CN103144940B - 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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- CN103144940B CN103144940B CN201310079273.5A CN201310079273A CN103144940B CN 103144940 B CN103144940 B CN 103144940B CN 201310079273 A CN201310079273 A CN 201310079273A CN 103144940 B CN103144940 B CN 103144940B
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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, particularly relate to method, equipment, system and milling machine that a kind of discharging belt horizontal motion based on milling machine controls.
Background technology
As the one of construction machinery and equipment, milling machine is the maintenance of equipment of a kind of pavement maintenance efficiently, and the quality of this equipment performance directly affects the quality of road-surface milling work.But, the headstock part of large-scale milling machine is provided with discharging belt, waste material is thrown in on the transport trolley in milling machine front by belt by this discharging belt in milling machine operation process, wherein, this discharging belt has oscillating function, to ensure accurately to be fed on transport trolley in the process that waste material can travel at vehicle.
At present, the manually operated mode of milling machine operator is adopted to the motion control of discharging belt in milling machine, when operator finds to occur obstacle in the range of movement of discharging belt, stop the motion of discharging belt immediately, in this case, once operator finds not in time, discharging belt strikes obstacles will be caused, cause damage, even injure other constructors on ground; When operator occurs misoperation when operating, larger infringement will be caused.
In addition, discharging belt is in motion process, sometimes because motion inertia or operator's application force excessive, discharging belt is exceeded motion scope, like this, make the frequent excessive operation handle of operator, stressed and damaged when causing the driving oil cylinder of discharging belt long on the end position of discharging belt movement.
In sum, in the prior art, there is control accuracy lower to the control of discharging belt movement in milling machine, loss is comparatively large, causes the ineffective problem of milling machine.
Summary of the invention
Embodiments provide method, equipment, system and milling machine that a kind of discharging belt horizontal motion controls, for solving, to there is control accuracy to the control of discharging belt movement in milling machine in prior art lower, loss is comparatively large, causes the ineffective problem of milling machine.
To the method that the horizontal motion of discharging belt controls, comprising:
Receive the location information of the discharging belt current kinetic arrival collected;
Described location information is utilized to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt;
When determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further rightabout range of movement judging discharging belt current kinetic direction, if exist, then send warning information, otherwise, start discharging belt and swing set angle on the opposite sense in current kinetic direction;
When determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, if exist, then send warning information, otherwise, start discharging belt and swing set angle on current kinetic direction.
To the equipment that the horizontal motion of discharging belt controls, comprising:
Receiver module, for receiving the location information of the discharging belt current kinetic arrival collected;
Judge module, judges the current end position whether arriving discharging belt current kinetic direction of discharging belt for utilizing described location information;
Control module, for when determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further rightabout range of movement judging discharging belt current kinetic direction, if exist, then send warning information, otherwise, start discharging belt and swing set angle on the opposite sense in current kinetic direction;
When determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, if exist, then send warning information, otherwise, start discharging belt and swing set angle on current kinetic direction.
To the system that the horizontal motion of discharging belt controls, comprising: collecting device and control convenience, wherein:
Collecting device, for gathering the location information that discharging belt current kinetic arrives, and sends to control convenience;
Control convenience, for receiving the location information of the discharging belt current kinetic arrival collected, utilizes described location information to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt;
When determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further rightabout range of movement judging discharging belt current kinetic direction, if exist, then send warning information, otherwise, start discharging belt and swing set angle on the opposite sense in current kinetic direction;
When determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, if exist, then send warning information, otherwise, start discharging belt and swing set angle on current kinetic direction.
A kind of milling machine, comprises the above-mentioned system controlled the horizontal motion of discharging belt.
Beneficial effect of the present invention is as follows:
The embodiment of the present invention is by receiving the location information of the discharging belt current kinetic arrival collected, described location information is utilized to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt, and when determining that discharging belt is current and having arrived the end position of sense of motion, whether obstacle is there is in the further range of movement judging the reverse motions direction in discharging belt current kinetic direction, warning information is sent when existing, start discharging belt when not existing and swing set angle on the reverse motions direction in current kinetic direction, and when determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, warning information is sent when existing, start discharging belt when not existing and swing set angle on current kinetic direction, compared with prior art, by whether reaching the limit of the judgement of position to discharging belt, avoid in prior art and occur because operating handle is too frequent the problem that steering cylinder oil consumption is larger, by to discharging belt in motion process to the judgement whether horizontal motion direction having obstacle, reduce the danger of operating process in prior art, further increase the alerting ability of control accuracy and discharging belt movement, improve the work efficiency of construction machinery and equipment.
Accompanying drawing explanation
Fig. 1 is a kind of diagram of circuit to the method that the horizontal motion of discharging belt controls of the embodiment of the present invention one;
Fig. 2 is a kind of structural representation of distance measuring equipment (DME);
Fig. 3 is a kind of diagram of circuit to the method that the horizontal motion of discharging belt controls of the embodiment of the present invention two;
Fig. 4 is a kind of structural representation to the equipment that the horizontal motion of discharging belt controls of the embodiment of the present invention three;
Fig. 5 is a kind of structural representation to the system that the horizontal motion of discharging belt controls of the embodiment of the present invention four.
Detailed description of the invention
In order to realize object of the present invention, embodiments provide a kind of method that discharging belt horizontal motion controls, equipment, system and milling machine, by receiving the location information of the discharging belt current kinetic arrival collected, described location information is utilized to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt, and when determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further range of movement judging the reverse motions direction in discharging belt current kinetic direction, warning information is sent when existing, start discharging belt when not existing and swing set angle on the reverse motions direction in current kinetic direction, and when determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, warning information is sent when existing, start discharging belt when not existing and swing set angle on current kinetic direction, compared with prior art, by whether reaching the limit of the judgement of position to discharging belt, avoid in prior art and occur because operating handle is too frequent the problem that steering cylinder oil consumption is larger, by to discharging belt in motion process to the judgement whether sense of motion having obstacle, reduce the danger of operating process in prior art, further increase the alerting ability of control accuracy and discharging belt movement, improve the work efficiency of construction machinery and equipment.
It should be noted that, do following restriction in an embodiment of the present invention but be not limited to such restriction:
The positive movement of discharging belt refers to that discharging belt moves to opposite side from side with the direction of vehicle traveling for benchmark; The inverse motion of discharging belt refers to the sense of motion contrary with positive movement.
Such as: when positive movement direction is for move from left to right, then inverse motion direction is for move from right to left; When positive movement direction is for move from right to left, then inverse motion direction is for move 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 a kind of diagram of circuit to the method that the horizontal motion of discharging belt controls of the embodiment of the present invention one, described method comprises:
Step 101: the location information receiving the discharging belt current kinetic arrival collected.
Wherein: described location information is the angle value forming the angle being not more than 90 ° between a side and the body-side being provided with this discharging belt of current location loading and unloading material belt.
In a step 101, the location information that described discharging belt current kinetic arrives can be detected by position transduser to obtain, and can also be determined by other devices, not limit here.
Other devices described can comprise distance measuring equipment (DME), and as shown in Figure 2, be a kind of structural representation of distance measuring equipment (DME), 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:
The mode connect by pin installs rotating shaft 1 at the afterbody of discharging belt near the position of vehicle body;
By rotating shaft 1 and discharging belt 6 vertical direction fix link plate 2;
Distance measuring equipment (DME) 4 is installed in position parallel with discharging belt 6 on link plate 2;
Between link plate and discharging belt, install Flexible Reset parts 3, wherein, described Flexible Reset parts are in nature elongation state;
In the vertical direction with distance measuring equipment (DME) and the head being positioned at discharging belt installs baffle plate 5 of finding range.
Wherein, range finding baffle plate limited its installation according to needing of measuring of distance measuring equipment (DME), can install, the angle that also can become to set with discharging belt when mounted perpendicular to discharging belt.
Described set angle can according to taking rotating shaft as the center of circle, is that the point of setpoint distance is determined along with the move tangent line of the circular arc formed of link plate apart from distance measuring equipment (DME).
More preferably, described Flexible Reset parts one end is connected with discharging belt, and the other end is connected with link plate, and in motion process, Flexible Reset parts keep the geo-stationary moved between discharging belt and link plate.
Wherein, described distance measuring equipment (DME) is positioned at the both sides of milling machine discharging belt, wherein, is positioned at distance measuring equipment (DME) on the left of discharging belt and measures whether there is obstacle at discharging belt to the scope of left movement; The distance measuring equipment (DME) be positioned on the right side of discharging belt is measured the scope moved right at discharging belt and whether be there is obstacle.
Therefore, in the process of discharging belt movement, the location information that can be arrived by the angle information determination discharging belt current kinetic measuring distance measuring equipment (DME) motion.
Step 102: utilize described location information to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt, if so, then performs step 103; Otherwise, perform step 106.
In a step 102, described utilize described location information to judge the current mode whether arriving the end position in discharging belt current kinetic direction of discharging belt includes but not limited to following several:
First kind of way is, when location information is the angle value forming the angle being not more than 90 ° between a side and the body-side being provided with this discharging belt of current location loading and unloading material belt, then:
First, the angle value of described angle value and setting is compared.
The angle value of described setting can rule of thumb be determined, also can determine according to actual needs, not limit here.
It should be noted that, the angle value of setting is greater than or equal to the numerical value of the angle formed with vehicle body when discharging belt arrives limit of sports record position, and discharging belt movement can be prevented so stressed for a long time and occur the problem of damage to end position steering cylinder.
Secondly, when described angle value is less than the angle value of setting, determine that discharging belt arrives the end position in current kinetic direction; When described angle value is greater than the angle value of setting, determine that discharging belt does not arrive the end position in current kinetic direction.
Particularly, when described angle value is less than the angle value of setting, can determine that discharging belt current kinetic has arrived the end position in this horizontal motion direction, need to adjust sense of motion; When described angle value is greater than the angle value of setting, can determine that discharging belt current kinetic not yet arrives the end position in this horizontal motion direction.
The second way is, whether is arrived the end position of present level sense of motion by the current location determination discharging belt measuring link plate in distance measuring equipment (DME).
First, judge whether the current location of 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) contacts with the vehicle body of milling machine, determine that discharging belt arrives the end position in current kinetic direction; When the current location of link plate in distance measuring equipment (DME) not yet contacts with the vehicle body of milling machine, determine that discharging belt does not arrive the end position in current kinetic direction.
More preferably, measure the distance of link plate place current location distance vehicle body in distance measuring equipment (DME), and the distance measuring distance and the setting obtained is compared, further according to comparative result, determine whether discharging belt arrives the end position in current kinetic direction.
Particularly, when measuring the distance obtained and being greater than the distance of setting, determine that discharging belt does not arrive the end position of present level sense of motion; When measuring the distance obtained and being not more than the distance of setting, determine that discharging belt has arrived the end position of present level sense of motion.
Particularly, when described present level sense of motion is positive movement direction, then the opposite sense of present level sense of motion is inverse motion direction; When described present level sense of motion is inverse motion direction, then the opposite sense of present level sense of motion is positive movement direction.
It should be noted that, the distance measuring link plate place current location distance vehicle body in distance measuring equipment (DME) can be obtained by proximity switch, namely detects that whether link plate is near vehicle body by sensor, and the distance of distance vehicle body is how many.
The third mode is, by comparing the size of distance value that distance measuring equipment (DME) records and setpoint distance value.
Particularly, first, measured from distance measuring equipment (DME) to the distance value of finding range baffle plate by distance measuring equipment (DME).
Secondly, the distance value obtain described measurement and setting value compare.
3rd, when recording distance value and being greater than setting value, illustrate that belt movement is to end position, now link plate contacts concurrent the male character types in Chinese operas, usu. referring tov the bearded character degree and changes with vehicle body; When recording distance value and being not more than setting value, illustrate that belt does not move to the end position in horizontal motion direction.
It should be noted that, adopt the prerequisite of the third mode be the installation site of range finding baffle plate be head at belt and with the rotating shaft on link plate for the parallel position of the tangent line of the circular arc that point that distance of center circle distance measuring equipment (DME) is setpoint distance carries out moving and formed.
Whether step 103: when determining that discharging belt is current and having arrived the end position of present level sense of motion, exist obstacle in the rightabout range of movement judging discharging belt present level sense of motion, if exist, then perform step 104; Otherwise, perform step 105.
Particularly, in step 103, when determining that discharging belt is current and having arrived the end position of positive movement, now, discharging belt can not need to change sense of motion according to direction motion again, transfer to and moving according to reverse direction, therefore, need to judge discharging belt carries out whether there is obstacle in the scope of horizontal motion according to reverse direction.
When determining that discharging belt is current and having arrived the end position of inverse motion, now, discharging belt can not need to change sense of motion according to the motion of reverse direction again, transfer to and moving according to direction, therefore, whether there is obstacle in the scope needing to judge that discharging belt carries out according to direction moving.
The method that whether there is obstacle in the described rightabout range of movement judging discharging belt current kinetic direction includes but not limited to under type:
First kind of way is:
First, in the rightabout range of movement in discharging belt current kinetic direction, scan in this range of movement whether there is object.
Secondly, when determining to there is object in this range of movement, the straight-line distance between measuring from the afterbody of discharging belt to the object that can measure.
3rd, receive measure obtain from the afterbody of discharging belt to the object that can measure between straight-line distance;
4th, the distance of described straight-line distance and setting is compared.
Wherein, the distance of described setting be arrive discharging belt from the afterbody of discharging belt head between distance.
It should be noted that, the distance between the head arriving discharging belt from the afterbody of discharging belt is straight-line distance.
5th, when described straight-line distance is less than the distance of setting, determine that the described object that can measure is the obstacle in 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 discharging belt movement.
The second way is:
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 measuring distance and the setting obtained is compared.
Wherein, the distance of described setting is the straight-line distance between distance measuring equipment (DME) and range finding baffle plate that discharging belt is installed.
3rd, when measuring the distance obtained and being less than the distance of setting, determine that the described object that can measure is the obstacle in discharging belt movement, when measuring the distance obtained and being not less than the distance of setting, determine that the described object that can measure is not the obstacle in discharging belt movement.
Step 104: when discharging belt exists obstacle in the rightabout range of movement in current kinetic direction, send warning information, and stop the rotation of discharging belt, turns to and performs step 101.
Step 105: when discharging belt does not exist obstacle in the rightabout range of movement in current kinetic direction, to discharging belt sending controling instruction, starts discharging belt and swing set angle on the opposite sense in current kinetic direction.
Particularly, in step 105, the end position being in positive movement when discharging belt is current, and when determining there is not obstacle in the range of movement of discharging belt on subsequent time inverse motion direction, to discharging belt sending controling instruction, start the reverse swing set angle of discharging belt, turn to and perform step 101.
The end position being in inverse motion when discharging belt is current, and when determining there is not obstacle in the range of movement of discharging belt on subsequent time positive movement direction, to discharging belt sending controling instruction, start discharging belt forward and swing set angle, turn to and perform step 101.
Wherein, described set angle refers to the angle swung after discharging belt receives control command, have unexpectedly incident in discharging belt rotation process, the angle value that discharging belt swings is needed when can determine each sending controling instruction, the angle value of this setting can be changeless, can also input according to actual needs, not limit here.
Step 106: when determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement, if exist, then performs step 107; Otherwise, perform step 108.
Particularly, in step 106, judge whether discharging belt exists the mode of obstacle in current kinetic side's range of upward movement identical with the mode of step 103, no longer repeat specification here.
Step 107: when there is obstacle in the range of movement of discharging belt on current kinetic direction, send warning information.
Particularly, in step and 107, when there is obstacle in the range of movement of discharging belt on current kinetic direction, illustrate that discharging belt occurs obstacle on current kinetic direction, cannot continue at current kinetic side's upward movement, need to remind operator to find obstacle.
More preferably, when determining that discharging belt current kinetic direction exists obstacle, whether the opposite sense that the mode of step 103 can be adopted to judge current kinetic direction existing obstacle, if exist, then stopping the motion of discharging belt, and sending alarm; If do not exist, then start discharging belt and swing set angle on the opposite sense in current kinetic direction, turn to and perform step 101.
Or, when determining that discharging belt current kinetic direction exists obstacle, in order to prevent discharging belt because the inertial impaction of motion is to obstacle, now can start the sense of motion changing discharging belt, set angle is swung on the opposite sense in discharging belt current kinetic direction, now, the described set angle number of degrees are less, effect is to make discharging belt away from the obstacle on current kinetic direction, and performs the judgement operation to whether the opposite sense in current kinetic direction existing obstacle.
Step 108: when there is not obstacle in the range of movement of discharging belt on current kinetic direction, starts discharging belt and swing set angle on current kinetic direction.
Particularly, in step 108, when there is not obstacle in the range of movement of discharging belt on current kinetic direction, explanation can continue to rotate on current kinetic direction, to discharging belt sending controling instruction, start discharging belt and swing set angle on current kinetic direction, turn to and perform step 101.
Such as: when there is not obstacle in the range of movement of discharging belt on positive movement direction, explanation can continue to swing on positive movement direction, to discharging belt sending controling instruction, start discharging belt and swing set angle on positive movement direction, turn to and perform step 101.
When there is not obstacle in the range of movement of discharging belt on inverse motion direction, explanation can continue to swing on inverse motion direction, to discharging belt sending controling instruction, start discharging belt and swing set angle on inverse motion direction, turn to and perform step 101.
It should be noted that, the set angle in step 108 is identical with the meaning of the set angle in step 105.
By the scheme of the embodiment of the present invention one, receive the location information of the discharging belt current kinetic arrival collected, described location information is utilized to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt, and when determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further range of movement judging the reverse motions direction in discharging belt current kinetic direction, warning information is sent when existing, the reverse motions direction swing set angle of discharging belt to current kinetic direction is started when not existing, and when determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, warning information is sent when existing, start discharging belt when not existing and swing set angle on current kinetic direction, compared with prior art, by whether reaching the limit of the judgement of position to discharging belt, avoid in prior art and occur because operating handle is too frequent the problem that steering cylinder oil consumption is larger, by to discharging belt in motion process to the judgement whether sense of motion having obstacle, reduce the danger of operating process in prior art, further increase the alerting ability of control accuracy and discharging belt movement, improve the work efficiency of construction machinery and equipment.
Embodiment two:
As shown in Figure 3, be a kind of diagram of circuit to the method that the horizontal motion of discharging belt controls 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 to the right swing process) for discharging belt forward and is described.
Step 201: gather the straight-line distance of the discharging belt both sides object that distance ranging device is nearest on discharging Belt Length direction to distance measuring equipment (DME).
Wherein, measuring the left side straight-line distance obtained is a; Measuring the right side straight-line distance obtained is b.
Step 202: determine the current position of discharging belt.
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 according to the current position of described location information determination discharging belt received.
Step 203: utilize described location information to judge the current end position whether arriving discharging belt positive movement of discharging belt, if so, then performs step 204; Otherwise, perform step 207.
Particularly, in step 203, whether arrived the end position in current kinetic direction by the current location determination discharging belt measuring link plate in distance measuring equipment (DME), specifically comprise:
First, judge whether the current location of 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) contacts with the vehicle body of milling machine, determine that discharging belt current kinetic is to end position; When the current location of link plate in distance measuring equipment (DME) not yet contacts with the vehicle body of milling machine, determine the current arrival end position that do not move of discharging belt.
Step 204: when determining the end position of the horizontal positive movement of the current arrival of discharging belt, judge whether there is obstacle within the scope of the horizontal inverse motion of discharging belt, if exist, then performs step 205; Otherwise, perform step 206.
Particularly, in step 204, a step 201 collected and the distance H of setting compares, and wherein, the distance H of described setting is the straight-line distance between distance measuring equipment (DME) and range finding baffle plate that discharging belt is installed; When a is less than H, determine that the described object that can measure is the obstacle in discharging belt movement, when a is not less than H, determine that the described object that can measure is not the obstacle in discharging belt movement.
Step 205: when there is obstacle in the range of movement of discharging belt on horizontal inverse motion direction, sending warning information, and stopping the swing of discharging belt, terminates.
Step 206: when there is not obstacle in the range of movement of discharging belt on inverse motion direction, to discharging belt sending controling instruction, starts discharging belt and swings set angle left.
It should be noted that, when discharging belt arrives the end position of certain side, need the direction of adjustment motion.
Step 207: when determining that discharging belt is current and not arriving the end position of horizontal positive movement, judge whether discharging belt exists obstacle in horizontal positive movement side range of upward movement, if exist, then performs step 208; Otherwise, perform step 209.
Step 208: when there is obstacle in the range of movement of discharging belt on horizontal positive movement direction, send warning information.
Step 209: when there is not obstacle in the range of movement of discharging belt on horizontal positive movement direction, starts discharging belt and swing set angle on positive movement direction.
By the scheme of the embodiment of the present invention two, whether discharging belt is reached the limit of to the judgement of position, and when determining to reach the limit of position, the sense of motion of timely adjustment discharging belt, still the long charged steering cylinder that causes is stressed and impaired for a long time at end position to effectively prevent the convertible valve of discharging belt discharging belt after swinging to end position, in addition discharging belt movement scope is detected, avoid obstacle but discharging belt movement abends or occurs comparatively hazard event, improve the safety of engineer machinery operation, effectively prevent the damage that discharging belt strikes obstacles occurs.
Embodiment three:
As shown in Figure 4, be a kind of structural representation to the equipment that the horizontal motion of discharging belt controls 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, for receiving the location information of the discharging belt current kinetic arrival collected;
Judge module 12, judges the current end position whether arriving discharging belt current kinetic direction of discharging belt for utilizing described location information;
Control module 13, for when determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further rightabout range of movement judging discharging belt current kinetic direction, if exist, then send warning information, otherwise, start discharging belt and swing set angle on the opposite sense in current kinetic direction;
When determining that discharging belt is current and not arriving the end position of current kinetic, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, if exist, then send warning information, otherwise, start discharging belt and swing set angle on current kinetic direction.
Particularly, described location information is the angle value forming the angle being not more than 90 ° between a side and the body-side being provided with this discharging belt of current location loading and unloading material belt.
Described judge module 12, specifically comprises: compare subelement 21 and first and determine subelement 22, wherein:
Relatively subelement 21, for comparing the angle value of described angle value and setting;
First determines subelement 22, for when described angle value is less than the angle value of setting, determines the end position arriving current kinetic direction;
When described angle value is greater than the angle value of setting, determine that discharging belt does not arrive the end position in current kinetic direction.
Particularly, described control module 13, specifically comprises: the second reception subelement 23, contrast subunit 24 and second determine subelement 25, wherein:
Second receive subelement 23, in the range of movement on discharging belt current kinetic direction, receive measure obtain from the afterbody of discharging belt to the object that can measure between vertical distance;
Contrast subunit 24, for the distance of described vertical distance and setting is compared, wherein, the distance of described setting be arrive discharging belt from the afterbody of discharging belt head between distance;
Second determines subelement 25, for when described vertical distance is less than the distance of setting, determines that the described object that can measure is the obstacle in 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 discharging belt movement.
Embodiment four:
As shown in Figure 5, be a kind of structural representation to the system that the horizontal motion of discharging belt controls of the embodiment of the present invention four, described system comprises: collecting device 31 and control convenience 32, wherein:
Collecting device 31, for gathering the location information that discharging belt current kinetic arrives, and sends to control convenience;
Control convenience 32, for receiving the location information of the discharging belt current kinetic arrival collected, utilizes described location information to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt;
When determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further rightabout range of movement judging discharging belt current kinetic direction, if exist, then send warning information, otherwise, start discharging belt and swing set angle on the opposite sense in current kinetic direction;
When determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, if exist, then send warning information, otherwise, start discharging belt and swing set angle on current kinetic direction.
Particularly, described location information is the angle value forming the angle being not more than 90 ° between a side and the body-side being provided with this discharging belt of current location loading and unloading material belt.
Described control convenience 32, specifically for the angle value of described angle value and setting is compared, when described angle value is less than the angle value of setting, determine that discharging belt arrives the end position in current kinetic direction, when described angle value is greater than the angle value of setting, determine that discharging belt does not arrive the end position in current kinetic direction.
More preferably, described system also comprises: distance measuring equipment (DME) 33, wherein:
Distance measuring equipment (DME) 33, in the range of movement on discharging belt current kinetic direction, the vertical distance between measuring from the afterbody of discharging belt to the object that can measure, and send to control convenience.
Described control convenience 32, specifically for receive measure obtain from the afterbody of discharging belt to the object that can measure between vertical distance, the distance of described vertical distance and setting is compared, wherein, the distance of described setting be arrive discharging belt from the afterbody of discharging belt head between distance;
When described vertical distance is less than the distance of setting, determine that the described object that can measure is the obstacle in 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 discharging belt movement.
It should be noted that, 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 distance measuring equipment (DME) described in Fig. 1, does not limit here.
The present invention also provides a kind of milling machine, comprises the above-mentioned system controlled the horizontal motion of discharging belt.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. to the method that the horizontal motion of discharging belt controls, it is characterized in that, comprising:
Receive the location information of the discharging belt current kinetic arrival collected;
Described location information is utilized to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt;
When determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further rightabout range of movement judging discharging belt current kinetic direction, if exist, then send warning information, otherwise, start discharging belt and swing set angle on the opposite sense in current kinetic direction;
When determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, if exist, then send warning information, otherwise, start discharging belt and swing set angle on current kinetic direction.
2. the method for claim 1, is characterized in that, described location information is the angle value forming the angle being not more than 90 ° between a side and the body-side being provided with this discharging belt of current location loading and unloading material belt;
Describedly utilize described location information to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt, specifically comprise:
The angle value of described angle value and setting is compared;
When described angle value is less than the angle value of setting, determine that discharging belt arrives the end position in current kinetic direction;
When described angle value is greater than the angle value of setting, determine that discharging belt does not arrive the end position in current kinetic direction.
3. the method for claim 1, is characterized in that, whether there is obstacle, specifically comprise in the described range of movement judging discharging belt current kinetic direction:
In range of movement on discharging belt current kinetic direction, receive measure obtain from the afterbody of discharging belt to the object that can measure between straight-line distance;
The distance of described straight-line distance and setting is compared, wherein, the distance of described setting be arrive discharging belt from the afterbody of discharging belt head between distance;
When described straight-line distance is less than the distance of setting, determine that the described object that can measure is the obstacle in 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 discharging belt movement.
4. to the equipment that the horizontal motion of discharging belt controls, it is characterized in that, comprising:
Receiver module, for receiving the location information of the discharging belt current kinetic arrival collected;
Judge module, judges the current end position whether arriving discharging belt current kinetic direction of discharging belt for utilizing described location information;
Control module, for when determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further rightabout range of movement judging discharging belt current kinetic direction, if exist, then send warning information, otherwise, start discharging belt and swing set angle on the opposite sense in current kinetic direction;
When determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, if exist, then send warning information, otherwise, start discharging belt and swing set angle on current kinetic direction.
5. equipment as claimed in claim 4, it is characterized in that, described location information is the angle value forming the angle being not more than 90 ° between a side and the body-side being provided with this discharging belt of current location loading and unloading material belt;
Described judge module, specifically comprises:
Relatively subelement, for comparing the angle value of described angle value and setting;
First determines subelement, for when described angle value is less than the angle value of setting, determines that discharging belt arrives the end position in current kinetic direction;
When described angle value is greater than the angle value of setting, determine that discharging belt does not arrive the end position in current kinetic direction.
6. equipment as claimed in claim 5, it is characterized in that, described control module, specifically comprises:
Second receive subelement, in the range of movement on discharging belt current kinetic direction, receive measure obtain from the afterbody of discharging belt to the object that can measure between vertical distance;
Contrast subunit, for the distance of described vertical distance and setting is compared, wherein, the distance of described setting be arrive discharging belt from the afterbody of discharging belt head between distance;
Second determines subelement, for when described vertical distance is less than the distance of setting, determines that the described object that can measure is the obstacle in 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 discharging belt movement.
7. to the system that the horizontal motion of discharging belt controls, it is characterized in that, comprising: collecting device and control convenience, wherein:
Collecting device, for gathering the location information that discharging belt current kinetic arrives, and sends to control convenience;
Control convenience, for receiving the location information of the discharging belt current kinetic arrival collected, utilizes described location information to judge the current end position whether arriving discharging belt current kinetic direction of discharging belt;
When determining that discharging belt is current and having arrived the end position in current kinetic direction, whether obstacle is there is in the further rightabout range of movement judging discharging belt current kinetic direction, if exist, then send warning information, otherwise, start discharging belt and swing set angle on the opposite sense in current kinetic direction;
When determining that discharging belt is current and not arriving the end position in current kinetic direction, judge whether discharging belt exists obstacle in current kinetic side's range of upward movement further, if exist, then send warning information, otherwise, start discharging belt and swing set angle on current kinetic direction.
8. system as claimed in claim 7, it is characterized in that, described collecting device, specifically comprises: distance measuring equipment (DME), wherein:
Distance measuring equipment (DME), in the range of movement on discharging belt current kinetic direction, the vertical distance between measuring from the afterbody of discharging belt to the object that can measure, and send to control convenience;
Described control convenience, specifically for receive measure obtain from the afterbody of discharging belt to the object that can measure between vertical distance, the distance of described vertical distance and setting is compared, wherein, the distance of described setting be arrive discharging belt from the afterbody of discharging belt head between distance;
When described vertical distance is less than the distance of setting, determine that the described object that can measure is the obstacle in 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 discharging belt movement.
9. system as claimed in claim 8, it 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:
The mode connect by pin installs rotating shaft at the afterbody of discharging belt near the position of vehicle body;
By link plate is fixed in rotating shaft and discharging belt vertical direction;
Distance measuring equipment (DME) is installed in position parallel with discharging belt on link plate;
Between link plate and discharging belt, install Flexible Reset parts, wherein, described Flexible Reset parts are in nature elongation state;
In the vertical direction with distance measuring equipment (DME) and the head being positioned at discharging belt installs baffle plate of finding range.
10. a milling machine, is characterized in that, comprises as the system as described in arbitrary 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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN103144940A CN103144940A (en) | 2013-06-12 |
| CN103144940B true 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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| 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 |
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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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2013
- 2013-03-13 CN CN201310079273.5A patent/CN103144940B/en active Active
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 |
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| CN103144940A (en) | 2013-06-12 |
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