CN103144940A - Method, equipment, system for controlling horizontal motion of unloading belt, and milling machine - Google Patents
Method, equipment, system for controlling horizontal motion of unloading belt, and milling machine Download PDFInfo
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- CN103144940A CN103144940A CN2013100792735A CN201310079273A CN103144940A CN 103144940 A CN103144940 A CN 103144940A CN 2013100792735 A CN2013100792735 A CN 2013100792735A CN 201310079273 A CN201310079273 A CN 201310079273A CN 103144940 A CN103144940 A CN 103144940A
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Abstract
The invention discloses a method, equipment and system for controlling horizontal motion of an unloading belt, and a milling machine. The method comprises the steps that position information of current motion of the unloading belt is collected; whether the unloading belt reaches a limiting position of a current motion direction of the unloading belt is judged according to the position information; whether a barrier exists within a motion range of a relative motion direction of the unloading belt is further judged; or whether the barrier exists within the motion range in the current motion direction of the unloading belt is further judged; if the barrier exists, alarm information is sent; and if not, a set swing angle of the unloading belt is started. Through the judgment on whether the unloading belt reaches the limiting position, the problem that a steering oil cylinder consumes more oil due to the fact that a handle is operated too frequently is solved. Through the judgment on whether the barrier exists in a horizontal motion direction during a motion course of the unloading belt, the operational safety, the control precision and the motion flexibility of the unloading belt are improved, and the working efficiency of engineering machinery is improved.
Description
Technical field
The present invention relates to engineering machinery field, relate in particular to a kind of method, equipment, system and milling machine of controlling based on the discharging belt horizontal motion of milling machine.
Background technology
A kind of as construction machinery and equipment, milling machine is a kind of efficient pavement maintenance maintenance of equipment, the quality of this equipment performance directly affects the quality of road-surface milling work.Yet, the headstock part of large-scale milling machine is equipped with the discharging belt, this discharging belt is thrown in waste material to the transport trolley in milling machine the place ahead by belt in the milling machine operation process, wherein, this discharging belt has oscillating function, to guarantee that waste material can accurately be fed on transport trolley in the process of Vehicle Driving Cycle.
At present, the manually operated mode of milling machine operator is adopted in motion control to discharging belt in milling machine, when the operator finds obstacle to occur in the range of movement of discharging belt, stop immediately the motion of discharging belt, in this case, in case that the operator finds is untimely, will cause discharging belt strikes obstacles, cause damage, even injure other constructors on ground; When the operator misoperation occurs when operating, will cause larger infringement.
In addition, the discharging belt is in motion process, sometimes because inertia or operator's application force of motion are excessive, make the discharging belt surpass the scope of motion, like this, make the frequent excessive operation handle of operator, stressed and damaged when the driving oil cylinder that causes the discharging belt is long on the end position of discharging belt movement.
In sum, in the prior art, exist control accuracy lower to the control of discharging belt movement in milling machine, loss is larger, causes the ineffective problem of milling machine.
Summary of the invention
Method, equipment, system and milling machine that the embodiment of the present invention provides a kind of discharging belt horizontal motion to control, exist control accuracy lower for solving the control of prior art to discharging belt movement in milling machine, loss is larger, causes the ineffective problem of milling machine.
A kind of method that the horizontal motion of discharging belt is controlled comprises:
The location information that the current motion of the discharging belt that reception collects arrives;
Utilize described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt;
When determining the current end position that has arrived current sense of motion of discharging belt, further judge in the rightabout range of movement of the current sense of motion of discharging belt and whether have obstacle, if exist, send warning information, otherwise, start the discharging belt and swing set angle on the opposite sense of current sense of motion;
When determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, if exist, send warning information, otherwise, start the discharging belt and swing set angle on current sense of motion.
A kind of equipment that the horizontal motion of discharging belt is controlled comprises:
Receiver module is used for receiving the location information that the current motion of the discharging belt that collects arrives;
Judge module is used for utilizing described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt;
Control module, be used for when determining the current end position that has arrived current sense of motion of discharging belt, further judge in the rightabout range of movement of the current sense of motion of discharging belt and whether have obstacle, if exist, send warning information, otherwise, start the discharging belt and swing set angle on the opposite sense of current sense of motion;
When determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, if exist, send warning information, otherwise, start the discharging belt and swing set angle on current sense of motion.
A kind of system that the horizontal motion of discharging belt is controlled comprises: collecting device and control convenience, wherein:
Collecting device is used for gathering the location information that the current motion of discharging belt arrives, and sends to control convenience;
Control convenience is used for receiving the location information that the current motion of the discharging belt that collects arrives, and utilizes described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt;
When determining the current end position that has arrived current sense of motion of discharging belt, further judge in the rightabout range of movement of the current sense of motion of discharging belt and whether have obstacle, if exist, send warning information, otherwise, start the discharging belt and swing set angle on the opposite sense of current sense of motion;
When determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, if exist, send warning information, otherwise, start the discharging belt and swing set angle on current sense of motion.
A kind of milling machine comprises the system that the above-mentioned horizontal motion to the discharging belt is controlled.
Beneficial effect of the present invention is as follows:
the location information that the current motion of discharging belt that the embodiment of the present invention collects by reception arrives, utilize described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt, and when determining the current end position that has arrived sense of motion of discharging belt, further judge in the range of movement of reverse motions direction of the current sense of motion of discharging belt and whether have obstacle, send warning information when existing, start the discharging belt when not existing and swing set angle on the reverse motions direction of current sense of motion, and when determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, send warning information when existing, start the discharging belt when not existing and swing set angle on current sense of motion, compared with prior art, by whether the discharging belt being reached the limit of the judgement of position, avoided in the prior art because the larger problem of steering cylinder oil consumption too frequently appears in operating handle, by to the discharging belt in motion process to whether the judgement of obstacle is arranged on the horizontal motion direction, reduced the danger of operating process in the prior art, further improve the alerting ability of control accuracy and discharging belt movement, improved the work efficiency of construction machinery and equipment.
Description of drawings
Fig. 1 is the diagram of circuit of a kind of method that the horizontal motion of discharging belt is controlled of the embodiment of the present invention one;
Fig. 2 is a kind of structural representation of distance measuring equipment (DME);
Fig. 3 is the diagram of circuit of a kind of method that the horizontal motion of discharging belt is controlled of the embodiment of the present invention two;
Fig. 4 is the structural representation of a kind of equipment that the horizontal motion of discharging belt is controlled of the embodiment of the present invention three;
Fig. 5 is the structural representation of a kind of system that the horizontal motion of discharging belt is controlled of the embodiment of the present invention four.
The specific embodiment
in order to realize purpose of the present invention, a kind of method that the embodiment of the present invention provides discharging belt horizontal motion to control, equipment, system and milling machine, the location information that the current motion of discharging belt that collects by reception arrives, utilize described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt, and when determining the current end position that has arrived current sense of motion of discharging belt, further judge in the range of movement of reverse motions direction of the current sense of motion of discharging belt and whether have obstacle, send warning information when existing, start the discharging belt when not existing and swing set angle on the reverse motions direction of current sense of motion, and when determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, send warning information when existing, start the discharging belt when not existing and swing set angle on current sense of motion, compared with prior art, by whether the discharging belt being reached the limit of the judgement of position, avoided in the prior art because the larger problem of steering cylinder oil consumption too frequently appears in operating handle, by to the discharging belt in motion process to whether the judgement of obstacle is arranged on sense of motion, reduced the danger of operating process in the prior art, further improved the alerting ability of control accuracy and discharging belt movement, improved the work efficiency of construction machinery and equipment.
Need to prove, do in an embodiment of the present invention following restriction but be not limited to such restriction:
The positive movement of discharging belt refers to direction take Vehicle Driving Cycle as benchmark, and the discharging belt is from a lateral movement to opposite side; The inverse motion of discharging belt refers to the sense of motion opposite with positive movement.
For example: when the positive movement direction is motion from left to right, the inverse motion direction is for moving from right to left; When the positive movement direction is motion from right to left, the inverse motion direction is for moving from left to right.
Below in conjunction with Figure of description, each embodiment of the present invention is described in detail.
Embodiment one:
As shown in Figure 1, be the diagram of circuit of a kind of method that the horizontal motion of discharging belt is controlled of the embodiment of the present invention one, described method comprises:
Step 101: receive the location information that the current motion of the discharging belt that collects arrives.
Wherein: described location information is for being not more than the angle value of the angle of 90 ° in formation between a side of current location loading and unloading material belt and the body-side that this discharging belt is installed.
In step 101, the location information that the current motion of described discharging belt arrives can be to detect by position transduser to obtain, and can also be to determine by other devices, does not do restriction here.
Described other devices can comprise distance measuring equipment (DME), as shown in Figure 2, are a kind of structural representation of distance measuring equipment (DME), and described distance measuring equipment (DME) comprises: rotating shaft 1, link plate 2, Flexible Reset parts 3, distance measuring equipment (DME) 4 and range finding baffle plate 5, wherein:
Near the position of vehicle body, rotating shaft 1 is installed at the afterbody of discharging belt by the mode that pin connects;
By fixing link plate 2 on rotating shaft 1 and discharging belt 6 vertical direction;
Distance measuring equipment (DME) 4 is installed in position parallel with discharging belt 6 on link plate 2;
Flexible Reset parts 3 are installed between link plate and discharging belt, and wherein, described Flexible Reset parts are in the nature elongation state;
With the vertical direction of distance measuring equipment (DME) and the head that is positioned at the discharging belt, range finding baffle plate 5 is being installed.
Wherein, the needs that the range finding baffle plate is measured according to distance measuring equipment (DME) limit its installation, can install perpendicular to the discharging belt, also can become when mounted the angle of setting with the discharging belt.
Described set angle can be according to take rotating shaft as the center of circle, is that the tangent line of the circular arc that forms along with the link plate motion of the point of setpoint distance is definite apart from distance measuring equipment (DME).
More preferably, described Flexible Reset parts one end is connected with the discharging belt, and the other end is connected with link plate, and what the Flexible Reset parts kept moving between discharging belt and link plate in motion process is relative static.
Wherein, described distance measuring equipment (DME) is positioned at the both sides of milling machine discharging belt, and wherein, the distance measuring equipment (DME) that is positioned at discharging belt left side measures at the discharging belt whether have obstacle to the scope of left movement; The distance measuring equipment (DME) that is positioned at discharging belt right side is measured the scope that moves right at the discharging belt and whether is had obstacle.
Therefore, in the process of discharging belt movement, can determine the location information that the current motion of discharging belt arrives by the angle information of measuring the distance measuring equipment (DME) motion.
Step 102: utilize described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt, if execution in step 103; Otherwise, execution in step 106.
In step 102, describedly utilize described location information to judge that the current mode that whether arrives the end position of the current sense of motion of discharging belt of discharging belt includes but not limited to following several:
First kind of way is, when location information for be not more than the angle value of the angle of 90 ° in formation between a side of current location loading and unloading material belt and the body-side that this discharging belt is installed:
At first, the angle value with described angle value and setting compares.
The angle value of described setting can rule of thumb be determined, also can determine according to actual needs, does not do restriction here.
Need to prove that the numerical value of the angle that forms with vehicle body when the angle value of setting is greater than or equal to the discharging belt and arrives the limit of sports record position can prevent that like this discharging belt movement is long-time stressed and the problem of damage occurs to the end position steering cylinder.
Secondly, during less than the angle value set, determine that the discharging belt arrives the end position of current sense of motion when described angle value; During greater than the angle value set, determine that the discharging belt does not arrive the end position of current sense of motion when described angle value.
Particularly, less than the angle value of setting, can determine that the current motion of discharging belt has arrived the end position of this horizontal motion direction when described angle value, need to adjust sense of motion; During greater than the angle value set, can determine that the current motion of discharging belt not yet arrives the end position of this horizontal motion direction when described angle value.
The second way is to determine by the current location of measuring link plate in distance measuring equipment (DME) whether the discharging belt arrives the end position of present level sense of motion.
Whether the current location that at first, judges link plate in distance measuring equipment (DME) contacts with the vehicle body of milling machine.
Secondly, when the current location of link plate in distance measuring equipment (DME) has contacted with the vehicle body of milling machine, determine that the discharging belt arrives the end position of current sense of motion; The current location of link plate not yet contacts with the vehicle body of milling machine in distance measuring equipment (DME), determines that the discharging belt does not arrive the end position of current sense of motion.
More preferably, measure in distance measuring equipment (DME) link plate place current location apart from the distance of vehicle body, and the distance of the distance that will measure and setting compares, further according to comparative result, determine whether the discharging belt arrives the end position of current sense of motion.
Particularly, when the distance that measures greater than set apart from the time, determine that the discharging belt does not arrive the end position of present level sense of motion; When the distance that measures be not more than setting apart from the time, determine that the discharging belt has arrived the end position of present level sense of motion.
Particularly, when described present level sense of motion is the positive movement direction, the opposite sense of present level sense of motion is the inverse motion direction; When described present level sense of motion is the inverse motion direction, the opposite sense of present level sense of motion is the positive movement direction.
Need to prove, measure link plate place current location in distance measuring equipment (DME) and can obtain by approach switch apart from the distance of vehicle body, namely whether link plate detected near vehicle body by sensor, what are apart from the distance of vehicle body.
The third mode is, the distance value that records by distance measuring equipment (DME) relatively and the size of setpoint distance value.
Particularly, at first, measured from distance measuring equipment (DME) to the distance value the range finding baffle plate by distance measuring equipment (DME).
Secondly, the described distance value that measures and setting value are compared.
The 3rd, when recording distance value greater than setting value, belt movement is described to end position, this moment, link plate contacted concurrent the male character types in Chinese operas, usu. referring tov the bearded character degree variation with vehicle body; When recording distance value and be not more than setting value, illustrate that belt does not move to the end position of horizontal motion direction.
Need to prove, the prerequisite that adopts the third mode be the range finding baffle plate the installation site for the head of belt and with the move tangent line of the circular arc that forms parallel position of the point of rotating shaft as the distance of center circle distance measuring equipment (DME) as setpoint distance on link plate.
Step 103: when determining the current end position that has arrived the present level sense of motion of discharging belt, judge in the rightabout range of movement of discharging belt present level sense of motion whether have obstacle, if existence, execution in step 104; Otherwise, execution in step 105.
Particularly, in step 103, when determining the current end position that has arrived positive movement of discharging belt, at this moment, the discharging belt can not need to change sense of motion according to the direction motion again, transfer to according to the motion of reverse direction, therefore, need to judge that the discharging belt carries out according to reverse direction whether having obstacle in the scope of horizontal motion.
When determining the current end position that has arrived inverse motion of discharging belt, at this moment, the discharging belt can not need to change sense of motion according to reverse direction motion again, transfer to according to direction and moving, therefore, need to judge in the scope that the discharging belt moves according to direction whether have obstacle.
Whether exist the method for obstacle to include but not limited to following mode in the described rightabout range of movement that judges the current sense of motion of discharging belt:
First kind of way is:
At first, in the rightabout range of movement of the current sense of motion of discharging belt, scan whether there is object in this range of movement.
Secondly, when having object in determining this range of movement, measure afterbody from the discharging belt to the straight-line distance between the object that can measure.
The 3rd, receive measure from the afterbody of discharging belt to the straight-line distance between the object that can measure;
The 4th, the distance of described straight-line distance and setting is compared.
Wherein, the distance of described setting is to arrive distance between the head of discharging belt from the afterbody of discharging belt.
Need to prove, the distance that arrives from the afterbody of discharging belt between the head of discharging belt is straight-line distance.
The 5th, when described straight-line distance less than set apart from the time, determine that the described object that can measure is the obstacle in the discharging belt movement, when described straight-line distance is not less than setpoint distance, determine that the described object that can measure is not the obstacle in the discharging belt movement.
The second way is:
At first, distance measuring equipment (DME) detects the object that can measure in the range of movement of discharging belt, and measures the distance of this object distance distance measuring equipment (DME);
Secondly, the distance that the measures distance with setting is compared.
Wherein, the distance of described setting is the straight-line distance between the distance measuring equipment (DME) installed on the discharging belt and range finding baffle plate.
The 3rd, when the distance that measures less than set apart from the time, determine that the described object that can measure is the obstacle in the discharging belt movement, when the distance that measures be not less than setting apart from the time, determine that the described object that can measure is not the obstacle in the discharging belt movement.
Step 104: when having obstacle in the rightabout range of movement of discharging belt at current sense of motion, send warning information, and stop the rotation of discharging belt, turn to execution in step 101.
Step 105: when not having obstacle in the rightabout range of movement of discharging belt at current sense of motion, to discharging belt sending controling instruction, start the discharging belt and swing set angle on the opposite sense of current sense of motion.
Particularly, in step 105, when the current end position that is in positive movement of discharging belt, and definite discharging belt is not when constantly there is obstacle in next in the range of movement on inverse motion direction, to discharging belt sending controling instruction, start the reverse swing set angle of discharging belt, turn to execution in step 101.
When the current end position that is in inverse motion of discharging belt, and definite discharging belt is not when constantly there is obstacle in next in the range of movement on positive movement direction, to discharging belt sending controling instruction, start discharging belt forward and swing set angle, turn to execution in step 101.
Wherein, described set angle refers to that the discharging belt receives the angle that swings after control command, have unexpectedly incident in discharging belt rotation process, the angle value that needs the discharging belt to swing in the time of can determining each sending controling instruction, the angle value of this setting can be changeless, can also input according to actual needs, not do restriction here.
Step 106: when determining the current end position that does not arrive current sense of motion of discharging belt, judge whether the discharging belt exists obstacle in range of movement on current sense of motion, if existence, execution in step 107; Otherwise, execution in step 108.
Particularly, in step 106, judge whether the discharging belt exists the mode of obstacle identical with the mode of step 103 in range of movement on current sense of motion, no longer repeat specification here.
Step 107: when having obstacle in the range of movement of discharging belt on current sense of motion, send warning information.
Particularly, in step and 107, when having obstacle in the range of movement of discharging belt on current sense of motion, illustrate that the discharging belt obstacle occurs on current sense of motion, can't continue to move on current sense of motion, need to remind the operator to find obstacle.
More preferably, when having obstacle on the current sense of motion of definite discharging belt, can adopt the mode of step 103 to judge on the opposite sense of current sense of motion whether have obstacle, if exist, stop the motion of discharging belt, and send alarm; If do not exist, start the discharging belt and swing set angle on the opposite sense of current sense of motion, turn to execution in step 101.
Perhaps, when having obstacle on the current sense of motion of definite discharging belt, in order to prevent that the discharging belt is because obstacle is arrived in the inertial impaction of motion, can start the sense of motion that changes the discharging belt this moment, swing set angle on the opposite sense of the current sense of motion of discharging belt, at this moment, the described set angle number of degrees are less, effect is to make the discharging belt away from the obstacle on current sense of motion, and carries out whether there being the decision operation of obstacle on the opposite sense of current sense of motion.
Step 108: when not having obstacle in the range of movement of discharging belt on current sense of motion, start the discharging belt and swing set angle on current sense of motion.
Particularly, in step 108, when not having obstacle in the range of movement of discharging belt on current sense of motion, explanation can continue to rotate on current sense of motion, to discharging belt sending controling instruction, start the discharging belt and swing set angle on current sense of motion, turn to execution in step 101.
For example: when not having obstacle in the range of movement of discharging belt on the positive movement direction, explanation can continue to swing on the positive movement direction, to discharging belt sending controling instruction, start the discharging belt and swing set angle on the positive movement direction, turn to execution in step 101.
When not having obstacle in the range of movement of discharging belt on the inverse motion direction, explanation can continue to swing on the inverse motion direction, to discharging belt sending controling instruction, start the discharging belt and swing set angle on the inverse motion direction, turn to execution in step 101.
Need to prove, the meaning of the set angle in the set angle in step 108 and step 105 is identical.
scheme by the embodiment of the present invention one, the location information that the current motion of the discharging belt that reception collects arrives, utilize described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt, and when determining the current end position that has arrived current sense of motion of discharging belt, further judge in the range of movement of reverse motions direction of the current sense of motion of discharging belt and whether have obstacle, send warning information when existing, start the discharging belt when not existing to the reverse motions direction swing set angle of current sense of motion, and when determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, send warning information when existing, start the discharging belt when not existing and swing set angle on current sense of motion, compared with prior art, by whether the discharging belt being reached the limit of the judgement of position, avoided in the prior art because the larger problem of steering cylinder oil consumption too frequently appears in operating handle, by to the discharging belt in motion process to whether the judgement of obstacle is arranged on sense of motion, reduced the danger of operating process in the prior art, further improved the alerting ability of control accuracy and discharging belt movement, improved the work efficiency of construction machinery and equipment.
Embodiment two:
As shown in Figure 3, be the diagram of circuit of a kind of method that the horizontal motion of discharging belt is controlled of the embodiment of the present invention two, the embodiment of the present invention two is detailed descriptions of each step of the embodiment of the present invention one.The embodiment of the present invention two swings (namely swing process) to the right take discharging belt forward and describes as example.
Step 201: gather the nearest object of discharging belt both sides distance ranging device on discharging Belt Length direction to the straight-line distance of distance measuring equipment (DME).
Wherein, the left side straight-line distance that measures is a; The right side straight-line distance that measures is b.
Step 202: determine discharging belt current position.
Particularly, in step 202, gathered the location information of the current position of discharging belt by collecting device, and this location information is sent to control convenience;
Control convenience is determined discharging belt current position according to the described location information that receives.
Step 203: utilize described location information to judge the current end position that whether arrives discharging belt positive movement of discharging belt, if execution in step 204; Otherwise, execution in step 207.
Particularly, in step 203, determine that by the current location of measuring link plate in distance measuring equipment (DME) whether the discharging belt arrives the end position of current sense of motion, specifically comprises:
Whether the current location that at first, judges link plate in distance measuring equipment (DME) contacts with the vehicle body of milling machine.
Secondly, when the current location of link plate in distance measuring equipment (DME) has contacted with the vehicle body of milling machine, determine the current end position that moves to of discharging belt; The current location of link plate not yet contacts with the vehicle body of milling machine in distance measuring equipment (DME), determines that the current not motion of discharging belt arrives end position.
Step 204: when determining the current end position that has arrived horizontal positive movement of discharging belt, judge in the horizontal inverse motion scope of discharging belt whether have obstacle, if existence, execution in step 205; Otherwise, execution in step 206.
Particularly, in step 204, a that step 201 is collected and the distance H of setting compare, and wherein, the distance H of described setting is the distance measuring equipment (DME) installed on the discharging belt and the straight-line distance between the range finding baffle plate; During less than H, determine that the described object that can measure is the obstacle in the discharging belt movement as a, when a is not less than H, determine that the described object that can measure is not the obstacle in the discharging belt movement.
Step 205: when having obstacle in the range of movement of discharging belt on horizontal inverse motion direction, send warning information, and stop the swing of discharging belt, finish.
Step 206: when not having obstacle in the range of movement of discharging belt on the inverse motion direction, to discharging belt sending controling instruction, start the discharging belt and swing set angle left.
Need to prove, when the discharging belt arrives the end position of a certain side, need to adjust the direction of motion.
Step 207: when determining the current end position that does not arrive horizontal positive movement of discharging belt, judge whether the discharging belt exists obstacle in range of movement on horizontal positive movement direction, if existence, execution in step 208; Otherwise, execution in step 209.
Step 208: when having obstacle in the range of movement of discharging belt on horizontal positive movement direction, send warning information.
Step 209: when not having obstacle in the range of movement of discharging belt on horizontal positive movement direction, start the discharging belt and swing set angle on the positive movement direction.
scheme by the embodiment of the present invention two, whether the discharging belt is reached the limit of the judgement of position, and when determining to reach the limit of the position, in time adjust the sense of motion of discharging belt, the convertible valve that has effectively prevented discharging belt discharging belt after the swinging to end position still long charged steering cylinder that causes is long-time stressed and impaired at end position, in addition discharging belt movement scope is detected, avoided obstacle but the discharging belt movement abends or occurs than hazard event, improved the safety of engineer machinery operation, the damage of effectively having avoided discharging belt strikes obstacles to occur.
Embodiment three:
As shown in Figure 4, be the structural representation of a kind of equipment that the horizontal motion of discharging belt is controlled of the embodiment of the present invention three, described equipment comprises: receiver module 11, judge module 12 and control module 13, wherein:
Receiver module 11 is used for receiving the location information that the current motion of the discharging belt that collects arrives;
Judge module 12 is used for utilizing described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt;
Control module 13, be used for when determining the current end position that has arrived current sense of motion of discharging belt, further judge in the rightabout range of movement of the current sense of motion of discharging belt and whether have obstacle, if exist, send warning information, otherwise, start the discharging belt and swing set angle on the opposite sense of current sense of motion;
When determining the current end position that does not arrive current motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, if exist, send warning information, otherwise, start the discharging belt and swing set angle on current sense of motion.
Particularly, described location information is for being not more than the angle value of the angle of 90 ° in formation between a side of current location loading and unloading material belt and the body-side that this discharging belt is installed.
Described judge module 12 specifically comprises: relatively subelement 21 and first is determined subelement 22, wherein:
Relatively subelement 21, be used for the angle value of described angle value and setting is compared;
First determines subelement 22, is used for when described angle value determining the end position of the current sense of motion of arrival during less than the angle value set;
During greater than the angle value set, determine that the discharging belt does not arrive the end position of current sense of motion when described angle value.
Particularly, described control module 13 specifically comprises: second receives subelement 23, contrast subunit 24 and second definite subelement 25, wherein:
Second receives subelement 23, is used in the range of movement on the current sense of motion of discharging belt, receive measure from the afterbody of discharging belt to the vertical distance between the object that can measure;
Contrast subunit 24 is used for the distance of described vertical distance and setting is compared, and wherein, the distance of described setting is from the distance between the head of the afterbody arrival discharging belt of discharging belt;
Second determines subelement 25, be used for when described vertical distance less than setting apart from the time, determine that the described object that can measure is the obstacle in the discharging belt movement;
When described vertical distance is not less than setpoint distance, determine that the described object that can measure is not the obstacle in the discharging belt movement.
Embodiment four:
As shown in Figure 5, be the structural representation of a kind of system that the horizontal motion of discharging belt is controlled of the embodiment of the present invention four, described system comprises: collecting device 31 and control convenience 32, wherein:
Collecting device 31 is used for gathering the location information that the current motion of discharging belt arrives, and sends to control convenience;
When determining the current end position that has arrived current sense of motion of discharging belt, further judge in the rightabout range of movement of the current sense of motion of discharging belt and whether have obstacle, if exist, send warning information, otherwise, start the discharging belt and swing set angle on the opposite sense of current sense of motion;
When determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, if exist, send warning information, otherwise, start the discharging belt and swing set angle on current sense of motion.
Particularly, described location information is for being not more than the angle value of the angle of 90 ° in formation between a side of current location loading and unloading material belt and the body-side that this discharging belt is installed.
Described control convenience 32, concrete being used for compares the angle value of described angle value and setting, when described angle value during less than the angle value set, determine that the discharging belt arrives the end position of current sense of motion, during greater than the angle value set, determine that the discharging belt does not arrive the end position of current sense of motion when described angle value.
More preferably, described system also comprises: distance measuring equipment (DME) 33, wherein:
Distance measuring equipment (DME) 33 is used in the range of movement on the current sense of motion of discharging belt, measures afterbody from the discharging belt to the vertical distance between the object that can measure, and sends to control convenience.
Described control convenience 32, concrete be used for receiving measure from the afterbody of discharging belt to the vertical distance between the object that can measure, the distance of described vertical distance and setting is compared, wherein, the distance of described setting is to arrive distance between the head of discharging belt from the afterbody of discharging belt;
When described vertical distance less than set apart from the time, determine that the described object that can measure is the obstacle in the discharging belt movement;
When described vertical distance is not less than setpoint distance, determine that the described object that can measure is not the obstacle in the discharging belt movement.
Need to prove, in the embodiment of the present invention four, control convenience can be the equipment described in the embodiment of the present invention three; Described distance measuring equipment (DME) can be the described distance measuring equipment (DME) of Fig. 1, does not do restriction here.
The present invention also provides a kind of milling machine, comprises the system that the above-mentioned horizontal motion to the discharging belt is controlled.
Obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of claim of the present invention and equivalent technologies thereof, the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1. the method that the horizontal motion of discharging belt is controlled, is characterized in that, comprising:
The location information that the current motion of the discharging belt that reception collects arrives;
Utilize described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt;
When determining the current end position that has arrived current sense of motion of discharging belt, further judge in the rightabout range of movement of the current sense of motion of discharging belt and whether have obstacle, if exist, send warning information, otherwise, start the discharging belt and swing set angle on the opposite sense of current sense of motion;
When determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, if exist, send warning information, otherwise, start the discharging belt and swing set angle on current sense of motion.
2. the method for claim 1, is characterized in that, described location information is for being not more than the angle value of the angle of 90 ° in formation between a side of current location loading and unloading material belt and the body-side that this discharging belt is installed;
Describedly utilize described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt, specifically comprise:
The angle value of described angle value and setting is compared;
During less than the angle value set, determine that the discharging belt arrives the end position of current sense of motion when described angle value;
During greater than the angle value set, determine that the discharging belt does not arrive the end position of current sense of motion when described angle value.
3. the method for claim 1, is characterized in that, whether has obstacle in the described range of movement that judges the current sense of motion of discharging belt, specifically comprises:
In range of movement on the current sense of motion of discharging belt, receive measure from the afterbody of discharging belt to the straight-line distance between the object that can measure;
The distance of described straight-line distance and setting is compared, and wherein, the distance of described setting is from the distance between the head of the afterbody arrival discharging belt of discharging belt;
When described straight-line distance less than set apart from the time, determine that the described object that can measure is the obstacle in the discharging belt movement;
When described straight-line distance is not less than setpoint distance, determine that the described object that can measure is not the obstacle in the discharging belt movement.
4. the equipment that the horizontal motion of discharging belt is controlled, is characterized in that, comprising:
Receiver module is used for receiving the location information that the current motion of the discharging belt that collects arrives;
Judge module is used for utilizing described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt;
Control module, be used for when determining the current end position that has arrived current sense of motion of discharging belt, further judge in the rightabout range of movement of the current sense of motion of discharging belt and whether have obstacle, if exist, send warning information, otherwise, start the discharging belt and swing set angle on the opposite sense of current sense of motion;
When determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, if exist, send warning information, otherwise, start the discharging belt and swing set angle on current sense of motion.
5. equipment as claimed in claim 4, is characterized in that, described location information is for being not more than the angle value of the angle of 90 ° in formation between a side of current location loading and unloading material belt and the body-side that this discharging belt is installed;
Described judge module specifically comprises:
Relatively subelement, be used for the angle value of described angle value and setting is compared;
First determines subelement, is used for when described angle value determining the end position of the current sense of motion of discharging belt arrival during less than the angle value set;
During greater than the angle value set, determine that the discharging belt does not arrive the end position of current sense of motion when described angle value.
6. equipment as claimed in claim 5, is characterized in that, described control module specifically comprises:
Second receives subelement, is used in the range of movement on the current sense of motion of discharging belt, receive measure from the afterbody of discharging belt to the vertical distance between the object that can measure;
Contrast subunit is used for the distance of described vertical distance and setting is compared, and wherein, the distance of described setting is from the distance between the head of the afterbody arrival discharging belt of discharging belt;
Second determines subelement, be used for when described vertical distance less than setting apart from the time, determine that the described object that can measure is the obstacle in the discharging belt movement;
When described vertical distance is not less than setpoint distance, determine that the described object that can measure is not the obstacle in the discharging belt movement.
7. the system that the horizontal motion of discharging belt is controlled, is characterized in that, comprising: collecting device and control convenience, wherein:
Collecting device is used for gathering the location information that the current motion of discharging belt arrives, and sends to control convenience;
Control convenience is used for receiving the location information that the current motion of the discharging belt that collects arrives, and utilizes described location information to judge the current end position that whether arrives the current sense of motion of discharging belt of discharging belt;
When determining the current end position that has arrived current sense of motion of discharging belt, further judge in the rightabout range of movement of the current sense of motion of discharging belt and whether have obstacle, if exist, send warning information, otherwise, start the discharging belt and swing set angle on the opposite sense of current sense of motion;
When determining the current end position that does not arrive current sense of motion of discharging belt, further judge whether the discharging belt exists obstacle in range of movement on current sense of motion, if exist, send warning information, otherwise, start the discharging belt and swing set angle on current sense of motion.
8. system as claimed in claim 7, is characterized in that, described collecting device specifically comprises: distance measuring equipment (DME), wherein:
Distance measuring equipment (DME) is used in the range of movement on the current sense of motion of discharging belt, measures afterbody from the discharging belt to the vertical distance between the object that can measure, and sends to control convenience;
Described control convenience, concrete be used for receiving measure from the afterbody of discharging belt to the vertical distance between the object that can measure, the distance of described vertical distance and setting is compared, wherein, the distance of described setting is to arrive distance between the head of discharging belt from the afterbody of discharging belt;
When described vertical distance less than set apart from the time, determine that the described object that can measure is the obstacle in the discharging belt movement;
When described vertical distance is not less than setpoint distance, determine that the described object that can measure is not the obstacle in the discharging belt movement.
9. system as claimed in claim 8, is characterized in that, described distance measuring equipment (DME) specifically comprises: rotating shaft, link plate, Flexible Reset parts, distance measuring equipment (DME) and range finding baffle plate, wherein:
Near the position of vehicle body, rotating shaft is installed at the afterbody of discharging belt by the mode that pin connects;
By fixing link plate on rotating shaft and discharging belt vertical direction;
Distance measuring equipment (DME) is installed in position parallel with the discharging belt on link plate;
The Flexible Reset parts are installed between link plate and discharging belt, and wherein, described Flexible Reset parts are in the nature elongation state;
With the vertical direction of distance measuring equipment (DME) and the head that is positioned at the discharging belt, the range finding baffle plate is being installed.
10. a milling machine, is characterized in that, comprises as arbitrary described system in claim 7-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310079273.5A CN103144940B (en) | 2013-03-13 | 2013-03-13 | Method, equipment, system for controlling horizontal motion of unloading belt, and milling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310079273.5A CN103144940B (en) | 2013-03-13 | 2013-03-13 | Method, equipment, system for controlling horizontal motion of unloading belt, and milling machine |
Publications (2)
| Publication Number | Publication Date |
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| CN103144940A true CN103144940A (en) | 2013-06-12 |
| CN103144940B CN103144940B (en) | 2015-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310079273.5A Active CN103144940B (en) | 2013-03-13 | 2013-03-13 | Method, equipment, system for controlling horizontal motion of unloading belt, and milling machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116695110A (en) * | 2023-08-07 | 2023-09-05 | 烟台锐盛汽车模具有限公司 | Surface treatment device for castings |
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| DE19726122A1 (en) * | 1997-06-20 | 1999-01-28 | Wirtgen Gmbh | Device for milling off floor coverings, in particular roadways |
| CN1605681A (en) * | 2003-10-10 | 2005-04-13 | 沃特根股份有限公司 | Road milling machine with steering device |
| CN102644232A (en) * | 2012-05-09 | 2012-08-22 | 中联重科股份有限公司 | Control method and control device of milling machine and milling machine |
| CN102839596A (en) * | 2012-09-17 | 2012-12-26 | 中联重科股份有限公司 | Method, equipment and system for controlling belt of milling machine and milling machine |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19726122A1 (en) * | 1997-06-20 | 1999-01-28 | Wirtgen Gmbh | Device for milling off floor coverings, in particular roadways |
| CN1605681A (en) * | 2003-10-10 | 2005-04-13 | 沃特根股份有限公司 | Road milling machine with steering device |
| CN102644232A (en) * | 2012-05-09 | 2012-08-22 | 中联重科股份有限公司 | Control method and control device of milling machine and milling machine |
| CN102839596A (en) * | 2012-09-17 | 2012-12-26 | 中联重科股份有限公司 | Method, equipment and system for controlling belt of milling machine and milling machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116695110A (en) * | 2023-08-07 | 2023-09-05 | 烟台锐盛汽车模具有限公司 | Surface treatment device for castings |
| CN116695110B (en) * | 2023-08-07 | 2023-10-24 | 烟台锐盛汽车模具有限公司 | Surface treatment device for castings |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103144940B (en) | 2015-05-13 |
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