CN104648949B - A kind of hillside orchard monorail conveyer automatic shifting device and control method - Google Patents
A kind of hillside orchard monorail conveyer automatic shifting device and control method Download PDFInfo
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- CN104648949B CN104648949B CN201410829669.1A CN201410829669A CN104648949B CN 104648949 B CN104648949 B CN 104648949B CN 201410829669 A CN201410829669 A CN 201410829669A CN 104648949 B CN104648949 B CN 104648949B
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- gear
- proximity switch
- push rod
- sensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2812/00—Indexing codes relating to the kind or type of conveyors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Agricultural Machines (AREA)
Abstract
The present invention relates to a kind of hillside orchard monorail conveyer automatic shifting device and control method, the automatic shifting device includes inclination angle detection unit, speed detection unit, control unit and variable block performance element；The inclination angle detection unit includes obliquity sensor；The speed detection unit includes velocity sensor；The variable block performance element includes linear electric motors, sensor block and variable block stroke detection switch, wherein, the linear electric motors are that, with push rod for linear motion, the push rod is connected with the shifting shaft of differential variable block direct current generator by gear shifting rod；The sensor block is arranged on push rod；The variable block stroke detection switch includes three proximity switches, respectively accelerates gear proximity switch, equilbrium position proximity switch and the gear proximity switch that slows down；Described control unit includes controller.The present invention can realize self shifter according to the climbing operating mode in the transporter course of work so that work drive motor is run in most reasonable torque all the time, reduces the consumption of the energy.
Description
Technical field
The present invention relates to the transporting equipment of hillside orchard, and in particular to a kind of hillside orchard monorail conveyer automatic shifting dress
Put and control method.
Background technology
In the driving hillside orchard monorail conveyer of existing accumulator mainly by driving means, loading coaster and rail system
Composition, wherein, driving means include dc motor, drive system, controller and brake unit, and rail system is by track and ground
Face support column composition.Such cargo carrier is big for climbing capacity, adaptable to massif, the advantages of carrying capacity is strong.But,
There is following defect when orbiting in the driving hillside orchard monorail conveyer of accumulator：
1st, power output is more single, and driving means cannot cause the energy according to actual climbing operating mode output best power source
Waste.
Although the 2, direct current gear shifting differential speed motor, the current gear of control system None- identified, Jin Erwu can be selected
Method realizes self shifter according to climbing operating mode.
The content of the invention
In view of above-mentioned deficiency present on prior art, it is an object of the invention to provide a kind of hillside orchard monorail transit
Machine automatic shifting device, the automatic shifting device can realize self shifter according to the climbing operating mode in the transporter course of work,
So that work drive motor is run in most reasonable torque all the time, the consumption of the energy is reduced.
Another object of the present invention is to provide a kind of using above-mentioned hillside orchard monorail conveyer automatic shifting dress
Put the control method of the hillside orchard monorail conveyer of realization.
The present invention solves the technical scheme of above-mentioned technical problem：
A kind of hillside orchard monorail conveyer automatic shifting device, including inclination angle detection unit, speed detection unit, control
Unit and variable block performance element, wherein：
The inclination angle detection unit includes obliquity sensor；
The speed detection unit includes velocity sensor, and the velocity sensor is made up of proximity switch；The transporter
The road wheel creeped in dentation track is provided with, the road wheel is provided with the external tooth being distributed uniformly and circumferentially, the speed
Degree sensor end face center is right against the external tooth of road wheel and arranges；
The variable block performance element includes linear electric motors, sensor block and variable block stroke detection switch, wherein, the straight line
Motor has push rod for linear motion, and the push rod is by gear shifting rod and the differential variable block unidirectional current for driving transporter to walk
The shifting shaft connection of machine；The sensor block is arranged on push rod；The variable block stroke detection switch includes moving along push rod
Three proximity switches of directional spreding, respectively accelerate gear proximity switch, equilbrium position proximity switch and the gear that slows down is close to and opens
Close, wherein, equilbrium position proximity switch is located at centre, accelerates gear proximity switch and the gear proximity switch that slows down is connect positioned at equilbrium position
The both sides of nearly switch；When the sensor block with pushrod movement to accelerate gear proximity switch corresponding position when, the shifting shaft is located at
Accelerate gear, when the sensor block with pushrod movement to slow down gear proximity switch corresponding position when, the shifting shaft be located at accelerate
Gear, when the sensor block with pushrod movement to equilbrium position proximity switch corresponding position when, the shifting shaft be located at balance position
Put；
Described control unit includes controller, the obliquity sensor, velocity sensor, acceleration gear proximity switch, balance
It is closely located to the signal input part for keeping off that proximity switch is connected to controller that switchs and slow down, the linear electric motors and controller
Signal output part connects.
One preferred version of the hillside orchard monorail conveyer automatic shifting device of the present invention, wherein, the transporter
The first gripper shoe is provided with, the differential variable block direct current generator is arranged at the bottom of the first gripper shoe, and the linear electric motors are arranged
In the top of the first gripper shoe, the lower end of the gear shifting rod is connected with shifting shaft, and upper end is upwardly extended and is connected with push rod.Described
One gripper shoe is not only easy to the fixation of the parts such as differential variable block direct current generator, linear electric motors, road wheel, so that push rod,
Connection between gear shifting rod and shifting shaft is compacter.
Preferably, the end of the push rod is provided with U-lag, and the upper end of the gear shifting rod is provided with connecting portion, and the connecting portion has
There are the distance between two planes being parallel to each other, two plane and the width of the U-lag to match；The connecting portion is stretched into
To in U-lag and it is bolted structure and is connected on push rod.So it is easy to the detachable connection of push rod and gear shifting rod, is easy to
Assembling.
Preferably, the sensor block is fixed on the top of push rod and upwardly extends；The variable block stroke detection switch is arranged
In the top of push rod, and on the switch mounting blocks being arranged in the first gripper shoe.So described gear shifting rod and sensor block
It is separately positioned on the both sides up and down of push rod, rationally distributed, compact conformation.
Preferably, the upper end of the sensor block extends upwardly to the center more than variable block stroke detection switch.So guarantee
Variable block stroke detection switch smoothly detects sensor block in place.
One preferred version of the hillside orchard monorail conveyer automatic shifting device of the present invention, wherein, the road wheel
Including drivewheel and driven pulley, the drivewheel and driven pulley are arranged on relative with differential variable block direct current generator in the first gripper shoe
Side, wherein, the drivewheel is connected with the output shaft of differential variable block direct current generator；The velocity sensor is solid by connector
It is scheduled in the first gripper shoe, the center of its end face is right against the drivewheel；The tooth knot of the dentation track on the transporter
Structure is arranged at downside, and the road wheel is located at the lower section of dentation track, and the external tooth on road wheel is meshed with the toothing.
One preferred version of the hillside orchard monorail conveyer automatic shifting device of the present invention, wherein, the transporter
The second gripper shoe be arrangeding in parallel with the first gripper shoe is provided with, between the first gripper shoe and the second gripper shoe, passes through support beam
Connection；Second gripper shoe is provided with electric cabinet, and the controller is arranged in electric cabinet.
One preferred version of the present invention, wherein, the controller is made up of single-chip microcomputer.
One preferred version of the hillside orchard monorail conveyer automatic shifting device of the present invention, wherein, also including electromagnetism
Brake, the electromagnetic brake are arranged on the output shaft of differential variable block direct current generator.Using the purpose of the preferred version it is
Control speed of the transporter in descending, transporter speed in descending should be controlled in suitable scope, unsuitable too fast；Pass through
The obliquity sensor, can control electromagnetic braking by control unit with the acceleration of real-time detection transporter when speed is excessive
Device brakes, so as to by the speed controlling of transporter within the scope of suitable, it is ensured that transporter operation safety.
A kind of hillside orchard monorail conveyer realized using above-mentioned hillside orchard monorail conveyer automatic shifting device
Control method, comprises the following steps：
(1) the current dip angle signal of obliquity sensor real-time detection transporter, and it is single that the dip angle signal is fed back to control
Unit；Control unit judges that transporter is currently according to the dip angle signal in conjunction with the direction of travel of the transporter set in system
In upward slope state or descending state, if detected as upward slope state, execution step (2)；
(2) tach signal of velocity sensor real-time detection road wheel, and by speed feedback signal to control unit；Control
Tach signal that unit is returned according to speed sensor feedback simultaneously combines the current operating power of differential variable block direct current generator, calculates
Obtain the current output torque of differential variable block direct current generator；Under normality, sensor block positioned at equilbrium position proximity switch corresponding position,
Shifting shaft is located at equilbrium position；Control unit according to counted torque difference, make following control action respectively：
(2.1) when counted torque is more than setting torque, then judge the gear of current differential variable block direct current generator whether
In most low gear, if not in most low gear, then a gear is moved back in control：Control unit sends control signal to linear electric motors, and driving is pushed away
Bar drives gear shifting rod motion, pushes the shifting shaft positioned at equilbrium position to deceleration gear so that transporter slows down, should during, push away
Sensor block on bar is from the gear proximity switch corresponding position that moves to equilbrium position proximity switch corresponding position and slow down, and keeps off when slowing down
When proximity switch detects sensor block arrival, signal in place is sent to control unit, control unit sends control to linear electric motors
Signal, allows push rod, sensor block, gear shifting rod, shifting shaft to reset, waits variable block action next time；
(2.2) when counted torque is less than setting torque, then judge the gear of current differential variable block direct current generator whether
In top gear, if not in top gear, then control into a gear：Control unit sends control signal to linear electric motors, and driving is pushed away
Bar drives gear shifting rod motion, pushes accelerate the shifting shaft positioned at equilbrium position to gear so that transporter accelerates, should during, push away
Sensor block on bar from moving to and accelerate gear proximity switch corresponding position with equilbrium position proximity switch corresponding position, and when accelerating gear
When proximity switch detects sensor block arrival, signal in place is sent to control unit, control unit sends control to linear electric motors
Signal, allows push rod, sensor block, gear shifting rod, shifting shaft to reset, waits variable block action next time.
One preferred version of the control method of the hillside orchard monorail conveyer of the present invention, wherein, in step (1),
When judging that transporter is currently at descending state, following steps are performed：
(3) tach signal of velocity sensor real-time detection road wheel, and by speed feedback signal to control unit；Control
The rotating speed and setting speed are compared by unit, if current rotating speed is more than setting speed, output control signal control electricity
Magnetic brake brakes, until within the scope of current rotating speed falls into setting speed, control electromagnetic brake unclamps.
The operation principle of hillside orchard monorail conveyer automatic shifting device of the present invention is：
First determine whether the current kinestate of transporter.The current inclination angle of transporter can be detected by obliquity sensor
Degree, in conjunction with the direction of motion of the transporter set in system, you can judge transporter be in upward slope state, the state of putting down away also
It is that (angle of inclination of the transporter in the same slope in track is consistent, it is therefore desirable to be known a priori by transport for descending state
The direction of travel of machine could judge that transporter is currently to go up a slope or descending, the direction of travel of transporter before work in systems
Preset).
Then calculate the working condition of differential variable block direct current generator.As road wheel is provided with equally distributed external tooth, because
This therewith just to quantity of the velocity sensor by detection by the external tooth of its detection range, just can be calculated by controller and must be walked
The rotating speed of wheel, then the power current by reading differential variable block direct current generator, can calculate differential variable block direct current generator and currently export
Torque (torque be equal to power divided by rotating speed).
Gear regulation is carried out finally.When it is determined that transporter is in upward slope state, in order to allow differential variable block direct current generator
Output torque is within the scope of suitably, it is ensured that motor is in optimal working condition, needs to carry out gear regulation.Drive fortune
The differential variable block direct current generator of defeated machine walking built-in reduction box and gearshift, externally show as stretching out with shifting shaft, lead to
Cross promotion shifting shaft and can change gear, so as to change the output torque of differential variable block direct current generator.
The gear shifting action of differential variable block direct current generator provides power by linear electric motors, promotes shifting shaft by push rod and change gear shaft
Come carry out.Under normality, sensor block positioned at equilbrium position proximity switch corresponding position, shifting shaft be located at equilbrium position.When differential becomes
When the current torque of gear direct current generator is more than the scope for setting, needs move back gear, to reduce speed, reduce torque；Moving back gear process is：
Controller sends control signal to linear electric motors, and driving push rod drives gear shifting rod motion, the shifting shaft positioned at equilbrium position is pushed away
Transporter is slowed down to deceleration gear, should during, the sensor block on push rod also from equilbrium position proximity switch corresponding position
Move to and gear proximity switch corresponding position of slowing down, and when the gear proximity switch that slows down detects sensor block and reaches, show that gearshift is dynamic
Completed, and then sent signal in place to controller, controller has sent control signal to linear electric motors, allow push rod, sensing
Block, gear shifting rod, shifting shaft reset, and wait variable block signal next time.And work as the current torque of differential variable block direct current generator less than setting
During fixed scope, need into gear, to improve speed, increase torque；Entering gear process is：Controller sends control letter to linear electric motors
Number, driving push rod drives gear shifting rod motion, pushes accelerate the shifting shaft positioned at equilbrium position to gear so that transporter accelerates, should
During, the sensor block on push rod is also corresponding with gear proximity switch is accelerated from moving to equilbrium position proximity switch corresponding position
Place, and when accelerating gear proximity switch to detect sensor block arrival, show that gear shifting action has been completed, and then send to controller
Signal in place, controller send control signal to linear electric motors, allow push rod, sensor block, gear shifting rod, shifting shaft to reset, under wait
Variable block signal.It is above-mentioned to enter gear or to move back gear action and carried out according to the signal for real-time monitoring at any time, there may come a time when to need continuously
Repeatedly enter gear (on condition that being currently not in highest unit) or continuous several times move back gear (on condition that being currently not in highest list
Position), until differential variable block direct current generator is in optimal working condition.
Above-mentioned is that the gear to transporter in upward slope state is adjusted so that differential variable block direct current generator is in optimal work
Make state, and transporter is when being in descending state, need to allow transporter by way of brake in optimal movement velocity, really
Protect operation safety；For this purpose, also including being arranged on electromagnetism on the output shaft of differential variable block direct current generator in the preferred version of the present invention
Brake, so as to be braked when transporter excessive velocities so that transporter can be in optimal in ascents and descents
Working condition.
The present invention has following beneficial effect compared with prior art：
1st, judge first with the obliquity sensor kinestate current to transporter, recycle the walking of transporter
The unique texture of wheel, arranges the rotating speed that velocity sensor detects road wheel, and then the power with reference to differential variable block direct current generator can
The current output torque of the differential variable block direct current generator of calculation, provides foundation to automatically control gearshift.
2nd, make cargo carrier standby according to different shelving automatic shifting speed changing functions, differential variable block direct current generator is made all the time most
Rationally operation in torque, reduces the consumption of the energy, extends motor working life.
3rd, the operation of transporter is more simple, and orchard worker improves the safety of transporter without the need for manipulating with car.
Description of the drawings
Fig. 1 and Fig. 2 are a specific embodiment of the hillside orchard monorail conveyer automatic shifting device of the present invention
Dimensional structure diagram, wherein, Fig. 1 is front elevation, and Fig. 2 is back view.
Fig. 3 is the practical state diagram that automatic shifting device shown in Fig. 1 and Fig. 2 is applied to transporter.
Fig. 4 is the hillside orchard monorail conveyer automatic shifting device workflow diagram of the present invention.
Fig. 5 is the electric theory diagram of the hillside orchard monorail conveyer automatic shifting device of the present invention.
In figure, label is as follows with title：
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Referring to Fig. 1～Fig. 5, the hillside orchard monorail conveyer automatic shifting device of the present invention is mainly by inclination angle detection list
Unit, speed detection unit, control unit and variable block performance element, wherein：
The inclination angle detection unit includes obliquity sensor.
The speed detection unit includes velocity sensor 17, and the velocity sensor 17 is made up of proximity switch.The fortune
Defeated machine is provided with the road wheel creeped in dentation track 19, and the road wheel is provided with the external tooth being distributed uniformly and circumferentially
16,17 end face center of the velocity sensor is right against the external tooth 16 of road wheel and arranges.
The variable block performance element includes linear electric motors 12, sensor block 4 and variable block stroke detection switch, wherein, it is described
Linear electric motors 12 have push rod 3 for linear motion, and the driving voltage of the linear electric motors 12 is 24V, and 3 stroke of push rod is 100mm,
Speed is 40mm/s, and the push rod 3 is changed with the differential variable block direct current generator 1 for driving transporter to walk by gear shifting rod 2
Gear shaft connects, and described shifting shaft one end is extend in reduction box 14, and the other end is connected with gear shifting rod 2；The sensor block 4 is arranged on
On push rod 3；The variable block stroke detection switch includes three proximity switches that the direction of motion along push rod 3 is distributed, respectively
Accelerate gear proximity switch 5, equilbrium position proximity switch 6 and the gear proximity switch 7 that slows down, wherein, equilbrium position proximity switch 6
In centre, accelerate gear proximity switch 5 and the both sides for keeping off that proximity switch 7 is located at equilbrium position proximity switch 6 of slowing down；When the sensing
When block 4 is moved to gear 5 corresponding position of proximity switch is accelerated with push rod 3, the shifting shaft is located at and accelerates gear (plus to keep off), when
When the sensor block 4 is moved to deceleration gear 7 corresponding position of proximity switch with push rod 3, the shifting shaft is located at and accelerates gear (i.e. complete
Into the gear that subtracts), when the sensor block 4 is moved to equilbrium position 6 corresponding position of proximity switch with push rod 3, the gearshift axle position
In equilbrium position.
Referring to Fig. 1 and Fig. 2, the transporter is provided with the first gripper shoe 13, and the differential variable block direct current generator 1 is arranged at
The bottom of the first gripper shoe 13, the linear electric motors 12 are arranged at the top of the first gripper shoe 13, the lower end of the gear shifting rod 2 with
Shifting shaft connects, and upper end is upwardly extended and is connected with push rod 3.The end of the push rod 3 is provided with U-lag, the upper end of the gear shifting rod 2
Connecting portion is provided with, the connecting portion has the width of the distance between two planes being parallel to each other, two plane with the U-lag
Match；The connecting portion extend in U-lag and is bolted structure and is connected on push rod 3.The sensor block 4 is fixed
On the top of push rod 3 and upwardly extend；Variable block stroke detection switch is arranged at the top of push rod 3, and is arranged on and is arranged at
On switch mounting blocks 8 in first gripper shoe 13.The upper end of the sensor block 4 extends upwardly to and switchs more than variable block stroke detection
Center, it is ensured that variable block stroke detection switch smoothly detect sensor block 4 in place.
Referring to Fig. 1～Fig. 3, the road wheel includes drivewheel 15 and driven pulley 18, and the drivewheel 15 and driven pulley 18 set
Relative with differential variable block direct current generator 1 side in the first gripper shoe 13 is put, wherein, the drivewheel 15 is straight with differential variable block
The output shaft connection of stream motor 1；The velocity sensor 17 is fixed in the first gripper shoe 13, in its end face by connector
The heart is right against the drivewheel 15.The transporter is provided with the second gripper shoe 10 be arrangeding in parallel with the first gripper shoe 13, the
Connected by support beam 11 between one gripper shoe 13 and the second gripper shoe 10；Second gripper shoe 10 is provided with electric cabinet 9,
Described control unit is arranged in electric cabinet 9.
The hillside orchard monorail conveyer automatic shifting device of the present invention also includes electromagnetic brake, and the electromagnetic brake sets
Put on the output shaft of differential variable block direct current generator 1.Speed of the transporter in descending is can control so, transporter is in descending
Speed should be controlled in suitable scope, unsuitable too fast；By the obliquity sensor, can be with the acceleration of real-time detection transporter
Degree, when speed is excessive, by control unit control electromagnetic brake brake, so as to by the speed controlling of transporter in suitable model
Within enclosing, it is ensured that transporter operation safety.
Referring to Fig. 5, described control unit includes controller, and the controller includes host computer and slave computer, the host computer and
Slave computer is constituted by the single-chip microcomputer of STM32 types.The slave computer respectively with current sensor, voltage sensor, electromagnetic braking
Device, electric machine controller, direct current generator, variable block stroke detection switch, shift sensor, speed probe, obliquity sensor etc. are even
Connect, wherein, the current sensor and voltage sensor are used to detect the operating current and voltage of differential variable block direct current generator 1,
To calculate its operating power；The electromagnetic brake is for being braked to transporter；The electric machine controller is for difference
The work of fast variable block direct current generator 1 is controlled；The shift sensor is used to detect the current gear of differential variable block direct current generator 1
Position；The slave computer is mainly used in the data for collecting each sensor, and control signal is produced after computing, controls electromagnetic braking
The component workings such as device, differential variable block direct current generator 1 and linear electric motors 12.It is connected with button, display screen etc. on the host computer,
Also it is connected with remote control by wireless serial；By the connection of 485 buses, host computer and slave computer between the host computer and slave computer
Between be also connected with avoidance module；The host computer is mainly used in receiving push button signalling, remote signal etc., and keeps off to display screen output
The signals such as position information, while carrying out data exchange with slave computer.
Referring to Fig. 3, the transporter mainly includes loading coaster 21, driving means 20 and dentation track 19, wherein, it is described
Loading coaster 21 is connected with driving means 20, the driving means 20 it is main by described differential variable block direct current generator 1 and this
Bright automatic shifting device etc. is constituted；The toothing of the dentation track 19 is arranged at downside, and the road wheel is located at dentation rail
The lower section in road 19, the external tooth 16 on road wheel are meshed with the toothing；The dentation track 19 is solid by track support column 22
Determine on the ground.
Referring to Fig. 4 and Fig. 5, the mountain region of the above-mentioned hillside orchard monorail conveyer automatic shifting device realization of application of the present invention
The control method of orchard monorail conveyer, comprises the following steps：
(1) the current dip angle signal of obliquity sensor real-time detection transporter, and it is single that the dip angle signal is fed back to control
Unit；Control unit judges that transporter is currently according to the dip angle signal in conjunction with the direction of travel of the transporter set in system
In upward slope state or descending state, if detected as upward slope state, execution step (2)；
(2) tach signal of 17 real-time detection road wheel of velocity sensor, and by speed feedback signal to control unit；Control
Tach signal that unit processed is fed back according to velocity sensor 17 simultaneously combines the current work work(of differential variable block direct current generator 1
Rate, calculates the current output torque for obtaining differential variable block direct current generator 1；Under normality, sensor block 4 is opened positioned at close with equilbrium position
6 corresponding positions are closed, shifting shaft is located at equilbrium position；Control unit according to counted torque difference, make following control respectively
Braking is made：
(2.1) when counted torque is more than setting torque, then judge the gear of current differential variable block direct current generator 1 whether
In most low gear, if not in most low gear, then a gear is moved back in control：Control unit sends control signal to linear electric motors 12, drives
Push rod 3 drives gear shifting rod 2 to move, and pushes the shifting shaft positioned at equilbrium position to deceleration gear so that transporter slows down, the process
In, the sensor block 4 on push rod 3 from gear proximity switch 7 corresponding position that moves to 6 corresponding position of equilbrium position proximity switch and slow down,
And when the gear proximity switch 7 that slows down detects sensor block 4 and reaches, signal in place is sent to control unit, control unit is to straight line
Motor 12 sends control signal, allows push rod 3, sensor block 4, gear shifting rod 2, shifting shaft to reset, waits variable block action next time；
(2.2) when counted torque is less than setting torque, then judge the gear of current differential variable block direct current generator 1 whether
In top gear, if not in top gear, then control into a gear：Control unit sends control signal to linear electric motors 12, drives
Push rod 3 drives gear shifting rod 2 to move, and pushes accelerate the shifting shaft positioned at equilbrium position to gear so that transporter accelerates, the process
In, the sensor block 4 on push rod 3 from gear proximity switch 5 corresponding position is moved to and accelerated with 6 corresponding position of equilbrium position proximity switch,
And when accelerating gear proximity switch 5 to detect the arrival of sensor block 4, signal in place is sent to control unit, control unit is to straight line
Motor 12 sends control signal, allows push rod 3, sensor block 4, gear shifting rod 2, shifting shaft to reset, waits variable block action next time.
In step (1), when judging that transporter is currently at descending state, following steps are performed：
(3) tach signal of 17 real-time detection road wheel of velocity sensor, and by speed feedback signal to control unit；Control
The rotating speed and setting speed are compared by unit processed, if current rotating speed is more than setting speed, output control signal control
Electromagnetic brake brakes, until within the scope of current rotating speed falls into setting speed, control electromagnetic brake unclamps.
Referring to Fig. 1～Fig. 5, the operation principle of the hillside orchard monorail conveyer automatic shifting device of the present invention is：
First determine whether the current kinestate of transporter.The current inclination angle of transporter can be detected by obliquity sensor
Degree, in conjunction with the direction of motion of the transporter set in system, you can judge transporter be in upward slope state, the state of putting down away also
It is that (angle of inclination of the transporter in the same slope in track is consistent, it is therefore desirable to be known a priori by transport for descending state
The direction of travel of machine could judge that transporter is currently to go up a slope or descending, the direction of travel of transporter before work in systems
Preset).
Then calculate the working condition of differential variable block direct current generator 1.As road wheel is provided with equally distributed external tooth, because
This therewith just to quantity of the velocity sensor 17 by detection by the external tooth of its detection range, just can calculate capable by controller
The rotating speed of wheel, then the power current by calculating differential variable block direct current generator 1 are walked, differential variable block direct current generator 1 can be calculated current
The torque (torque is equal to power divided by rotating speed) of output.
Gear regulation is carried out finally.When it is determined that transporter is in upward slope state, in order to allow differential variable block direct current generator 1
Output torque is within the scope of suitably, it is ensured that motor is in optimal working condition, needs to carry out gear regulation.Drive fortune
The differential variable block direct current generator 1 of defeated machine walking built-in reduction box and gearshift, externally show as stretching out with shifting shaft, lead to
Cross promotion shifting shaft and can change gear, so as to change the output torque of differential variable block direct current generator 1.
The gear shifting action of differential variable block direct current generator 1 provides power by linear electric motors 12, is promoted and is changed by push rod 3 and change gear shaft
Gear shaft is carrying out.Under normality, sensor block 4 positioned at 6 corresponding position of equilbrium position proximity switch, shifting shaft be located at equilbrium position.When
When the current torque of differential variable block direct current generator 1 is more than the scope for setting, needs move back gear, to reduce speed, reduce torque；Move back gear
Process is：Controller sends control signal to linear electric motors 12, and driving push rod 3 drives gear shifting rod 2 to move, will be positioned at equilbrium position
Shifting shaft push deceleration gear to so that transporter slows down, should during, the sensor block 4 on push rod 3 is also from connecing with equilbrium position
6 corresponding positions of nearly switch move to and 7 corresponding position of gear proximity switch of slowing down, and arrive when the gear proximity switch 7 that slows down detects sensor block 4
Up to when, show that gear shifting action has been completed, and then send signal in place to controller, controller sends control to linear electric motors 12
Signal, allows push rod 3, sensor block 4, gear shifting rod 2, shifting shaft to reset, waits variable block signal next time.And work as differential variable block unidirectional current
When the current torque of machine 1 is less than the scope for setting, need into gear, to improve speed, increase torque；Entering gear process is：Controller
Control signal is sent to linear electric motors 12, driving push rod 3 drives gear shifting rod 2 to move, the shifting shaft positioned at equilbrium position is pushed to
Accelerate gear transporter is accelerated, should during, the sensor block 4 on push rod 3 also from 6 corresponding position of equilbrium position proximity switch
Move to and accelerate 5 corresponding position of gear proximity switch, and when accelerating gear proximity switch 5 to detect the arrival of sensor block 4, show gearshift
Action has been completed, and then sends signal in place to controller, and controller sends control signal to linear electric motors 12, allow push rod 3,
Sensor block 4, gear shifting rod 2, shifting shaft reset, and wait variable block signal next time.It is above-mentioned to enter to keep off or move back gear action according to real-time monitoring
To signal carry out at any time, there may come a time when to need continuous several times to enter gear (on condition that being currently not in highest gear) or continuous many
It is secondary to move back gear (on condition that being currently not in minimum gear), until differential variable block direct current generator 1 is in optimal working condition.
Above-mentioned is that the gear to transporter in upward slope state is adjusted so that differential variable block direct current generator 1 is in optimal
Working condition, and transporter needs to allow transporter by way of brake in optimal movement velocity when being in descending state,
Guarantee operation safety；For this purpose, also include being arranged on electromagnetic brake on the output shaft of differential variable block direct current generator 1 in the present invention,
So as to be braked when transporter excessive velocities so that transporter can be in optimal work shape in ascents and descents
State.
It is above-mentioned not limited by the above for the present invention preferably embodiment, but embodiments of the present invention, its
He any spirit and the change, modification, replacement made under principle without departing from the present invention, combine, simplification, should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (10)
1. a kind of hillside orchard monorail conveyer automatic shifting device, it is characterised in that including inclination angle detection unit, velocity measuring
Unit, control unit and variable block performance element, wherein：
The inclination angle detection unit includes obliquity sensor；
The speed detection unit includes velocity sensor, and the velocity sensor is made up of proximity switch；Set on the transporter
There is the road wheel creeped in dentation track, the road wheel is provided with the external tooth being distributed uniformly and circumferentially, the speed is passed
Sensor end face center is right against the external tooth of road wheel and arranges；
The variable block performance element includes linear electric motors, sensor block and variable block stroke detection switch, wherein, the linear electric motors
With push rod for linear motion, the push rod is by gear shifting rod and for driving the differential variable block direct current generator of transporter walking
Shifting shaft connects；The sensor block is arranged on push rod；The variable block stroke detection switch includes the direction of motion along push rod
Three proximity switches of distribution, respectively accelerate gear proximity switch, equilbrium position proximity switch and the gear proximity switch that slows down, its
In, equilbrium position proximity switch is located at centre, and acceleration gear proximity switch and the gear proximity switch that slows down are close to positioned at equilbrium position and open
The both sides of pass；When the sensor block with pushrod movement to accelerate gear proximity switch corresponding position when, the shifting shaft be located at accelerate
Gear, when the sensor block with pushrod movement to slow down gear proximity switch corresponding position when, the shifting shaft be located at deceleration gear,
When the sensor block with pushrod movement to equilbrium position proximity switch corresponding position when, the shifting shaft be located at equilbrium position；
Described control unit includes controller, the obliquity sensor, velocity sensor, acceleration gear proximity switch, equilbrium position
Proximity switch and the gear proximity switch that slows down are connected to the signal of the signal input part of controller, the linear electric motors and controller
Outfan connects.
2. hillside orchard monorail conveyer automatic shifting device according to claim 1, it is characterised in that the transporter
The first gripper shoe is provided with, the differential variable block direct current generator is arranged at the bottom of the first gripper shoe, and the linear electric motors are arranged
In the top of the first gripper shoe, the lower end of the gear shifting rod is connected with shifting shaft, and upper end is upwardly extended and is connected with push rod.
3. hillside orchard monorail conveyer automatic shifting device according to claim 2, it is characterised in that the push rod
End is provided with U-lag, and the upper end of the gear shifting rod is provided with connecting portion, and the connecting portion has two planes being parallel to each other, and this two
The distance between plane is matched with the width of the U-lag；The connecting portion extend in U-lag and is bolted knot
Structure is connected on push rod.
4. hillside orchard monorail conveyer automatic shifting device according to claim 2, it is characterised in that the sensor block
It is fixed on the top of push rod and upwardly extends；The variable block stroke detection switch is arranged at the top of push rod, and is arranged on setting
On the switch mounting blocks in the first gripper shoe.
5. hillside orchard monorail conveyer automatic shifting device according to claim 4, it is characterised in that the sensor block
Upper end extend upwardly to more than variable block stroke detection switch center.
6. the hillside orchard monorail conveyer automatic shifting device according to any one of claim 2～5, its feature exist
In the road wheel includes drivewheel and driven pulley, and the drivewheel and driven pulley are arranged in the first gripper shoe and differential variable block
The relative side of direct current generator, wherein, the drivewheel is connected with the output shaft of differential variable block direct current generator；The velocity pick-up
Device is fixed in the first gripper shoe by connector, and the center of its end face is right against the drivewheel；In on the transporter
The toothing of dentation track be arranged at downside, the road wheel be located at dentation track lower section, the external tooth on road wheel with it is described
Toothing is meshed.
7. hillside orchard monorail conveyer automatic shifting device according to claim 2, it is characterised in that the transporter
The second gripper shoe be arrangeding in parallel with the first gripper shoe is provided with, between the first gripper shoe and the second gripper shoe, passes through support beam
Connection；Second gripper shoe is provided with electric cabinet, and the controller is arranged in electric cabinet.
8. hillside orchard monorail conveyer automatic shifting device according to claim 1, it is characterised in that also including electromagnetism
Brake, the electromagnetic brake are arranged on the output shaft of differential variable block direct current generator.
9. the hillside orchard monorail conveyer automatic shifting device any one of a kind of application claim 1～8 is realized
The control method of hillside orchard monorail conveyer, it is characterised in that comprise the following steps：
(1) the current dip angle signal of obliquity sensor real-time detection transporter, and the dip angle signal is fed back to into control unit；Control
Unit processed judges that transporter is presently at according to the dip angle signal in conjunction with the direction of travel of the transporter set in system
Ramp shaped state or descending state, if detected as upward slope state, execution step (2)；
(2) tach signal of velocity sensor real-time detection road wheel, and by speed feedback signal to control unit；Control unit
The tach signal returned according to speed sensor feedback simultaneously combines the current operating power of differential variable block direct current generator, calculates and obtains
The current output torque of differential variable block direct current generator；Under normality, sensor block positioned at equilbrium position proximity switch corresponding position, gearshift
Axle position is in equilbrium position；Control unit according to counted torque difference, make following control action respectively：
(2.1) when counted torque is more than setting torque, then judge the gear of current differential variable block direct current generator whether most
Low gear, if not in most low gear, then a gear is moved back in control：Control unit sends control signal, driving push rod band to linear electric motors
The motion of dynamic gear shifting rod, pushes the shifting shaft positioned at equilbrium position to deceleration gear so that transporter slows down, should during, on push rod
Sensor block from the gear proximity switch corresponding position that moves to equilbrium position proximity switch corresponding position and slow down, and when the gear that slows down is close to
When switch detects sensor block arrival, signal in place is sent to control unit, control unit sends control signal to linear electric motors,
Allow push rod, sensor block, gear shifting rod, shifting shaft to reset, wait variable block action next time；
(2.2) when counted torque is less than setting torque, then judge the gear of current differential variable block direct current generator whether most
High gear, if not in top gear, then controls into a gear：Control unit sends control signal, driving push rod band to linear electric motors
The motion of dynamic gear shifting rod, the shifting shaft positioned at equilbrium position is pushed to accelerate gear so that transporter accelerates, should during, on push rod
Sensor block from moving to and accelerate gear proximity switch corresponding position with equilbrium position proximity switch corresponding position, and when accelerating gear to be close to
When switch detects sensor block arrival, signal in place is sent to control unit, control unit sends control signal to linear electric motors,
Allow push rod, sensor block, gear shifting rod, shifting shaft to reset, wait variable block action next time.
10. the control method of hillside orchard monorail conveyer according to claim 9, it is characterised in that in step (1)
In, when judging that transporter is currently at descending state, perform following steps：
(3) tach signal of velocity sensor real-time detection road wheel, and by speed feedback signal to control unit；Control unit
The rotating speed and setting speed are compared, if current rotating speed is more than setting speed, output control signal control electromagnetic system
Dynamic device brake, until within the scope of current rotating speed falls into setting speed, control electromagnetic brake unclamps.
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| CN201410829669.1A CN104648949B (en) | 2014-12-26 | 2014-12-26 | A kind of hillside orchard monorail conveyer automatic shifting device and control method |
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| CN201410829669.1A CN104648949B (en) | 2014-12-26 | 2014-12-26 | A kind of hillside orchard monorail conveyer automatic shifting device and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106428114B (en) * | 2016-08-30 | 2018-09-21 | 华东交通大学 | A kind of safety alarm device applied to hillside orchard monorail conveyer |
| CN109895136A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot balancing device |
| CN109895141A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot deceleration device |
| CN108848690B (en) * | 2018-08-23 | 2023-08-22 | 沈阳农业大学 | Miniature remote control rotary cultivator |
| CN110466537B (en) * | 2019-07-04 | 2024-06-25 | 华中农业大学 | Self-propelled single-track mountain conveyor |
| CN110466538A (en) * | 2019-08-30 | 2019-11-19 | 西北农林科技大学 | A kind of separated type is driven by electricity Remote-control single-track transport vehicle |
| CN112158545B (en) * | 2020-09-11 | 2022-04-15 | 杨凌鲁力农机装备有限公司 | Full-remote control gasoline single-rail conveyor |
| CN112722732A (en) * | 2020-12-18 | 2021-04-30 | 广东电网有限责任公司 | Rail transport equipment control system |
| CN116923988B (en) * | 2023-09-19 | 2023-12-15 | 杭州集英智慧农业装备有限公司 | Intelligent remote control monorail conveyor, control method and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2895233Y (en) * | 2006-03-27 | 2007-05-02 | 韩群山 | Automatic gear-shift control device for motorcycle |
| CN101457831B (en) * | 2007-12-13 | 2012-09-05 | 比亚迪股份有限公司 | Automatic gear shift mechanism for transmission and automatic gear shift system |
| CN101590852A (en) * | 2009-06-30 | 2009-12-02 | 湖南长丰汽车研发股份有限公司 | Motor-driven method for controlling gear shifting of two speed transmission |
| CN102490727A (en) * | 2011-12-06 | 2012-06-13 | 华南农业大学 | Electric mountain orchard single-rail transporting machine |
| JP2014015968A (en) * | 2012-07-09 | 2014-01-30 | Suzuki Motor Corp | Control apparatus of automatic transmission |
| CN102765380B (en) * | 2012-07-23 | 2015-09-23 | 刘厚荣 | Battery-driven car variable speed drive system and automatic control of transmission method |
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Address after: 510642 No. five, 483 mountain road, Guangzhou, Guangdong, Tianhe District Patentee after: SOUTH CHINA AGRICULTURAL University Patentee after: Guangdong Zhensheng Technology Group Co.,Ltd. Address before: 510642 No. five, 483 mountain road, Guangzhou, Guangdong, Tianhe District Patentee before: SOUTH CHINA AGRICULTURAL University Patentee before: GUANGDONG ZHENSHENG PACKAGING TECHNOLOGY Co.,Ltd. |