of special adjustment modes, walking states is made in non-cross-track mortar turner, is for solving all wheels 22 of mortar vehicle car load one side too near the side obstacle, can't implementing to turn to above water by the single wheels 2 of a certain end in chassis.Whole wheels 22 same directions of car load are rotated equal angular, realize that parallel the moving of car load can be out of danger fast.
The present invention further discloses a kind of mortar vehicle, comprise and adorn 10 on the mortar, adorn the 10 preparation operations that are used for finishing mortar on the mortar, adorn 10 on the mortar and be installed on the above-mentioned cross-track mortar chassis, between the two can the fabricated connected mode of employing activity.
Below only be preferred implementation of the present invention, protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art the some improvements and modifications not breaking away under the principle of the invention prerequisite should be considered as protection scope of the present invention.
Claims (8)
1. cross-track mortar chassis that can turn to automatically, comprise vehicle frame (1), Control Component (4) and the more than one wheels (2) that are fixed in vehicle frame (1) bottom, described wheels (2) comprise mobile roof support (21), wheel (22), steering assembly and walking driven unit, it is characterized in that: be equiped with the distance measuring sensor (23) that is used for detecting distance between wheel (22) and the walking track madial wall more than on the described mobile roof support (21), described Control Component (4) receives the distance signal of distance measuring sensor (23) collection and judges whether to output control signals to steering assembly after the safety according to this distance signal.
2. the cross-track mortar chassis that can turn to automatically according to claim 1 is characterized in that: described all wheels (22) that are fixed on the same mobile roof support (21) link together by steering drag link (5).
3. the cross-track mortar chassis that can turn to automatically according to claim 1 is characterized in that: describedly be two wheels (2) that relative shape is arranged in vehicle frame (1) left and right sides and link together by track rod (6).
4. according to claim 1 or the 2 or 3 described cross-track mortar chassis that can turn to automatically, it is characterized in that: being equiped with on the described mobile roof support (21) is used for more than one rolling with the track madial wall of walking contacts the directive wheel (24) that cooperates.
5. the cross-track mortar chassis that can turn to automatically according to claim 4 is characterized in that: the direct of travel along wheel (22), the front portion of described directive wheel (24) are equipped with and are used for detecting the place ahead whether the feeler of obstacle (25) is arranged.
6. according to claim 1 or the 2 or 3 described cross-track mortar chassis that can turn to automatically, it is characterized in that: described steering assembly be external part link to each other with mobile roof support (21) turn to oil cylinder (7).
7. the cross-track mortar chassis that can turn to automatically according to claim 4 is characterized in that: described steering assembly be external part link to each other with mobile roof support (21) turn to oil cylinder (7).
8. mortar vehicle comprises dress (10) on the mortar, it is characterized in that: dress (10) is installed in the claim 1～7 on any described cross-track mortar chassis on the described mortar.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102290195A CN101879754B (en) | 2010-07-16 | 2010-07-16 | Automatically steering cross-track mortar vehicle chassis and mortar vehicle |
| PCT/CN2011/075627 WO2012006915A1 (en) | 2010-07-16 | 2011-06-10 | Automatically steering cross-track mortar vehicle chassis and mortar vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102290195A CN101879754B (en) | 2010-07-16 | 2010-07-16 | Automatically steering cross-track mortar vehicle chassis and mortar vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101879754A true CN101879754A (en) | 2010-11-10 |
| CN101879754B CN101879754B (en) | 2012-01-25 |
Family
ID=43051954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102290195A Expired - Fee Related CN101879754B (en) | 2010-07-16 | 2010-07-16 | Automatically steering cross-track mortar vehicle chassis and mortar vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101879754B (en) |
| WO (1) | WO2012006915A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012006915A1 (en) * | 2010-07-16 | 2012-01-19 | 湖南三一智能控制设备有限公司 | Automatically steering cross-track mortar vehicle chassis and mortar vehicle |
| CN102514618A (en) * | 2011-12-23 | 2012-06-27 | 三一重工股份有限公司 | Track-span self-propelled chassis and automatic steering control method thereof |
| CN108150180A (en) * | 2018-02-01 | 2018-06-12 | 辽宁三三工业有限公司 | Slurry shield machine truss level adjustment system is with its forward and backward side wheels |
| CN115535017A (en) * | 2021-06-30 | 2022-12-30 | 比亚迪股份有限公司 | Railway vehicle and bogie thereof |
| CN115723805A (en) * | 2021-08-31 | 2023-03-03 | 比亚迪股份有限公司 | Bogie of railway vehicle, steering system, control method and railway vehicle |
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| CN2347806Y (en) * | 1998-07-17 | 1999-11-10 | 葛洲坝股份有限公司施工科学研究所 | Universal walking full-hydraulic driven loading chassis |
| JP2004135674A (en) * | 2003-11-10 | 2004-05-13 | Iseki & Co Ltd | Automatic turning control device for tractor |
| DE10347179A1 (en) * | 2003-10-10 | 2005-05-12 | Zf Lenksysteme Gmbh | Vehicle steering system has means for limiting the vehicle speed if the steering monitoring system detects a steering torque value that differs widely from a theoretical value in magnitude, duration or frequency |
| JP2008278839A (en) * | 2007-05-14 | 2008-11-20 | Kubota Corp | Working vehicle |
| CN201736343U (en) * | 2010-07-16 | 2011-02-09 | 三一重工股份有限公司 | Cross-track mortar vehicle chassis capable of automatic steering and mortar vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH690960A5 (en) * | 1996-10-04 | 2001-03-15 | Hansjoerg Huber | Monorail vehicle. |
| CN201162159Y (en) * | 2008-03-07 | 2008-12-10 | 秦皇岛通联重工有限公司 | Mortar pouring apparatus with rail seat as orientation |
| CN201284451Y (en) * | 2008-10-24 | 2009-08-05 | 秦皇岛通联重工有限公司 | CA mortar stirring pouring vehicle |
| CN101890983B (en) * | 2010-07-16 | 2012-07-25 | 三一重工股份有限公司 | Mortar trolley provided with automatic travelling hydraulic chassis |
| CN101879754B (en) * | 2010-07-16 | 2012-01-25 | 三一重工股份有限公司 | Automatically steering cross-track mortar vehicle chassis and mortar vehicle |
-
2010
- 2010-07-16 CN CN2010102290195A patent/CN101879754B/en not_active Expired - Fee Related
-
2011
- 2011-06-10 WO PCT/CN2011/075627 patent/WO2012006915A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2347806Y (en) * | 1998-07-17 | 1999-11-10 | 葛洲坝股份有限公司施工科学研究所 | Universal walking full-hydraulic driven loading chassis |
| DE10347179A1 (en) * | 2003-10-10 | 2005-05-12 | Zf Lenksysteme Gmbh | Vehicle steering system has means for limiting the vehicle speed if the steering monitoring system detects a steering torque value that differs widely from a theoretical value in magnitude, duration or frequency |
| JP2004135674A (en) * | 2003-11-10 | 2004-05-13 | Iseki & Co Ltd | Automatic turning control device for tractor |
| JP2008278839A (en) * | 2007-05-14 | 2008-11-20 | Kubota Corp | Working vehicle |
| CN201736343U (en) * | 2010-07-16 | 2011-02-09 | 三一重工股份有限公司 | Cross-track mortar vehicle chassis capable of automatic steering and mortar vehicle |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012006915A1 (en) * | 2010-07-16 | 2012-01-19 | 湖南三一智能控制设备有限公司 | Automatically steering cross-track mortar vehicle chassis and mortar vehicle |
| CN102514618A (en) * | 2011-12-23 | 2012-06-27 | 三一重工股份有限公司 | Track-span self-propelled chassis and automatic steering control method thereof |
| CN102514618B (en) * | 2011-12-23 | 2013-12-18 | 三一重工股份有限公司 | Track-span self-propelled chassis and automatic steering control method thereof |
| CN108150180A (en) * | 2018-02-01 | 2018-06-12 | 辽宁三三工业有限公司 | Slurry shield machine truss level adjustment system is with its forward and backward side wheels |
| CN108150180B (en) * | 2018-02-01 | 2024-07-16 | 辽宁三三工业有限公司 | Truss horizontal adjusting system of slurry shield machine and front and rear lateral wheels thereof |
| CN115535017A (en) * | 2021-06-30 | 2022-12-30 | 比亚迪股份有限公司 | Railway vehicle and bogie thereof |
| CN115535017B (en) * | 2021-06-30 | 2024-09-10 | 比亚迪股份有限公司 | Bogie of rail vehicle and rail vehicle |
| CN115723805A (en) * | 2021-08-31 | 2023-03-03 | 比亚迪股份有限公司 | Bogie of railway vehicle, steering system, control method and railway vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101879754B (en) | 2012-01-25 |
| WO2012006915A1 (en) | 2012-01-19 |
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| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yi Xiaogang Inventor after: Shao Manyuan Inventor after: Wang Xilin Inventor after: Wang Ping Inventor before: Shao Manyuan Inventor before: Wang Xilin Inventor before: Wang Ping |
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Free format text: CORRECT: INVENTOR; FROM: SHAO MANYUAN WANG XILIN WANG PING TO: YI XIAOGANG SHAO MANYUAN WANG XILIN WANG PING |
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Granted publication date: 20120125 Termination date: 20170716 |