CN110185474A - A kind of location structure and position control method of material distributing machine - Google Patents
A kind of location structure and position control method of material distributing machine Download PDFInfo
- Publication number
- CN110185474A CN110185474A CN201910571931.XA CN201910571931A CN110185474A CN 110185474 A CN110185474 A CN 110185474A CN 201910571931 A CN201910571931 A CN 201910571931A CN 110185474 A CN110185474 A CN 110185474A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000010355 oscillation Effects 0.000 claims abstract description 19
- 238000010276 construction Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Civil Engineering (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The present invention provides a kind of location structures of material distributing machine, including rack gear, walking gear, walking sensor, wobble gear and oscillation gauge；Rack gear is fixed on material distributing machine moving guide rail, and walking gear is fixed in material distributing machine moving trolley, and walking gear and rack gear are intermeshed；Sensor of walking is arranged around walking gear；Wobble gear is fixed in material distributing machine moving trolley, and wobble gear is engaged with the pump line rack gear in material distributing machine；Oscillation gauge is arranged around wobble gear.The present invention also provides a kind of position control methods of material distributing machine to determine the location of material distributing machine by reading the number of teeth of walking gear and wobble gear.The present invention records the number of teeth variation of two groups of teeth wheel respectively, just can determine that the swash angle position of pump line in material distributing machine by two groups of teeth number by setting walking sensor and oscillation gauge；Overall construction design is simple, and sensor usage quantity is few, reduces a large amount of wiring, easy to maintain, while being greatly reduced equipment cost.
Description
Technical field
The present invention relates to technical field of tunnel construction, and in particular to a kind of location structure of material distributing machine and location control side
Method.
Background technique
Existing material distributing machine shares 12 positions and needs to detect, it is therefore desirable to install 1 in each detection position and approach
Sensor, when material distributing machine walks or is rocked to some position, corresponding sensor issues signal, is sent by controller
Position is carried out to display to show.In this case the number of sensors electrical harness that are numerous, while being arranged in material distributing machine used
Also very complicated, when needing to monitor more multiposition, required increased sensor and electric wiring are also more.In this case, equipment
Fault point will be very much, failure rate is very high, while the cost of equipment can also greatly increase.
In conclusion the location structure and position control method of being badly in need of a kind of material distributing machine are to solve to exist in the prior art
The problem of.
Summary of the invention
It is an object of that present invention to provide a kind of location structure of material distributing machine and position control methods, to solve existing positioning
The problems such as structure complex circuit, cost are high, maintenance is cumbersome.
To achieve the above object, the present invention provides a kind of location structures of material distributing machine, including rack gear, walking gear, row
Walk sensor, wobble gear and oscillation gauge；Rack gear is fixed on material distributing machine moving guide rail, and walking gear is fixed on material distributing machine
In moving trolley, walking gear and rack gear are intermeshed；Sensor of walking is arranged around walking gear, to incude walking tooth
The number of teeth of wheel changes；Wobble gear is fixed in material distributing machine moving trolley, and wobble gear is engaged with the pump line rack gear in material distributing machine；
Oscillation gauge is arranged around wobble gear, and the number of teeth to incude wobble gear changes.
A kind of location structure of material distributing machine, further includes controller, and controller is connect with walking sensor by signal wire, used
To record the walking gear number of teeth that walking sensor is read；Controller is connect by signal wire with oscillation gauge, to record
The walking gear number of teeth that oscillation gauge is read.
A kind of location structure of material distributing machine, further includes display, and display is connect with controller, is remembered to display controller
The data of record.
Preferably, the walking sensor and oscillation gauge are proximity sensor.
The present invention also provides a kind of position control methods of material distributing machine, using a kind of above-mentioned positioning knot of material distributing machine
Structure, comprising the following steps:
Step 1: controller, which counts, to reset, and determines the initial position of walking gear and wobble gear；
Step 2: material distributing machine moving trolley treads carry-over bar and walking gear engagement, sensor sense of walking on guide rail
The number of teeth variation of walking gear should be arrived, and records the number of teeth M of walking gear by controller；
Step 3: material distributing machine moving trolley stops walking, and the pump line in material distributing machine is swung, and drives wobble gear rotation；Pendulum
The number of teeth of dynamic sensor sensing to wobble gear changes, and the number N of teeth of wobble gear is recorded by controller；
Step 4: the travel distance of moving trolley and the relationship of walking gear number of teeth M are calculated by formula；
Step 5: the relationship of pump line swing angle Yu wobble gear number N of teeth is calculated by formula；
Step 6: the numerical value on display is read, determines the position of pump line in material distributing machine and material distributing machine.
Preferably, the formula in the step 4 are as follows:
S=π m1·M；
In formula, S indicates the travel distance of moving trolley, m1Indicate that the modulus of walking gear, M indicate what walking gear turned over
The number of teeth.
Preferably, the formula in the step 5 are as follows:
In formula, θ indicates the angle that pump line was put；N indicates the number of teeth that wobble gear turns over；Z2Indicate total tooth of wobble gear
Number.
It applies the technical scheme of the present invention, has the advantages that
(1) in a kind of location structure of material distributing machine of the present invention, by setting walking sensor and oscillation gauge, remember respectively
The number of teeth variation for recording walking gear and wobble gear, just can determine that by two groups of teeth number and pumps on the position and material distributing machine of material distributing machine
The swash angle position of pipe；Overall construction design is simple, and sensor usage quantity is few, reduces a large amount of wiring, easy to maintain, simultaneously
It has been greatly reduced equipment cost.
(2) in a kind of location structure of material distributing machine of the present invention, rack gear is engaged with walking gear, by material distributing machine moving trolley
Linear motion is converted to the rotation of walking gear, is conducive to the number of teeth variation of walking sensor sensing walking gear, and structure is set
It counts ingenious, the number of teeth is recorded by controller, data record is accurate；The data measured are shown by display, it is more simple and clear,
Facilitate operation of the construction personnel to equipment.
(3) number of teeth of a kind of position control method of material distributing machine of the present invention, each group of walking gear and wobble gear can
To determine a position, the positioning of M × N number of position may be implemented, break through determining for the corresponding position of a traditional sensor
Position method, location efficiency greatly improve.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, 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 control principle drawing of location structure；
Fig. 2 is sensor schematic view of the mounting position in material distributing machine；
Fig. 3 is the top view of Fig. 2；
Fig. 4 is the portion A partial view in Fig. 2；
Fig. 5 is the portion B partial view in Fig. 3；
Fig. 6 is to pour a mouthful position view on the left of trolley；
Fig. 7 is to pour a mouthful position view at the top of trolley；
Fig. 8 is to pour a mouthful position view on the right side of trolley；
Wherein, 1, material distributing machine moving trolley, 2, material distributing machine moving guide rail, 3, rack gear, 4, walking gear, 5, walking sensing
Device, 6, wobble gear, 7, oscillation gauge, 8, pour mouth, 9, trolley.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be limited according to claim
Fixed and covering multitude of different ways is implemented.
Embodiment 1:
Referring to FIG. 1 to FIG. 8, a kind of location structure and position control method of material distributing machine, the present embodiment are applied to tunnel
The swing arm of material distributing machine pump line pours the positioning of mouth in construction.
A kind of location structure of material distributing machine, including rack gear 3, walking gear 4, walking sensor 5, wobble gear 6 and swing
Sensor 7；Rack gear 3 is fixed on material distributing machine moving guide rail 2, and walking gear 4 is fixed in material distributing machine moving trolley 1, tooth of walking
Wheel 4 is intermeshed with rack gear 3；Walking sensor 5 is arranged in around walking gear 4, and the number of teeth to incude walking gear 4 becomes
Change；Wobble gear 6 is fixed in material distributing machine moving trolley 1, and wobble gear 6 is engaged with the pump line rack gear in material distributing machine；It swings and passes
Sensor 7 is arranged in around wobble gear 6, and the number of teeth to incude wobble gear 6 changes.
A kind of location structure of material distributing machine, further includes controller and display, and controller is sensed by signal wire and walking
Device 5 connects, 4 number of teeth of walking gear read to record walking sensor 5；Controller passes through signal wire and oscillation gauge 7
Connection, to record 4 number of teeth of walking gear of the reading of oscillation gauge 7.Display is connect with controller, to display controller
The data of record.The walking sensor 5 and oscillation gauge 7 are proximity sensor.
In a kind of location structure of above-mentioned material distributing machine, by setting walking sensor and oscillation gauge, record is gone respectively
The number of teeth variation for walking gear and wobble gear, just can determine that pump line on the position and material distributing machine of material distributing machine by two groups of teeth number
Swash angle position；Overall construction design is simple, and sensor usage quantity is few, reduces a large amount of wiring, easy to maintain, while also big
Equipment cost is reduced greatly.
In a kind of location structure of above-mentioned material distributing machine, rack gear is engaged with walking gear, by the straight line of material distributing machine moving trolley
Movement is converted to the rotation of walking gear, is conducive to the number of teeth variation of walking sensor sensing walking gear, and structure design is skilful
It is wonderful, the number of teeth is recorded by controller, data record is accurate；The data measured are shown by display, it is more simple and clear, it is convenient
Operation of the construction personnel to equipment.
A kind of position control method of material distributing machine, using a kind of above-mentioned location structure of material distributing machine, comprising the following steps:
Step 1: controller, which counts, to reset, and determines the initial position of walking gear and wobble gear；
Step 2: material distributing machine moving trolley treads carry-over bar and walking gear engagement, sensor sense of walking on guide rail
The number of teeth variation of walking gear should be arrived, and records the number of teeth M of walking gear by controller；
Step 3: material distributing machine moving trolley stops walking, and the pump line in material distributing machine is swung, and drives wobble gear rotation；Pendulum
The number of teeth of dynamic sensor sensing to wobble gear changes, and the number N of teeth of wobble gear is recorded by controller；
Step 4: the travel distance of moving trolley and the relationship of walking gear number of teeth M are calculated by formula；
Step 5: the relationship of pump line swing angle Yu wobble gear number N of teeth is calculated by formula；
Step 6: the numerical value on display is read, determines the position of pump line in material distributing machine and material distributing machine.
Assuming that the modulus of walking gear is m1, total number of teeth of walking gear is Z1, walking gear rotate when angular speed be
ω, the linear velocity on walking gear reference circle are va, the radius of walking gear reference circle is ra, the speed of travel of moving trolley is
V, the time of moving trolley walking are t, and S indicates the travel distance of moving trolley.
Moving trolley is walked on guide rail, engages walking gear and rack gear, drives walking gear rotation.Because walking tooth
Wheel and rack engaged transmission, then the linear velocity at the walking gear place of being engaged with rack is the speed of travel of moving trolley；
V=va(1)；
According to the parameters relationship of master gear it is found that
By linear velocity and the relationship of angular speed it is found that
va=ω ra(3)；
Angular speed indicates the radian turned in the unit time, so having:
Trolley uniform motion is assumed again,
S=vt (5)；
Joint type (1)~(5), the relationship of the travel distance S and walking gear number of teeth M of available moving trolley, i.e. institute
State the calculation formula in step 4:
S=π m1·M (6)；
Formula in the step 5 are as follows:
In formula, θ indicates the angle that pump line was put；N indicates the number of teeth that wobble gear turns over；Z2Indicate total tooth of wobble gear
Number.
The number of teeth of a kind of position control method of above-mentioned material distributing machine, each group of walking gear and wobble gear is assured that
The positioning of M × N number of position may be implemented in one position, breaks through the localization method of the corresponding position of a traditional sensor,
Location efficiency greatly improves.
It is 2 master gear that walking gear, which selects modulus, in the present embodiment, and it is 24 standard that wobble gear, which selects total number of teeth,
Gear.Material distributing machine has 12 positions to need to detect in the present embodiment, as shown in fig. 6, (being assumed to be X-axis side along trolley direction of travel
To), there are 4 to pour mouth 8 in the left side of trolley 9, is respectively labeled as the position 1#, the position 2#, the position 3# and the position 4#, adjacent two
The spacing set is 10 π；As shown in fig. 7, the top of trolley 9 there are 4 to pour mouth 8, it is respectively labeled as the position 5#, the position 6#, 7#
Set with the position 8#, the spacing of adjacent two positions is 10 π, and the position 5# and the position 1# be in same X-axis position, and pump line is from the position 1# pendulum
The angle for moving the position 5# is 45 °；As shown in figure 8, the right side of trolley 9 there are 4 to pour mouth 8, it is respectively labeled as the position 9#, 10#
Position, the position 11# and the position 12#, the spacing of adjacent two positions are 10 π, and the position 9# and the position 5# are in same X-axis position, are pumped
Pipe from the angle that the position 5# swings to the position 9# be 45 °.
Each position can indicate with the number of teeth of running wheel and wobble gear, i.e., (M, N).Assuming that the position 1# is initial
Position, i.e. coordinate are (0,0).Above-mentioned numerical value, which is substituted into formula (6) and formula (7), can acquire the coordinate of other 11 positions.
The position 2# be (5,0), the position 3# be (10,0), the position 4# be (15,0), the position 5# be (0,3), the position 6# be (5,3), 7#
Be set to (10,3), the position 8# be (15,3), the position 9# be (0,6), the position 10# be (5,6), the position 11# be (10,6), 12#
It is set to (15,6).So, being shown according to the data on display can determine that whether the pump line of material distributing machine reaches designated position,
Realize the positioning function of material distributing machine.
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 location structure of material distributing machine, which is characterized in that including rack gear (3), walking gear (4), walking sensor (5),
Wobble gear (6) and oscillation gauge (7)；Rack gear (3) is fixed on material distributing machine moving guide rail (2), and walking gear (4) is fixed on
In material distributing machine moving trolley (1), walking gear (4) and rack gear (3) are intermeshed；Sensor (5) setting walk in walking gear
(4) around, the number of teeth to incude walking gear (4) changes；Wobble gear (6) is fixed on material distributing machine moving trolley (1), pendulum
Moving gear (6) is engaged with the pump line rack gear in material distributing machine；Oscillation gauge (7) is arranged around wobble gear (6), to incude
The number of teeth of wobble gear (6) changes.
2. a kind of location structure of material distributing machine according to claim 1, which is characterized in that further include controller, controller
It is connect by signal wire with walking sensor (5), walking gear (4) number of teeth read to record walking sensor (5)；Control
Device is connect by signal wire with oscillation gauge (7), to record walking gear (4) number of teeth of oscillation gauge (7) reading.
3. a kind of location structure of material distributing machine according to claim 1 or 2, which is characterized in that it further include display, display
Device is connect with controller, the data to display controller record.
4. a kind of location structure of material distributing machine according to claim 2, which is characterized in that the walking sensor (5) and
Oscillation gauge (7) is proximity sensor.
5. a kind of position control method of material distributing machine, which is characterized in that use one as described in Claims 1 to 4 any one
The location structure of kind material distributing machine, comprising the following steps:
Step 1: controller, which counts, to reset, and determines the initial position of walking gear and wobble gear；
Step 2: material distributing machine moving trolley treads carry-over bar and walking gear engagement, walking sensor sensing on guide rail arrive
The number of teeth of walking gear changes, and the number of teeth M of walking gear is recorded by controller；
Step 3: material distributing machine moving trolley stops walking, and the pump line in material distributing machine is swung, and drives wobble gear rotation；It swings and passes
Sensor senses the number of teeth variation of wobble gear, and the number N of teeth of wobble gear is recorded by controller；
Step 4: the travel distance of moving trolley and the relationship of walking gear number of teeth M are calculated by formula；
Step 5: the relationship of pump line swing angle Yu wobble gear number N of teeth is calculated by formula；
Step 6: the numerical value on display is read, determines the position of pump line in material distributing machine and material distributing machine.
6. a kind of position control method of material distributing machine according to claim 5, which is characterized in that the public affairs in the step 4
Formula are as follows:
S=π m1·M；
In formula, S indicates the travel distance of moving trolley, m1Indicate that the modulus of walking gear, M indicate the number of teeth that walking gear turns over.
7. a kind of position control method of material distributing machine according to claim 5, which is characterized in that the public affairs in the step 5
Formula are as follows:
In formula, θ indicates the angle that pump line was put；N indicates the number of teeth that wobble gear turns over；Z2Indicate total number of teeth of wobble gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910571931.XA CN110185474B (en) | 2019-06-28 | 2019-06-28 | Positioning structure and positioning control method of cloth machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910571931.XA CN110185474B (en) | 2019-06-28 | 2019-06-28 | Positioning structure and positioning control method of cloth machine |
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| CN110185474A true CN110185474A (en) | 2019-08-30 |
| CN110185474B CN110185474B (en) | 2024-08-20 |
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| Publication number | Publication date |
|---|---|
| CN110185474B (en) | 2024-08-20 |
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