CN110512678B - Automatic compacting control system of channel side slope cleaning operation trolley - Google Patents
Automatic compacting control system of channel side slope cleaning operation trolley Download PDFInfo
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- CN110512678B CN110512678B CN201910759827.3A CN201910759827A CN110512678B CN 110512678 B CN110512678 B CN 110512678B CN 201910759827 A CN201910759827 A CN 201910759827A CN 110512678 B CN110512678 B CN 110512678B
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- 230000006835 compression Effects 0.000 claims abstract description 62
- 238000007906 compression Methods 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000005056 compaction Methods 0.000 claims abstract description 13
- 230000002457 bidirectional effect Effects 0.000 claims description 4
- 241000195493 Cryptophyta Species 0.000 abstract description 20
- 239000000203 mixture Substances 0.000 abstract description 10
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 20
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 9
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- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 2
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000009395 breeding Methods 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
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- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 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
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
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Classifications
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
Abstract
The automatic compaction control system of the channel side slope cleaning operation trolley comprises a PLC controller, a hydraulic system, a stay wire length sensor, a stand column, a main arm, a multi-stage telescopic arm, a connecting arm and a cavitation jet cleaning trolley; the front end of the multistage telescopic arm is connected with the upper end of the connecting arm through an elastic pre-tightening mechanism, and the lower end of the connecting arm is hinged with the top of the cavitation jet cleaning trolley; the stay wire length sensor is arranged on the elastic pre-tightening mechanism, and the PLC is respectively connected with the hydraulic system and the stay wire length sensor through control cables. According to the invention, through the electric proportional control multi-way valve, the spring compression amount between the connecting arm and the main arm and the multi-stage telescopic arm is regulated, and the cavitation jet cleaning trolley can be pressed on the channel slope working surface with a certain pre-pressure, so that the device has a certain redundancy capability on non-linear running of the working platform and the channel slope angle, and can better realize ecological cleaning of the channel slope algae mud mixture.
Description
Technical Field
The invention relates to the technical field of channel side slope cleaning, in particular to an automatic compaction control system of a channel side slope cleaning operation trolley, which is used for ecologically cleaning algae mud mixtures on side slopes of water areas such as channels, rivers, inland lakes, landscape water bodies and the like.
Background
At present, along with the acceleration of the social industrialization process, people discharge a large amount of pollutants containing nitrogen and phosphorus into water bodies in production and daily life, and the eutrophication process of slow-flowing water bodies such as lakes, reservoirs and the like is accelerated, so that algae are bred, the ecological balance of the water bodies is seriously damaged, and the safety of the people and other organisms is endangered. In addition, for the major water diversion project adopting the channel mode, a great amount of mud is adhered to the channel side slope besides breeding algae, so as to form an algae mud mixture. Algae breeding and mud deposition on the side slope of the channel seriously affect the quality of water, algae in the water can not only cause fishy smell and greenish and blackish of the water, but also cause the bad smell of most lakes and ponds caused by substances such as hydrogen sulfide, sulfur, ammonia and the like generated by the death of the algae and the lack of oxygen in the water, and dead algae are deposited on the side slope to seriously affect the quality of the water, and more seriously, harmful substances such as algae toxins and the like can be generated, so that the treatment process of water plants along the line is impacted, and the water supply cost is increased. Therefore, the method for cleaning the algae mud mixture on the side slope improves the water body conveying quality, reduces the treatment difficulty of water plants, becomes a technical problem to be solved urgently, and has important ecological and environmental significance.
At present, in the technology for removing algae mud on side slopes at home and abroad, in order to avoid secondary pollution to water quality, a physical removing method is usually adopted, and the method mainly comprises the methods of manual cleaning, mechanical friction cleaning and the like. By adopting manual cleaning, the labor intensity is high, the efficiency is low, a large amount of dirt can be diffused into water, secondary pollution is caused, and algae mud attachments buried in deep water cannot be completely removed. The mechanical friction type cleaning mode has the problems of complex equipment structure, difficult sealing during underwater operation, incapability of eradicating algae, low efficiency of an operation area and the like; on the other hand, the mechanical friction operation device is generally arranged on a movable operation platform, the operation platform cannot strictly travel along a straight line when moving, and in addition, the channel slope angle can also change, so that the mechanical friction operation device cannot be tightly attached to the channel slope, and therefore a certain difficulty is caused in removing the algae mud mixture, and the operation efficiency is affected.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an automatic compaction control system for a channel side slope cleaning operation trolley, which can compact a cavitation jet cleaning trolley on a channel side slope with a certain pre-pressure, thereby having a certain redundancy capability on non-linear running of an operation platform and channel side slope angles and better realizing ecological cleaning of a channel side slope algae mud mixture.
In order to solve the technical problems, the invention adopts the following technical scheme: the automatic compaction control system of the channel side slope cleaning operation trolley comprises a PLC controller, a hydraulic system, a stay wire length sensor, a stand column, a main arm, a multi-stage telescopic arm, a connecting arm and a cavitation jet cleaning trolley;
the upright post is obliquely arranged from bottom to top, the rear end of the main arm is hinged with the upper end of the upright post, a main amplitude hydraulic cylinder is arranged between the main arm and the front side of the lower part of the upright post, the front end of the main arm is hinged with the rear end of the multi-stage telescopic arm, a telescopic amplitude hydraulic cylinder is arranged between the bottom of the main arm and the last section of bottom of the multi-stage telescopic arm, the front end of the multi-stage telescopic arm is connected with the upper end of the connecting arm through an elastic pre-tightening mechanism, and the lower end of the connecting arm is hinged with the top of the cavitation jet cleaning trolley;
the stay wire length sensor is arranged on the elastic pre-tightening mechanism, the PLC is respectively connected with the hydraulic system and the stay wire length sensor through control cables, and the hydraulic system is respectively connected with the main amplitude hydraulic cylinder and the telescopic amplitude hydraulic cylinder through hydraulic pipelines.
The elastic pre-tightening mechanism comprises a guide shaft, a compression spring, a shaft sleeve, a lower supporting rod and a U-shaped plate, wherein the push-pull support is arranged at the forefront end of the multistage telescopic arm, the rear end of the guide shaft is hinged to the upper portion of the front side of the push-pull support, the opening of the U-shaped plate is downward, the left side and the right side of the U-shaped plate are respectively and fixedly connected to the left side and the right side of the upper end of the connecting arm, a baffle plate is fixedly arranged at the rear end of the guide shaft, a limit adjusting nut is connected to the front end of the guide shaft in a threaded manner, the compression spring and the shaft sleeve are sleeved on the guide shaft, a pin shaft is fixedly arranged on the left side and the right side of the shaft sleeve, two pin shafts are rotatably connected to the left side and the right side of the U-shaped plate, the front end and the rear end of the compression spring are respectively in press fit with the rear end of the shaft sleeve and the baffle plate, the front end of the lower supporting rod is fixedly connected to the rear side of the upper portion of the connecting arm, the rear end of the lower supporting rod is hinged to the lower end of the push-pull support, and the stay length sensor is located above the compression spring, and two ends of the stay length sensor are respectively connected to the rear side of the top of the U-shaped plate and the push-pull support.
The control system comprises a PLC controller connected with a button switch and a display, the hydraulic system comprises a load sensitive pump, the main amplitude variable hydraulic cylinder and the telescopic amplitude variable hydraulic cylinder are both connected with an extension proportion electromagnetic valve and a compression proportion electromagnetic valve, the load sensitive pump is respectively connected with the extension proportion electromagnetic valve and the compression proportion electromagnetic valve through an electric proportion control multi-way valve and a bidirectional balance valve, and the PLC controller is connected with the electric proportion control multi-way valve through a control cable.
The multistage telescopic arm is provided with a high-definition camera which is connected with the display through a data line.
By adopting the technical scheme, the main arm and the multi-stage telescopic arm realize the actions of frame expansion, amplitude variation, rotation and the like through the execution mechanisms such as the hydraulic motor, the hydraulic cylinder and the like so as to meet the requirements of different operation ranges; the connecting arm is hinged to the front end of the multistage telescopic arm through a middle hinge point, the lower end of the connecting arm is connected with the cavitation jet cleaning trolley through a hinge, the upper end of the connecting arm is connected with the compression spring through a U-shaped plate, and the compression spring can ensure that the cavitation jet cleaning trolley is tightly attached to a channel slope with a certain pre-compression force, so that the bearing platform for driving the main arm and the multistage telescopic arm has a certain error-tolerant capability in non-linear running and channel slope angles; the cavitation jet cleaning trolley realizes ecological cleaning of the channel side slope algae mud mixture through an underwater cavitation jet cleaning process; the main arm and the telescopic arm drive the main amplitude-variable hydraulic cylinder or the telescopic amplitude-variable hydraulic cylinder to stretch and retract through the hydraulic system, so that the compaction degree of the cavitation jet cleaning trolley on the channel side slope can be adjusted; the stay wire length sensor, the PLC controller, the electric proportional control multi-way valve and the main amplitude-variable hydraulic cylinder form an automatic compression control system with feedback for the operation trolley, and the compression amount of the compression spring can be automatically adjusted, so that the automatic compression adjustment function for the operation trolley is realized.
The shaft sleeve slides along the guide shaft, the pressure of compression spring passes through the shaft sleeve, round pin axle drive U template and linking arm and uses the pin joint of branch rear end and push-and-pull support as the fulcrum backward rotation, when making cavitation jet cleaning dolly and channel side slope compaction force increase, limit adjusting nut and the top roof pressure contact of U template play mechanical limiting action to the lower part backward rotation of linking arm, multistage telescopic boom and linking arm equivalent are rigid connection, and at this moment, cavitation jet cleaning dolly has the risk of breaking away from channel side slope operation face. The main amplitude hydraulic cylinder or the telescopic amplitude hydraulic cylinder is driven to stretch out and draw back through the hydraulic system, so that the compression quantity of the upper part of the connecting arm and the compression spring can be adjusted, and the compression degree of the cavitation jet cleaning trolley on the channel side slope can be adjusted.
The stay wire length sensor detects a compression amount signal of a compression spring between the connecting arm and the multistage telescopic arm, the signal is input into the PLC, the PLC determines the expansion amount of the main amplitude-variable hydraulic cylinder or the telescopic amplitude-variable hydraulic cylinder, and the PLC outputs a control signal to the proportional solenoid valve of the electric proportional control multi-way valve to control the main amplitude-variable hydraulic cylinder or the telescopic amplitude-variable hydraulic cylinder, so that the main amplitude-variable hydraulic cylinder or the telescopic amplitude-variable hydraulic cylinder is driven to stretch, and the compression amount of the compression spring between the connecting arm and the multistage telescopic arm is adjusted.
The automatic adjustment/manual adjustment function of the elastic pre-tightening mechanism is switched through the button switch arranged on the cab operation table, when the automatic pressing button switch is pressed down, the PLC controller automatically adjusts through the hydraulic system, otherwise, the elastic pre-tightening mechanism is manually adjusted by an operator.
By arranging the display in the cab, the state of automatic adjustment/manual adjustment of the pressing mechanism of the operation trolley and the change condition of the compression amount of the compression spring between the connecting arm and the arm of the multistage telescopic arm can be displayed.
The stay wire length sensor is arranged parallel to the guide shaft, and is connected with the PLC through the cable drum, and when the multi-stage telescopic arm stretches, the cable on the cable drum can realize follow-up.
The hydraulic system is realized by programming a PLC controller, and in addition, a high-definition camera is arranged on the multi-stage telescopic arm, so that the adhesion condition of the cavitation jet cleaning trolley and the channel slope working surface is monitored.
The hydraulic oil source of the hydraulic system is derived from a load-sensitive pump that is connected to the vehicle chassis or other work platform engine power take-off (PTO).
The hydraulic system adopts a load sensitive system, pressure oil is provided according to the requirement, and the energy saving of the system is realized; for the case of relatively sensitive cost, a constant displacement pump system is used.
The hydraulic valve for controlling the main amplitude variation hydraulic cylinder or the telescopic amplitude variation hydraulic cylinder to be telescopic adopts an electric proportional control multi-way valve so as to reduce the system cost; for the application working condition with higher control precision requirement, the proportional valve is adopted for realizing.
A bidirectional balance valve is arranged between the main amplitude variation hydraulic cylinder or the telescopic amplitude variation hydraulic cylinder and the electric proportional control multi-way valve so as to improve the stability of the adjusting process.
Four universal wheels are arranged at four corners of the cavitation jet cleaning trolley, and when the cavitation jet cleaning trolley is pressed on a side slope containing the algae mud mixture, the forward resistance can be reduced.
In summary, the invention has the following technical effects:
according to the invention, an automatic control system with negative feedback is adopted, and the spring compression amount between the connecting arm and the operation mechanical arm (main arm and multi-stage telescopic arm) is regulated through the electric proportional control multi-way valve, so that the cavitation jet cleaning trolley can be tightly pressed on the channel slope operation surface with a certain pre-pressure, thereby having a certain redundancy capability on non-linear running of the operation platform and channel slope angle, better realizing ecological cleaning of the channel slope algae mud mixture, and having great significance on guaranteeing channel water quality and water delivery safety.
Drawings
FIG. 1 is a schematic diagram of the general arrangement of the present invention;
FIG. 2 is a front view of a multi-stage telescoping arm and cavitation jet cleaning cart;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a schematic diagram of a hydraulic system according to the present invention;
fig. 5 is an electrical control schematic of the present invention.
Detailed Description
1-5, the automatic compaction control system of the channel slope cleaning operation trolley comprises a PLC (programmable logic controller) 50, a hydraulic system, a stay wire length sensor 51, a stand column 52, a main arm 53, a multi-stage telescopic arm 54, a connecting arm 55 and a cavitation jet cleaning trolley 56;
the upright post 52 is obliquely arranged from bottom to top, the rear end of the main arm 53 is hinged with the upper end of the upright post 52, a main amplitude hydraulic cylinder 57 is arranged between the main arm 53 and the front side of the lower part of the upright post 52, the front end of the main arm 53 is hinged with the rear end of the multi-stage telescopic arm 54, a telescopic amplitude hydraulic cylinder 58 is arranged between the bottom of the main arm 53 and the last section of bottom of the multi-stage telescopic arm 54, the front end of the multi-stage telescopic arm 54 is connected with the upper end of the connecting arm 55 through an elastic pre-tightening mechanism 76, and the lower end of the connecting arm 55 is hinged with the top of the cavitation jet cleaning trolley 56;
the stay wire length sensor 51 is mounted on the elastic pre-tightening mechanism 76, and the PLC controller 50 is respectively connected with a hydraulic system and the stay wire length sensor 51 through control cables, and the hydraulic system is respectively connected with the main amplitude changing hydraulic cylinder 57 and the telescopic amplitude changing hydraulic cylinder 58 through hydraulic pipelines.
The elastic pre-tightening mechanism 76 comprises a guide shaft 59, a compression spring 60, a shaft sleeve 61, a lower supporting rod 62 and a U-shaped plate 63, wherein a push-pull support 64 is arranged at the forefront end of the multi-stage telescopic arm 54, the rear end of the guide shaft 59 is hinged to the upper portion of the front side of the push-pull support 64, the opening of the U-shaped plate 63 is downward, the left side and the right side of the U-shaped plate 63 are respectively fixedly connected to the left side and the right side of the upper end of the connecting arm 55, a baffle 65 is fixedly arranged at the rear end of the guide shaft 59, a limit adjusting nut 66 is connected to the front end of the guide shaft 59 in a threaded manner, the compression spring 60 and the shaft sleeve 61 are sleeved on the guide shaft 59, a pin 67 is fixedly arranged at the left side and the right side of the shaft sleeve 61, the two pins 67 are rotatably connected to the left side and the right side of the U-shaped plate 63, the front end and the rear end of the compression spring 60 are respectively in press fit with the rear end of the shaft sleeve 61 and the baffle 65, the front end of the lower supporting rod 62 is fixedly connected to the rear side of the upper portion of the connecting arm 55, the rear end of the lower supporting rod 62 is hinged to the lower end of the push-pull support 64, the pull length sensor 51 is located above the compression spring 60, and the two ends of the pull length sensor 51 are respectively connected to the push-pull support 63, and the top of the push-pull support 63 respectively.
The control system comprises a PLC controller 50 connected with a button switch 68 and a display 69, the hydraulic system comprises a load sensitive pump 70, a main amplitude variable hydraulic cylinder 57 and a telescopic amplitude variable hydraulic cylinder 58 are both connected with an extension proportion electromagnetic valve 71 and a compression proportion electromagnetic valve 72, the load sensitive pump 70 is respectively connected with the extension proportion electromagnetic valve 71 and the compression proportion electromagnetic valve 72 through an electric proportion control multi-way valve 73 and a bidirectional balance valve 74, and the PLC controller 50 is connected with the electric proportion control multi-way valve 73 through control cables.
The multi-stage telescopic arm 54 is provided with a high-definition camera, and the high-definition camera is connected with the display 69 through a data line.
The main arm 53 and the multi-stage telescopic arm 54 realize the actions of frame expansion, amplitude variation, rotation and the like through executing mechanisms such as a hydraulic motor, a hydraulic cylinder and the like so as to meet the requirements of different operation ranges; the connecting arm 55 is hinged to the front end of the multi-stage telescopic arm 54 through a middle hinge point, the lower end of the connecting arm 55 is connected with the cavitation jet cleaning trolley 56 through a hinge, the upper end of the connecting arm 55 is connected with the compression spring 60 through a U-shaped plate 63, and the compression spring 60 can ensure that the cavitation jet cleaning trolley 56 is tightly attached to the channel slope 75 with a certain pre-compression force, so that the carrying platform for driving the main arm 53 and the multi-stage telescopic arm 54 has a certain redundancy capacity in non-linear running and channel slope 75 angles; the cavitation jet cleaning trolley 56 realizes ecological cleaning of the channel side slope 75 algae mud mixture through an underwater cavitation jet cleaning process; the main arm 53 and the telescopic arm drive the main amplitude-variable hydraulic cylinder 57 or the telescopic amplitude-variable hydraulic cylinder 58 to stretch and retract through a hydraulic system, so that the compaction degree of the cavitation jet cleaning trolley 56 on the channel side slope 75 can be adjusted; the stay wire length sensor 51, the PLC 50, the electric proportional control multi-way valve 73 and the main amplitude-variable hydraulic cylinder 57 together form an automatic compression control system with feedback for the operation trolley, and the compression amount of the compression spring 60 can be automatically adjusted, so that the automatic compression adjustment function for the operation trolley is realized.
The shaft sleeve 61 slides along the guide shaft 59, the pressure of the compression spring 60 drives the U-shaped plate 63 and the connecting arm 55 to rotate backwards by taking the hinge point of the rear end of the supporting rod 62 and the push-pull support 64 as a pivot, so that the pressing force between the cavitation jet cleaning trolley 56 and the channel side slope 75 is increased, when the limiting adjusting nut 66 is in contact with the top of the U-shaped plate 63, the lower part of the connecting arm 55 is subjected to backward rotation to have a mechanical limiting effect, the multistage telescopic arm 54 and the connecting arm 55 are in rigid connection equivalently, and at the moment, the cavitation jet cleaning trolley 56 has the risk of being separated from the working surface of the channel side slope 75. The main amplitude hydraulic cylinder 57 or the telescopic amplitude hydraulic cylinder 58 is driven to stretch and retract by the hydraulic system, so that the compression quantity of the upper part of the connecting arm 55 and the compression spring 60 can be adjusted, and the compression degree of the cavitation jet cleaning trolley 56 on the channel side slope 75 is adjusted.
The cavitation jet cleaning trolley 56 automatic compaction control process is as follows:
the operator realizes the switching of the automatic adjusting/manual adjusting function of the elastic pre-tightening mechanism 76 through a button switch 68 arranged on a cab operation table, when the automatic pressing button switch 68 is pressed, the stay wire length sensor 51 detects the compression amount of the compression spring 60 between the connecting arm 55 and the multi-stage telescopic arm 54, the signal is input into the PLC 50 through a cable reel, the PLC 50 determines the telescopic amount of the main amplitude hydraulic cylinder 57 or the telescopic amplitude hydraulic cylinder 58, the PLC 50 outputs a control signal to the electric proportional control multi-way valve 73 to control the stretching proportional electromagnetic valve 71 and the compression proportional electromagnetic valve 72 of the main amplitude hydraulic cylinder 57 or the telescopic amplitude hydraulic cylinder 58, so that the main amplitude hydraulic cylinder 57 or the telescopic amplitude hydraulic cylinder 58 is driven to stretch, the adjustment of the compression amount of the compression spring 60 is realized, and the control loop forms a complete cavitation jet cleaning trolley 56 automatic pressing control system with negative feedback.
The algorithm for automatic compaction control of cavitation jet cleaning cart 56 is as follows: the actual spring length L 'of the compression spring 60 is detected by the stay length sensor 51, the ideal length of the compression spring 60 is set to be L, the system tolerance is set to be delta, and when L-delta is less than or equal to L' lessthan or equal to L+delta, the control signals output to the extension proportion electromagnetic valve 71 and the compression proportion electromagnetic valve 72 by the PLC controller 50 are zero, namely, the control system does not regulate; when L'. Ltoreq.L-delta, meaning that the compaction degree of the cavitation jet cleaning trolley 56 to the channel side slope 75 is too large, the PLC controller 50 outputs a control signal to the extension proportion electromagnetic valve 71, and the compression amount of the compression spring 60 is adjusted until the ideal length L is reached, and the adjustment process is finished; when L'. Gtoreq.L+delta, meaning that the compression stroke of the cavitation jet cleaning trolley 56 is too loose, the cavitation jet cleaning trolley 56 risks being separated from the working surface of the channel slope 75, the PLC controller 50 outputs a control signal to the compression ratio electromagnetic valve 72 to adjust the compression amount of the compression spring 60 until the ideal length L is reached, and the adjustment process is finished.
The automatic control system (PLC controller 50) with negative feedback and the hydraulic system are all conventional technologies, and the function of the automatic control system is realized without depending on a new computer program.
The present embodiment is not limited in any way by the shape, material, structure, etc. of the present invention, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present invention are all included in the scope of protection of the technical solution of the present invention.
Claims (3)
1. Automatic control system that compresses tightly of channel side slope operation dolly, its characterized in that: the device comprises a PLC controller, a hydraulic system, a stay wire length sensor, a stand column, a main arm, a multi-stage telescopic arm, a connecting arm and a cavitation jet cleaning trolley;
the upright post is obliquely arranged from bottom to top, the rear end of the main arm is hinged with the upper end of the upright post, a main amplitude hydraulic cylinder is arranged between the front end of the main arm and the front side of the lower part of the upright post, the front end of the main arm is hinged with the rear end of the multi-stage telescopic arm, a telescopic amplitude hydraulic cylinder is arranged between the bottom of the main arm and the last section of bottom of the multi-stage telescopic arm, the front end of the multi-stage telescopic arm is connected with the upper end of the connecting arm through an elastic pre-tightening mechanism, the lower end of the connecting arm is hinged with the top of the cavitation jet cleaning trolley, and four universal wheels are arranged at four corners of the cavitation jet cleaning trolley;
the stay wire length sensor is arranged on the elastic pre-tightening mechanism, the PLC is respectively connected with the hydraulic system and the stay wire length sensor through control cables, and the hydraulic system is respectively connected with the main amplitude hydraulic cylinder and the telescopic amplitude hydraulic cylinder through hydraulic pipelines;
the elastic pre-tightening mechanism comprises a guide shaft, a compression spring, a shaft sleeve, a lower supporting rod and a U-shaped plate, wherein the push-pull support is arranged at the forefront end of the multistage telescopic arm, the rear end of the guide shaft is hinged to the upper portion of the front side of the push-pull support, the opening of the U-shaped plate is downward, the left side and the right side of the U-shaped plate are respectively and fixedly connected to the left side and the right side of the upper end of the connecting arm, a baffle plate is fixedly arranged at the rear end of the guide shaft, a limit adjusting nut is connected to the front end of the guide shaft in a threaded manner, the compression spring and the shaft sleeve are sleeved on the guide shaft, a pin shaft is fixedly arranged on the left side and the right side of the shaft sleeve, the two pin shafts are rotatably connected to the left side and the right side of the U-shaped plate, the front end and the rear end of the compression spring are respectively in press fit with the rear end of the shaft sleeve and the baffle plate, the rear end of the lower supporting rod is fixedly connected to the rear end of the push-pull support, the rear end of the lower supporting rod is hinged to the lower end of the push-pull support, the pull length sensor is located above the compression spring, the two ends of the pull length sensor are respectively connected to the rear end of the top rear side of the U-shaped plate and the push-pull support, and the pull length sensor is arranged parallel to the guide shaft.
2. The automatic compaction control system for a channel side slope cleaning operation trolley according to claim 1, wherein: the control system comprises a PLC controller connected with a button switch and a display, the hydraulic system comprises a load sensitive pump, the main amplitude variable hydraulic cylinder and the telescopic amplitude variable hydraulic cylinder are both connected with an extension proportion electromagnetic valve and a compression proportion electromagnetic valve, the load sensitive pump is respectively connected with the extension proportion electromagnetic valve and the compression proportion electromagnetic valve through an electric proportion control multi-way valve and a bidirectional balance valve, and the PLC controller is connected with the electric proportion control multi-way valve through a control cable.
3. The automatic compaction control system of the channel slope cleaning operation trolley according to claim 2, wherein: the multistage telescopic arm is provided with a high-definition camera which is connected with the display through a data line.
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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 |
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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 |