CN110512678A - Channel side slopes clean-up operation trolley automatic impaction control system - Google Patents
Channel side slopes clean-up operation trolley automatic impaction control system Download PDFInfo
- Publication number
- CN110512678A CN110512678A CN201910759827.3A CN201910759827A CN110512678A CN 110512678 A CN110512678 A CN 110512678A CN 201910759827 A CN201910759827 A CN 201910759827A CN 110512678 A CN110512678 A CN 110512678A
- Authority
- CN
- China
- Prior art keywords
- arm
- channel side
- side slopes
- trolley
- hydraulic cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 claims abstract description 26
- 230000006835 compression Effects 0.000 claims abstract description 16
- 238000007906 compression Methods 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000002457 bidirectional effect Effects 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 239000000203 mixture Substances 0.000 abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 19
- 238000000034 method Methods 0.000 description 13
- 241000195493 Cryptophyta Species 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000003825 pressing Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009711 regulatory function Effects 0.000 description 2
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- 206010021143 Hypoxia Diseases 0.000 description 1
- 206010061217 Infestation Diseases 0.000 description 1
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 239000005864 Sulphur Substances 0.000 description 1
- 229910021529 ammonia Inorganic materials 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- DNJIEGIFACGWOD-UHFFFAOYSA-N ethanethiol Chemical compound CCS DNJIEGIFACGWOD-UHFFFAOYSA-N 0.000 description 1
- 238000012851 eutrophication Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- 230000007954 hypoxia Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- QJGQUHMNIGDVPM-UHFFFAOYSA-N nitrogen group Chemical group [N] QJGQUHMNIGDVPM-UHFFFAOYSA-N 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000003053 toxin Substances 0.000 description 1
- 231100000765 toxin Toxicity 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8816—Mobile land installations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/287—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with jet nozzles
Abstract
Channel side slopes clean-up operation trolley automatic impaction control system, including PLC controller, hydraulic system, bracing wire linear transducer, column, principal arm, multistage telescopic arm, linking arm and cavitation jet clean trolley；The front end of multistage telescopic arm is connected by the upper end of flexible pre-tightening mechanism and linking arm, and the lower end of linking arm and the top of cavitation jet cleaning trolley are hinged；Bracing wire linear transducer is mounted in flexible pre-tightening mechanism, and PLC controller is connect with hydraulic system and bracing wire linear transducer respectively by controlling cable.The present invention passes through electric proportional control multi-way valve, adjust the amount of spring compression between linking arm and principal arm+multistage telescopic arm, cavitation jet trolley can be cleaned to be pressed in channel side slopes work surface with certain precompression, to have certain fault-tolerant ability to job platform non-rectilinear traveling and channel side slopes angle, it can be better achieved and ecological removing is carried out to channel side slopes algal gel mixture.
Description
Technical field
The present invention relates to a kind of channel side slopes pollution clean-up technology field more particularly to a kind of channel side slopes clean-up operation trolleies certainly
The tight control system of dynamic pressure, the ecology of algal gel mixture is clear in the side slope of the waters such as channel, river, inland lake and landscape water body
It removes.
Background technique
Currently, the mankind are discharged into big in production and daily life into water body with the quickening of social process of industrialization
Nitrogenous, phosphorus pollutant is measured, the eutrophication process of the slow flow water bodies such as lake, reservoir is accelerated, to cause algae infestation, sternly
The ecological balance for destroying water body again endangers the safety of the mankind and other biological.In addition, for the weight carried out using channel mode
Big water diversion project can also adhere to a large amount of dirt on channel side slopes in addition to breeding algae, form algal gel mixture.Channel side slopes
The growth and dirt deposition for locating algae have seriously affected Water quality, and the algae in water body can not only cause water body stench and greening
Black, the substances such as hydrogen sulfide, sulphur, ammonia that the stink in most of lakes and pool is generated by algae death and water hypoxia draw
It rises, dead frond, which is deposited in side slope, has seriously affected Water quality, more seriously can produce the nuisances such as algae toxin
Matter causes to impact to the treatment process of water factory along the line, increases water supply cost.Therefore the algal gel mixture in cleaning side slope, is improved
The technical issues of water body conveys quality, mitigates water factory's processing difficulty, becomes urgent need to resolve, with important ecology and environment meaning
Justice.
Currently, both at home and abroad in side slope algal gel clearance technique, to avoid leading to the problem of secondary pollution to water quality, frequently with physics
Sweep-out method mainly includes the methods of manual cleanup, mechanical friction type cleaning.Using manual cleaning, not only large labor intensity, is imitated
Rate is low, also a large amount of dirts can be made to diffuse into water, causes secondary pollution, and cannot completely remove the algal gel flowed or blow over and cover completely by deep water
Attachment.That there are equipment constructions is complicated for mechanical friction type manner of cleaning up, underwater operation when be not easy to seal, algae cannot eradicate, make
The problems such as industry area low efficiency；On the other hand, mechanical friction apparatus for work is typically located on mobile operation platform, job platform
It cannot strictly walk when moving by straight line, in addition, channel side slopes angle can also change, cause mechanical friction apparatus for work
It cannot be fitted closely with channel side slopes, to cause certain difficulty to the removing of algal gel mixture, influence operating efficiency.
Summary of the invention
The present invention provides a kind of channel side slopes clean-up operation trolley from dynamic pressure to solve shortcoming in the prior art
Cavitation jet can be cleaned trolley and be pressed on channel side slopes with certain precompression, thus to job platform by tight control system
Non-rectilinear traveling and channel side slopes angle have certain fault-tolerant ability, can be better achieved to channel side slopes algal gel mixture into
Row ecology is removed.
In order to solve the above technical problems, the present invention adopts the following technical scheme: channel side slopes clean-up operation trolley is from dynamic pressure
Tight control system, including PLC controller, hydraulic system, bracing wire linear transducer, column, principal arm, multistage telescopic arm, linking arm
Trolley is cleaned with cavitation jet；
Column tilts backwards setting from bottom to top, and principal arm rear end and the upper end of the column are hinged, sets between principal arm and column lower front side
It is equipped with main transformer width hydraulic cylinder, principal arm front end and multistage telescopic arm rear end are hinged, the final section of principal arm bottom and multistage telescopic arm
Flexible luffing hydraulic cylinder is provided between bottom, the front end of multistage telescopic arm is connected by the upper end of flexible pre-tightening mechanism and linking arm
It connects, the lower end of linking arm and the top of cavitation jet cleaning trolley are hinged；
Bracing wire linear transducer is mounted in flexible pre-tightening mechanism, PLC controller by control cable respectively with hydraulic system and
The connection of bracing wire linear transducer, hydraulic system are connected with main transformer width hydraulic cylinder and flexible luffing hydraulic cylinder respectively by fluid pressure line
It connects.
Flexible pre-tightening mechanism includes guiding axis, compressed spring, axle sleeve, lower fulcrum bar and U-shaped board, and multistage telescopic arm front end is set
There is push-and-pull bracket, guiding shaft rear end is hinged on push-and-pull bracket forward upper, and U-shaped board is opening down, the left and right side point of U-shaped board
It is not fixedly connected on the left and right side of linking arm upper end, guiding shaft rear end is fixedly installed baffle, and guiding axis nose threads connect
It is connected to limit adjusting nut, compressed spring and axle sleeve are set on guiding axis, are fixed with a pin at left and right sides of axle sleeve
Axis, two pin shafts are rotatably connected on the left and right sides of U-shaped board, compressed spring front-end and back-end respectively with axle sleeve rear end and baffle top
Press-fit, the front end of lower fulcrum bar and linking arm top rear side are fixedly connected, and the rear end of lower fulcrum bar and push-and-pull pedestal lower end are hinged, are drawn
Line length sensor is located above compressed spring, the both ends of bracing wire linear transducer be connected to U-shaped board top rear and
It pushes and pulls on bracket.
Control system includes that PLC controller is connected with button switch and display, and hydraulic system includes load sensitive pump, main
Luffing hydraulic cylinder and flexible luffing hydraulic cylinder, which are respectively connected with, stretches out proportion magnetic valve and compression factor solenoid valve, and load sensitive pump is logical
It crosses electric proportional control multi-way valve not and Bidirectional balanced valve is connect with stretching proportion magnetic valve and compression factor solenoid valve respectively, PLC
Controller is connect by controlling cable with electric proportional control multi-way valve.
High-resolution camera is installed, high-resolution camera is connect with display by data line on multistage telescopic arm.
By adopting the above technical scheme, principal arm and multistage telescopic arm pass through the executing agencies such as hydraulic motor, hydraulic cylinder realization frame
The movement such as flexible, luffing, revolution, to meet the requirement of different work range；Linking arm is articulated with multistage by middle part hinge and stretches
The front end of contracting arm, linking arm lower end is connected by hingedly cleaning trolley with cavitation jet, and linking arm upper end passes through U-shaped board and pressure
The connection of contracting spring, compressed spring can guarantee that cavitation jet cleaning trolley is tightly attached on channel side slopes with certain pre-pressing force,
To for driving the carrying platform of principal arm and multistage telescopic arm to have centainly in non-rectilinear traveling and channel side slopes angle
Fault-tolerant ability；Cavitation jet cleans life of the trolley by the realization of underwater cavitating jet flow cleaning technique to channel side slopes algal gel mixture
State is removed；Principal arm and telescopic arm are adjustable by hydraulic system driving main transformer width hydraulic cylinder or flexible luffing hydraulic cylinder extension
Cavitation jet cleans compression degree of the trolley on channel side slopes；Bracing wire linear transducer, PLC controller, electric proportional control are more
Road valve, main transformer width hydraulic cylinder collectively form the operating trolley automatic impaction control system with feedback, can automatically adjust pressure
The decrement of contracting spring, to realize to operating trolley automatic impaction regulatory function.
Axle sleeve is slided along guiding axis, and the pressure of compressed spring drives U-shaped board and linking arm with lower fulcrum bar by axle sleeve, pin shaft
Rear end and the hinge joint of push-and-pull bracket rotate backward for fulcrum, increase cavitation jet cleaning trolley and channel side slopes pressing force,
The press of the top of limit adjusting nut and U-shaped board is when contacting, and has rotated backward mechanical position limitation effect to the lower part of linking arm, multistage
Telescopic arm and linking arm are equivalent to be rigidly connected, at this point, cavitation jet cleaning trolley has the risk for being detached from channel side slopes work surface.
Main transformer width hydraulic cylinder or flexible luffing hydraulic cylinder extension, adjustable linking arm top and compressed spring are driven by hydraulic system
Decrement, adjust compression degree of the cavitation jet cleaning trolley on channel side slopes to realize.
Bracing wire linear transducer detects the decrement signal of compressed spring between linking arm and multistage telescopic arm, and the signal is defeated
Enter PLC controller, PLC controller determines the stroke of main transformer width hydraulic cylinder or flexible luffing hydraulic cylinder, exported by PLC controller
The proportion magnetic valve that signal controls main transformer width hydraulic cylinder or flexible luffing hydraulic cylinder to electric proportional control multi-way valve is controlled, to drive
Dynamic main transformer width hydraulic cylinder or flexible luffing hydraulic cylinder extension realize compressed spring decrement between linking arm and multistage telescopic arm
It adjusts.
The button switch set by the bridge operation tablecloth, Lai Shixian flexible pre-tightening mechanism automatically adjusts/manually adjust function
The switching of energy, when automatic impaction button switch is pressed, PLC control controller is automatically adjusted by hydraulic system, otherwise, by
Operator is manually adjusted flexible pre-tightening mechanism.
By arranging display in driver's cabin, the shape that operating trolley hold-down mechanism is automatically adjusted/manually adjusted can be shown
State and linking arm and the situation of change for making compressed spring decrement between multistage telescopic arm arm.
Bracing wire linear transducer is arranged in parallel with guiding axis, and bracing wire linear transducer is controlled by cable drum and PLC
Device is connected, and when multistage telescopic arm stretches, the cable on cable drum can be realized servo-actuated.
Hydraulic system is programmed by PLC controller and is realized, in addition, a high-resolution camera is arranged on multistage telescopic arm,
It realizes and cavitation jet cleaning trolley is monitored with the situation that is bonded of channel side slopes work surface.
For the hydraulic oil source of hydraulic system from load sensitive pump, load sensitive pump is connected to automobile chassis or other operations
Platform engine power output mouth (PTO).
Hydraulic system uses load sensitive system, provides pressure oil on demand, realizes energy saving of system；It is more sensitive for cost
In the case where, using Constant Pump System.
The hydraulic valve for controlling main transformer width hydraulic cylinder or flexible luffing hydraulic cylinder extension uses electric proportional control multi-way valve, with drop
Low system cost；It is higher for control accuracy requirement to apply operating condition, it is realized using proportioning valve.
It is disposed with Bidirectional balanced valve between main transformer width hydraulic cylinder or flexible luffing hydraulic cylinder and electric proportional control multi-way valve, with
Improve the stationarity of adjustment process.
The quadrangle that cavitation jet cleans trolley is installed there are four universal wheel, is pressed in cavitation jet cleaning trolley containing algal gel
When in the side slope of mixture, advance resistance can reduce.
In conclusion the present invention has following technical effect that
The present invention uses the automatic control system of the negative feedback of band, by electric proportional control multi-way valve, adjusts linking arm and Work machine
Cavitation jet can be cleaned trolley and is pressed on certain precompression by the amount of spring compression between arm (principal arm+multistage telescopic arm)
In channel side slopes work surface, so that there is certain fault-tolerant ability to job platform non-rectilinear traveling and channel side slopes angle, it can
It is better achieved and ecological removing is carried out to channel side slopes algal gel mixture, there is safely weight to guarantee channel Water quality and water delivery
Big meaning.
Detailed description of the invention
Fig. 1 is rough package drawing of the invention；
Fig. 2 is the front view that multistage telescopic arm and cavitation jet clean trolley；
Fig. 3 is the top view of Fig. 2；
Fig. 4 is the schematic diagram of hydraulic system in the present invention；
Fig. 5 is electric control theory figure of the invention.
Specific embodiment
As Figure 1-Figure 5, channel side slopes clean-up operation trolley automatic impaction control system of the invention, including PLC control
Device 50, hydraulic system, bracing wire linear transducer 51, column 52, principal arm 53, multistage telescopic arm 54, linking arm 55 and cavitation processed are penetrated
Stream cleaning trolley 56；
Column 52 tilts backwards setting from bottom to top, and 53 rear end of principal arm and 52 upper end of column are hinged, principal arm 53 and 52 lower part of column
Main transformer width hydraulic cylinder 57 is provided between front side, 53 front end of principal arm and 54 rear end of multistage telescopic arm are hinged, 53 bottom of principal arm and more
It is provided with flexible luffing hydraulic cylinder 58 between the final section bottom of grade telescopic arm 54, the front end of multistage telescopic arm 54 passes through elasticity
Pre-tightening mechanism 76 is connect with the upper end of linking arm 55, and the lower end of linking arm 55 and the top of cavitation jet cleaning trolley 56 are hinged；
Bracing wire linear transducer 51 is mounted in flexible pre-tightening mechanism 76, PLC controller 50 by control cable respectively with it is hydraulic
System and bracing wire linear transducer 51 connect, hydraulic system by fluid pressure line respectively with main transformer width hydraulic cylinder 57 and flexible luffing
Hydraulic cylinder 58 connects.
Flexible pre-tightening mechanism 76 includes guiding axis 59, compressed spring 60, axle sleeve 61, lower fulcrum bar 62 and U-shaped board 63, and multistage is stretched
54 front end of contracting arm is equipped with push-and-pull bracket 64, and 59 rear end of guiding axis is hinged on push-and-pull 64 forward upper of bracket, the opening of U-shaped board 63 court
Under, the left and right side of U-shaped board 63 is respectively fixedly connected with the left and right side in 55 upper end of linking arm, and 59 rear end of guiding axis is fixed
It is provided with baffle 65,59 nose threads of guiding axis are connected with limit adjusting nut 66, and compressed spring 60 and axle sleeve 61 are set in
On guiding axis 59,61 left and right sides of axle sleeve is fixed with a pin shaft 67, and two pin shafts 67 are rotatably connected on a left side for U-shaped board 63
Right two sides, 60 front-end and back-end of compressed spring respectively with 61 rear end of axle sleeve and baffle 65 press cooperate, the front end of lower fulcrum bar 62 with
It is fixedly connected on rear side of 55 top of linking arm, the rear end and push-and-pull 64 lower end of bracket of lower fulcrum bar 62 are hinged, bracing wire linear transducer 51
Above compressed spring 60, the both ends of bracing wire linear transducer 51 are connected to the top rear and push-and-pull branch of U-shaped board 63
On frame 64.
Control system includes that PLC controller 50 is connected with button switch 68 and display 69, and hydraulic system includes that load is quick
Sense pump 70, main transformer width hydraulic cylinder 57 and flexible luffing hydraulic cylinder 58, which are respectively connected with, stretches out proportion magnetic valve 71 and compression factor electromagnetism
Valve 72, load sensitive pump 70 by electric proportional control multi-way valve 73 not and Bidirectional balanced valve 74 respectively with stretch out proportion magnetic valve 71
It is connected with compression factor solenoid valve 72, PLC controller 50 is connect by controlling cable with electric proportional control multi-way valve 73.
High-resolution camera, high-resolution camera and display 69 are installed to connect by data line on multistage telescopic arm 54
It connects.
Principal arm 53 and multistage telescopic arm 54 realize that frame is flexible, luffing, revolution by executing agencies such as hydraulic motor, hydraulic cylinders
Deng movement, to meet the requirement of different work range；Linking arm 55 is articulated with the front end of multistage telescopic arm 54 by middle part hinge,
55 lower end of linking arm is connected by hingedly cleaning trolley 56 with cavitation jet, and 55 upper end of linking arm passes through U-shaped board 63 and compression
Spring 60 connects, and compressed spring 60 can guarantee that cavitation jet cleaning trolley 56 is tightly attached to channel side slopes with certain pre-pressing force
On 75, thus to for driving the carrying platform of principal arm 53 and multistage telescopic arm 54 in non-rectilinear traveling and 75 angle of channel side slopes
With certain fault-tolerant ability；Cavitation jet cleans trolley 56 and is realized by underwater cavitating jet flow cleaning technique to channel side slopes 75
The ecology of algal gel mixture is removed；Principal arm 53 and telescopic arm pass through hydraulic system driving main transformer width hydraulic cylinder 57 or flexible luffing liquid
Cylinder pressure 58 is flexible, compression degree of the adjustable cavitation jet cleaning trolley 56 on channel side slopes 75；Bracing wire linear transducer
51, PLC controller 50, electric proportional control multi-way valve 73, main transformer width hydraulic cylinder 57 collectively form the operating trolley with feedback
Automatic impaction control system can automatically adjust the decrement of compressed spring 60, to realize to operating trolley automatic impaction tune
Save function.
Axle sleeve 61 is slided along guiding axis 59, and the pressure of compressed spring 60 drives U-shaped board 63 by axle sleeve 61, pin shaft 67 and connects
Connect arm 55 using 62 rear end of lower fulcrum bar and push and pull bracket 64 hinge joint rotate backward as fulcrum, make cavitation jet cleaning trolley 56 with
75 pressing force of channel side slopes increases, when the top press of limit adjusting nut 66 and U-shaped board 63 contacts, to the lower part of linking arm 55
The mechanical position limitation that rotated backward effect, multistage telescopic arm 54 and linking arm 55 are equivalent to be rigidly connected, at this point, cavitation jet cleans
Trolley 56 has the risk for being detached from 75 work surface of channel side slopes.Main transformer width hydraulic cylinder 57 or flexible luffing liquid are driven by hydraulic system
Cylinder pressure 58 is flexible, the decrement on adjustable linking arm 55 top and compressed spring 60, adjusts cavitation jet cleaning to realize
Compression degree of the trolley 56 on channel side slopes 75.
It is as follows that cavitation jet cleans 56 automatic impaction control process of trolley:
The button switch 68 that operator is set by the bridge operation tablecloth, 76 automatic adjustments of Lai Shixian flexible pre-tightening mechanism/hand
The switching of dynamic regulatory function, when pressing automatic impaction button switch 68, bracing wire linear transducer 51 detects linking arm 55 and multistage
The decrement of compressed spring 60 between telescopic arm 54, the signal input PLC controller 50, PLC controller 50 by cable drum
The stroke for determining main transformer width hydraulic cylinder 57 or flexible luffing hydraulic cylinder 58 outputs control signals to electric ratio by PLC controller 50
Example control multi-way valve 73 controls the stretching proportion magnetic valve 71 and compression ratio of main transformer width hydraulic cylinder 57 or flexible luffing hydraulic cylinder 58
Example solenoid valve 72, to drive main transformer width hydraulic cylinder 57 or flexible luffing hydraulic cylinder 58 flexible, to realize that compressed spring 60 is pressed
The adjusting of contracting amount, completely cavitation jet cleaning 56 automatic impaction of the trolley control with negative-feedback is control loop composition one
System.
The algorithm of cavitation jet cleaning 56 automatic impaction of trolley control is as follows: pressure is detected using bracing wire linear transducer 51
The practical length L ' of contracting spring 60, if 60 ideal length of compressed spring is L, system allowable deviation is δ, as L- δ≤L '
When≤L+ δ, it is zero that PLC controller 50, which is output to stretching proportion magnetic valve 71 and the control signal of compression factor solenoid valve 72, i.e.,
Control system is without adjusting；As L '≤L- δ, it is meant that cavitation jet cleans trolley 56 to the compression journey of channel side slopes 75
It spends greatly, PLC controller 50, which is output control signals to, stretches out proportion magnetic valve 71, the decrement of compressed spring 60 is adjusted, until
Ideal length L is reached, adjustment process terminates；As L ' >=L+ δ, it is meant that cavitation jet cleans trolley 56 and compresses degree mistake
Pine, cavitation jet cleaning trolley 56 have the risk for being detached from 75 work surface of channel side slopes, and PLC controller 50 outputs control signals to pressure
Contracting proportion magnetic valve 72 adjusts the decrement of compressed spring 60, until reaching ideal length L, adjustment process terminates.
The automatic control system (PLC controller 50) and hydraulic system of the negative feedback of band in the present invention are existing conventional skill
Art, the reality of function are not dependent on new computer program.
The present embodiment not makes any form of restriction shape of the invention, material, structure etc., all according to this hair
Bright technical spirit any simple modification, equivalent change and modification to the above embodiments, belong to the technology of the present invention side
The protection scope of case.
Claims (4)
1. channel side slopes clean-up operation trolley automatic impaction control system, it is characterised in that: including PLC controller, hydraulic system,
Bracing wire linear transducer, column, principal arm, multistage telescopic arm, linking arm and cavitation jet clean trolley；
Column tilts backwards setting from bottom to top, and principal arm rear end and the upper end of the column are hinged, sets between principal arm and column lower front side
It is equipped with main transformer width hydraulic cylinder, principal arm front end and multistage telescopic arm rear end are hinged, the final section of principal arm bottom and multistage telescopic arm
Flexible luffing hydraulic cylinder is provided between bottom, the front end of multistage telescopic arm is connected by the upper end of flexible pre-tightening mechanism and linking arm
It connects, the lower end of linking arm and the top of cavitation jet cleaning trolley are hinged；
Bracing wire linear transducer is mounted in flexible pre-tightening mechanism, PLC controller by control cable respectively with hydraulic system and
The connection of bracing wire linear transducer, hydraulic system are connected with main transformer width hydraulic cylinder and flexible luffing hydraulic cylinder respectively by fluid pressure line
It connects.
2. channel side slopes clean-up operation trolley automatic impaction control system according to claim 1, it is characterised in that: elasticity
Pre-tightening mechanism includes guiding axis, compressed spring, axle sleeve, lower fulcrum bar and U-shaped board, and multistage telescopic arm front end is equipped with push-and-pull bracket,
Guiding shaft rear end is hinged on push-and-pull bracket forward upper, and U-shaped board is opening down, and the left and right side of U-shaped board is respectively fixedly connected with
The left and right side held on the connecting arm, guiding shaft rear end are fixedly installed baffle, and guiding axis nose threads are connected with limit and adjust
Nut is saved, compressed spring and axle sleeve are set on guiding axis, are fixed with a pin shaft, two pin shafts at left and right sides of axle sleeve
It is rotatably connected on the left and right sides of U-shaped board, compressed spring front-end and back-end cooperate with axle sleeve rear end and baffle press respectively, lower branch
It is fixedly connected on rear side of the front end of bar and linking arm top, the rear end of lower fulcrum bar and push-and-pull pedestal lower end are hinged, bracing wire length sensing
Device is located above compressed spring, and the both ends of bracing wire linear transducer are connected in the top rear and push-and-pull bracket of U-shaped board.
3. channel side slopes clean-up operation trolley automatic impaction control system according to claim 2, it is characterised in that: control
System includes that PLC controller is connected with button switch and display, and hydraulic system includes load sensitive pump, main transformer width hydraulic cylinder and
Flexible luffing hydraulic cylinder is respectively connected with stretching proportion magnetic valve and compression factor solenoid valve, load sensitive pump pass through electric proportional control
Multi-way valve is not and Bidirectional balanced valve is connect with stretching proportion magnetic valve and compression factor solenoid valve respectively, and PLC controller passes through control
Cable processed is connect with electric proportional control multi-way valve.
4. channel side slopes clean-up operation trolley automatic impaction control system according to claim 3, it is characterised in that: multistage
High-resolution camera is installed, high-resolution camera is connect with display by data line on telescopic arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910759827.3A CN110512678B (en) | 2019-08-16 | 2019-08-16 | Automatic compacting control system of channel side slope cleaning operation trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910759827.3A CN110512678B (en) | 2019-08-16 | 2019-08-16 | Automatic compacting control system of channel side slope cleaning operation trolley |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110512678A true CN110512678A (en) | 2019-11-29 |
| CN110512678B CN110512678B (en) | 2023-09-01 |
Family
ID=68625574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910759827.3A Active CN110512678B (en) | 2019-08-16 | 2019-08-16 | Automatic compacting control system of channel side slope cleaning operation trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110512678B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111579745A (en) * | 2020-06-03 | 2020-08-25 | 黄河水利委员会黄河机械厂 | Movable multifunctional water quality analysis and comparison integrated demonstration platform |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1463876A1 (en) * | 1987-06-26 | 1989-03-07 | Среднеазиатский Научно-Исследовательский Институт Ирригации Им.В.Д.Журина | Arrangement for cleaning slopes of canals and collectors |
| SU1645398A1 (en) * | 1989-05-31 | 1991-04-30 | Всесоюзный Научно-Исследовательский Институт Землеройного Машиностроения | Working equipment of canal cleaner |
| CN102050392A (en) * | 2011-01-31 | 2011-05-11 | 徐州徐工随车起重机有限公司 | Large-tonnage lorry-mounted crane |
| CN105600691A (en) * | 2015-12-11 | 2016-05-25 | 上海广成涂装技术工程有限公司 | Precise motion control system for telescopic arm of aerial work platform |
| CN108004900A (en) * | 2018-01-03 | 2018-05-08 | 黄远明 | A kind of environmental and ecological prosthetic appliance that filling can be dug to eco-concrete slope surface |
| CN108093822A (en) * | 2018-01-04 | 2018-06-01 | 吴秋敏 | Slope surface weeding and float stone cleaning equipment before a kind of eco-concrete construction |
| CN109078888A (en) * | 2018-09-13 | 2018-12-25 | 黄河水利委员会黄河机械厂 | Channel side slopes algae removal device |
| CN211037111U (en) * | 2019-08-16 | 2020-07-17 | 南水北调中线干线工程建设管理局河南分局 | Automatic compaction control system of channel side slope trash removal operation trolley |
-
2019
- 2019-08-16 CN CN201910759827.3A patent/CN110512678B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1463876A1 (en) * | 1987-06-26 | 1989-03-07 | Среднеазиатский Научно-Исследовательский Институт Ирригации Им.В.Д.Журина | Arrangement for cleaning slopes of canals and collectors |
| SU1645398A1 (en) * | 1989-05-31 | 1991-04-30 | Всесоюзный Научно-Исследовательский Институт Землеройного Машиностроения | Working equipment of canal cleaner |
| CN102050392A (en) * | 2011-01-31 | 2011-05-11 | 徐州徐工随车起重机有限公司 | Large-tonnage lorry-mounted crane |
| CN105600691A (en) * | 2015-12-11 | 2016-05-25 | 上海广成涂装技术工程有限公司 | Precise motion control system for telescopic arm of aerial work platform |
| CN108004900A (en) * | 2018-01-03 | 2018-05-08 | 黄远明 | A kind of environmental and ecological prosthetic appliance that filling can be dug to eco-concrete slope surface |
| CN108093822A (en) * | 2018-01-04 | 2018-06-01 | 吴秋敏 | Slope surface weeding and float stone cleaning equipment before a kind of eco-concrete construction |
| CN109078888A (en) * | 2018-09-13 | 2018-12-25 | 黄河水利委员会黄河机械厂 | Channel side slopes algae removal device |
| CN211037111U (en) * | 2019-08-16 | 2020-07-17 | 南水北调中线干线工程建设管理局河南分局 | Automatic compaction control system of channel side slope trash removal operation trolley |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111579745A (en) * | 2020-06-03 | 2020-08-25 | 黄河水利委员会黄河机械厂 | Movable multifunctional water quality analysis and comparison integrated demonstration platform |
| CN111579745B (en) * | 2020-06-03 | 2022-03-11 | 黄河机械有限责任公司 | Movable multifunctional water quality analysis and comparison integrated demonstration platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110512678B (en) | 2023-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110644549B (en) | Multifunctional vehicle for ecologically removing algae mud on side slope of channel | |
| CN206562557U (en) | A kind of shoulder slope of road shaping vehicle | |
| CN110512678A (en) | Channel side slopes clean-up operation trolley automatic impaction control system | |
| CN207680116U (en) | A kind for the treatment of tank of removal floating material | |
| CN2875294Y (en) | Electric machine for cleaning roof of green-house | |
| CN211037111U (en) | Automatic compaction control system of channel side slope trash removal operation trolley | |
| CN110485499A (en) | Channel side slopes algal gel ecology removes operation ship | |
| CN110563300A (en) | Vehicle-mounted algae-laden water separation and tail water treatment device and working method thereof | |
| CN2675222Y (en) | Automatic mud scraping and filter cloth cleaning device of full automatic filter press | |
| CN211037103U (en) | Ecological multifunctional vehicle for clearing algae mud on channel side slope | |
| CN110565721B (en) | Mechanical arm device for ecologically removing algae mud mixture on channel side slope | |
| CN111807569B (en) | Pre-oxidation and coagulating sedimentation device in wastewater treatment process | |
| CN211037112U (en) | Mechanical arm device for ecologically removing channel side slope algae mud mixture | |
| CN205498629U (en) | Self -propelled multifunctional work platform of trolley -bus | |
| CN209366251U (en) | A kind of power steering apparatus | |
| CN205179855U (en) | Highway greenbelt reshaping of trees device | |
| CN2242911Y (en) | Automatic land leveller | |
| CN2656492Y (en) | Cleaning vehicle for public highway maintenance | |
| CN211037110U (en) | Ecological clearing operation ship for algae mud on channel side slope | |
| CN207102087U (en) | A kind of hydraulic screen with automatic cleaning function | |
| CN106223293B (en) | A kind of environmental protection river block garbage collector | |
| CN109452140A (en) | A kind of plant irrigation water-saving device | |
| CN205835287U (en) | A kind of Multifunctional trimming robot | |
| CN205495072U (en) | Portable oil filter | |
| CN110116107A (en) | A kind of motorway guide planks cleaning machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 450006 No. 29, Huaihe Road, Zhongyuan District, Henan, Zhengzhou Applicant after: Huanghe Machinery Co.,Ltd. Address before: 450006 No. 29, Huaihe Road, Zhongyuan District, Henan, Zhengzhou Applicant before: YELLOW RIVER MACHINERY FACTORY, YELLOW RIVER CONSERVANCY COMMISSION |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Cao Guiying Inventor after: Li Guoli Inventor after: Hu Quanyi Inventor after: Wu Linfeng Inventor after: Zhang Wei Inventor after: Li Bin Inventor after: Li Jiaqi Inventor after: Xing Mingxing Inventor before: Cao Guiying Inventor before: Hu Quanyi Inventor before: Wu Linfeng Inventor before: Zhang Wei Inventor before: Li Bin Inventor before: Li Jiaqi Inventor before: Xing Mingxing |
|
| CB03 | Change of inventor or designer information |