CN109282993A - A kind of shoe rail integration transferring platform and crawler body skidding detection method - Google Patents
A kind of shoe rail integration transferring platform and crawler body skidding detection method Download PDFInfo
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- CN109282993A CN109282993A CN201810966980.9A CN201810966980A CN109282993A CN 109282993 A CN109282993 A CN 109282993A CN 201810966980 A CN201810966980 A CN 201810966980A CN 109282993 A CN109282993 A CN 109282993A
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- tape
- crawler body
- magnetic field
- crawler
- detection sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/03—Endless-tracks
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- General Physics & Mathematics (AREA)
- Geophysics And Detection Of Objects (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of shoe rail integration transferring platforms and crawler body skidding detection method in transferring platform safety traffic field, transferring platform includes crawler body and provides the monorail track of reference for crawler belt, tape is provided on monorail track, tape is strip and intermediate equidistant hollow out has round hole, and crawler belt speed probe is equipped on crawler body and can detect the tape detection sensor of magnetic tape information.Monorail track of the invention had both been the Mechanical Fundamentals of crawler body walking reference, it again can be as the detection element of the tape sensors of crawler body, enable tape sensors to obtain the slipping state of crawler belt by detection magnetic strip information, provides foundation for the operating status of crawler body.
Description
Technical field
It drives safely field the invention belongs to transferring platform, and in particular to a kind of shoe rail integration transferring platform and crawler belt
Chassis skidding detection method
Background technique
There is the agricultural operation environment on abrupt slope in Hills etc., generally use mode of traction and realize agricultural machinery, the means of agricultural production, agricultural production
The transhipment of product is transported, and the type machine does not have autonomous function substantially, can only be with fixed rail running, capacity utilization
It is low.And crawler platform operation under the environment of abrupt slope is easy to skid, cause under such environment transferring platform capacity utilization low or
The problems such as safety is poor.
Summary of the invention
The object of the invention is being provided in a kind of shoe rail integration transferring platform and crawler body skidding detection method, with solution
Technological deficiency certainly existing in the prior art.
To achieve the above object, the present invention provides a kind of shoe rail integration transferring platform, including crawler body and to carry out
With the monorail track of moving reference reference is provided, it is provided with tape on monorail track, tape is strip and intermediate equidistant engraves
Have round hole in vain, be equipped on crawler body crawler belt speed probe, can detect the tape detection sensor of magnetic tape information with
And to the processor that sensor information is analyzed.
Preferably, cushion block is pasted between track and tape.
Preferably, the Adhesion enhancement mechanism that can enhance crawler body and ground friction is additionally provided on crawler body.
Preferably, lifting regulating mechanism is additionally provided on crawler body, tape detection sensor is installed on lift adjustment machine
On structure.
The present invention also provides a kind of a kind of above-mentioned crawler body skidding detection method for carrying out rail integration transferring platform, packets
Include following steps:
S1: processor receives the information that tape detection sensor detects, if it exists when regular magnetic field missing information, if
Detection width is L1 on the left of magnetic field missing information described in n-th, and right side detection width is L2, and intermediate non-detection zone width is
R1, tape width L, round bore dia are R, and distance is D between equidistant round hole, as L1+L2+R1 >=L+R and R=R1
When, starting processor tests the speed the function that clocks；
S2: the magnetic field width that tape detection sensor detects after starting timing is consistent with tape width and believes without interval
Breath, then this timing is effective, when there is (n+1)th magnetic field missing information, stops timing, obtains timing time t, corresponding crawler belt
Chassis travel speed v=D/t；
S3: the crawler belt wheel speed that crawler belt sensor detects is obtained, and is converted into straight-line travelling speed v1, as v1 > v+ △
When v, then crawler belt is in slipping state, otherwise, is in normally travel state.
Preferably, before S1, tape sensors first detect magnetic field strength, if magnetic field strength is less than setting value, lift adjustment
Mechanism makes tape sensors decline until stopping when magnetic field strength is equal to setting value；If magnetic field strength is greater than the set value, rising-falling tone
Section mechanism increase tape sensors until stopping when magnetic field strength is equal to setting value.
Preferably, when S3 detects that crawler belt is in slipping state, start Adhesion enhancement mechanism.
The invention has the following advantages:
1, monorail track of the invention had not only been the Mechanical Fundamentals of crawler body walking reference, but also can be used as track bottom
The detection element of the tape sensors of disk enables tape sensors to obtain the skidding of crawler belt by detection magnetic strip information
State provides foundation for the operating status of crawler body.
2, Adhesion enhancement mechanism of the invention can enhance crawler belt and ground is adhered to when crawler belt is in slipping state
Power eliminates the case where crawler belt skids to enhance the frictional force on crawler belt and ground.
Below with reference to accompanying drawings, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the crawler body main view of the preferred embodiment of the present invention；
Fig. 2 is the crawler body side view of the preferred embodiment of the present invention；
Fig. 3 is the crawler body three-dimensional structure diagram of the preferred embodiment of the present invention；
Fig. 4 is the tape and tape detection sensor schematic diagram of the preferred embodiment of the present invention；
Fig. 5 is the skidding detection method flow chart of the preferred embodiment of the present invention.
Wherein, 1, crawler body；2, lifting regulating mechanism；3, tape detection sensor；4, Adhesion enhancement mechanism；5, it carries out
Band speed probe；6, monorail track；61, round hole.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
To achieve the above object, the present invention provides a kind of shoe rail integration transferring platforms, referring to figure 1, figure 2 and figure 3, packet
It includes crawler body 1 and provides the monorail track 6 of moving reference reference for crawler belt, tape is provided on monorail track 6, tape is length
The equidistant hollow out of bar shaped and centre has round hole 61, and crawler belt speed probe 5 is equipped on crawler body 1, can detect tape
The tape detection sensor 3 of information and the processor that sensor information is analyzed.
Crawler body 1 is conventional double track crawler body 1, and monorail track 6 is between double track crawler body 1, is crawler belt
The walking reference of chassis 1 provides Mechanical Fundamentals.Tape is provided on track, the tape detection sensor 3 on crawler body 1 is logical
Detection magnetic tape information is crossed, and the crawler belt revolving speed measured in conjunction with crawler belt speed probe 5 can analyze out the slipping state of crawler belt,
For the real-time running state system foundation of transferring platform.Crawler belt speed probe 5 measure be Athey wheel revolving speed, need to carry out
The straight-line travelling speed of crawler body 1 is obtained by conversion.Processor carries out processing to the information of sensor and carries out in analysis
The function of timing from when with 1 travel speed of chassis.
Preferably, cushion block is pasted between track and tape.
Cushion block, which is arranged, can reduce metal track to the influence of the magnetic conduction of tape, keep the detection of slipping state more accurate.
Preferably, the Adhesion enhancement mechanism that can enhance crawler body 1 Yu ground friction is additionally provided on crawler body 1
4。
When detecting that crawler body 1 is in slipping state, crawler body 1 can be increased by Adhesion enhancement mechanism 4
Frictional force between ground mitigates or eliminates slipping state.
Preferably, lifting regulating mechanism 2 is additionally provided on crawler body 1, tape detection sensor 3 is installed on lift adjustment
In mechanism 2.
The effect that magnetic field strength between tape detection sensor 3 and tape detects when needing in a certain range is most
It is good, therefore lifting regulating mechanism 2 is set, so that tape detection sensor 3 is in suitable height, to guarantee tape detection sensor
3 keep optimum detection state.Lifting regulating mechanism 2 can realize that 2 one end of lifting regulating mechanism is set using cylinder or oil cylinder
Tape detection sensor 3 is set, the positioning of 3 height of tape detection sensor is realized by lifting.
The present invention also provides a kind of a kind of above-mentioned crawler body skidding detection method for carrying out rail integration transferring platform, ginsengs
See Fig. 5, comprising the following steps:
S1: processor receives the information that tape detection sensor 3 detects, if it exists when regular magnetic field missing information,
If detection width is L1 on the left of magnetic field missing information described in n-th, right side detection width is L2, and intermediate non-detection zone width is
R1, tape width L, 61 diameter of round hole are R, and distance is D between equidistant round hole 61, as L1+L2+R1 >=L+R and R=
When R1, starting processor tests the speed the function that clocks.
The detection interval of tape detection sensor 3 can regularity detect magnetic field missing information.This is because tape
On have equally spaced hollow out round hole 61.Tape should be completely covered in tape detection sensor 3, that is to say, that sensor detection is wide
Degree needs to be greater than tape width.When tape detection sensor 3 cannot the corresponding width of covering tape be completely, then it is assumed that track bottom
There are deviation between disk 1 and monorail track 6, detection data will be invalid.Referring to fig. 4, L1, L2, R1 and L are as shown, work as tape
After the magnetic field missing information that detection sensor 3 will test is sent to processor, processor compares the big of L1+L2+R1 and L+R
It is small, as L1+L2+R1 >=L+R and R=R1, when determining the deviation of crawler body 1 and tape within the error range, processor
Start timing.As L1+L2+R1 < L+R, then needing to adjust crawler body 1 and the deviation of tape makes deviation tend to normal range (NR)
It is interior.When deviation in the normal range, and when sensor detects magnetic field missing information again, compare L1+L2+R1 and L+R again
Size with decide whether open timer.R=R1 under normal circumstances, when larger offset only occurs, tape detection sensor 3
When round hole 61 cannot be completely covered, the case where just will appear R ≠ R1.
S2: the magnetic field width that tape detection sensor 3 detects after starting timing is consistent with tape width and believes without interval
Breath, then this timing is effective, when there is (n+1)th magnetic field missing information, stops timing, obtains timing time t, corresponding crawler belt
1 travel speed v=D/t of chassis.
Magnetic field missing information is detected twice, indicates that crawler body 1 travels the spacing distance of two hollow out round holes 61,
Spacing distance between two round holes 61 is D, and interval time is obtained by timer.Lead to according to the time is carried out with distance is carried out
Cross the average carry out speed v for calculating and obtaining crawler body.
S3: the crawler belt wheel speed that crawler belt speed probe 5 detects is obtained, and is converted into straight-line travelling speed v1, works as v1
When > v+ △ v, then crawler belt is in slipping state, otherwise, is in normally travel state.
Preferably, before S1, tape detection sensor 3 first detects magnetic field strength, if magnetic field strength is less than setting value, lifting
Regulating mechanism 2 makes the decline of tape detection sensor 3 until stopping when magnetic field strength is equal to setting value；If magnetic field strength is greater than setting
Value, lifting regulating mechanism 2 increase tape detection sensor 3 until stopping when magnetic field strength is equal to setting value.Tape detection passes
Within the set range whether sensor 3 detects magnitude of field intensity, determine sensor at a distance from track by magnitude of field intensity
Fluctuation.
Magnetic field strength is too big or the too small error that can all increase tape detection sensor 3 and detect for magnetic tape information, because
This is adjusted by height of the lifting regulating mechanism 2 to tape sensors, guarantees the accuracy of tape detection sensor detection.
Preferably, when S4 detects that crawler belt is in slipping state, start Adhesion enhancement mechanism 4.
When crawler belt is in slipping state, start crawler body 1 on Adhesion enhancement mechanism 4, increase crawler body with
The frictional force on ground eliminates the case where crawler belt skids.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of shoe rail integration transferring platform, which is characterized in that provide moving reference ginseng including crawler body (1) and for crawler belt
The monorail track (6) examined, tape is provided on the monorail track (6), and the tape is strip and intermediate equidistant hollow out
Have round hole (61), the tape for being equipped with crawler belt speed probe (5) on the crawler body (1), capable of detecting magnetic tape information
Detection sensor (3) and the processor that sensor (3) information is analyzed.
2. a kind of shoe rail integration transferring platform according to claim 1, which is characterized in that the monorail track (6) with
Cushion block is pasted between the tape.
3. a kind of shoe rail integration transferring platform according to claim 1, which is characterized in that on the crawler body (1)
It is additionally provided with the Adhesion enhancement mechanism (4) that can enhance crawler body (1) Yu ground friction.
4. a kind of shoe rail integration transferring platform according to claim 1 to 3, which is characterized in that the crawler body
(1) it is additionally provided on lifting regulating mechanism (2), the tape detection sensor (3) is installed on the lifting regulating mechanism (2)
On.
5. a kind of a kind of crawler body skidding detection method for carrying out rail integration transferring platform as claimed in claim 4, special
Sign is, comprising the following steps:
S1: the processor persistently receives the information that the tape detection sensor (3) detects, regular magnetic field lacks if it exists
Break one's promise breath when, if magnetic field missing information described in n-th on the left of detection width be L1, right side detection width be L2, centre do not detect
Peak width is R1, and tape width L, round hole (61) diameter is R, and distance is D between equidistant round hole (61), works as L1+
L2+R1 >=L+R and when R=R1, starting processor test the speed the function that clocks；
S2: the magnetic field width that the tape detection sensor (3) detects after starting timing is consistent with tape width and without interval
Information, then this timing is effective, when there is (n+1)th magnetic field missing information, stops timing, obtains timing time t, right
Answer crawler body travel speed v=D/t；
S3: obtaining crawler body (1) revolving speed that crawler belt speed probe (5) detect, and be converted into straight-line travelling speed v1, when
When v1 > v+ △ v, then crawler body (1) is in slipping state, otherwise, is in normally travel state.
6. a kind of crawler body skidding detection method for carrying out rail integration transferring platform according to claim 5, feature
It is, before S1, tape detection sensor (3) first detects magnetic field strength, if magnetic field strength is less than setting value, the lift adjustment
Mechanism (2) makes the tape detection sensor (3) decline until magnetic field strength stops when being equal to setting value；If magnetic field strength is greater than
Setting value, the lifting regulating mechanism (2) rise the tape detection sensor (3) until when magnetic field strength is equal to setting value
Stop.
7. a kind of crawler body skidding detection method for carrying out rail integration transferring platform according to claim 5, feature
It is, when S3 detects that crawler body (1) is in slipping state, starts Adhesion enhancement mechanism (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966980.9A CN109282993B (en) | 2018-08-23 | 2018-08-23 | Track integrated transfer platform and track chassis slip detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966980.9A CN109282993B (en) | 2018-08-23 | 2018-08-23 | Track integrated transfer platform and track chassis slip detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109282993A true CN109282993A (en) | 2019-01-29 |
| CN109282993B CN109282993B (en) | 2021-09-28 |
Family
ID=65183454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810966980.9A Active CN109282993B (en) | 2018-08-23 | 2018-08-23 | Track integrated transfer platform and track chassis slip detection method |
Country Status (1)
| Country | Link |
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| CN (1) | CN109282993B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110470491A (en) * | 2019-09-05 | 2019-11-19 | 湖南沃工智电科技有限公司 | A kind of crawler tractor production crawler belt antiskid device for detecting performance |
| CN114397118A (en) * | 2022-03-25 | 2022-04-26 | 常州欧爱欧履带有限公司 | A cling compound performance check out test set for track production |
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|---|---|---|---|---|
| CN110470491A (en) * | 2019-09-05 | 2019-11-19 | 湖南沃工智电科技有限公司 | A kind of crawler tractor production crawler belt antiskid device for detecting performance |
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| CN114397118A (en) * | 2022-03-25 | 2022-04-26 | 常州欧爱欧履带有限公司 | A cling compound performance check out test set for track production |
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