CN105600243A - Garbage compressing mechanism of lateral-loading type garbage vehicle and control method of garbage compressing mechanism - Google Patents
Garbage compressing mechanism of lateral-loading type garbage vehicle and control method of garbage compressing mechanism Download PDFInfo
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- CN105600243A CN105600243A CN201510992158.6A CN201510992158A CN105600243A CN 105600243 A CN105600243 A CN 105600243A CN 201510992158 A CN201510992158 A CN 201510992158A CN 105600243 A CN105600243 A CN 105600243A
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- shoveling
- rotary encoder
- plate
- oil cylinder
- compressing mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
Abstract
The invention discloses a garbage compressing mechanism of a lateral-loading type garbage vehicle and a control method of the garbage compressing mechanism. The garbage compressing mechanism comprises a filler bin, a push shovel, two push shovel oil cylinders, a rotary coder and a controller. The two push shovel oil cylinders are arranged in a staggered mode, a piston rod of each push shovel oil cylinder is hinged to the push shovel, and a cylinder body of each push shovel oil cylinder is hinged to the inner side of the filler bin. A coder body of the rotary coder is fixed to the filler bin, a mandrel of the rotary coder is fixedly connected with one of the two push shovel oil cylinders, rotates under driving of the push shovel oil cylinder fixed to the mandrel and outputs corresponding pulse data, and the controller is electrically connected with the rotary coder to collect the pulse data output by the rotary coder, and obtains the rotating angle of the corresponding push shovel oil cylinder according to the pulse data to judge the position of the push shovel. The running reliability of the garbage compressing mechanism can be improved, and control over the garbage compressing mechanism is more intelligent.
Description
Technical field
The present invention relates to environmental sanitation mechanical equipment technical field, relate in particular to a kind of rubbish of side loading type garbage truckCompressing mechanism and control method thereof.
Background technology
Compression type garbage truck is the urban sanitation special-purpose vehicle of a kind of efficient collection, transhipment rubbish, at rubbishIn collection, transport process, can avoid trickling down on the way and cause secondary pollution. Wherein, side loading compression type garbage truckBe the one in compression type garbage truck, it promotes dustbin by pull bar and pours rubbish into from trend filling container,And promote pressing waste by shoveling toward the one end in compartment, reach the object of compressed garbage.
In the rubbish compressing mechanism of existing side loading type garbage truck, normally in limit position, the two ends of shoveling campaignPut the first approach switch and the second approach switch are installed respectively, shoveling is in course of action, and shoveling oil cylinder is stretchedGo out compressed garbage, in the time that the second approach switch detects that shoveling arrives, controller control oil cylinder stops stretchingGo out, the oil cylinder of shoveling is simultaneously retracted, and shoveling is retracted, and this is a press cycles. Shoveling oil cylinder is released and is pressedWhen contracting rubbish, the cylinder body pressurized of shoveling oil cylinder, along with the continuous compression of rubbish, force value is larger. SystemAdopts pressure sensor detects the cylinder interior pressure value of shoveling oil cylinder, when force value reaches the threshold of defaultWhen value, rubbish compacting is described, system control shoveling is retracted, the driver of output signal prompting simultaneously transhipment,Dump rubbish. But there is following shortcoming in conventional garbage compressing mechanism:
1, the metal being mingled with in rubbish can cause approach switch to produce error signal, thereby directly causes shoveling mistakeAction;
2, the work under bad environment of approach switch, is not easy to install, debugs and safeguards;
3, cannot know for sure the release location of shoveling, is unfavorable for accurate control;
4, pressure sensor cost is higher, and corresponding Programmable Logic Controller need increase analog acquisition mould simultaneouslyPiece, cost is high.
Summary of the invention
Main purpose of the present invention is to provide a kind of rubbish compressing mechanism and control thereof of side loading type garbage truckMethod, is intended to improve rubbish compressing mechanism reliability of operation, and the control that makes rubbish compressing mechanism moreAdd intellectuality.
For achieving the above object, the invention provides a kind of rubbish compressing mechanism of side loading type garbage truck, described inRubbish compressing mechanism comprises filling container, shoveling, two shoveling oil cylinders, rotary encoder and controller, described inThe top of filling container is provided with feeding port, and described shoveling, two shoveling oil cylinders and rotary encoder are filled out described in being located atIn feed bin, described two shoveling oil cylinders are interlaced arrangement, the piston rod of each shoveling oil cylinder and described shoveling hingeConnect, the cylinder body of each shoveling oil cylinder and the hinged inside of described filling container, described shoveling is established by its both sidesTwo guide assemblies of putting are slidably mounted in described filling container, the fuselage of described rotary encoder and instituteState filling container and fix, one of them of the mandrel of described rotary encoder and described two shoveling oil cylinders fixedConnect, described two shoveling oil cylinders can turn around its articulated position in the time driving described shoveling to slide forward or backwardMoving, the mandrel of described rotary encoder rotates and is defeated under the drive of the shoveling oil cylinder fixing with itGo out corresponding pulse pulse data, described in described controller and described rotary encoder are electrically connected to gatherThe pulse data of rotary encoder output, and draw the anglec of rotation of shoveling oil cylinder according to described pulse dataTo judge the position of described shoveling.
Preferably, described rubbish compressing mechanism also comprises fixed mount and connecting rod, and establish the inner side of described filling containerHave two installing racks, the end of the cylinder body of each shoveling oil cylinder is hinged with corresponding installing rack by a bearing pin,The fuselage of described rotary encoder is fixed on described installing rack by described fixed mount, one of described connecting rodEnd fixes with the mandrel of described rotary encoder, the cylinder of the other end of described connecting rod and described shoveling oil cylinderBody fixes.
Preferably, described fixed mount comprises upper mounted plate, bottom plate and connecting plate, fixed plateGo to upper and lower and be arranged in parallel and be connected by connecting plate with bottom plate, described bottom plate and upper solidDetermine to be respectively equipped with the first through hole and the second through hole on plate, described the first through hole and the second through hole are concentric setting,Described bottom plate is set on described bearing pin and with described installing rack and is fixed by described the first through hole,The fuselage of described rotary encoder positions by the second through hole of fixed plate and with described solidDetermine plate and fix, described connecting rod comprises first paragraph, second segment and is connected in described first paragraph and secondLinkage section between section, described first paragraph and second segment lay respectively at the relative both sides of described linkage section, instituteThe mandrel of stating first paragraph and described rotary encoder fixes, the cylinder of described second segment and described shoveling oil cylinderBody fixes.
Preferably, described installing rack comprises the first side plate, the second side plate and goes to upper and lower and be arranged in parallelThe first installing plate and the second installing plate, the first installing plate of described bearing pin and described installing rack and second peaceDress plate is hinged, the first side plate of described installing rack and the second side plate respectively with the side plate of described filling container and frontPlate fixes, and the inner side of the header board of described filling container is provided with a stiffener, one end of described stiffener and instituteOne of them the first installing plate of stating two installing racks fixes, the other end of described stiffener and described twoAnother second installing plate wherein of installing rack fixes.
Preferably, described rubbish compressing mechanism also comprises two hinge components, the piston of described two shoveling oil cylindersBar is hinged by described two hinge components and described shoveling respectively, and each hinge component comprises hinged seat and revolvesRotating shaft, described hinged seat is fixed in described shoveling, and the piston rod of described shoveling oil cylinder is established by its endThe axis hole of putting is set in the middle part of described rotating shaft rotationally, the two ends of described rotating shaft by screw withDescribed hinged seat fixes.
Preferably, the end of the cylinder body of described shoveling oil cylinder is hinged by a bearing pin and described installing rack, instituteThe end of stating the cylinder body of bearing pin and described shoveling oil cylinder fixes, and the mandrel of described rotary encoder is by oneShaft joint is fixedly connected with described bearing pin.
Preferably, described guide assembly comprises draw runner and guide rail, described shoveling comprise cut somebody's hair, top board and twoSide plate, described biside plate is positioned at the below of described top board and is connected with the relative both sides of described top board, instituteStating cuts somebody's hair is positioned at the downside of described top board and is connected with the rear end of described top board, the downside of described shoveling andFront side is opening-like, and described draw runner is arranged on the outside of the side plate of described shoveling, and described guide rail is fixed on instituteState the inner side of filling container, the outside of the side plate of described shoveling is respectively equipped with in the upper and lower both sides of described draw runnerTwo balance strips, cut somebody's hair and arrange and vertically extend described in described two balance strips are close, described shovelingThe inner side of side plate is just provided with stiffener to described draw runner, and described stiffener and described draw runner are sealed by screwBe fixed together.
Preferably, the quantity of described rotary encoder is two, and the fuselage of described two rotary encoders is equalFix with described filling container, the mandrel of described two rotary encoders is solid with described two shoveling oil cylinders respectivelyFixed connection.
For achieving the above object, the present invention also provides a kind of rubbish that is applicable to aforementioned side loading type garbage truck to pressThe control method of contracting mechanism, described control method comprises:
Step S10, shoveling cylinder action described in described controller control, by described shoveling by initial position toRear release, and drive the mandrel of described rotary encoder to rotate along the first clockwise, described rotary codingDevice is exported the first pulse data in the time that described the first clockwise rotates at described mandrel;
Step S20, described controller gathers described first pulse data of described rotary encoder output, andJudge according to described the first pulse data whether described shoveling has been pushed out to predetermined limit position; If instituteState shoveling and be pushed out to described predetermined limit position, enter step S21; If described shoveling does not also haveBe pushed out to predetermined limit position, enter step S22;
Step S21, shoveling cylinder action described in described controller control, by described shoveling by the described default utmost pointExtreme position retracts forward, and drives the mandrel of described rotary encoder to rotate along the second clockwise, described inRotary encoder is exported the second pulse data in the time that described the second clockwise rotates at described mandrel, described inController gathers described second pulse data of described rotary encoder output, and according to described the second pulseData judge whether described shoveling has been drawn back into described initial position, when described shoveling is pulledDescribed in during to described initial position, described in controller control, shoveling oil cylinder stops action;
Step S22, judges whether the internal pressure of described shoveling oil cylinder has reached overflow value, if reachTo overflow value, fill compacting by described controller judgement rubbish; If do not reach overflow value,Return to step S10.
Preferably, describedly judge whether the internal pressure of described shoveling oil cylinder has reached the step of overflow valueFor:
Detect the internal pressure of described shoveling oil cylinder by the pressure sensor that is provided with in described shoveling oil cylinderWhether reach overflow value; Or
Whether identical by the first pulse data gathering for twice before and after described controller comparison; If it is identical,Represent to have reached overflow value; If not identical, represent not reach overflow value.
The rubbish compressing mechanism of side loading type garbage truck provided by the present invention and control method thereof, rotary codingDevice is positioned at the hinge position of shoveling oil cylinder, is positioned at airtight working environment, has isolated rubbish, can make rubbishRubbish compressing mechanism moves more reliably; And this rubbish compressing mechanism is simple in structure; Compile by rotationThe pulse data of code device just can make controller learn the particular location of shoveling, and then can judge that rubbish isNoly fill compacting, with respect to conventional method, can make to control more intelligent;
Brief description of the drawings
Fig. 1 is the assembling schematic diagram of rubbish compressing mechanism one embodiment of side loading type garbage truck of the present invention.
Fig. 2 is the decomposed figure of the rubbish compressing mechanism of side loading type garbage truck shown in Fig. 1.
The rubbish compressing mechanism that Fig. 3 is side loading type garbage truck shown in Fig. 1 by another visual angle depending on assembling illustrateFigure.
Fig. 4 is the decomposed figure of the rubbish compressing mechanism of side loading type garbage truck shown in Fig. 3.
Fig. 5 is the enlarged drawing at A place in the rubbish compressing mechanism of side loading type garbage truck shown in Fig. 4.
Fig. 6 be shown in Fig. 5 shown in the further exploded view at position.
Fig. 7 is another exploded view of the rubbish compressing mechanism of side loading type garbage truck shown in Fig. 1.
Fig. 8 is the inverted view of the rubbish compressing mechanism of side loading type garbage truck shown in Fig. 7.
Fig. 9 is the signal of shoveling in initial position in the rubbish compressing mechanism of side loading type garbage truck shown in Fig. 1Figure.
Figure 10 be in the rubbish compressing mechanism of side loading type garbage truck shown in Fig. 1 shoveling in predetermined limit positionSchematic diagram.
Figure 11 is the flow process of control method one embodiment of the rubbish compressing mechanism of side loading type garbage truck of the present inventionSchematic diagram.
Realization, functional characteristics and the advantage of the object of the invention, in connection with embodiment, are done further referring to accompanying drawingExplanation.
Detailed description of the invention
Should be appreciated that specific embodiment described herein is only in order to explain the present invention, and be not used in limitDetermine the present invention.
The invention provides a kind of rubbish compressing mechanism of side loading type garbage truck. Referring to figs. 1 through Figure 10, oneIn embodiment, described rubbish compressing mechanism comprises filling container 10, shoveling 20, two shoveling oil cylinders 30, rotationEncoder 40 and controller (not shown). The top of described filling container 10 is provided with feeding port 11, instituteState shoveling 20, two shoveling oil cylinders 30 and rotary encoder 40 and be located in described filling container 10, described two push awayShovel oil cylinder 30 is interlaced arrangement, and the piston rod 31 of each shoveling oil cylinder 30 is hinged with described shoveling 20,The cylinder body 32 of each shoveling oil cylinder 30 and the hinged inside of described filling container 10, described shoveling 20 is passed throughTwo guide assemblies 50 that its both sides arrange are slidably mounted in described filling container 10, and described rotation is compiledThe fuselage 41 of code device 40 fixes with described filling container 10, the mandrel 42 of described rotary encoder 40 withOne of them of described two shoveling oil cylinders 30 is fixedly connected with, and described two shoveling oil cylinders 30 push away described in drivingWhen sliding forward or backward, shovel 20 can rotate around its articulated position the mandrel 42 of described rotary encoder 40Under the drive of the shoveling oil cylinder 30 fixing with it, rotate and export corresponding pulse data, described inController and described rotary encoder 40 are electrically connected to gather the pulse that described rotary encoder 40 is exportedData, and the anglec of rotation that draws shoveling oil cylinder 30 according to described pulse data is to judge described shoveling 20Position.
Wherein, rotary encoder 40 is for measuring rotating speed and coordinating PWM technology can realize fast velocity modulationThe device of speed, photoelectric rotary coder, can be by the angular displacement of output shaft, angular speed by opto-electronic conversionConvert corresponding electric pulse to digital output (REP) etc. mechanical quantity.
In use, described rubbish compressing mechanism is installed on the front end of the railway carriage of side loading type garbage truck, and pushes awayThe shovel 20 opening settings near railway carriage front end, for being poured into the rubbish of filling container 10 by feeding port 11In railway carriage, compress. By rotary encoder 40 and controller are set, the mandrel 42 of rotary encoder 40Under the drive of the shoveling oil cylinder 30 fixing with it, rotate and export corresponding pulse data, described inController and described rotary encoder 40 are electrically connected to gather the pulse that described rotary encoder 40 is exportedData, and the anglec of rotation that draws shoveling oil cylinder 30 according to described pulse data is to judge described shoveling 20Position, and then can judge in railway carriage that whether rubbish fills compacting, with respect to conventional method, can makeMust control more intelligent; Rotary encoder 40 is positioned at the hinge position of shoveling oil cylinder 30, is positioned at airtightWorking environment, isolated rubbish, can make rubbish compressing mechanism move more reliably; And, shouldRubbish compressing mechanism is simple in structure.
In the present embodiment, the top of described filling container 10 is also provided with into bin gate 101, passes through side to facilitateThe rubbish in dustbin is poured into described filling container 10 by the manipulator of dress formula garbage truck.
Consult Fig. 4 to Fig. 6, in the present embodiment, described rubbish compressing mechanism also comprises fixed mount 60 HesConnecting rod 70, the inner side of described filling container 10 is provided with two installing racks 12, the cylinder body 32 of each shoveling oil cylinder 30End by a bearing pin 80 hinged with corresponding installing rack 12, the fuselage of described rotary encoder 4041 are fixed on described installing rack 12 by described fixed mount 60, one end of described connecting rod 70 with described in revolveThe mandrel 42 that turns encoder 40 fixes, the other end of described connecting rod 70 and described shoveling oil cylinder 30Cylinder body 32 fixes. By fixed mount 60 and connecting rod 70 are set, can facilitate the peace of rotary encoder 40Dress.
Described fixed mount 60 comprises upper mounted plate 61, bottom plate 62 and connecting plate 63, fixedPlate 61 goes to upper and lower and be arranged in parallel and be connected by connecting plate 63 with bottom plate 62, described lower solidDetermine to be respectively equipped with the first through hole 621 and the second through hole 611 on plate 62 and upper mounted plate 61, described first is logicalHole 621 and the second through hole 611 are concentric setting, and described bottom plate 62 is by described the first through hole 621Be set on described bearing pin 80 and with described installing rack 12 and fix, the fuselage of described rotary encoder 4041 are positioned and are consolidated mutually with fixed plate 61 by the second through hole 611 of fixed plate 61Fixed. Described connecting rod 70 comprises first paragraph 71, second segment 72 and is connected in described first paragraph 71 andLinkage section 73 between two section 72, described first paragraph 71 and second segment 72 lay respectively at described linkage section73 relative both sides, described first paragraph 71 fixes with the mandrel 42 of described rotary encoder 40, described inSecond segment 72 fixes with the cylinder body 32 of described shoveling oil cylinder 30. By making the first through hole 621 and secondThrough hole 611 is concentric setting, after rotary encoder 40 is installed, can make rotary encoder 40Mandrel 42 is concentric setting with bearing pin 80 (rotation that is shoveling oil cylinder 30 turns), like this can be easilyCalculate the anglec of rotation of shoveling oil cylinder 30 in course of action.
Described installing rack 12 comprises the first side plate 121, the second side plate 122 and goes to upper and lower parallel establishingThe first installing plate 123 of putting and the second installing plate 124, described bearing pin 80 and first of described installing rack 12Installing plate 123 and the second installing plate 124 are hinged, the first side plate 121 and second side of described installing rack 12Plate 122 fixes with side plate 101 and the header board 102 of described filling container 10 respectively, described filling container 10The inner side of header board 102 be provided with a stiffener 13, one end of described stiffener 13 and described two installing racksThe first installing plate 123 of one of them of 12 fixes, the other end of described stiffener 13 and described two peacesShelving another the second installing plate 124 wherein of 12 fixes. By stiffener 13 is set, can makeThe installation that obtains shoveling oil cylinder 30 is more firm, in case thrust shovel 20 occurs under the effect of shoveling oil cylinder 30Pendulum partially.
Consult Fig. 7 and Fig. 8, described rubbish compressing mechanism also comprises two hinge components 90, described two shovelingsThe piston rod 31 of oil cylinder 30 is hinged with described shoveling 20 by described two hinge components 90 respectively, eachHinge component 90 comprises hinged seat 91 and rotating shaft 92, and described hinged seat 91 is fixed on described shoveling 20Upper, the axis hole 311 that the piston rod 31 of described shoveling oil cylinder 30 arranges by its end is sheathed rotationallyAt the middle part of described rotating shaft 92, the two ends of described rotating shaft 92 are by screw and described hinged seat 91 phasesFixing. This hinge component 90 can carry out the piston rod of shoveling oil cylinder 30 31 and shoveling 20 easilyHinged.
Particularly, in the present embodiment, described guide assembly 50 comprises draw runner 51 and guide rail 52, described inShoveling 20 comprise cut somebody's hair 21, top board 22 and biside plate 23, described biside plate 23 is positioned at described top board 22Below and be connected with the relative both sides of described top board 22, described in cut somebody's hair and 21 be positioned at described top board 22Downside is also connected with the rear end of described top board 22, and downside and the front side of described shoveling 20 are opening-like,Can reduce like this friction between shoveling 20 and carriage bottom plate, improve the effect of garbage-compressing. Described cunningBar 51 is arranged on the outside of the side plate 23 of described shoveling 20, and described guide rail 52 is fixed on described filling containerThe inner side of 10 side plate 101. The outside of the side plate 23 of described shoveling 20 is upper and lower in described draw runner 51Both sides are respectively equipped with two balance strips 24, cut somebody's hair 21 settings edge vertically described in described two balance strips 24 are closeDirection is extended, and the inner side of the side plate 23 of described shoveling 20 is just provided with stiffener 231 to described draw runner 51,Described stiffener 231 is fixed together by screw is sealed with described draw runner 51. By balance strip 24 is setWith stiffener 231, can make shoveling 20 operation in the process of releasing and retract more stable, therebyImprove service life.
In the present embodiment, be by fixed mount 60 and connecting rod 70 are set, rotary encoder 40 to be carried outInstall. But the mounting means of rotary encoder 40 does not limit to so, can also be alternate manner,For example, the end of the cylinder body of shoveling oil cylinder 30 32 is hinged by bearing pin 80 and described installing rack 12,And bearing pin 80 and the end of the cylinder body 32 of described shoveling oil cylinder 30 are fixed, and by rotary encoder40 mandrel 42 is fixedly connected with described bearing pin 80 by a shaft joint. Like this, the rotation amount of bearing pin 80Can be directly passed to by shaft joint the mandrel 42 of rotary encoder 40, passable by turning encoder 40Measure the rotation amount of bearing pin 80, and then calculate the position of shoveling 20.
In the present embodiment, the quantity of rotary encoder 40 is one, in other embodiments, described in revolveThe quantity that turns encoder 40 can also be two, in such cases, and described two rotary encoders 40Fuselage 41 all fixes with described filling container 10, and the mandrel 42 of described two rotary encoders 40 respectivelyBe fixedly connected with described two shoveling oil cylinders 30. By being set, two rotary encoders 40 measure respectively twoThe anglec of rotation of individual shoveling oil cylinder 30, can calculate respectively the position of shoveling 20, by calculating knotWhether fruit contrasts or directly two anglecs of rotation is contrasted, can diagnose shoveling 20 to put partially,So that and rubbish compressing mechanism is keeped in repair, prevent badly damaged.
The present invention also provides a kind of control method of rubbish compressing mechanism of side loading type garbage truck, described controlMethod is applicable to the rubbish compressing mechanism in previous embodiment. With reference to Fig. 9 to Figure 11, in one embodiment,The control method of the rubbish compressing mechanism of side loading type garbage truck, comprising:
Step S10, shoveling oil cylinder 30 moves described in described controller control, by described shoveling 20 by initiallyPosition is released backward, and drives the mandrel 42 of described rotary encoder 40 to rotate along the first clockwise,Described rotary encoder 40 is exported the first pulse in the time that described the first clockwise rotates at described mandrel 42Data; As shown in Figure 9 and Figure 10, the mandrel 42 of rotary encoder 40 and the shoveling oil cylinder 30 on right sideWhile fixing, the shoveling oil cylinder 30 on right side by the mandrel of driven rotary encoder 40 42 around bearing pin 80Axle center O rotates along clockwise direction;
Step S20, described controller gathers described the first pulse data that described rotary encoder 40 is exported,And judge according to described the first pulse data whether described shoveling 20 has been pushed out to predetermined limit position;If described shoveling 20 has been pushed out to described predetermined limit position, enter step S21; If described in push awayShovel 20 is not also pushed out to predetermined limit position, enters step S22;
Wherein, controller can be the first pulse data or the timing that Real-time Collection rotary encoder 40 is exported(being the interval scheduled time) gathers the first pulse data that rotary encoder 40 is exported; As Fig. 9 and Figure 10Shown in, moving to predetermined limit position by initial position, the mandrel 42 of rotary encoder 40 need to be around pinThe axle center O of axle 80 rotational angle α along clockwise direction, the size of this angle [alpha] is initial by shoveling 20Position and shoveling 20 predetermined limit positions determine, according to the precision of rotary encoder 40, and described rotationAngle [alpha] is set with a predetermined pulse value in controller correspondence, as long as by described the first pulse data and instituteState predetermined pulse value and compare, if the first pulse data reaches predetermined pulse value, think that shoveling 20Through being pushed out to predetermined limit position, otherwise think that shoveling 20 is not also pushed out to predetermined limit position;
Step S21, shoveling oil cylinder 30 moves described in described controller control, by described shoveling 20 by describedPredetermined limit position retracts forward, and drives the mandrel 42 of described rotary encoder 40 along the second hour hands sideTo rotation, the output in the time that described mandrel 42 rotates along described the second clockwise of described rotary encoder 40The second pulse data, described controller gathers described the second pulse data that described rotary encoder 40 is exported,And judge according to described the second pulse data whether described shoveling 20 has been drawn back into described initial position,Shoveling oil cylinder 30 described in controller control described in the time that described shoveling 20 has been drawn back into described initial positionStop action;
Wherein, controller can be the second pulse data or the timing that Real-time Collection rotary encoder 40 is exported(being the interval scheduled time) gathers the second pulse data that rotary encoder 40 is exported;
As shown in Figure 9 and Figure 10, shoveling oil cylinder 30 phases on the mandrel 42 of rotary encoder 40 and right sideWhen fixing, the shoveling oil cylinder 30 on right side is the axle around bearing pin 80 by the mandrel of driven rotary encoder 40 42Heart O rotates in the counterclockwise direction; Retracting in process, by by the second pulse data and predetermined pulse valueCompare, if the second pulse data reaches predetermined pulse value, think that shoveling 20 has been drawn back intoInitial position, otherwise think that shoveling 20 is not also drawn back into initial position, shoveling oil cylinder 30 needs to continueAction;
Step S22, judges whether the internal pressure of described shoveling oil cylinder 30 has reached overflow value, ifThrough reaching overflow value, fill compacting by described controller judgement rubbish; If do not reach overflow value,Return to step S10.
In described step S22, whether the described internal pressure that judges described shoveling oil cylinder 30 has reached excessiveThe step of flow valuve by: detect described shoveling oil by the interior pressure sensor that is provided with of described shoveling oil cylinder 30Whether the internal pressure of cylinder 30 has reached overflow value.
In described step S22, whether the described internal pressure that judges described shoveling oil cylinder 30 has reached excessiveThe step of flow valuve can also be for: by the first pulse data gathering for twice before and after described controller comparisonWhether identical; If identical, represent to have reached overflow value; If not identical, represent not reach excessiveFlow valuve. In such cases, need to pressure sensor be set in the inside of shoveling oil cylinder 30, thus canTo save cost.
The control method of the rubbish compressing mechanism by side loading type garbage truck of the present invention, passes through rotary encoderPulse data just can make controller learn the particular location of shoveling, and then can judge whether rubbish fillsFull compacting, with respect to conventional method, can make to control more intelligent. These are only of the present invention excellentSelect embodiment, not thereby limit the scope of the claims of the present invention, every description of the present invention and accompanying drawing of utilizingThe equivalent structure that content is done or the conversion of equivalent flow process, or be directly or indirectly used in other relevant technologyField, is all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a rubbish compressing mechanism for side loading type garbage truck, is characterized in that, described rubbish compressing mechanismComprise filling container, shoveling, two shoveling oil cylinders, rotary encoder and controller, the top of described filling containerBe provided with feeding port, described shoveling, two shoveling oil cylinders and rotary encoder are located in described filling container, described inTwo shoveling oil cylinders are interlaced arrangement, and the piston rod of each shoveling oil cylinder and described shoveling are hinged, each shovelingThe cylinder body of oil cylinder and the hinged inside of described filling container, two set of rails that described shoveling arranges by its both sidesPart is slidably mounted in described filling container, and the fuselage of described rotary encoder is solid mutually with described filling containerFixed, the mandrel of described rotary encoder is fixedly connected with one of them of described two shoveling oil cylinders, and described twoShoveling oil cylinder can rotate around its articulated position in the time driving described shoveling to slide forward or backward, described rotationThe mandrel of encoder rotates and exports corresponding pulse under the drive of the shoveling oil cylinder fixing with itPulse data, it is defeated that described controller and described rotary encoder are electrically connected to gather described rotary encoderThe pulse data going out, and show that according to described pulse data the anglec of rotation of shoveling oil cylinder pushes away described in judgingThe position of shovel.
2. rubbish compressing mechanism as claimed in claim 1, is characterized in that, described rubbish compressing mechanismAlso comprise fixed mount and connecting rod, the inner side of described filling container is provided with two installing racks, the cylinder of each shoveling oil cylinderThe end of body is hinged with corresponding installing rack by a bearing pin, and the fuselage of described rotary encoder passes through instituteState fixed mount and be fixed on described installing rack, the mandrel phase of one end of described connecting rod and described rotary encoderFixing, the cylinder body of the other end of described connecting rod and described shoveling oil cylinder fixes.
3. rubbish compressing mechanism as claimed in claim 2, is characterized in that, described fixed mount comprisesFixed head, bottom plate and connecting plate, fixed plate and bottom plate go to upper and lower and be arranged in parallel alsoConnect by connecting plate, on described bottom plate and upper mounted plate, be respectively equipped with the first through hole and secondThrough hole, described the first through hole and the second through hole are concentric setting, and described bottom plate is logical by described firstBorehole jack is located on described bearing pin and with described installing rack and fixes, and the fuselage of described rotary encoder passes through instituteThe second through hole of stating upper mounted plate positions and fixes with fixed plate, and described connecting rod comprisesOne section, second segment and be connected in the linkage section between described first paragraph and second segment, described first paragraphLay respectively at the relative both sides of described linkage section with second segment, described first paragraph and described rotary encoderMandrel fixes, and the cylinder body of described second segment and described shoveling oil cylinder fixes.
4. rubbish compressing mechanism as claimed in claim 2, is characterized in that, described installing rack comprisesSide plate, the second side plate and go to upper and lower the first installing plate and the second installing plate that be arranged in parallel, instituteThe first installing plate and the second installing plate of stating bearing pin and described installing rack are hinged, the first side of described installing rackPlate and the second side plate fix with side plate and the header board of described filling container respectively, the header board of described filling containerInner side is provided with a stiffener, the first peace of one of them of one end of described stiffener and described two installing racksDress plate fix, the other end of described stiffener and described two installing racks wherein another second installationPlate fixes.
5. rubbish compressing mechanism as claimed in claim 1, is characterized in that, described rubbish compressing mechanismAlso comprise two hinge components, the piston rod of described two shoveling oil cylinders is respectively by described two hinge components and instituteState shoveling hinged, each hinge component comprises hinged seat and rotating shaft, described in described hinged seat is fixed on, pushes awayOn shovel, described in being set in rotationally, the axis hole that the piston rod of described shoveling oil cylinder arranges by its end revolvesThe middle part of rotating shaft, the two ends of described rotating shaft fix by screw and described hinged seat.
6. rubbish compressing mechanism as claimed in claim 1, is characterized in that, the cylinder of described shoveling oil cylinderThe end of body is hinged by a bearing pin and described installing rack, the cylinder body of described bearing pin and described shoveling oil cylinderEnd fixes, and the mandrel of described rotary encoder is fixedly connected with described bearing pin by a shaft joint.
7. rubbish compressing mechanism as claimed in claim 1, is characterized in that, described guide assembly comprisesDraw runner and guide rail, described shoveling comprise cut somebody's hair, top board and biside plate, described biside plate is positioned at described top boardBelow and be connected with the relative both sides of described top board, described in cut somebody's hair be positioned at the downside of described top board and withThe rear end of described top board is connected, and downside and the front side of described shoveling are opening-like, and described draw runner is arranged onThe outside of the side plate of described shoveling, described guide rail is fixed on the inner side of described filling container, the side of described shovelingThe outside of plate is respectively equipped with two balance strips in the upper and lower both sides of described draw runner, and described two balance strips are near instituteStating cuts somebody's hair arranges and vertically extends, and the inner side of the side plate of described shoveling is just provided with and adds described draw runnerStrong bar, described stiffener and described draw runner are fixed together by screw is sealed.
8. rubbish compressing mechanism as claimed in claim 1, is characterized in that, described rotary encoderQuantity is two, and the fuselage of described two rotary encoders all fixes with described filling container, described twoThe mandrel of rotary encoder is fixedly connected with described two shoveling oil cylinders respectively.
9. a rubbish that is applicable to the side loading type garbage truck described in claim 1 to 8 any one is pressedThe control method of contracting mechanism, is characterized in that, described control method comprises:
Step S10, shoveling cylinder action described in described controller control, by described shoveling by initial positionRelease backward, and drive the mandrel of described rotary encoder to rotate along the first clockwise, described rotation is compiledCode device is exported the first pulse data in the time that described the first clockwise rotates at described mandrel;
Step S20, described controller gathers described first pulse data of described rotary encoder output,And judge according to described the first pulse data whether described shoveling has been pushed out to predetermined limit position; IfDescribed shoveling has been pushed out to described predetermined limit position, enters step S21; If described shoveling alsoBe not pushed out to predetermined limit position, enter step S22;
Step S21, shoveling cylinder action described in described controller control, by described shoveling by described defaultExtreme position retracts forward, and drives the mandrel of described rotary encoder to rotate along the second clockwise, instituteState rotary encoder and in the time that described the second clockwise rotates, export the second pulse data, institute at described mandrelState described the second pulse data that controller gathers described rotary encoder output, and according to described the second arteries and veinsStrokes per minute is according to judging whether described shoveling has been drawn back into described initial position, when described shoveling is drawnDescribed in while being back to described initial position, described in controller control, shoveling oil cylinder stops action;
Step S22, judges whether the internal pressure of described shoveling oil cylinder has reached overflow value, ifReach overflow value, filled compacting by described controller judgement rubbish; If do not reach overflow value,Return to step S10.
10. control method as claimed in claim 9, is characterized in that, in described step S22, and instituteStating the step whether internal pressure that judges described shoveling oil cylinder reached overflow value is:
Detect the internal pressure of described shoveling oil cylinder by the pressure sensor that is provided with in described shoveling oil cylinderWhether reach overflow value; Or
Whether identical by the first pulse data gathering for twice before and after described controller comparison; If it is identical,Represent to have reached overflow value; If not identical, represent not reach overflow value.
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Effective date of registration: 20180208 Address after: 410000 Hunan province Changsha Changsha city high tech Development Zone No. 186 Gu Yuan Lu, Hunan University science and Technology Park project incubator building east room 424-425 Patentee after: Changsha lake environmental protection science and technology limited company Address before: Yuelu District City, Hunan province 410000 Changsha Changsha high tech Industrial Development Zone No. 186 yuan Lu Valley Patentee before: Hunan University Technology Park Co., Ltd. |