CN111846716B - Control method of push shovel of kitchen garbage truck during garbage compression - Google Patents
Control method of push shovel of kitchen garbage truck during garbage compression Download PDFInfo
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- CN111846716B CN111846716B CN202010746701.5A CN202010746701A CN111846716B CN 111846716 B CN111846716 B CN 111846716B CN 202010746701 A CN202010746701 A CN 202010746701A CN 111846716 B CN111846716 B CN 111846716B
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- garbage
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- tank body
- cylinder
- oil cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
- B65F3/20—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle with charging pistons, plates, or the like
- B65F3/201—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle with charging pistons, plates, or the like the charging pistons, plates or the like moving rectilinearly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
- B65F2003/146—Sensors, e.g. pressure sensors
Abstract
The invention discloses a control method of a push shovel when a kitchen garbage truck compresses garbage, which is characterized in that the pressure value of a rear door is measured, and when the pressure value of the rear door is measured to be larger than a set value, the push shovel is controlled to stop acting and return.
Description
[ technical field ] A
The invention relates to the field of kitchen garbage trucks, in particular to a control method of a push shovel when a kitchen garbage truck compresses garbage.
[ background of the invention ]
As for the kitchen garbage truck as shown in the attached fig. 1 to 4 of the specification, the kitchen garbage truck of this type performs unloading work and compressing work using a push plate, wherein,
unloading garbage: the push shovel is required to do full-stroke pushing operation so as to ensure that kitchen garbage is unloaded cleanly;
compressing garbage: when the garbage is horizontally compressed, the rear door is controlled and locked by the rear door oil cylinder, the annular sealing strip is adopted between the rear door and the tank body for sealing, the sewage leakage does not occur at the joint of the rear door and the tank body when the compression operation is ensured, the shovel is pushed through the shovel oil cylinder for driving to compress the garbage, and the rear door cannot be damaged when the horizontal compression operation is required to be ensured.
Just because kitchen garbage truck has above functional requirement, there is the following shortcoming in the effect of current technology realization:
1. in the process of compressing garbage, a travel switch is usually adopted to fix the travel of the push shovel, and the garbage components and the garbage amount in the garbage can body are different; if the mode of fixing the stroke of the push shovel is adopted, if the push shovel is compressed excessively, the reliability of the rear door cannot be effectively protected, and the sealing performance of the rear door cannot be effectively realized; meanwhile, the density of the garbage after loading and compression is greatly different in a mode of fixing the stroke of the push shovel, namely the difference of each loading capacity is large.
2. The difference of the loading capacity is large each time, and operators cannot effectively judge normal loading (normal garbage adding), pre-full (fast filling, only a small amount of garbage can be added) and full (full filling and no garbage can be continuously loaded) of the compression operation in the tank body.
The invention is researched and proposed aiming at the defects of the prior art.
[ summary of the invention ]
In order to solve the technical problem, the kitchen garbage truck comprises a truck body 1, a tank body 2 is arranged on the truck body 1, a garbage throwing port 3 is arranged at the upper part of the tank body 2, a garbage outlet 4 for discharging garbage is arranged at the tail part of the tank body 2, a rear door 5 and a rear door oil cylinder 6 for driving the rear door 5 to close the garbage outlet 4 are connected to the tail part of the tank body 2, a push shovel 7 for compressing the garbage or pushing out the garbage in the tank body 2 is arranged in the tank body 2, and a push shovel oil cylinder 8 for driving the push shovel 7 to move is arranged in the tank body 2; the kitchen garbage truck also comprises a hydraulic system for controlling the motion of the rear door 5 and the push shovel 7, wherein the hydraulic system comprises an oil tank 101, a hydraulic pump 102 connected with the oil tank 101, a main oil inlet path 103 connected with the hydraulic pump 102, a main oil return path 104 connected with the oil tank 101, an electromagnetic valve A201 for controlling the reversing of the rear door oil cylinder 6, an electromagnetic valve B202 for controlling the reversing of the push shovel oil cylinder 8 and a PLC (programmable logic controller) electric control unit, the rear door oil cylinder 6 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve A201, the push shovel oil cylinder 8 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve B202, and the electromagnetic valve B202 comprises an electromagnet DT07 for controlling the extension of a piston rod of the push shovel oil cylinder 8 and an electromagnet DT08 for controlling the retraction of the piston rod of the push shovel oil cylinder 8; a sealing strip 9 for preventing liquid in the tank body 2 from leaking is arranged between the rear door 5 and the tank body 2, and a pressure sensor A301 for detecting the pressure born by the sealing strip 9 is arranged in the sealing strip 9; the control method comprises the following steps of:
s101, sending an instruction by a PLC (programmable logic controller) electric control unit to electrify an electromagnet DT07, and enabling a piston rod of a shovel oil cylinder 8 to extend out to drive a shovel 7 to compress garbage;
s102, receiving and processing a pressure value PAt of the sealing strip 9 detected by the pressure sensor A301 by the PLC electronic control unit;
s103, judging whether the pressure value PAt is smaller than a set value PA0, if not, returning to the step S102, and if so, executing the next step;
s104, sending an instruction by the PLC electric control unit to enable the electromagnet DT07 to be uncharged, and stopping the extension of a piston rod of the push shovel oil cylinder 8;
s105, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the blade oil cylinder 8 starts to retract and reset.
Based on the conception of the control method, the invention also provides a control method of the push shovel of the kitchen garbage truck when the garbage truck compresses garbage, the kitchen garbage truck comprises a truck body 1, a tank body 2 is arranged on the truck body 1, a garbage throwing port 3 is arranged at the upper part of the tank body 2, a garbage outlet 4 for discharging the garbage is arranged at the tail part of the tank body 2, a rear door 5 and a rear door oil cylinder 6 for driving the rear door 5 to close the garbage outlet 4 are connected to the tail part of the tank body 2, the push shovel 7 for compressing the garbage or pushing out the garbage in the tank body 2 is arranged in the tank body 2, and a push shovel oil cylinder 8 for driving the push shovel 7 to move is arranged in the tank body 2; the kitchen garbage truck also comprises a hydraulic system for controlling the motion of the rear door 5 and the push shovel 7, wherein the hydraulic system comprises an oil tank 101, a hydraulic pump 102 connected with the oil tank 101, a main oil inlet path 103 connected with the hydraulic pump 102, a main oil return path 104 connected with the oil tank 101, an electromagnetic valve A201 for controlling the reversing of the rear door oil cylinder 6, an electromagnetic valve B202 for controlling the reversing of the push shovel oil cylinder 8 and a PLC (programmable logic controller) electric control unit, the rear door oil cylinder 6 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve A201, the push shovel oil cylinder 8 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve B202, and the electromagnetic valve B202 comprises an electromagnet DT07 for controlling the extension of a piston rod of the push shovel oil cylinder 8 and an electromagnet DT08 for controlling the retraction of the piston rod of the push shovel oil cylinder 8; the rear door oil cylinder 6 is provided with a pressure sensor B302 for detecting the pressure of hydraulic oil in the rear door oil cylinder 6; the control method comprises the following steps of:
s201, the PLC electric control unit sends an instruction to electrify the electromagnet DT07, and a piston rod of the shovel oil cylinder 8 begins to extend out to drive the shovel 7 to compress garbage;
s202, the PLC electric control unit receives and processes the pressure value PBt of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302;
s203, judging whether the pressure value PBt is smaller than a set value PB0, if not, returning to the step S202, and if so, executing the next step;
s204, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and the piston rod of the push shovel oil cylinder 8 stops extending out;
s205, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the blade oil cylinder 8 starts to retract and reset.
Based on the conception of the control method, the invention also provides a control method of the push shovel of the kitchen garbage truck when the garbage truck compresses garbage, the kitchen garbage truck comprises a truck body 1, a tank body 2 is arranged on the truck body 1, a garbage throwing port 3 is arranged at the upper part of the tank body 2, a garbage outlet 4 for discharging the garbage is arranged at the tail part of the tank body 2, a rear door 5 and a rear door oil cylinder 6 for driving the rear door 5 to close the garbage outlet 4 are connected to the tail part of the tank body 2, the push shovel 7 for compressing the garbage or pushing out the garbage in the tank body 2 is arranged in the tank body 2, and a push shovel oil cylinder 8 for driving the push shovel 7 to move is arranged in the tank body 2; the kitchen garbage truck also comprises a hydraulic system for controlling the motion of the rear door 5 and the push shovel 7, wherein the hydraulic system comprises an oil tank 101, a hydraulic pump 102 connected with the oil tank 101, a main oil inlet path 103 connected with the hydraulic pump 102, a main oil return path 104 connected with the oil tank 101, an electromagnetic valve A201 for controlling the reversing of the rear door oil cylinder 6, an electromagnetic valve B202 for controlling the reversing of the push shovel oil cylinder 8 and a PLC (programmable logic controller) electric control unit, the rear door oil cylinder 6 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve A201, the push shovel oil cylinder 8 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve B202, and the electromagnetic valve B202 comprises an electromagnet DT07 for controlling the extension of a piston rod of the push shovel oil cylinder 8 and an electromagnet DT08 for controlling the retraction of the piston rod of the push shovel oil cylinder 8; a sealing strip 9 for preventing liquid in the tank body 2 from leaking is arranged between the rear door 5 and the tank body 2, a pressure sensor A301 for detecting the pressure born by the sealing strip 9 is arranged in the sealing strip 9, and a pressure sensor B302 for detecting the pressure of hydraulic oil in the rear door oil cylinder 6 is arranged on the rear door oil cylinder 6; the control method comprises the following steps of:
s301, the PLC electric control unit sends an instruction to electrify the electromagnet DT07, and a piston rod of the shovel oil cylinder 8 begins to extend out to drive the shovel 7 to compress garbage;
s302, the PLC electronic control unit receives and processes the pressure value PAt of the sealing strip 9 detected by the pressure sensor A301; the PLC electronic control unit receives and processes the pressure value PBt of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302;
s303, judging whether the pressure value PAt is smaller than a set value PA0, if so, directly carrying out the next step, otherwise, judging whether the pressure value PBt is larger than a set value PB0, if not, returning to the step S302, and if so, carrying out the next step;
s304, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and the piston rod of the push shovel oil cylinder 8 stops extending out;
s305, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the blade oil cylinder 8 starts to retract and reset.
In the method for controlling the push shovel when the kitchen garbage truck compresses garbage, the tank 2 is internally provided with the travel switch a401 and the travel switch B402 along the moving direction of the push shovel 7, and in the process of performing the steps S301 to S304 once, the situation that the push shovel 7 triggers the travel switch a401 and the travel switch B402 is judged:
if the travel switch A401 and the travel switch B402 both have signals, judging that the tank body is not full, and sending an indication signal A;
if only the travel switch A401 has a signal and the travel switch B402 has no signal, the tank body is judged to be nearly full, and an indication signal B is sent out;
if the travel switch A401 has a signal and the travel switch B402 has no signal, the tank body is judged to be full, and an indication signal C is sent out.
According to the control method for the pushing shovel of the kitchen garbage truck for compressing garbage, the distance from the travel switch A401 to the initial position of the pushing shovel 7 is L1, the distance from the travel switch B402 to the initial position of the pushing shovel 7 is L3, and the maximum travel of the movement of the pushing shovel 7 is S, wherein S, L1 and L2 meet the following requirements: l1 is more than or equal to 0.15S and less than or equal to 0.2S, and L2 is more than or equal to 0.3S and less than or equal to 0.4S.
In the method for controlling the push shovel when the kitchen garbage truck compresses garbage, the tank body 2 is provided with the travel switch C403 which can be triggered after the rear door 5 is completely opened.
In the method for controlling the pushing shovel when the kitchen garbage truck compresses garbage, the pressure sensor a301 is a strain gauge embedded in the sealing strip 9.
According to the control method of the push shovel for the kitchen garbage truck to compress the garbage, the truck body 1 is further provided with the bucket lifting frame 11 used for lifting the garbage bucket and pouring the garbage into the tank body 2 from the garbage throwing-in opening 3, the truck body 1 is provided with the bucket lifting cylinder 12 used for driving the bucket lifting frame 11 to move, the tank body 2 is connected with the sealing cover 13 and the sealing cover cylinder 14 used for driving the sealing cover 13 to close the garbage throwing-in opening 3, the bucket lifting cylinder 12 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve C203, and the sealing cover cylinder 14 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve D204.
According to the control method for the pushing shovel when the kitchen garbage truck compresses garbage, after the rear door 5 is normally closed, the pressure value of the sealing strip 9 detected by the pressure sensor A301 is PAmax, wherein 0 < PA0 < PAmax.
According to the control method for the push shovel of the kitchen garbage truck for compressing garbage, after the rear door 5 is normally closed, the pressure value of hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302 is PB 1; in the process of compressing garbage by the push shovel, when the pressure value of the sealing strip 9 detected by the pressure sensor A301 is 0, the pressure value of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302 is PB2, wherein PB1 is more than PB0 and more than PB 2.
Based on the conception of the control method, the invention also provides a control method of the push shovel of the kitchen garbage truck for compressing garbage, the kitchen garbage truck comprises a truck body 1, a tank body 2 is arranged on the truck body 1, a garbage throwing port 3 is arranged at the upper part of the tank body 2, a garbage outlet 4 for discharging garbage is arranged at the tail part of the tank body 2, a rear door 5 and a rear door oil cylinder 6 for driving the rear door 5 to close the garbage outlet 4 are connected to the tail part of the tank body 2, the push shovel 7 for compressing the garbage or pushing out the garbage in the tank body 2 is arranged in the tank body 2, and a push shovel oil cylinder 8 for driving the push shovel 7 to move is arranged in the tank body 2; the kitchen garbage truck also comprises a hydraulic system for controlling the motion of the rear door 5 and the push shovel 7, wherein the hydraulic system comprises an oil tank 101, a hydraulic pump 102 connected with the oil tank 101, a main oil inlet path 103 connected with the hydraulic pump 102, a main oil return path 104 connected with the oil tank 101, an electromagnetic valve A201 for controlling the reversing of the rear door oil cylinder 6, an electromagnetic valve B202 for controlling the reversing of the push shovel oil cylinder 8 and a PLC (programmable logic controller) electric control unit, the rear door oil cylinder 6 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve A201, the push shovel oil cylinder 8 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve B202, and the electromagnetic valve B202 comprises an electromagnet DT07 for controlling the extension of a piston rod of the push shovel oil cylinder 8 and an electromagnet DT08 for controlling the retraction of the piston rod of the push shovel oil cylinder 8; a sealing strip 9 for preventing liquid in the tank body 2 from leaking is arranged between the rear door 5 and the tank body 2, and a pressure sensor A301 for detecting the pressure born by the sealing strip 9 is arranged in the sealing strip 9; the control method comprises the following steps of:
s401, sending an instruction by the PLC electric control unit to electrify the electromagnet DT07, and enabling a piston rod of the shovel oil cylinder 8 to extend out to drive the shovel 7 to compress garbage;
s402, the PLC electronic control unit receives and processes the pressure value of the sealing strip 9 detected by the pressure sensor A301, obtains the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment, and calculates the difference value delta PA between the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment;
s403, judging whether the absolute value of the delta PA is larger than the system error PA0, if not, returning to the step S402, and if so, executing the next step;
s404, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and the piston rod of the push shovel oil cylinder 8 stops extending out;
s405, the PLC electric control unit sends out an instruction to enable the electromagnet DT08 to be electrified, and the piston rod of the blade oil cylinder 8 starts to retract and reset.
Based on the conception of the control method, the invention also provides a control method of the push shovel of the kitchen garbage truck when the garbage truck compresses garbage, the kitchen garbage truck comprises a truck body 1, a tank body 2 is arranged on the truck body 1, a garbage throwing port 3 is arranged at the upper part of the tank body 2, a garbage outlet 4 for discharging the garbage is arranged at the tail part of the tank body 2, a rear door 5 and a rear door oil cylinder 6 for driving the rear door 5 to close the garbage outlet 4 are connected to the tail part of the tank body 2, the push shovel 7 for compressing the garbage or pushing out the garbage in the tank body 2 is arranged in the tank body 2, and a push shovel oil cylinder 8 for driving the push shovel 7 to move is arranged in the tank body 2; the kitchen garbage truck also comprises a hydraulic system for controlling the rear door 5 and the push shovel 7 to move, wherein the hydraulic system comprises an oil tank 101, a hydraulic pump 102 connected with the oil tank 101, a main oil inlet passage 103 connected with the hydraulic pump 102, a main oil return passage 104 connected with the oil tank 101, an electromagnetic valve A201 for controlling the reversing of the rear door oil cylinder 6, an electromagnetic valve B202 for controlling the reversing of the push shovel oil cylinder 8 and a PLC (programmable logic controller) electric control unit, the rear door oil cylinder 6 is connected between the main oil inlet passage 103 and the main oil return passage 104 through the electromagnetic valve A201, the push shovel oil cylinder 8 is connected between the main oil inlet passage 103 and the main oil return passage 104 through the electromagnetic valve B202, and the electromagnetic valve B202 comprises an electromagnet DT07 for controlling the piston rod of the push shovel oil cylinder 8 to extend and an electromagnet DT08 for controlling the piston rod of the push shovel oil cylinder 8 to retract; a sealing strip 9 for preventing liquid in the tank body 2 from leaking is arranged between the rear door 5 and the tank body 2, a pressure sensor A301 for detecting the pressure born by the sealing strip 9 is arranged in the sealing strip 9, and a pressure sensor B302 for detecting the pressure of hydraulic oil in the rear door oil cylinder 6 is arranged on the rear door oil cylinder 6; the control method comprises the following steps of:
s501, the PLC electric control unit sends an instruction to electrify the electromagnet DT07, and a piston rod of the shovel oil cylinder 8 begins to extend out to drive the shovel 7 to compress garbage;
s502, the PLC electronic control unit receives and processes the pressure value of the sealing strip 9 detected by the pressure sensor A301, obtains the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment, and calculates the difference value delta PA between the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment; the PLC electronic control unit receives and processes the pressure value PBt of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302;
s503, judging whether the absolute value of the delta PA is larger than the system error PA0, if so, directly carrying out the next step, otherwise, judging whether the pressure value PBt is larger than the set value PB0, if not, returning to the step S502, and if so, carrying out the next step;
s504, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and the piston rod of the push shovel oil cylinder 8 stops extending out;
and S505, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the blade oil cylinder 8 starts to retract and reset.
In the method for controlling the push shovel when the kitchen garbage truck compresses garbage, the tank 2 is internally provided with the travel switch a401 and the travel switch B402 along the moving direction of the push shovel 7, and in the process of performing the steps S301 to S304 once, the situation that the push shovel 7 triggers the travel switch a401 and the travel switch B402 is judged:
if the travel switch A401 and the travel switch B402 both have signals, judging that the tank body is not full, and sending an indication signal A;
if only the travel switch A401 has a signal and the travel switch B402 has no signal, the tank body is judged to be nearly full, and an indication signal B is sent out;
if the travel switch A401 has a signal and the travel switch B402 has no signal, the tank body is judged to be full, and an indication signal C is sent out.
Based on the conception of the control method, the invention also provides a control method of the push shovel of the kitchen garbage truck when the garbage truck compresses garbage, the kitchen garbage truck comprises a truck body 1, a tank body 2 is arranged on the truck body 1, a garbage throwing port 3 is arranged at the upper part of the tank body 2, a garbage outlet 4 for discharging the garbage is arranged at the tail part of the tank body 2, a rear door 5 and a rear door oil cylinder 6 for driving the rear door 5 to close the garbage outlet 4 are connected to the tail part of the tank body 2, the push shovel 7 for compressing the garbage or pushing out the garbage in the tank body 2 is arranged in the tank body 2, and a push shovel oil cylinder 8 for driving the push shovel 7 to move is arranged in the tank body 2; the kitchen garbage truck also comprises a hydraulic system for controlling the motion of the rear door 5 and the push shovel 7, wherein the hydraulic system comprises an oil tank 101, a hydraulic pump 102 connected with the oil tank 101, a main oil inlet path 103 connected with the hydraulic pump 102, a main oil return path 104 connected with the oil tank 101, an electromagnetic valve A201 for controlling the reversing of the rear door oil cylinder 6, an electromagnetic valve B202 for controlling the reversing of the push shovel oil cylinder 8 and a PLC (programmable logic controller) electric control unit, the rear door oil cylinder 6 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve A201, the push shovel oil cylinder 8 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve B202, and the electromagnetic valve B202 comprises an electromagnet DT07 for controlling the extension of a piston rod of the push shovel oil cylinder 8 and an electromagnet DT08 for controlling the retraction of the piston rod of the push shovel oil cylinder 8; the control method comprises the following steps of:
s601, the PLC electric control unit sends an instruction to electrify the electromagnet DT07, and a piston rod of the shovel oil cylinder 8 begins to extend out to drive the shovel 7 to compress garbage;
s602, measuring a pressure value Pt borne by the rear door 5;
s603, judging whether the pressure value PAt is larger than a set value Pt0, if not, returning to the step S602, and if so, executing the next step;
s604, sending an instruction by the PLC electric control unit to enable the electromagnet DT07 to be uncharged, and stopping the extension of a piston rod of the push shovel oil cylinder 8;
and S605, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the blade oil cylinder 8 starts to retract and reset.
Compared with the prior art, the invention has the following advantages:
1. according to the control method of the push shovel when the kitchen garbage truck compresses garbage, the pressure value of the rear door is measured, and when the pressure value of the rear door is greater than the set value, the push shovel is controlled to stop and return.
[ description of the drawings ]
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
FIG. 1 is a schematic view of a kitchen garbage truck according to the present invention;
FIG. 2 is an enlarged view of portion A labeled in FIG. 1;
FIG. 3 is a schematic side view of the kitchen waste truck of the present invention;
FIG. 4 is a schematic view of the kitchen garbage truck of the present invention;
FIG. 5 is an enlarged view of portion B labeled in FIG. 4;
FIG. 6 is a schematic diagram of the hydraulic system of the kitchen waste truck of the present invention;
FIG. 7 is a schematic electrical wiring diagram of the kitchen waste truck of the present invention;
FIG. 8 is a table showing the operation states of the components of the kitchen garbage truck according to the present invention and the energization state of the electromagnet.
[ detailed description ] embodiments
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In order to facilitate an understanding of the solution of the invention, the core idea of the invention is now explained: the core idea of the invention is that the pressure value Pt stressed by the rear door is measured; when the pressure value Pt of the back door 5 is larger than the set value Pt0, the push shovel is controlled to stop acting and return.
When the garbage compression operation is carried out, the rear door needs to be closed firstly, the rear door is closed through the rear door oil cylinder, in addition, an annular sealing strip is arranged between the rear door and the tank body, and when the rear door is sealed in place and no garbage exists in the tank body, the pressure born by the sealing strip is the largest; the push shovel is at the in-process of compression, and the back door can be from the atress that does not receive at first, becomes the atress slowly, can appear at last that the back door hydro-cylinder is not enough to maintain back door sealing state, and the pressure that the sealing strip bore can diminish gradually this moment, and when the pressure that the sealing strip bore was zero (there was the gap between back door and the jar body this moment), the phenomenon of sewage seepage can appear.
Example 1:
as shown in fig. 1 to 8, in the control method of the pushing shovel of the kitchen garbage truck for compressing garbage of the embodiment, the kitchen garbage truck includes a truck body 1, a tank body 2 is arranged on the truck body 1, a garbage input port 3 is arranged at the upper part of the tank body 2, a garbage outlet 4 for discharging garbage is arranged at the tail part of the tank body 2, a rear door 5 and a rear door oil cylinder 6 for driving the rear door 5 to close the garbage outlet 4 are connected to the tail part of the tank body 2, a pushing shovel 7 for compressing garbage or pushing out garbage in the tank body 2 is arranged in the tank body 2, and a pushing shovel oil cylinder 8 for driving the pushing shovel 7 to move is arranged in the tank body 2; the kitchen garbage truck also comprises a hydraulic system for controlling the motion of the rear door 5 and the push shovel 7, wherein the hydraulic system comprises an oil tank 101, a hydraulic pump 102 connected with the oil tank 101, a main oil inlet path 103 connected with the hydraulic pump 102, a main oil return path 104 connected with the oil tank 101, an electromagnetic valve A201 for controlling the reversing of the rear door oil cylinder 6, an electromagnetic valve B202 for controlling the reversing of the push shovel oil cylinder 8 and a PLC (programmable logic controller) electric control unit, the rear door oil cylinder 6 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve A201, the push shovel oil cylinder 8 is connected between the main oil inlet path 103 and the main oil return path 104 through the electromagnetic valve B202, and the electromagnetic valve B202 comprises an electromagnet DT07 for controlling the extension of a piston rod of the push shovel oil cylinder 8 and an electromagnet DT08 for controlling the retraction of the piston rod of the push shovel oil cylinder 8; a sealing strip 9 for preventing liquid in the tank body 2 from leaking is arranged between the rear door 5 and the tank body 2, and a pressure sensor A301 for detecting the pressure born by the sealing strip 9 is arranged in the sealing strip 9; the control method comprises the following steps of:
s101, sending an instruction by a PLC (programmable logic controller) electric control unit to electrify an electromagnet DT07, and enabling a piston rod of a shovel oil cylinder 8 to extend out to drive a shovel 7 to compress garbage;
s102, receiving and processing a pressure value PAt of the sealing strip 9 detected by the pressure sensor A301 by the PLC electronic control unit;
s103, judging whether the pressure value PAt is smaller than a set value PA0, if not, returning to the step S102, and if so, executing the next step;
s104, sending an instruction by the PLC electric control unit to enable the electromagnet DT07 to be uncharged, and stopping the extension of a piston rod of the push shovel oil cylinder 8;
s105, the PLC electric control unit sends out an instruction to enable the electromagnet DT08 to be electrified, and the piston rod of the push shovel oil cylinder 8 begins to retract and reset.
When the rear door 5 is normally closed (at this time, the pressure applied to the gasket is the maximum value), the pressure sensor a301 detects that the gasket 9 is subjected to the pressure value PAmax, wherein 0 < PA0 < PAmax.
This embodiment is through measuring the pressure that the sealing strip bore, comes to control the action of pushing away the shovel, adopts this kind of mode, has overcome the not enough of the compression rubbish mode that adopts fixed shovel stroke of pushing away among the prior art, controls the stroke of pushing away the shovel according to the condition that the back door can bear pressure, adopts this kind of mode, can protect the structure of back door, can ensure simultaneously that different similar rubbish can both obtain abundant compression, improves the load capacity of rubbish, raises the efficiency.
Example 2:
embodiment 1 is to control the motion of a push shovel by measuring the pressure borne by a sealing strip, and this embodiment is to control the motion of the push shovel by measuring the pressure of hydraulic oil in a rear door oil cylinder, and the difference between this embodiment and embodiment 1 is that a pressure sensor B302 for detecting the pressure of the hydraulic oil in the rear door oil cylinder 6 is arranged on the rear door oil cylinder 6 in this embodiment; the control method corresponding to the embodiment comprises the following steps of:
s201, the PLC electric control unit sends an instruction to electrify the electromagnet DT07, and a piston rod of the shovel oil cylinder 8 begins to extend out to drive the shovel 7 to compress garbage;
s202, the PLC electric control unit receives and processes the pressure value PBt of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302;
s203, judging whether the pressure value PBt is smaller than a set value PB0, if not, returning to the step S202, and if so, executing the next step;
s204, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and the piston rod of the push shovel oil cylinder 8 stops extending out;
s205, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the push shovel oil cylinder 8 begins to retract and reset.
When the rear door 5 is normally closed, the pressure value of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302 is PB1 at the moment; in the process of compressing garbage by the push shovel, when the pressure value of the sealing strip 9 detected by the pressure sensor A301 is 0, the pressure value of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302 is PB2, wherein PB1 is more than PB0 and more than PB 2.
This embodiment is through measuring the pressure value of hydraulic oil in the back door hydro-cylinder, when measuring the pressure value of hydraulic oil in the back door hydro-cylinder and being greater than the setting value, control push away the shovel stop motion, and return, adopt this kind of mode, overcome the not enough of the fixed compression rubbish mode of pushing away the shovel stroke that adopts among the prior art, can bear the stroke of pressure according to the back door and control the stroke of pushing away the shovel, adopt this kind of mode, can protect the structure of back door, can ensure simultaneously that different similar rubbish can both obtain abundant compression, the load capacity of improvement rubbish, and the efficiency is improved.
Example 3:
the method comprises the following steps that in the embodiment 1, the action of a push shovel is controlled by measuring the pressure borne by a sealing strip, in the embodiment 2, the action of the push shovel is controlled by measuring the pressure of hydraulic oil in a rear door oil cylinder, in the embodiment, two means of measuring the pressure of a rear door in the embodiment 1 and the embodiment 2 are combined, the push shovel is stopped when any one condition is met, then the push shovel is controlled to stop acting, and the operation returns; for this purpose, example 3 is based on example 1, with the addition of: "the back door cylinder 6 is provided with a pressure sensor B302 for detecting the pressure of the hydraulic oil in the back door cylinder 6"; the corresponding control method comprises the following steps of:
s301, the PLC electric control unit sends an instruction to electrify the electromagnet DT07, and a piston rod of the shovel oil cylinder 8 begins to extend out to drive the shovel 7 to compress garbage;
s302, the PLC electronic control unit receives and processes the pressure value PAt of the sealing strip 9 detected by the pressure sensor A301; the PLC electronic control unit receives and processes the pressure value PBt of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302;
s303, judging whether the pressure value PAt is smaller than a set value PA0, if so, directly carrying out the next step, otherwise, judging whether the pressure value PBt is larger than a set value PB0, if not, returning to the step S302, and if so, carrying out the next step;
s304, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and the piston rod of the push shovel oil cylinder 8 stops extending out;
s305, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the blade oil cylinder 8 starts to retract and reset.
When the rear door 5 is normally closed, the pressure sensor a301 detects that the sealing strip 9 is subjected to a pressure value PAmax, wherein 0 < PA0 < PAmax.
When the rear door 5 is normally closed, the pressure value of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302 is PB1 at this moment; in the garbage compressing process of the push shovel, when the pressure value of the sealing strip 9 detected by the pressure sensor A301 is 0, the pressure value of hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302 is PB2, wherein PB1 < PB0 < PB 2.
This embodiment, the pressure value that bears when measuring the sealing strip is less than the setting value, perhaps when measuring the pressure value of the interior hydraulic oil of back door hydro-cylinder and being greater than the setting value, satisfy wherein arbitrary condition, control pushes away the shovel stop motion, and return, adopt this kind of mode, overcome the not enough of the fixed compression rubbish mode of pushing away the shovel stroke that adopts among the prior art, the stroke of pushing away the shovel is controlled according to the condition that the back door can bear pressure, adopt this kind of mode, can protect the structure of back door, can ensure simultaneously that different similar rubbish can both obtain abundant compression, the load capacity of improvement rubbish, the efficiency is improved.
In order to facilitate the judgment of the operator that the tank body is in the state of normal loading, pre-full or full. A travel switch a401 and a travel switch B402 are provided in the tank 2 along the direction of movement of the blade 7, and in the process of performing steps S301 to S304 once, it is determined that the blade 7 triggers the travel switch a401 and the travel switch B402: (1) if the travel switch A401 and the travel switch B402 both have signals, the tank body is judged not to be full (namely 'normal loading'), and an indication signal A is sent out; (2) if only the travel switch A401 has a signal and the travel switch B402 has no signal, the tank body is judged to be nearly full (namely 'prefill'), and an indication signal B is sent out; (3) if both the travel switch a401 and the travel switch B402 have a signal, it is determined that the tank is full (i.e., "full"), and an instruction signal C is issued.
In this embodiment, the distance from the travel switch a401 to the initial position of the blade 7 is L1, the distance from the travel switch B402 to the initial position of the blade 7 is L3, and the maximum travel of the motion of the blade 7 is S, where S, L1 and L2 satisfy: l1 is more than or equal to 0.15S and less than or equal to 0.2S, and L2 is more than or equal to 0.3S and less than or equal to 0.4S.
In this embodiment, be equipped with travel switch C403 that can be triggered after back door 5 opens completely on jar body 2, whether can be simple through travel switch C triggered judge the back door and open, when needs lift jar internal rubbish off, directly open the back door, travel switch C has been triggered to the back door, can control the drive push shovel directly to end and unload at the end rapidly, the simplification of the control of the push shovel of being convenient for.
In this embodiment, the pressure sensor a301 is a strain gauge embedded in the seal tape 9.
In this embodiment, a lifting bucket frame 11 for lifting a garbage can and pouring garbage into the tank body 2 from the garbage input port 3 is further arranged on the tank body 1, a lifting bucket cylinder 12 for driving the lifting bucket frame 11 to move is arranged on the tank body 1, a sealing cover 13 and a sealing cover cylinder 14 for driving the sealing cover 13 to close the garbage input port 3 are connected to the tank body 2, the lifting bucket cylinder 12 is connected between the main oil inlet 103 and the main oil return 104 through a solenoid valve C203, and the sealing cover cylinder 14 is connected between the main oil inlet 103 and the main oil return 104 through a solenoid valve D204.
Example 4:
in the control methods of embodiments 1 to 3, the maximum pressure borne by the rear door is obtained through experiments, and the blade is controlled, and considering that the pressure value of the sealing strip detected by the pressure sensor a is a process of changing from the maximum value to 0, and the stroke of the corresponding blade is relatively short in a process of changing from the maximum value to 0, the stopping and returning of the blade are controlled by calculating the time when the pressure value Pat becomes smaller in the embodiment; the corresponding control method comprises the following steps of:
s401, sending an instruction by the PLC electric control unit to electrify the electromagnet DT07, and enabling a piston rod of the shovel oil cylinder 8 to extend out to drive the shovel 7 to compress garbage;
s402, the PLC electronic control unit receives and processes the pressure value of the sealing strip 9 detected by the pressure sensor A301, obtains the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment, and calculates the difference value delta PA between the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment;
s403, judging whether the absolute value of the delta PA is larger than the system error PA0, if not, returning to the step S402, and if so, executing the next step;
s404, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and a piston rod of the push shovel oil cylinder 8 stops extending;
s405, the PLC electric control unit sends out an instruction to enable the electromagnet DT08 to be electrified, and the piston rod of the blade oil cylinder 8 starts to retract and reset.
The control method of the embodiment adopts the steps of calculating the pressure value applied to the sealing strip and controlling the push shovel to stop and return at the moment when the pressure value becomes smaller.
Example 5:
in the embodiment, two control methods of the embodiment 4 and the embodiment 2 are combined, the push shovel is stopped when any one condition is met, and then the push shovel is controlled to stop and return; the control method comprises the following steps of:
s501, the PLC electric control unit sends an instruction to electrify the electromagnet DT07, and a piston rod of the shovel oil cylinder 8 begins to extend out to drive the shovel 7 to compress garbage;
s502, the PLC electronic control unit receives and processes the pressure value of the sealing strip 9 detected by the pressure sensor A301, obtains the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment, and calculates the difference value delta PA between the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment; the PLC electronic control unit receives and processes the pressure value PBt of the hydraulic oil in the rear door oil cylinder 6 detected by the pressure sensor B302;
s503, judging whether the absolute value of the delta PA is larger than the system error PA0, if so, directly carrying out the next step, otherwise, judging whether the pressure value PBt is larger than the set value PB0, if not, returning to the step S502, and if so, carrying out the next step;
s504, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and the piston rod of the push shovel oil cylinder 8 stops extending out;
and S505, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the blade oil cylinder 8 starts to retract and reset.
Example 6:
the control method of the pushing shovel of the kitchen garbage truck for compressing garbage in the embodiment comprises the following steps of:
s601, the PLC electric control unit sends an instruction to electrify the electromagnet DT07, and a piston rod of the shovel oil cylinder 8 begins to extend out to drive the shovel 7 to compress garbage;
s602, measuring a pressure value Pt borne by the rear door 5;
s603, judging whether the pressure value Pt is larger than a set value Pt0 (the set value Pt0 is obtained through experimental data), if not, returning to the step S602, and if so, executing the next step;
s604, sending an instruction by the PLC electric control unit to enable the electromagnet DT07 to be uncharged, and stopping extending the piston rod of the push shovel oil cylinder 8;
and S605, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the push shovel oil cylinder 8 starts to retract and reset.
This embodiment is through measuring the pressure value Pt that back door 5 received, when measuring the pressure value Pt that the back door received and being greater than setting value Pt0, control pushes away the shovel stop motion, and return, adopt this kind of mode, overcome the not enough of the fixed compression rubbish mode of pushing away the shovel stroke that adopts among the prior art, the stroke of pushing away the shovel is controlled according to the condition that the back door can bear pressure, adopt this kind of mode, can protect the structure of back door, can ensure simultaneously that different similar rubbish can both obtain abundant compression, the load capacity of improvement rubbish, the efficiency is improved.
Claims (2)
1. A control method of a push shovel of a kitchen garbage truck during garbage compression is characterized in that the kitchen garbage truck comprises a truck body (1), a tank body (2) is arranged on the truck body (1), a garbage throwing opening (3) is formed in the upper portion of the tank body (2), a garbage outlet (4) for discharging garbage is formed in the tail portion of the tank body (2), a rear door (5) and a rear door oil cylinder (6) used for driving the rear door (5) to close the garbage outlet (4) are connected to the tail portion of the tank body (2), a push shovel (7) for compressing the garbage or pushing out the garbage in the tank body (2) is arranged in the tank body (2), and a push shovel oil cylinder (8) for driving the push shovel (7) to move is arranged in the tank body (2); kitchen garbage truck still contain the hydraulic system who is used for controlling back door (5) and pushes away shovel (7) action, hydraulic system contain oil tank (101), hydraulic pump (102) be connected with oil tank (101), main oil feed way (103) be connected with hydraulic pump (102), main oil return way (104) be connected with oil tank (101), solenoid valve A (201) that are used for controlling back door hydro-cylinder (6) switching-over, be used for controlling solenoid valve B (202) and the automatically controlled unit of PLC that pushes away shovel hydro-cylinder (8) switching-over, back door hydro-cylinder (6) connect between main oil feed way (103) and main oil return way (104) through solenoid valve A (201), push shovel hydro-cylinder (8) connect between main oil feed way (103) and main oil return way (104) through solenoid valve B (202), solenoid valve B (202) contain electro-magnet DT07 that the piston rod that is used for controlling push shovel hydro-cylinder (8) stretches out and the electro-magnet that is used for controlling the piston rod withdrawal of action push shovel hydro-cylinder (8) DT 08; a sealing strip (9) for preventing liquid in the tank body (2) from leaking is arranged between the rear door (5) and the tank body (2), and a pressure sensor A (301) for detecting the pressure born by the sealing strip (9) is arranged in the sealing strip (9); the control method comprises the following steps of:
s401, sending an instruction by a PLC (programmable logic controller) unit to electrify an electromagnet DT07, and enabling a piston rod of a shovel oil cylinder (8) to extend out to drive a shovel (7) to compress garbage;
s402, the PLC electronic control unit receives and processes the pressure value of the sealing strip (9) detected by the pressure sensor A (301), obtains the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment, and calculates the difference value delta PA between the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment;
s403, judging whether the absolute value of the delta PA is larger than the system error PA0, if not, returning to the step S402, and if so, executing the next step;
s404, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and a piston rod of the push shovel oil cylinder (8) stops extending out;
s405, the PLC electric control unit sends out an instruction to enable the electromagnet DT08 to be electrified, and the piston rod of the push shovel oil cylinder (8) starts to retract and reset.
2. A control method of a push shovel when a kitchen garbage truck compresses garbage is characterized in that the kitchen garbage truck comprises a truck body (1), a tank body (2) is arranged on the truck body (1), a garbage throwing-in opening (3) is formed in the upper portion of the tank body (2), a garbage outlet (4) for discharging the garbage is formed in the tail portion of the tank body (2), a rear door (5) and a rear door oil cylinder (6) used for driving the rear door (5) to close the garbage outlet (4) are connected to the tail portion of the tank body (2), the push shovel (7) for compressing the garbage or pushing out the garbage in the tank body (2) is arranged in the tank body (2), and a push shovel oil cylinder (8) used for driving the push shovel (7) to move is arranged in the tank body (2); kitchen garbage truck still contain the hydraulic system who is used for controlling back door (5) and pushes away shovel (7) action, hydraulic system contain oil tank (101), hydraulic pump (102) be connected with oil tank (101), main oil feed way (103) be connected with hydraulic pump (102), main oil return way (104) be connected with oil tank (101), solenoid valve A (201) that are used for controlling back door hydro-cylinder (6) switching-over, be used for controlling solenoid valve B (202) and the automatically controlled unit of PLC that pushes away shovel hydro-cylinder (8) switching-over, back door hydro-cylinder (6) connect between main oil feed way (103) and main oil return way (104) through solenoid valve A (201), push shovel hydro-cylinder (8) connect between main oil feed way (103) and main oil return way (104) through solenoid valve B (202), solenoid valve B (202) contain electro-magnet DT07 that the piston rod that is used for controlling push shovel hydro-cylinder (8) stretches out and the electro-magnet that is used for controlling the piston rod withdrawal of action push shovel hydro-cylinder (8) DT 08; a sealing strip (9) for preventing liquid in the tank body (2) from leaking is arranged between the rear door (5) and the tank body (2), a pressure sensor A (301) for detecting the pressure born by the sealing strip (9) is arranged in the sealing strip (9), and a pressure sensor B (302) for detecting the pressure of hydraulic oil in the rear door oil cylinder (6) is arranged on the rear door oil cylinder (6); the control method comprises the following steps of:
s501, the PLC electric control unit sends an instruction to enable an electromagnet DT07 to be electrified, and a piston rod of a shovel oil cylinder (8) begins to extend out to drive a shovel (7) to compress garbage;
s502, the PLC electric control unit receives and processes the pressure value of the sealing strip (9) detected by the pressure sensor A (301), and obtains the pressure value PAt at the current moment and the pressure value at the previous moment
PA (t-1), calculating a difference value delta PA between the pressure value PAt at the current moment and the pressure value PA (t-1) at the previous moment; the PLC electronic control unit receives and processes the pressure value PBt of the hydraulic oil in the rear door oil cylinder (6) detected by the pressure sensor B (302);
s503, judging whether the absolute value of the delta PA is larger than the system error PA0, if so, directly carrying out the next step, otherwise, judging whether the pressure value PBt is larger than the set value PB0, if not, returning to the step S502, and if so, carrying out the next step;
s504, the PLC electric control unit sends out an instruction to enable the electromagnet DT07 to be uncharged, and a piston rod of the push shovel oil cylinder (8) stops extending out;
and S505, the PLC electric control unit sends out an instruction to electrify the electromagnet DT08, and the piston rod of the blade oil cylinder (8) begins to retract and reset.
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| CN112429443B (en) * | 2020-11-20 | 2022-06-14 | 长沙中联重科环境产业有限公司 | Push shovel unloading control method of compression type garbage truck, medium and electronic equipment |
| CN114537246A (en) * | 2022-03-23 | 2022-05-27 | 山东畅达专用车有限公司 | Control system and method for conveyor belt self-unloading transport vehicle |
| US20230312239A1 (en) * | 2022-03-31 | 2023-10-05 | Oshkosh Corporation | Speed control for hydraulic system of a refuse vehicle |
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