CN112879395A - Sweeping disc lifting control method and system for sweeping vehicle - Google Patents
Sweeping disc lifting control method and system for sweeping vehicle Download PDFInfo
- Publication number
- CN112879395A CN112879395A CN202110286758.6A CN202110286758A CN112879395A CN 112879395 A CN112879395 A CN 112879395A CN 202110286758 A CN202110286758 A CN 202110286758A CN 112879395 A CN112879395 A CN 112879395A
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- Prior art keywords
- sweeping
- disc
- lifting
- electromagnet
- tray
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/085—Servomotor systems incorporating electrically operated control means using a data bus, e.g. "CANBUS"
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/05—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt with driven brushes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
- F15B2013/0448—Actuation by solenoid and permanent magnet
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
According to the sweeping disc lifting control method and system of the sweeping vehicle, the sweeping disc lifting control method and system are divided into a normal mode and a fine mode according to the working state of the sweeping disc, and the power-on time and the power-off time of the electromagnetic valve are limited through the instruction of the controller in the fine mode, so that the action of the lifting oil cylinder is effectively controlled, and the purpose of fine lifting of the sweeping disc is achieved under the condition that the whole system of the sweeping vehicle is not changed. Meanwhile, a sweeping disc lifting control system of the sweeping machine is designed, and a two-position three-way electromagnetic directional valve, a two-position two-way electromagnetic directional valve and a solid-state intermediate relay are designed, so that the service life of the whole system is further prolonged on the premise of ensuring the control method to be effective.
Description
Technical Field
The invention relates to a special automobile, in particular to a sweeping disc lifting control method and a sweeping disc lifting control system of a sweeping machine.
Background
The sweeping disc is a working device which is arranged at two sides of the sweeping machine and is responsible for sweeping and collecting garbage into the range of the suction nozzle in the operation process. Before the sweeping vehicle carries out sweeping operation, the sweeping disc extends out and descends to a sweeping road surface; when the vehicle runs at a low speed, the sweeping disc rotates and sweeps while walking; after the sweeping operation is finished, the sweeping disc is lifted to a certain height and retracted, and the sweeping machine runs normally. The rotation of the sweeping disc is driven by a hydraulic motor, and the stretching and lifting actions are driven by an oil cylinder.
The sweeper brush is worn and shortened along with the increase of the operation time of the sweeper truck, and the height of the sweeping disc needs to be adjusted in stages in order to keep the sweeping operation effect. The height adjustment of the sweeping disc is realized by changing the telescopic stroke of the hydraulic oil cylinder, but the cylinder rod diameter of the oil cylinder for lifting the sweeping disc is small, the stroke is short, and the discharge capacity of a main pump of the whole sweeping machine is selected for meeting the requirement of a large-size lifting oil cylinder of a box body, so that the discharge capacity of the main pump is not matched with the cylinder rod diameter of the sweeping disc lifting oil cylinder. When an operator manually controls the reversing valve to be conducted, the position of the piston rod is easy to overshoot due to overlarge pump flow.
When the sweeping disc rises, the displacement of the oil cylinder is related to the rotating speed and the displacement of the pump and the conduction time of the reversing valve, and the relationship is as follows:
s＝qnt/A (1)
when the sweeping disc descends, the displacement of the oil cylinder is related to the weight of the sweeping disc, the area of a throttling opening and the conducting time of a reversing valve, and the relation is as follows:
wherein s is the displacement of the oil cylinder; q is the pump displacement; n is the pump speed; a is the area of a small cavity of the oil cylinder; the Cd flow coefficient; a0 is the area of the one-way throttle valve port; and t is the conduction time of the reversing valve.
Get by formula (1), the pump discharge capacity is too big and the little cavity area undersize of hydro-cylinder, if do not reduce switching-over valve lead-through time, then make the hydro-cylinder stretch out the displacement regulating variable too big easily, get by formula (2) with the same principle, if do not reduce switching-over valve lead-through time, then make the hydro-cylinder withdrawal displacement regulating variable too big easily, and during manual operation, difficult accurate control switching-over valve lead-through time, need frequently adjust the flexible stroke of hydro-cylinder just can reach suitable height. In addition, the service life of the intermediate relay for controlling the stretching of the oil cylinder can be greatly shortened under frequent short suction action. In order to solve the problem, a document proposes that the height of the sweeping disc is adjusted by adopting an electric cylinder, but the scheme is high in cost, and the electric cylinder is always loaded, so that the service life of the electric cylinder is shortened.
Disclosure of Invention
In order to solve the problems, the invention provides a sweeping disc lifting control method and a sweeping disc lifting control system of a sweeping machine, which can respectively control the lifting of a sweeping disc according to different use states, can precisely finely adjust the lifting amount of the sweeping disc and prolong the service life of the whole sweeping disc.
In order to achieve the purpose, the sweeping disc lifting control method of the sweeping machine comprises power equipment and a sweeping disc control hydraulic system connected with the power equipment, wherein the sweeping disc control hydraulic system comprises a sweeping disc descending button, a sweeping disc descending electromagnet VD1, a sweeping disc ascending button, a sweeping disc ascending electromagnet VD2 and a sweeping disc controller, a sweeping disc controller sends a signal after the sweeping disc lifting function is started during control, the rotating speed of the power equipment is reduced to the minimum, and then the sweeping disc lifting control method comprises the following two control methods:
a. in the normal lifting mode of the sweeping disc, the sweeping disc descending electromagnet VD1 is controlled to be powered after the sweeping disc descending button is pressed down at the time, and the sweeping disc descending electromagnet VD1 is powered off after the sweeping disc descending button is released; after the tray sweeping lifting button is pressed down, the tray sweeping lifting electromagnet VD2 is powered on, and the tray sweeping lifting electromagnet VD2 is powered off until the tray sweeping lifting button is released;
b. in the fine disc sweeping lifting mode, after a disc sweeping descending button is pressed, when a disc sweeping controller detects the rising edge of a disc sweeping descending button signal, a disc sweeping descending electromagnet VD1 is controlled to be powered on, and after the time is 1s, the disc sweeping descending electromagnetic valve is automatically powered off; similarly, when the tray sweeping ascending button is pressed down and the tray sweeping controller detects the ascending edge of the tray sweeping ascending button signal, the tray sweeping ascending electromagnet VD2 is controlled to be powered on, and the tray sweeping ascending electromagnetic valve is automatically powered off after the time is 1 s.
The road sweeper sweeping disc lifting control system using the control method comprises a pump source of a hydraulic system and a lifting oil cylinder for controlling the sweeping disc to lift, wherein the pump source is connected with the lifting oil cylinder sequentially through a two-position three-way electromagnetic directional valve, a two-position two-way electromagnetic directional valve and a one-way throttle valve, the pump source is connected with an oil inlet of the two-position three-way electromagnetic directional valve, an oil return port of the two-position three-way electromagnetic directional valve is connected with an oil tank, a working oil port of the two-position three-way electromagnetic directional valve is connected with an oil inlet of the two-position two-way electromagnetic directional valve, an oil outlet of the two-position two-way electromagnetic directional valve is connected with an oil inlet of the one-way throttle valve.
The two-position three-way electromagnetic directional valve and the two-position two-way electromagnetic directional valve adopt electromagnetic ball valves; the two-position three-way electromagnetic reversing valve electromagnet VD1 and the two-position two-way electromagnetic reversing valve electromagnet VD2 are respectively connected in series with contacts of the intermediate relays KA01 and KA02 and then connected in parallel to a 24VDC power supply; the intermediate relays KA01 and KA02 are solid relays; the 24VDC power supply is connected with the controller, the controller is connected with a normal lifting mode and fine lifting mode change-over switch, and the controller is also connected with a tray sweeping lifting button and a tray sweeping descending button.
According to the sweeping disc lifting control method and system for the sweeping car, the lifting of the sweeping disc is finely adjusted by setting the delay time, so that the adjustment of the sweeping disc after the sweeping brush changes can be effectively improved, and the sweeping car sweeping disc lifting control method and system have the following advantages:
1. in the fine adjustment mode, the control method can help operators to quickly adjust the height of the sweeping disc, and avoid frequently adjusting the stroke of the oil cylinder back and forth;
2. the solid-state intermediate relay is adopted, the service life of the equipment can be prolonged, and the condition that the contact of the traditional intermediate relay is burnt out under the working condition of frequent actuation is avoided.
Drawings
Fig. 1 is a block diagram of a control system of embodiment 1.
Fig. 2 is a schematic diagram of a hydraulic system of embodiment 1.
FIG. 3 is a control diagram of the electromagnet electric appliance in the embodiment 1.
FIG. 4 is a flowchart of the control method of embodiment 1.
Fig. 5 is a graph showing the relationship between the button signal and the electromagnet signal in the fine ascent and descent mode according to embodiment 1.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
Example 1.
The sweeping disc lifting control method of the sweeping vehicle described in this embodiment includes a power device and a sweeping disc control hydraulic system connected with the power device, where the sweeping disc control hydraulic system includes a sweeping disc descending button, a sweeping disc descending electromagnet VD1, a sweeping disc ascending button, a sweeping disc ascending electromagnet VD2, and a sweeping disc controller. The specific operation flow is shown in fig. 4, when in control, a sweeping disk controller sends a signal after the sweeping disk lifting function is started, the rotating speed of the power equipment is reduced to the minimum 600rpm, and then the control is carried out by two methods:
a. in the normal lifting mode of the sweeping disc, the sweeping disc descending electromagnet VD1 is controlled to be powered after the sweeping disc descending button is pressed down at the time, and the sweeping disc descending electromagnet VD1 is powered off after the sweeping disc descending button is released; after the tray sweeping lifting button is pressed down, the tray sweeping lifting electromagnet VD2 is powered on, and the tray sweeping lifting electromagnet VD2 is powered off until the tray sweeping lifting button is released;
b. in the fine disc sweeping lifting mode, after a disc sweeping descending button is pressed, when a disc sweeping controller detects the rising edge of a disc sweeping descending button signal, a disc sweeping descending electromagnet VD1 is controlled to be powered on, and after the time is 1s, the disc sweeping descending electromagnetic valve is automatically powered off; similarly, when the tray sweeping ascending button is pressed down and the tray sweeping controller detects the ascending edge of the tray sweeping ascending button signal, the tray sweeping ascending electromagnet VD2 is controlled to be powered on, and the tray sweeping ascending electromagnetic valve is automatically powered off after the time is 1 s.
In a specific fine lifting mode, the control relation between the button and the electromagnet is shown in fig. 5, t 1-t 2 'and t 3-t 4' are disc scanning and lowering command signals for two times respectively, the time delay of the command signals is 2s and 0.5s respectively, the electromagnet VD1 starts to be powered on at the time t1 and the time t3 respectively, and the time delay is 1 s; t 5-t 6 'and t 7-t 8' are command signals for twice tray sweeping and lowering respectively, the electromagnet VD2 starts to be electrified at the time t5 and the time t7 respectively, and the time delay is 1 s. Therefore, the rising edge of the button signal gives the starting moment of electrifying the electromagnet, the conduction time is set by software, and the fine adjustment mode can greatly lighten the work of operators.
As shown in fig. 1 to 3, the sweeping plate lifting control system of the sweeping machine using the above control method described in this embodiment includes: the fine mode and normal mode selection switches are used for selecting a control mode of the lifting oil cylinder, the normal mode is that the oil cylinder realizes lifting action when the lifting button is switched on, and the fine mode is that the lifting oil cylinder only completes fine lifting after the lifting button is switched on; the lifting switch is an instruction switch for operating the lifting oil cylinder; the power equipment is a power source of the hydraulic pump, is an engine or a motor, is in communication connection with the main controller CAN to send a target rotating speed instruction, and realizes rotating speed regulation of the power equipment; the controller is the core of the control system, and the telescopic displacement of the oil cylinder is adjusted by a lifting system control method so as to meet the requirement that an operator can quickly adjust the height of the sweeping disc; the hydraulic and electric system is an intermediate link for realizing the action of the sweeping disc lifting oil cylinder.
The specific hydraulic system comprises a pump source 1 of the hydraulic system and a lifting oil cylinder 5 for controlling the sweeping disc to lift, wherein the pump source 1 is connected with the lifting oil cylinder 5 sequentially through a two-position three-way electromagnetic directional valve, a two-position two-way electromagnetic directional valve 3 and a one-way throttle valve 4, the pump source 1 is connected with an oil inlet of the two-position three-way electromagnetic directional valve 2, an oil return port of the two-position three-way electromagnetic directional valve 2 is connected with an oil tank 6, a working oil port of the two-position three-way electromagnetic directional valve 2 is connected with an oil inlet of the two-position two-way electromagnetic directional valve 3, an oil outlet of the two-position two-way electromagnetic directional valve 3 is connected with an oil inlet of the one-way throttle valve.
The two-position three-way electromagnetic directional valve 2 and the two-position two-way electromagnetic directional valve 3 adopt electromagnetic ball valves; the two-position three-way electromagnetic reversing valve electromagnet VD1-8 and the two-position two-way electromagnetic reversing valve electromagnet VD2-7 are respectively connected in series with contacts of the intermediate relays KA01-9 and KA02-10 and then connected in parallel to a 24VDC power supply; the intermediate relays KA01-9 and KA02-10 adopt solid-state relays; the 24VDC power supply is connected with the controller, the controller is connected with a normal lifting mode and fine lifting mode change-over switch, and the controller is also connected with a tray sweeping lifting button and a tray sweeping descending button.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (3)
1. A sweeping disc lifting control method of a sweeping vehicle comprises power equipment and a sweeping disc control hydraulic system connected with the power equipment, wherein the sweeping disc control hydraulic system comprises a sweeping disc descending button, a sweeping disc descending electromagnet VD1, a sweeping disc ascending button, a sweeping disc ascending electromagnet VD2 and a sweeping disc controller, and is characterized in that the sweeping disc controller sends a signal after the sweeping disc lifting function is started, the rotating speed of the power equipment is reduced to the lowest, and then the sweeping disc lifting control method comprises the following two control methods:
a. in the normal lifting mode of the sweeping disc, the sweeping disc descending electromagnet VD1 is controlled to be powered after the sweeping disc descending button is pressed down at the time, and the sweeping disc descending electromagnet VD1 is powered off after the sweeping disc descending button is released; after the tray sweeping lifting button is pressed down, the tray sweeping lifting electromagnet VD2 is powered on, and the tray sweeping lifting electromagnet VD2 is powered off until the tray sweeping lifting button is released;
b. in the fine disc sweeping lifting mode, after a disc sweeping descending button is pressed, when a disc sweeping controller detects the rising edge of a disc sweeping descending button signal, a disc sweeping descending electromagnet VD1 is controlled to be powered on, and after the time is 1s, the disc sweeping descending electromagnetic valve is automatically powered off; similarly, when the tray sweeping ascending button is pressed down and the tray sweeping controller detects the ascending edge of the tray sweeping ascending button signal, the tray sweeping ascending electromagnet VD2 is controlled to be powered on, and the tray sweeping ascending electromagnetic valve is automatically powered off after the time is 1 s.
2. The sweeper truck sweeping disc lifting control system using the control method of claim 1 comprises a pump source of a hydraulic system and a lifting oil cylinder for controlling the lifting of the sweeping disc, and is characterized in that the pump source is connected with the lifting oil cylinder sequentially through a two-position three-way electromagnetic directional valve, a two-position two-way electromagnetic directional valve and a one-way throttle valve, wherein the pump source is connected with an oil inlet of the two-position three-way electromagnetic directional valve, an oil return port of the two-position three-way electromagnetic directional valve is connected with an oil tank, a working oil port of the two-position three-way electromagnetic directional valve is connected with an oil inlet of the two-position two-way electromagnetic directional valve, an oil outlet of the two-position two-way electromagnetic directional valve is connected with an oil inlet of the one.
3. The sweeping disc lifting control system of the sweeping vehicle of claim 2, wherein the two-position three-way electromagnetic directional valve and the two-position two-way electromagnetic directional valve adopt electromagnetic ball valves; the two-position three-way electromagnetic reversing valve electromagnet VD1 and the two-position two-way electromagnetic reversing valve electromagnet VD2 are respectively connected in series with contacts of the intermediate relays KA01 and KA02 and then connected in parallel to a 24VDC power supply; the intermediate relays KA01 and KA02 are solid relays; the 24VDC power supply is connected with the controller, the controller is connected with a normal lifting mode and fine lifting mode change-over switch, and the controller is also connected with a tray sweeping lifting button and a tray sweeping descending button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110286758.6A CN112879395A (en) | 2021-03-17 | 2021-03-17 | Sweeping disc lifting control method and system for sweeping vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110286758.6A CN112879395A (en) | 2021-03-17 | 2021-03-17 | Sweeping disc lifting control method and system for sweeping vehicle |
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| Publication Number | Publication Date |
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| CN112879395A true CN112879395A (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110286758.6A Pending CN112879395A (en) | 2021-03-17 | 2021-03-17 | Sweeping disc lifting control method and system for sweeping vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114483873A (en) * | 2022-01-26 | 2022-05-13 | 陈昱洲 | Damping vibration attenuation device for series damping branch |
| CN114483873B (en) * | 2022-01-26 | 2024-06-04 | 陈昱洲 | Damping vibration damper with serially connected damping branches |
-
2021
- 2021-03-17 CN CN202110286758.6A patent/CN112879395A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114483873A (en) * | 2022-01-26 | 2022-05-13 | 陈昱洲 | Damping vibration attenuation device for series damping branch |
| CN114483873B (en) * | 2022-01-26 | 2024-06-04 | 陈昱洲 | Damping vibration damper with serially connected damping branches |
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