CN107605031A - A kind of drainage car and control method with efficient stable manipulation - Google Patents
A kind of drainage car and control method with efficient stable manipulation Download PDFInfo
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- CN107605031A CN107605031A CN201710976845.8A CN201710976845A CN107605031A CN 107605031 A CN107605031 A CN 107605031A CN 201710976845 A CN201710976845 A CN 201710976845A CN 107605031 A CN107605031 A CN 107605031A
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Abstract
The present invention relates to a kind of emergency drainage in special purpose vehicle field equipment, more particularly to a kind of drainage car and control method with efficient stable manipulation.Including chassis vehicle, water pump and water band, compartment and arm support are provided with chassis vehicle, compartment is provided with hydraulic system, hydraulic system includes drive device and running gear, drive device includes Variable plunger pump, piston motor, slippage pump, radiator and hydraulic oil container, Variable plunger pump is connected with chassis vehicle power takeoff and piston motor, and piston motor is connected with water pump, slippage pump is connected with Variable plunger pump and hydraulic oil container, and radiator is connected with Variable plunger pump, piston motor and hydraulic oil container respectively；Chassis vehicle is provided with arm support by being provided with the revolving support of rotary motor, and arm support passes through control system rotary motor and cylinder movement.Compared with prior art, its topology layout is rationally compact, highly integrated, convenient to open, quickly retracting equipment, water band, prominent emergency repair feature, has the characteristics of efficient stable.
Description
Technical field
The present invention relates to a kind of emergency drainage in special purpose vehicle field equipment, more particularly to one kind to have efficient stable manipulation
Drainage car and control method.
Background technology
Terrestrial climate is abnormal at present, and drought and waterlogging is frequent, and flood, Freshets roar down from the mountains, mine disaster water leak accident occurs often,
Because of the waterlogging ponding that heavy rain big flood is formed, road traffic is caused to paralyse, low-lying building, hypogee and civil air defense constructions and installations water inlet are past
Toward that in time can not discharge water, fortune and equipment is caused to lose.Made troubles to civic living trip, or even jeopardize city
The life of the people and the safety of property.As market is continuously increased to the demand of drainage car, its function and performance to drainage car will
Seek also more and more higher.
The harm getting worse brought with flood, emergent industry is included in into emphasis culture for country and development is appointed
Business, full hydraulic drive drainage car have the characteristics that it is quick, efficient and easy to operate, turn into drain off floodwaters flood preferred mobile device.But
Current drainage car is there is also many problems, such as big flow drainage emergency service vehicle（The patent No.：201010157839.8）Hydraulic pressure drive
It is dynamic to use open system, the defects of Hydraulic Elements volume is big, efficiency is low, startup is slow be present；Arm support uses inclined support structure, Wu Fashe
Put lobby, it is impossible to which when meeting draining, more people coordinate the requirement of sharp work；Draining auxiliary equipment is exposed outside on car,
Easy affected by environment, reduction of service life；In order to broaden the scope of work, pivoting support and arm support are stretched out using translational worktable
Certain distance, add the complexity and fault rate of structure and pipeline arrangement；Arm support oil cylinder uses Normal hydraulic combination valve, right
Arm support and vehicle have larger impact.Therefore, how hydraulic draining car realizes that efficient stable is made to turn into already and is badly in need of solving
The problem of.
In addition, existing drainage car directly controls the Traditional control form of hydraulic valve magnet coil using switch, can not
Meet hydraulic system and working condition requirement.
Therefore, current drainage car has that fluid power system volume is big, efficiency is low, arm support job area is small and arm support fortune
Dynamic process impacts the shortcomings of big.
The content of the invention
The present invention is aiming at market and the demand of client, and in order to solve, fluid power system volume is big, efficiency is low, arm support
The problems such as job area is small and the impact of arm support motion process is big, a kind of drainage car with efficient stable manipulation of ad hoc meter and
Control method.
The present invention is achieved in that a kind of drainage car with efficient stable manipulation, including chassis vehicle, water pump and water
Band, it is characterised in that：Compartment is provided with the chassis vehicle, the compartment is provided with hydraulic system, and the hydraulic system includes
There are drive device and running gear, the drive device includes Variable plunger pump A, piston motor, slippage pump, radiator and liquid
Case is pressed oil, the Variable plunger pump A is connected with chassis vehicle power takeoff and piston motor, and the piston motor is connected with water pump, institute
Slippage pump is stated with Variable plunger pump A and hydraulic oil container to be connected, the radiator respectively with Variable plunger pump A, piston motor and liquid
Force feed case is connected；The chassis vehicle is provided with arm support by being provided with the revolving support of rotary motor, and the arm support passes through manipulation
System causes rotary motor and cylinder movement.
A kind of drainage car with efficient stable manipulation, it is characterised in that：Flow control is provided with the Variable plunger pump A
Valve and plunger sloping plate processed.
The oil cylinder includes a change oil cylinder, two change oil cylinders and telescopic oil cylinder, the chassis vehicle and is provided with support oil cylinder.
The running gear includes Variable plunger pump B, ratio valve group and controller, the Variable plunger pump B respectively with bottom
Jiggering power takeoff, ratio valve group are connected with hydraulic oil container, and the hydraulic oil container and ratio valve group are connected, and the ratio valve group is set
There are five proportioning valves, the proportioning valve is respectively used to control rotary motor, one to become oil cylinder, two change oil cylinders, telescopic oil cylinder and supporting leg
The operation of oil cylinder, the controller and ratio valve group are connected, and the ratio valve group is provided with feedback module, the Variable plunger pump
Load-sensitive and pressure-compensated valve and plunger sloping plate are provided with B.
The compartment is arranged to hydraulic pressure chamber, lobby and reel room, and the hydraulic pressure chamber is provided with including drive device and fortune
Luggage put including hydraulic system, the lobby is provided with sleeping berth, and the reel room is provided with some hose rolls.
A kind of drainage car control system with efficient stable manipulation, it is characterised in that：The control system includes change
Amount plunger pump B, ratio valve group, sensor and controller, the Variable plunger pump B and ratio valve group are connected, the ratio valve group
Be provided with five proportioning valves, the proportioning valve be respectively used to control rotary motor, one become oil cylinder, two become oil cylinders, telescopic oil cylinder and
The operation of support oil cylinder, the controller are connected with ratio valve group and sensor.
A kind of control system of the drainage car with efficient stable manipulation, it is characterised in that：The sensor includes speed
Degree sensor, angular transducer and position sensor, the velocity sensor are arranged on water pump, and the angular transducer is set
In revolving support, the first joint arm and the second joint arm, the position sensor is arranged on telescoping tube and support oil cylinder.
The ratio valve group is provided with feedback module, and load-sensitive and pressure-compensated valve are provided with the Variable plunger pump B
And plunger sloping plate, the feedback module are connected with load-sensitive and pressure-compensated valve.
A kind of control method of the drainage car control system with efficient stable manipulation, it is characterised in that including following step
Suddenly：
（1）Start Variable plunger pump B and control system, proportioning valve F of the controller into ratio valve group send action signal, control
Support cylinder causes vehicle to be in horizontality；
（2）Proportioning valve realization action interlocking in controller comparative example valve group；
（3）Proportioning valve B is controlled in controller comparative example valve group, and control one becomes oil cylinder, and arm support is lifted；
（4）Proportioning valve A is controlled in controller comparative example valve group, controls rotary motor, arm support is rotated；
（5）Proportioning valve C is controlled in controller comparative example valve group, and control two becomes oil cylinder, and arm support is lifted；
（6）Proportioning valve D is controlled in controller comparative example valve group, controls telescopic oil cylinder, telescoping tube is stretched；
（7）According to the target location of water pump, artificial handling controller carries out structure adjusting to five motions, makes it steady fast
Speed reaches target；
（8）One velocity sensor is installed on water pump, controls corresponding proportioning valve to reduce movement velocity, forms a closed loop speed
Degree control, make arm support motion soft in order, and water pump is placed on below the water surface.
A kind of control method of the drainage car control system with efficient stable manipulation, it is characterised in that：The arm support is stretched
Open up can free operating point G when, utilize best effort of the automatic computing of control system from free operating point G to pump operating point H
Path, and can realize that arm support upper rotary motor, one become the cooperative motion of oil cylinder, two change oil cylinders and telescopic oil cylinder.
The beneficial effects of the present invention are：Water pump is driven using closed type hydraulic system, greatly improves operating efficiency, reduces car
Weight, shorten the equipment start-stop time；Driver's cabin top design is crossed using arm support, expands arm support job area, lifting vehicle is held
Loading capability, shorten operation time；Arm support executive component drives adoption rate control technology, can reduce arm support operation punching
Hit, improve stabilization of equipment performance；The control method of control system can make the simple operation of complexity, adapt to the various severe works of difference
Condition, improve the overall control performance of vehicle.
Brief description of the drawings
Fig. 1 is that the present invention relates to a kind of front view of the drainage car with efficient stable manipulation；
Fig. 2 is Fig. 1 top view；
Fig. 3 is that the present invention relates to a kind of boom system composition figure of the drainage car with efficient stable manipulation；
Fig. 4 is that the present invention relates to a kind of enclosed drive device figure of the drainage car with efficient stable manipulation；
Fig. 5 is that the present invention relates to a kind of running gear schematic diagram of the drainage car with efficient stable manipulation；
Fig. 6 is that the present invention relates to a kind of control system theory of constitution figure of the drainage car with efficient stable manipulation.
Shown in accompanying drawing, wherein, 1 it is chassis vehicle, 2 be compartment, 21 be hydraulic pressure chamber, 22 be lobby, 23 be reel room, 3 is
Hydraulic system, 30 be ratio valve group, 31 be Variable plunger pump A, 32 be piston motor, 33 be slippage pump, 34 be radiator, 35 be
Hydraulic oil container；36 it is Variable plunger pump B, 37 is that a change oil cylinder, 38 into two change oil cylinders, 39 into telescopic oil cylinder, 4 are arm support, 41 are
First joint arm, 42 be the second joint arm, 43 be telescoping tube, 5 be water pump, 6 be hose roll, 61 be water band, 7 be revolving support, 8 be
Control system, 81 be controller, 82 be velocity sensor, 83 be angular transducer A, 84 be angular transducer B, 85 be angle pass
Sensor C, 86 be position sensor A, 87 be position sensor B, 9 be rotary motor, 10 be the water surface, 11 be support oil cylinder, 12 be
Power takeoff.
Embodiment
As shown in Figures 1 to 6, a kind of drainage car with efficient stable manipulation, including chassis vehicle 1, water pump 5 and water band
61, compartment 2 is provided with its chassis vehicle 1, and compartment 2 is provided with hydraulic system 3, and hydraulic system 3 includes drive device and operation
Device, drive device include Variable plunger pump A31, piston motor 32, slippage pump 33, radiator 34 and hydraulic oil container 35, become
Amount plunger pump A31 be connected with chassis vehicle power takeoff 12 and piston motor 32, piston motor 32 is connected with water pump 5, slippage pump 33 and
Variable plunger pump A31 is connected with hydraulic oil container 35, radiator 34 respectively with Variable plunger pump A31, piston motor 32 and hydraulic oil
Case 35 is connected；Chassis vehicle 1 to be provided with arm support 4 by the way that there is provided the revolving support 7 of rotary motor 9, and the arm support 4 is by manipulating
System 8 causes rotary motor 9 and cylinder movement.
Water pump 5 uses hydraulic submersible pump, and its maximum advantage is to compare with the electric submersible pump of Same Efficieney, and volume is
The 1/3 of the latter, and at any time without having to worry about this kind of security incident for having electric leakage.Due to its small volume, rotating speed is high, weight
Amount is light, is easy to carry, and being normally used for the water supply of emergent big flow, the flood fighting water drainage in many cities etc. needs the movement of fast reaction
Equipment.It can be mounted in excavator and use, and can also be used cooperatively with other hydraulic moving vehicles, and without reinvestment power dress
Put.
The power takeoff 12 of chassis vehicle 1 is the power more than needed using chassis, will be sent out by the electrical excitation alternating current generator under vehicle frame
Motivation output power-conversion is alternating current, is available for equipment in compartment 2 to use.Typically there is power taking window on bogie speed changer
Mouthful, generator operation is driven by power transmission shaft, is automatically controlled through overexcitation, rotating speed automatic servo motor control speed.
Variable plunger pump A31 pressure oil passes through check valve entering variable through the oil-through-hole in the pump housing, pump case variable shell
The cavity of resorption of housing, when pull bar moves downward, servo piston is promoted to move down, the upper valve port of servo valve is opened, variable shell
The pressure oil of cavity of resorption is through the oil-through-hole entering variable housing epicoele in variable piston, because upper cavity area is more than cavity of resorption, hydraulic coupling
Promote piston to move downward, drive bearing pin to make variable head around steel ball central rotation, the inclination angle of change variable head（Increase）, plunger
The flow of pump increases therewith.Otherwise pull bar moves upwards, the inclination angle of variable head changes round about, and the flow of pump is also therewith
Change.After fading to zero when angle of inclination, then variable head changes to negative bias angular direction, and liquid stream produces commutation.
Piston motor 32 is a type of hydraulic motor.Working media（Hydraulic oil etc.）Act on piston.Working media
（Hydraulic oil etc.）Act on the end face of piston or plunger, piston or plunger is done straight reciprocating motion, then changed by moving
Mechanism（Swash plate, cam, crank etc.）, by the circular motion that the convert reciprocating motion of piston or plunger is output shaft.
Radiator 34 is the general designation for conducting, discharging a series of devices of heat.
A kind of drainage car with efficient stable manipulation, is provided with flow control valve and plunger in its Variable plunger pump A31
Swash plate.
Oil cylinder includes a change oil cylinder 37, two change oil cylinder 38 and telescopic oil cylinder 39, chassis vehicle 1 are provided with support oil cylinder 11.
Chassis vehicle 1 is that hydraulic system 3 provides power, makes support oil cylinder 11 is stable to be supported in ground；Made by control system 8
One on the upper rotary motor 9 of pivoting support 7 and arm support 4, which becomes oil cylinder 37, two, becomes oil cylinder 38,39 soft ordered movement of telescopic oil cylinder,
Water pump 5 is slipped into the lower section of the operation water surface 10；Piston motor 32 drives water pump 5 that water is drawn into the pipeline of arm support 4, is rolled up through water band
The water band 61 of disk 6 is discharged to correct position, completes discharging water operation.
The Full-power takeoff 12 of chassis vehicle 1 makes Variable plunger pump A31 export hydraulic oil through power transmission shaft, is directly inputted to plunger
Motor 32 drives water pump 5 to operate, and slippage pump 33 only need to inject a small amount of fluid from bypass for closed system, for hydraulic system 3
Leakage, radiating and lubrication；The fluid of leakage returns to hydraulic oil container 35 after the cooling of radiator 34.Due to Variable plunger pump A31 and
The hydraulic oil of piston motor 32 uses this Closed Hydraulic Driving system without control valve, has operating efficiency height, work
The features such as pressure height, system element small volume, fast in light weight and control speed.Solve that drainage efficiency is low, hydraulic system volume
The problem of big.
Running gear in hydraulic system 3 includes Variable plunger pump B36, ratio valve group 30 and controller 81, variable piston
Pump B36 is connected with the power transmission shaft of chassis vehicle power takeoff 12, ratio valve group 30 and hydraulic oil container 35 respectively, hydraulic oil container 35 and proportioning valve
Group 30 is connected, and ratio valve group 30 is provided with five proportioning valves, and these proportioning valves are respectively used to control rotary motor 9, one to become oil cylinder
37th, the operation of two change oil cylinders 38, telescopic oil cylinder 39 and support oil cylinder 11, controller 81 are connected with ratio valve group 30, ratio valve group
30 are provided with feedback module, and load-sensitive and pressure-compensated valve and plunger sloping plate are provided with Variable plunger pump B36.
The Full-power takeoff 12 of chassis vehicle 1 makes Variable plunger pump B36 export hydraulic oil, control to ratio valve group 30 through power transmission shaft
Device 81 processed can output a control signal to ratio valve group 30 according to working condition requirement, the rotary motor 9, one of arm support 4 is become oil cylinder 37, two
Become oil cylinder 38 and the commutation of the grade executive component of telescopic oil cylinder 39 and the speed of service obtains optimal control, reduce these executive components pair
The impact of arm support 4, improve the stability and reliability of vehicle.Solves the shock problem of the motion process of arm support 4.
Load-sensitive and pressure-compensated valve in Variable plunger pump B 36 can be according to the pressure feedback moulds of ratio valve group 30
The feedback pressure signal that block provides, the pressure of Variable plunger pump B36 servo hydraulic cylinders is adjusted, so as to change Variable plunger pump B36
Swash plate angle, can be provided for running gear needed for pressure and flow, and the maximum pressure of restriction proportion valve group 30.
Compartment 2 is arranged to hydraulic pressure chamber 21, lobby 22 and reel room 23, and hydraulic pressure chamber 21 is provided with including drive device and fortune
Luggage put including hydraulic system 3, lobby 22 is provided with sleeping berth, and reel room 23 is provided with some hose rolls 6.Water band 61 twines
It is wound on water band capstan winch 6.
Driver's cabin top design is crossed using arm support 4, it is possible to increase the first joint arm 41, the second joint arm 42 and telescoping tube in arm support 4
43 length, be advantageous to the expansion of drainage car working space.It is avoided to increase job area, will be turned round using translational worktable
Supporting 7 and arm support 4 stretch out certain distance, add the complexity and fault rate of structure and pipeline arrangement, and spatial spread has
Limit.Solves the job area minor issue of arm support 4.
Due to crossing driver's cabin top design using arm support 4, lobby 22 can be set in the middle part of vehicle, can be in lobby 22
Tables and chairs, bedding etc. are configured, drainage car system operation monitoring device can be also installed in lobby 22, by vehicle
Camera can monitor drainage condition in lobby 22；And bearing part operating and maintenance personnel, solve driver's cabin carrying personnel
It is few, it can not tackle and promptly speedily carry out rescue work, more people requirement of sharp work simultaneously.Solve the problems, such as that more people are difficult to while sharp work, shorten
Emergency response time, and improve the rapid ability for carrying out operation.
Chassis vehicle 1 can be provided with lifting illumination lamp and four hydraulic support legs.Lifting illumination lamp is bolted the bottom of at
Above the driver's cabin of jiggering 1.Lifting illumination lamp can illuminate working environment at night, and the work such as favourable draining is speedily carried out rescue work smoothly are entered
OK.This four hydraulic support legs are fixed on the correct position of the crossbeam of chassis vehicle 1 by bearing, right by support oil cylinder 11 during use
Supporting leg is extended downwardly from contacting to earth, and the body of chassis vehicle 1 is jacked up, and makes the major part of chassis vehicle 1（Or all）Weight is supported by supporting leg, so as to
Keep the steady of car body.
It is a kind of with efficient stable manipulation drainage car control system, its control system 8 include Variable plunger pump B36,
Ratio valve group 30, sensor and controller 81, Variable plunger pump B36 and ratio valve group 30 are connected, and the ratio valve group 30 is provided with
Five proportioning valves, these proportioning valves are respectively used to control rotary motor 9, one to become the change of oil cylinder 37, two oil cylinder 38, the and of telescopic oil cylinder 39
The operation of support oil cylinder 11, controller 81 are connected with ratio valve group 30 and sensor.
A kind of drainage car control system with efficient stable manipulation, each proportioning valve of its ratio valve group 30 are provided with
Sensor.Sensor includes velocity sensor 82, angular transducer A83, angular transducer B84, angular transducer C85, position
Sensors A 86 and position sensor B87 are put, velocity sensor 82 is arranged on water pump 5, and angular transducer A83 is arranged on revolution
Support on 7, the angle of revolution for measuring revolving support 7；Angular transducer B84 is arranged in the first joint arm 41, angle sensor
Device C85 is arranged in the second joint arm 42, for detecting the relative angle of the first joint arm 41 and the second joint arm 42 with ground；Position passes
Sensor A86 is arranged on telescopic oil cylinder 39, position sensor A87 is arranged on support oil cylinder 11, for detecting telescopic location length
Degree.
Ratio valve group 30 can detect movement angle, speed and the position of valve element by sensor and produce feedback signal, right
Than deviation obtained by feedback signal and the input signal of controller 81, the magnetic valve bridge in passing ratio valve constantly adjusts control
Movement angle, speed and the position of main valve plug, make valve element reach preferable position, make output flow reliable and stable, so as to realize
The closed-loop control of ratio valve group 30.
Ratio valve group 30 is provided with pressure feedback module, be provided with Variable plunger pump B36 load-sensitive and pressure-compensated valve and
Plunger sloping plate, pressure feedback module are connected with load-sensitive and pressure-compensated valve., can be with by the Intelligent control of controller 81
Solve the above problems well, and system possesses rational structure, stable performance and high efficiency running.
Controller 81 is that mechanical energy is converted into pressure using hydraulic pump, promotes hydraulic oil.By controlling various valves
Change the flow direction of hydraulic oil, so as to promote hydraulic cylinder to make the action of different strokes, different directions, it is different to complete various equipment
Action needs.
This control system 8, include controller 81, velocity sensor 82, angular transducer A83, angular transducer
B84, angular transducer C85, position sensor A86 and position sensor B87.When ratio valve group 30 controls hydraulic leg oil cylinder 11
Action, or its corresponding position sensor B87 to controller 81 send change in location instruction when, controller 81 is by comparative example valve
Other proportioning valves progress in group 30 is locked, realization action interlocking, prevents from, due to artificial maloperation, causing arm support 4 to move, damages
Driver's cabin or other structures part；Similarly, the folding and unfolding of arm support 4 work when, the first joint arm 41, the second joint arm 42, telescoping tube 43 and return
Turn supporting 7 need in order in place after, after angle or position sensor send signal in place to controller 81, can carry out next
Individual action, therefore need to interlock between proportioning valve, it just can guarantee that the correctness and reliability of manipulation.
One velocity sensor 82 is installed on water pump 5, when arm support 4 moves, as detected the afterbody water pump 5 of arm support 4
When movement velocity exceedes mechanism kinematic setting speed, velocity sensor 82 is signaled to controller 81, controls corresponding ratio
Valve reduces movement velocity, forms a closed speed control, moves arm support 4 soft orderly.
When arm support 4 be stretched over can free operating point G when, using 8 automatic computing of control system from free operating point G to water pump
Operating point H best effort path, and can realize that the upper rotary motor 9, one of arm support 4 becomes oil cylinder 37, two and becomes oil cylinder 38 and flexible oil
The cooperative motion of cylinder 39, shorten the drainage car preparation time；Meanwhile realize motion bit using angle, speed and position sensor
Scope is put to limit and anti-collision warning function.Solves the problems, such as the Intelligent control of the motion process of arm support 4.
A kind of control method of the drainage car control system with efficient stable manipulation, comprises the following steps：
1st, Variable plunger pump B36 and control system 8 are started, proportioning valve F of the controller 81 into ratio valve group 30 sends action letter
Number, control support cylinder 11 causes vehicle to be in horizontality.Proportioning valve F of the controller 81 into ratio valve group 30 sends action
Signal, hydraulic leg gradually extend, when hydraulic leg supporting surface all starts to touch ground respectively, the pressure rise of hydraulic system 3,
Controller 81, which sends ramp signal under electric current, to the feedback module of ratio valve group 30, by changing the angle of plunger sloping plate 32, makes branch
The responsiveness of leg oil cylinder 11 slows down, when position sensor B87 detects that the rise of support oil cylinder 11 distance reaches object height L1,
Controller 81 sends stopping action signal, vehicle is in horizontality.
2nd, proportioning valve realization action interlocking in the comparative example valve group 30 of controller 81.Ratio in the comparative example valve group 30 of controller 81
Valve progress is locked mutually, realization action interlocking, prevents due to artificial maloperation, causes the mechanism of arm support 4 while move, cause center of gravity
Change, mechanical interferences, influence the stability and security of vehicle.
3rd, proportioning valve B is controlled in the comparative example valve group 30 of controller 81, and control one becomes oil cylinder 37, and arm support 4 is lifted
Rise.Proportioning valve B is controlled in the comparative example valve group 30 of controller 81, and controller 81 first sends electric current upslope signal-flat oblique wave
Signal-downslope signal, angular transducer B84 constantly detection one become oil cylinder 37 lifting angle, make its by near steadily again to
Lifting angle а 1 as defined in the orderly arrival of slow speed.
4th, proportioning valve A is controlled in the comparative example valve group 30 of controller 81, controls rotary motor 9, arm support 4 is revolved
Turn.Proportioning valve A is controlled in the comparative example valve group 30 of controller 81, and controller 81 first sends electric current upslope signal-flat oblique wave
Signal-downslope signal, angular transducer A83 constantly detect the anglec of rotation of rotary motor 9, make it by near steadily again to slow
Speed in order reach as defined in anglec of rotation а 2.
5th, proportioning valve C is controlled in the comparative example valve group 30 of controller 81, and control two becomes oil cylinder 38, and arm support 4 is lifted
Rise.Proportioning valve C is controlled in the comparative example valve group 30 of controller 81, and controller 81 first sends electric current upslope signal-flat oblique wave
Signal-downslope signal, angular transducer C85 constantly detection two become oil cylinders 38 lifting angles, make its by near steadily again to
Lifting angle а 3 as defined in the orderly arrival of slow speed.
6th, proportioning valve D is controlled in the comparative example valve group 30 of controller 81, controls telescopic oil cylinder 39, telescoping tube 43 is carried out
It is flexible.Proportioning valve D is controlled in the comparative example valve group 30 of controller 81, and controller 81 first sends electric current upslope signal-flat oblique
Ripple signal-downslope signal, position sensor A86 constantly detect the flexible angle of telescopic oil cylinder 39, make it by near steadily again
Collapsing length L2 as defined in being reached in order to slow speed.
7th, structure adjusting is carried out to five motions, makes it according to the target location of water pump 5, artificial handling controller 81
Steady quick arrival target.
The 8th, one velocity sensor 82 is installed on water pump 5, control corresponding proportioning valve to reduce movement velocity, forms one
Closed speed control, move arm support 4 soft orderly, and water pump 5 is placed on the water surface below 10.One is installed on water pump 5
Velocity sensor 82, when arm support 4 moves, such as detect that the movement velocity of the afterbody water pump 5 of arm support 4 is set more than mechanism kinematic
During speed V, velocity sensor 82 is signaled to controller 81, controls corresponding proportioning valve to reduce movement velocity, forms one
Closed speed control, move arm support 4 soft orderly.
In this step, a kind of control method of the drainage car control system with efficient stable manipulation, its arm support 4 stretch
To can free operating point G when, using 8 automatic computing of control system from free operating point G to the operating point H of water pump 5 best effort
Path, and can realize that the upper rotary motor 9, one of arm support 4 becomes the cooperative motion that oil cylinder 37, two becomes oil cylinder 38 and telescopic oil cylinder 39, contracting
The short drainage car preparation time；Meanwhile realize that movement position scope is limited and collided using angle, speed and position sensor
Warning function.
After a kind of drainage car with efficient stable manipulation is reached the spot, the drainage car is stopped to the suitable position of operating area
Put.Chassis vehicle power takeoff 12 is opened, supporting leg is deployed.After vehicle is steady, the quick rolling screen door for opening the both sides of compartment 2, by water
Water band 61 on belt reel 6 unloads.Water band 61 is attached with delivery port by snap joint, and the other end is placed into finger
Determine drainage position.Operational control device 81 so that a change oil cylinder 37 and two becomes oil cylinder 38 and extended, the He of the first joint arm 41 in arm support 4
Second joint arm 42 is deployed, and telescoping tube 43 is released in the elongation of telescopic oil cylinder 39, and water pump 5 is moved to operating position, and operational control device 81 opens
Dynamic button opens water pump 5 and carries out draining.
After fulfiling assignment, telescoping tube 43, water pump 5 are retracted to original position by operational control device 81, telescopic oil cylinder 39, and two become oil cylinder
38 shrink, and the second joint arm 42 returns back to original position, and a change oil cylinder 37 shrinks, and the return of the first joint arm 41, whole arm support 4 returns.
Using this drainage car with efficient stable manipulation, its topology layout is rationally compact, highly integrated, conveniently opens
Open, quickly retracting equipment and water band, prominent emergency repair feature, reduce vehicle weight, shorten the equipment start-stop time；And expand
Arm support job area, vehicle bearing capacity is lifted, shorten operation time；Emergency management and rescue efficiency is greatly improved, reduces arm
Frame operational shock, lifting means stability.
One kind of embodiment described above, simply more preferably embodiment of the invention, those skilled in the art
The usual variations and alternatives that member is carried out in the range of technical solution of the present invention should all include within the scope of the present invention.
Claims (10)
1. a kind of drainage car with efficient stable manipulation, including chassis vehicle, water pump and water band, it is characterised in that：The chassis
Compartment is provided with car, the compartment is provided with hydraulic system, and the hydraulic system includes drive device and running gear, institute
State drive device and include Variable plunger pump A, piston motor, slippage pump, radiator and hydraulic oil container, the Variable plunger pump A
Be connected with chassis vehicle power takeoff and piston motor, the piston motor is connected with water pump, the slippage pump and Variable plunger pump A and
Hydraulic oil container is connected, and the radiator is connected with Variable plunger pump A, piston motor and hydraulic oil container respectively；The chassis vehicle leads to
Cross the revolving support there is provided rotary motor arm support to be installed, the arm support passes through control system rotary motor and oil cylinder is transported
It is dynamic.
A kind of 2. drainage car with efficient stable manipulation according to claim 1, it is characterised in that：The variable piston
Flow control valve and plunger sloping plate are provided with pump A.
A kind of 3. drainage car with efficient stable manipulation according to claim 2, it is characterised in that：The oil cylinder includes
There are a change oil cylinder, two change oil cylinders and telescopic oil cylinder, the chassis vehicle that support oil cylinder is installed.
A kind of 4. drainage car with efficient stable manipulation according to claim 3, it is characterised in that：The running gear
Include Variable plunger pump B, ratio valve group and controller, the Variable plunger pump B respectively with chassis vehicle power takeoff, ratio valve group
It is connected with hydraulic oil container, the hydraulic oil container and ratio valve group are connected, and the ratio valve group is provided with five proportioning valves, the ratio
Example valve is respectively used to control rotary motor, one to become the operation of oil cylinder, two change oil cylinders, telescopic oil cylinder and support oil cylinder, the control
Device and ratio valve group are connected, and the ratio valve group is provided with feedback module；Be provided with the Variable plunger pump B load-sensitive and
Pressure-compensated valve and plunger sloping plate.
A kind of 5. drainage car with efficient stable manipulation according to one of claim 1-4, it is characterised in that：The car
Railway carriage or compartment is arranged to hydraulic pressure chamber, lobby and reel room, and the hydraulic pressure chamber is provided with the liquid including drive device and running gear
Pressure system, the lobby are provided with sleeping berth, and the reel room is provided with some hose rolls.
A kind of 6. drainage car control system according to one of claim 1-5, it is characterised in that：The control system includes
There are Variable plunger pump B, ratio valve group, sensor and controller, the Variable plunger pump B and ratio valve group are connected, the ratio
Valve group is provided with five proportioning valves, and the proportioning valve is respectively used to control rotary motor, one to become oil cylinder, two change oil cylinders, flexible oil
The operation of cylinder and support oil cylinder, the controller are connected with ratio valve group and sensor.
A kind of 7. drainage car control system according to claim 6, it is characterised in that：The sensor includes speed biography
Sensor, angular transducer and position sensor, the velocity sensor are arranged on water pump, and the angular transducer is arranged on back
Turn in support, the first joint arm and the second joint arm, the position sensor is arranged on telescoping tube and support oil cylinder.
A kind of 8. drainage car control system according to claim 7, it is characterised in that：The ratio valve group is provided with feedback
Module, load-sensitive and pressure-compensated valve and plunger sloping plate are provided with the Variable plunger pump B, and the feedback module and load are quick
Sense is connected with pressure-compensated valve.
9. the control method of a kind of drainage car control system according to one of claim 6-8, it is characterised in that including such as
Lower step：
（1）, start Variable plunger pump B and control system, proportioning valve F of the controller into ratio valve group and send action signal, control
Support cylinder processed causes vehicle to be in horizontality；
（2）, proportioning valve realization action interlocking in controller comparative example valve group；
（3）, proportioning valve B is controlled in controller comparative example valve group, control one becomes oil cylinder, and arm support is lifted；
（4）, proportioning valve A is controlled in controller comparative example valve group, control rotary motor, arm support rotated；
（5）, proportioning valve C is controlled in controller comparative example valve group, control two becomes oil cylinders, and arm support is lifted；
（6）, proportioning valve D is controlled in controller comparative example valve group, control telescopic oil cylinder, telescoping tube stretched；
（7）, according to the target location of water pump, artificial handling controller carries out structure adjustings to five motions, makes its steady
It is quick to reach target；
（8）, a velocity sensor is installed on water pump, control corresponding proportioning valve to reduce movement velocity, form a closed loop
Speed control, make arm support motion soft in order, and water pump is placed on below the water surface.
A kind of 10. control method of drainage car control system according to claim 9, it is characterised in that：The arm support is stretched
Open up can free operating point G when, utilize best effort of the automatic computing of control system from free operating point G to pump operating point H
Path, and can realize that arm support upper rotary motor, one become the cooperative motion of oil cylinder, two change oil cylinders and telescopic oil cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710976845.8A CN107605031A (en) | 2017-10-19 | 2017-10-19 | A kind of drainage car and control method with efficient stable manipulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710976845.8A CN107605031A (en) | 2017-10-19 | 2017-10-19 | A kind of drainage car and control method with efficient stable manipulation |
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| CN107605031A true CN107605031A (en) | 2018-01-19 |
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| CN201710976845.8A Withdrawn CN107605031A (en) | 2017-10-19 | 2017-10-19 | A kind of drainage car and control method with efficient stable manipulation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108675197A (en) * | 2018-05-14 | 2018-10-19 | 长江三峡通航管理局 | A kind of hydraulic power unit of hydraulic jack of the driving with mechanical self-latching protective device |
| CN109185111A (en) * | 2018-09-29 | 2019-01-11 | 安徽江南化工股份有限公宁国分公司 | Blasthole water plug |
| CN114290976A (en) * | 2021-12-28 | 2022-04-08 | 江苏振翔车辆装备股份有限公司 | Multifunctional water area rescue water supply and drainage vehicle |
-
2017
- 2017-10-19 CN CN201710976845.8A patent/CN107605031A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108675197A (en) * | 2018-05-14 | 2018-10-19 | 长江三峡通航管理局 | A kind of hydraulic power unit of hydraulic jack of the driving with mechanical self-latching protective device |
| CN109185111A (en) * | 2018-09-29 | 2019-01-11 | 安徽江南化工股份有限公宁国分公司 | Blasthole water plug |
| CN114290976A (en) * | 2021-12-28 | 2022-04-08 | 江苏振翔车辆装备股份有限公司 | Multifunctional water area rescue water supply and drainage vehicle |
| CN114290976B (en) * | 2021-12-28 | 2023-08-29 | 江苏振翔车辆装备股份有限公司 | Multifunctional water supply and drainage vehicle for water area rescue |
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Application publication date: 20180119 |