CN102635145A - Anti-overturn control system and anti-overturn control method for pushing and raking machine - Google Patents
Anti-overturn control system and anti-overturn control method for pushing and raking machine Download PDFInfo
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- CN102635145A CN102635145A CN2012101391624A CN201210139162A CN102635145A CN 102635145 A CN102635145 A CN 102635145A CN 2012101391624 A CN2012101391624 A CN 2012101391624A CN 201210139162 A CN201210139162 A CN 201210139162A CN 102635145 A CN102635145 A CN 102635145A
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Abstract
The invention discloses an anti-overturn control system for a pushing and raking machine. The anti-overturn control system comprises a controller, a tilt sensor and an alarming device; wherein the output end of the tilt sensor is connected with the input end of the controller; and the control output end of the controller is connected with the alarming device. When the tilted angle of the whole pushing and raking machine reaches a pre-set alarming angle, the controller controls the alarming device to give alarming signals; and the system can give alarming signals when the pushing and raking machine reaches the set alarming angle to effectively warn drivers to drive carefully in time without exceeding rated climbing angles so as to guarantee the safety of drivers and vehicles. The invention further discloses an anti-overturn control method for the pushing and raking machine.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly the anti-rollover control system of buck raker.The invention still further relates to the control method of said anti-rollover control system.
Background technology
Buck raker is as a kind of small and exquisite, tracked construction equipment flexibly, is widely used in the operation such as smooth, cleaning of harbour bulk goods, and operation is taken off by power plant, pushing away of harbour bulk material.
Tradition buck rake rolling stock design code; The ramp angle that allows during work is not more than 30 degree, because its special operating mode and purposes need often climbing to take off higher material in operation process; The climb and fall angular transformation is frequent; Under the goods condition with higher, if operating personnel's climbing simply, then buck raker can exceed specified ramp angle.
Yet existing buck raker is not taked restriction for transfiniting, and has not both had vehicle angle prompting with respect to the horizontal plane; Do not dispose anti-tipping protective device yet, rely on driver's experience to judge the control vehicle fully, in higher material being carried out smooth and scale removal process; Owing to do not have the prompting of corresponding hommization and the prompting of current angle; Operating personnel can not obtain the actual vehicle and the angle of level ground, have slightly to neglect or improper operation, just can cause accident such as tumble.
Therefore, how making the buck raker operating personnel in time know the climbing state of vehicle, thereby avoid exceeding specified ramp angle and have an accident, is those skilled in the art's technical issues that need to address.
Summary of the invention
First purpose of the present invention provides a kind of buck raker anti-rollover control system.This system can reach at buck raker send alarm signal when setting the warning angle, remind timely and effectively the driver carefully drive, can not over proof ramp angle, thereby guarantee the safety of driver and vehicle.
Second purpose of the present invention provides the anti-tipping control method of a kind of buck raker.
In order to realize above-mentioned first purpose, the present invention provides a kind of buck raker anti-rollover control system, comprises controller, obliquity sensor and warning device; The output of said obliquity sensor is connected in the input of said controller; The control output end of said controller is connected in said warning device, and when the buck raker integral inclination reached preset warning angle, said controller was controlled said warning device and sent alarm signal.
Preferably; The control output end of said controller comprises first control output end and second control output end; Said first control output end is through first relay control one-level warning device, and said second control output end is through second relay control secondary warning device.
Preferably, said one-level warning device is yellow alarm lamp and buzzer, and said secondary warning device is red alarm lamp and buzzer.
Preferably, said controller also comprises the 3rd control output end; Said the 3rd control output end is through the walking reversing solenoid valve of relay control buck raker.
Preferably, further comprise the filtration module that is used for filtering moment angle peak value, peak valley, said filtration module is integrated or be external in said controller.
Preferably, also comprise the control Displaying Meter, the demonstration output of said controller is connected in said control Displaying Meter, and said control Displaying Meter shows in the buck raker operation process the comprehensive angle with horizontal plane.
Preferably, said obliquity sensor is the two redundant obliquity sensors of twin shaft.
Preferably, said obliquity sensor level is installed in the casing of said control Displaying Meter; The alarm lamp of said one-level warning device and secondary warning device is installed on the casing of said control Displaying Meter, and the buzzer of said one-level warning device and secondary warning device is installed on the car body rear of buck raker.
For realizing above-mentioned second purpose, the present invention provides a kind of buck raker anti-tipping control method, may further comprise the steps:
Step 11: gather buck raker angle with respect to the horizontal plane in real time by obliquity sensor, and the angle value of gathering is passed to filtration module;
Step 12: the angle value that collects is carried out Filtering Processing by said filtration module;
Step 13: judge that by controller whether through the data after the step 12 be the data after postponing; If, then get into next step, if not, then change step 11 over to;
Step 14: said controller compares the data after handling and the angular range of setting to after handling through the data of filtering;
Step 15: more than or equal to 0 ° and smaller or equal to 20 °, warning device is not done the output of reporting to the police as if said data;
If said data are greater than 20 ° and smaller or equal to 25 °, said controller is made response, and control one-level warning device sends alarm signal, and the prompting driver in time corrects ramp angle, after rectification finishes, and alarm release;
If said data are greater than 25 ° and smaller or equal to 30 °, said controller is made response, and control secondary warning device sends alarm signal, and the prompting driver in time corrects ramp angle; Finish if correct, alarm release then, if correct, the walking electromagnetic valve of then said controller control buck raker responds, and at extreme position, cuts off walking power.
Preferably, in said step 15,, then manually remove and report to the police if need operation under the ramp angle of vehicle in alarm range.
Buck raker anti-rollover control system provided by the invention utilizes obliquity sensor to detect car body angle with respect to the horizontal plane; And judge and control through controller; When car body angle during greater than specified scope; Can be effectively can not over proof ramp angle through warning device prompting human pilot, thereby strengthen the consciousness of driver safety operation, the safety of better protection human pilot and equipment.
In a kind of specific embodiment, said controller also comprises the 3rd control output end; Said the 3rd control output end is through the walking reversing solenoid valve of relay control buck raker.Like this, the car body ramp angle that in a single day oversteps the extreme limit just can cut off driving power; Limiting vehicle continues to exceed the quata to go and work; Avoid exceeding the quata climbing, fundamentally define the safe climbing scope of vehicle, guarantee only in rational climbing scope; Vehicle just can safety work, has further improved the safeguard protection performance of vehicle.
In the another kind of specific embodiment, further comprise the filtration module that is used for filtering moment angle peak value, peak valley.Moment angle peak value, the peak valley filtering that can vehicle be produced owing to jolting like this, thus reflect the actual state in the vehicle operation process really, avoid owing to immediate inclination is sent warning, make whole system stable more, reliable.
Control method provided by the invention is applicable to said control system, because said control system has above-mentioned technique effect, this control method also should possess the corresponding techniques effect.
Description of drawings
Fig. 1 is the structural representation of a kind of specific embodiment of buck raker anti-rollover control system provided by the present invention;
Fig. 2 is the control principle figure of a kind of specific embodiment of buck raker anti-rollover control system provided by the present invention;
Fig. 3 is the FB(flow block) of a kind of specific embodiment of the anti-tipping control method of buck raker provided by the present invention.
Among the figure:
1. the obliquity sensor 2. controller 3-1. first relay 3-2. second relay 3-3. the 3rd relay 4. yellow alarm lamps 5. red alarm lamps 6. buzzers 7. are controlled Displaying Meter 8.CAN buses 9. walking electromagnetic valves 10. filtration modules
The specific embodiment
Core of the present invention provides a kind of buck raker anti-rollover control system.This system can reach at buck raker send alarm signal when setting the warning angle, remind timely and effectively the driver carefully drive, can not over proof ramp angle, thereby guarantee the safety of driver and vehicle.
Another core of the present invention provides the anti-tipping control method of a kind of buck raker.
In order to make those skilled in the art person understand the present invention program better, the present invention is done further detailed description below in conjunction with the accompanying drawing and the specific embodiment.
Please refer to Fig. 1, Fig. 2, Fig. 1 is the structural representation of a kind of specific embodiment of buck raker anti-rollover control system provided by the present invention; Fig. 2 is the control principle figure of a kind of specific embodiment of buck raker anti-rollover control system provided by the present invention.
In a kind of specific embodiment; Buck raker anti-rollover control system provided by the present invention mainly is made up of the two redundant obliquity sensor of twin shaft 1, controller 2, three relays, yellow alarm lamp 4, red alarm lamp 5, two parts such as buzzer 6, control Displaying Meter 7, CAN bus 8 and walking electromagnetic valve 9; Yellow alarm lamp 4 is installed on the casing of control Displaying Meter 7 with red alarm lamp 5, and buzzer is installed on the car body rear of buck raker.
The two redundant obliquity sensors 1 of twin shaft are installed in car body horizontal level (in the control Displaying Meter); The data of its collection are connected to the input of controller 2 through lead; Filtration module 10 can be integrated in the controller chip; Also can be external separately, controller 2 sends to control Displaying Meter 7, the comprehensive angle in the real-time demonstration vehicle operation process in instrument interface through CAN bus 8 with the data that dispose; And can carry out the voice suggestion of hommization, let the present job status of human pilot sense vehicle.
Please refer to Fig. 3, Fig. 3 is the FB(flow block) of a kind of specific embodiment of the anti-tipping control method of buck raker provided by the present invention.
As shown in the figure, at first, vehicle is placed on the ground of horizontal error in allowed band; Turn on the power switch, this moment obliquity sensor 1 ± X reaches controller 2 with the car body level angle value that ± Y gathers, after via controller 2 is handled; Through CAN bus 8 data are passed to control Displaying Meter 7; Control Displaying Meter 7 can get into through specific password be provided with the interface, to this moment the vehicle place ± X demarcates and small adjustment with ± Y numerical value, demarcate confirm after; Withdraw from that the interface being set, this moment, the state at vehicle place promptly was defaulted as horizontal null value.
After demarcating completion, in the time of vehicle operation, be contained in the interior angle of obliquity sensor 1 real-time collection vehicle 360 degree scopes with respect to the horizontal plane of car body horizontal level; The advantage of two redundant sensors be exactly can two-way acquisition angles simultaneously, and with the value of gathering real-time pass to controller 2, the angle value of 2 pairs of two-way inputs of controller compares and handles; And memory; If a circuit-switched data breaks down or when unusual, but other one tunnel operate as normal, and whole system also can smooth be moved.
The data that obliquity sensor 1 collects are through after the filtering of filtration module 10; 2 pairs of data that collect of controller are carried out delay decision and are handled; If the data after postponing, the data after then controller 2 execution are handled and the angular range contrast of default are passed through CAN bus 8 with corresponding data; Send to control Displaying Meter 7; Gauge internal can be provided with and let it demonstrate the comprehensive angle of vehicle and horizontal plane, and vehicle can be set in voice suggestions constantly such as 20 degree, 25 degree, 30 degree, reminds human pilot to note the ramp angle of vehicle constantly.
If the vehicle ramp angle is θ, when vehicle 0 °≤| θ | in the time of≤20 °, the present angle value of instrument prompting car body not being done the output of reporting to the police.
When car body 20 °＜| θ | in the time of≤25 °; Controller 2 is made response, exports to the yellow alarm lamp 4 and buzzer 6 that are driven by the first relay 3-1, and buzzer 6 low frequencies pipe; Control the voice suggestion that Displaying Meter 7 carries out hommization this moment; The prompting driver in time corrects the car body angle, after rectification finishes, and alarm release.
When car body 25 °＜| θ | in the time of≤30 °, controller 2 is made response, exports to the red alarm lamp 5 and buzzer 6 that are driven by the second relay 3-2; Buzzer 6 high-frequencies pipe, and control Displaying Meter 7 carries out the voice suggestion of hommization, and the prompting driver in time corrects the car body angle; After rectification finished, alarm release was not if human pilot is corrected; But proceed the high angle working uphill, this moment, controller 2 can respond walking electromagnetic valve 9 through the 3rd relay 3-3, at extreme position; Walking power is cut off in control walking output.
Certainly, in some operating area, the angle operation that vehicle really need be in alarm range, this moment, this was that human pilot is unwilling to see if instrument is exported with alarm lamp and piped always, can manually remove warning this moment through the setting to the control Displaying Meter.
Consider when vehicle is walked on the ground of Uneven road, can be owing to broken terrain to rock, the inclination that produces moment is reported to the police, and this obviously is that mistake is alert.To this; Can be through in whole system, adding corresponding filtering control module 10; Suitable system response time (for example 5s) is set; Moment angle peak value, the peak valley filtering that can vehicle be produced owing to jolting, thus make whole system stable more, reliable, reflect actual state, optimum state in the vehicle operation process really.
This kind control method is not only simple to operate, control reliable, and human pilot is easy to grasp the real-time working condition of vehicle, with better perception vehicle, thereby from the source with on the safety, controls vehicle better, avoided the generation of unsafe condition.
Above-mentioned buck raker anti-rollover control system only is a kind of preferred version, specifically is not limited thereto, and can make pointed adjustment according to actual needs on this basis, thereby obtain different embodiment.For example, CAN bus 8 transfer of data can change to direct signal transmission or other modes that are different from the CAN bus are transmitted; Perhaps with controller 2 and control instrument of controlling Displaying Meter 7 becoming one or the like.Because mode in the cards is more, just illustrate no longer one by one here.
This system uses simple, stable performance, and cost performance is high, can be widely used on the caterpillar tractor tool machine that each model need control the inclination of vehicle job area.
More than buck raker anti-rollover control system provided by the present invention and control method have been carried out detailed introduction.Used concrete example among this paper principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand core concept of the present invention.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (10)
1. a buck raker anti-rollover control system is characterized in that, comprises controller, obliquity sensor and warning device; The output of said obliquity sensor is connected in the input of said controller; The control output end of said controller is connected in said warning device, and when the buck raker integral inclination reached preset warning angle, said controller was controlled said warning device and sent alarm signal.
2. buck raker anti-rollover control system according to claim 1; It is characterized in that; The control output end of said controller comprises first control output end and second control output end; Said first control output end is through first relay control one-level warning device, and said second control output end is through second relay control secondary warning device.
3. buck raker anti-rollover control system according to claim 2 is characterized in that, said one-level warning device is yellow alarm lamp and buzzer, and said secondary warning device is red alarm lamp and buzzer.
4. buck raker anti-rollover control system according to claim 2 is characterized in that said controller also comprises the 3rd control output end; Said the 3rd control output end is through the walking reversing solenoid valve of relay control buck raker.
5. according to each described buck raker anti-rollover control system of claim 1 to 4, it is characterized in that, further comprise the filtration module that is used for filtering moment angle peak value, peak valley, said filtration module is integrated or be external in said controller.
6. according to each described buck raker anti-rollover control system of claim 1 to 4; It is characterized in that; Also comprise the control Displaying Meter; The demonstration output of said controller is connected in said control Displaying Meter, and said control Displaying Meter shows in the buck raker operation process the comprehensive angle with horizontal plane.
7. according to each described buck raker anti-rollover control system of claim 1 to 4, it is characterized in that said obliquity sensor is the two redundant obliquity sensors of twin shaft.
8. buck raker anti-rollover control system according to claim 7 is characterized in that, said obliquity sensor level is installed in the casing of said control Displaying Meter; The alarm lamp of said one-level warning device and secondary warning device is installed on the casing of said control Displaying Meter, and the buzzer of said one-level warning device and secondary warning device is installed on the car body rear of buck raker.
9. anti-tipping control method of buck raker may further comprise the steps:
Step 11: gather buck raker angle with respect to the horizontal plane in real time by obliquity sensor, and the angle value of gathering is passed to filtration module;
Step 12: the angle value that collects is carried out Filtering Processing by said filtration module;
Step 13: judge that by controller whether through the data after the step 12 be the data after postponing; If, then get into next step, if not, then change step 11 over to;
Step 14: said controller compares the data after handling and the angular range of setting to after handling through the data of filtering;
Step 15: more than or equal to 0 ° and smaller or equal to 20 °, warning device is not done the output of reporting to the police as if said data;
If said data are greater than 20 ° and smaller or equal to 25 °, said controller is made response, and control one-level warning device sends alarm signal, and the prompting driver in time corrects ramp angle, after rectification finishes, and alarm release;
If said data are greater than 25 ° and smaller or equal to 30 °, said controller is made response, and control secondary warning device sends alarm signal, and the prompting driver in time corrects ramp angle; Finish if correct, alarm release then, if correct, the walking electromagnetic valve of then said controller control buck raker responds, and at extreme position, cuts off walking power.
10. the anti-tipping control method of buck raker according to claim 9 is characterized in that, in said step 15, if need operation under the ramp angle of vehicle in alarm range, then manually removes and reports to the police.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101391624A CN102635145A (en) | 2012-05-07 | 2012-05-07 | Anti-overturn control system and anti-overturn control method for pushing and raking machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101391624A CN102635145A (en) | 2012-05-07 | 2012-05-07 | Anti-overturn control system and anti-overturn control method for pushing and raking machine |
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| CN102635145A true CN102635145A (en) | 2012-08-15 |
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| CN2012101391624A Pending CN102635145A (en) | 2012-05-07 | 2012-05-07 | Anti-overturn control system and anti-overturn control method for pushing and raking machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108553229A (en) * | 2017-12-31 | 2018-09-21 | 浙江英洛华康复器材有限公司 | Electric wheel-chair vehicle climbing alarming device |
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| CN201040850Y (en) * | 2007-04-19 | 2008-03-26 | 三一重机有限公司 | Anti-tipping device for hydraulic excavator |
| CN101235651A (en) * | 2007-01-29 | 2008-08-06 | 中国人民解放军63983部队 | Tipping-proof protective system |
| CN201228521Y (en) * | 2008-06-03 | 2009-04-29 | 武汉京冶地基基础工程有限责任公司 | Safety device for preventing boring rod from breaking for rotary drilling rig |
| US7555855B2 (en) * | 2005-03-31 | 2009-07-07 | Caterpillar Inc. | Automatic digging and loading system for a work machine |
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2012
- 2012-05-07 CN CN2012101391624A patent/CN102635145A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0711674A (en) * | 1993-06-23 | 1995-01-13 | Komatsu Ltd | Safety operation system for vehicle on slope |
| JP2003261964A (en) * | 2002-03-07 | 2003-09-19 | Iseki & Co Ltd | Elevation control device for tractor loader |
| US7555855B2 (en) * | 2005-03-31 | 2009-07-07 | Caterpillar Inc. | Automatic digging and loading system for a work machine |
| CN101235651A (en) * | 2007-01-29 | 2008-08-06 | 中国人民解放军63983部队 | Tipping-proof protective system |
| CN201040850Y (en) * | 2007-04-19 | 2008-03-26 | 三一重机有限公司 | Anti-tipping device for hydraulic excavator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108553229A (en) * | 2017-12-31 | 2018-09-21 | 浙江英洛华康复器材有限公司 | Electric wheel-chair vehicle climbing alarming device |
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Application publication date: 20120815 |