CN114802501A - Crawler deviation monitoring method and device and friction type crawler engineering machinery - Google Patents
Crawler deviation monitoring method and device and friction type crawler engineering machinery Download PDFInfo
- Publication number
- CN114802501A CN114802501A CN202210581064.XA CN202210581064A CN114802501A CN 114802501 A CN114802501 A CN 114802501A CN 202210581064 A CN202210581064 A CN 202210581064A CN 114802501 A CN114802501 A CN 114802501A
- Authority
- CN
- China
- Prior art keywords
- track
- temperature
- guide
- crawler
- side surfaces
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Radiation Pyrometers (AREA)
- Sliding-Contact Bearings (AREA)
Abstract
The invention discloses a method and a device for monitoring track deviation and a friction type track engineering machine, relates to the field of engineering machines, and is used for judging whether the track deviates or not. The track deviation monitoring method comprises the following steps: detecting respective parameters of two side surfaces of a guide tooth of the crawler belt; the parameter comprises temperature; and judging whether the track deflects or not according to respective parameters of two side surfaces of the guide teeth of the track. According to the method for monitoring the track deviation, whether the track deviates or not is judged according to the parameters of the guide teeth of the track, and the running state of the friction type track engineering machinery where the track is located is combined, so that whether the track deviates or is in a normal phenomenon in a turning process can be judged, a preceding judgment standard is provided for subsequent deviation correction of the track, the track is favorably subjected to targeted deviation correction, the running rolling resistance of the track chassis is reduced, the maneuverability of the whole machine is improved, and the linear running capability of the track chassis is improved.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a method and a device for monitoring track deviation and friction type track engineering machinery.
Background
The crawler engineering machine comprises a plurality of groups of hydraulic oil cylinders and a traveling mechanism. And the multiple groups of hydraulic oil cylinders support the weight of the whole machine together. The walking mechanism comprises a crawler belt for walking, a driving wheel for driving the crawler belt to rotate and a guide wheel matched with the driving wheel to tension the crawler belt. Under the traction of the driving wheels and the guidance of the guide wheels, the crawler belt advances and retreats.
The current research considers that the track is always deviated due to manufacturing and assembling errors, so that the whole machine is deviated left or right. In order to prevent the track from deflecting, a blocking part is arranged beside the track in the prior art, and when the track deflects, the track is limited in modes of contact, abutting and the like.
Disclosure of Invention
The invention provides a method and a device for monitoring track deviation and a friction type track engineering machine, which are used for judging whether the track deviates or not.
The embodiment of the invention provides a track deviation monitoring method, which comprises the following steps:
detecting respective parameters of two side surfaces of a guide tooth of the crawler belt; the parameter comprises a temperature;
and judging whether the crawler belt deflects or not according to respective parameters of two side surfaces of the guide teeth of the crawler belt.
In some embodiments, the determining whether the track is deflected according to the respective parameters of the two sides of the guide teeth of the track specifically includes the following steps:
comparing the difference in temperature of each of the two sides of the guide teeth of the track;
and judging whether the track deflects or not according to the difference value.
In some embodiments, said determining whether the track is skewed based on the difference comprises:
if the difference value is larger than a preset value, the crawler belt deflects; if the difference is less than or equal to a preset value, the track is not deflected.
In some embodiments, the track deviation monitoring method further comprises the following steps:
and sending out an alarm signal when the crawler belt is deflected.
In some embodiments, temperature sensing elements are used to sense the respective temperatures of both sides of the guide teeth of the track.
In some embodiments, before the step of detecting the temperature of each of the two sides of the guide teeth of the track, the method further comprises the following steps:
detecting whether the guide teeth reach a detection position corresponding to the temperature detection element;
and if the guide teeth reach the detection positions corresponding to the temperature detection elements, the temperature detection elements are started to detect the respective temperatures of the two side surfaces of the guide teeth of the crawler.
In some embodiments, before the step of detecting the temperature of each of the two sides of the guide teeth of the track, the method further comprises:
detecting the driving parameters of the friction type crawler engineering machinery to which the crawler belongs;
judging whether the driving parameters reach a starting value or not; in the case where the driving parameter satisfies the starting value, the respective temperatures of both side surfaces of the guide teeth of the crawler are detected.
In some embodiments, said detecting the respective parameters of the two sides of the guide teeth of the track comprises the following steps:
detecting respective temperature sets of two side surfaces of the guide tooth within a set time, wherein each temperature set comprises at least two temperature values which are continuously detected;
the number of each of the temperature sets is processed as the respective temperature of the two sides of the guide tooth.
In some embodiments, the determining whether the track is deflected according to the respective temperatures of the two sides of the guide teeth of the track specifically includes the following steps:
embedding temperature-change material assemblies on two side surfaces of each guide tooth of the crawler;
acquiring colors corresponding to respective temperature-change material components on two side surfaces of the guide teeth of the track;
and judging whether the crawler belt is deflected or not according to the color of the temperature-change material assembly on the side surface of each guide tooth.
In some embodiments, the track deviation monitoring method further comprises the following steps:
continuously detecting respective temperatures of both side surfaces of each guide tooth of the crawler belt;
and judging whether the track deflects or not according to the detected temperature difference value of the two side surfaces of each guide tooth.
The embodiment of the invention also provides a track deviation monitoring system, which comprises:
drag link plates arranged in pairs; and a gap is arranged between the two drag chain plates;
the caterpillar band is wound on the drag chain plate; the track comprises a track body and a circle of guide teeth positioned on the inner surface of the track body; the guide tooth is configured to pass through the gap; and
at least one pair of deflection detecting elements mounted to the drag link plates and located in the gap, the deflection detecting elements being arranged in one-to-one correspondence with the drag link plates.
In some embodiments, the skew detection element includes one of: a temperature detection element, a color detection element.
In some embodiments, the track deviation monitoring system further comprises:
a first controller electrically connected to the temperature detection element; each pair of the temperature detecting elements includes two of the temperature detecting elements, each of the temperature detecting elements being configured to detect a temperature of one of side surfaces of the guide tooth; the first controller is configured to calculate a temperature difference detected by the two temperature detection elements to determine whether the track is deflected.
In some embodiments, the track deviation monitoring system further comprises:
a second controller electrically connected to the deflection detecting element; and
at least one pair of proximity switches electrically connected to the second controller; the proximity switch is mounted to the drag link plate and adjacent to the deflection sensing element; the proximity switch is configured to activate the deflection sensing element upon detection of the guide tooth upstream of the gap.
The embodiment of the invention also provides a friction type crawler engineering machine which comprises a driving mechanism and a crawler deviation monitoring system provided by any technical scheme of the invention; the driving mechanism is in driving connection with a track of the track deviation monitoring system.
According to the method for monitoring the track deviation, whether the track deviates or not is judged according to the temperature, the color and other parameters of the guide teeth of the track. According to the conclusion obtained by the monitoring method, the running state of the friction type crawler engineering machinery where the crawler is located is combined, so that whether the crawler deviates or is in a normal phenomenon in the turning process can be judged, a preceding judgment standard is provided for correcting the crawler subsequently, the targeted correction of the crawler is facilitated, the running rolling resistance of the crawler chassis is reduced, the maneuverability of the whole machine is improved, and the linear running capability of the crawler chassis is better improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic partial structural diagram of a friction-type track-laying work machine according to an embodiment of the present invention.
Fig. 2 is a schematic view of a track structure of a friction-type track-laying work machine according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating a positional relationship among a drag link plate, a temperature detection element, and a proximity switch of the friction-type track-laying machine according to the embodiment of the present invention.
Fig. 4 is a partial schematic view of a friction-type crawler work machine according to an embodiment of the present invention at a deflection detecting element.
Fig. 5 is a schematic flow chart of a track deviation monitoring method provided by the embodiment of the invention.
Fig. 6 is a control logic diagram of a track deviation monitoring method provided by the embodiment of the invention.
Reference numerals:
1. drag the link joint; 2. a crawler belt; 3. a deflection detecting element; 4. a proximity switch; 5. a drive mechanism; 6. a frame;
11. a gap;
21. a track body; 22. a guide tooth;
51. a drive wheel; 52. a first guide wheel assembly; 53. a second guide wheel assembly; 54. and a third guide wheel assembly.
Detailed Description
The technical solution provided by the present invention is explained in more detail with reference to fig. 1 to 6.
The track 2 may be deflected during the walking process of the track engineering machine. In order to prevent the track 2 from deflecting, in the related art, a limiting component is arranged at a position of the frame corresponding to the track 2, and as long as the track 2 deflects, the track 2 can abut against the limiting component. The track 2 cannot continue to deflect by physical blockage of the stop member. Under high-speed driving, the deflection of the crawler 2 can increase the driving difficulty, the eccentric wear of the crawler 2 can often increase the rolling resistance of the chassis, the excessive eccentric wear of the guide teeth 22 of the crawler 2 is caused, and the friction of the load-bearing wheel set is overheated to cause degumming, so that additional power loss and product failure are caused. Meanwhile, the off-tracking chassis influences the quality of bulldozing operation, paving operation and the like.
However, the inventors have found through research that: not all deflections of the track 2 need to be corrected. Specifically, the phenomenon that the guide teeth 22 rub against the wheel set occurs when the crawler 2 turns the whole machine, and the deflection of the crawler 2 at this time is inevitable and normal due to the existence of the turning lateral force. If the track 2 is corrected during turning, the normal turning of the track 2 is affected, and the turning accuracy is reduced. Herein, the deflection of the crawler 2 that needs to be corrected is referred to as abnormal deflection, and the deflection at the time of turning is referred to as normal deflection. Abnormal skew requires correction and normal skew does not.
Therefore, when the crawler engineering machine turns, the deviation of the crawler 2 is a normal phenomenon, and the related technology cannot distinguish whether the deviation of the crawler 2 is a normal phenomenon or an abnormal phenomenon, and the deviation rectifying operation is performed, which is obviously unreasonable.
In view of the above, the embodiments of the present invention propose the following technical solutions.
The embodiment of the invention provides friction type crawler engineering machinery, which comprises a crawler deviation monitoring system and a driving mechanism 5.
The track deviation monitoring system comprises a track 2, drag chain plates 1 and at least one pair of deviation detecting elements 3. As described in more detail below.
The drag link plates 1 are arranged in pairs with a gap 11 between two drag link plates 1. The drag chain plate 1 is fixedly connected with the third guide wheel assembly 54, specifically, fixedly connected through a bolt. The guide teeth 22 of the track 2 can pass the gap 11 without being affected by the drag chain plate 1.
The caterpillar band 2 is wound on the drag chain plate 1, and the drag chain plate 1 is arranged on the frame 6. The track 2 comprises a track body 21 and a ring of guide teeth 22 located on the inner surface of the track body 21; the guide teeth 22 are configured to pass through the gap 11. The track body 21 is endless. The drive mechanism 5 drives the crawler 2.
At least one pair of deflection sensing elements 3 is mounted to the drag link 1 and located in the gap 11, the deflection sensing elements 3 being arranged in one-to-one correspondence with the drag link 1. The deflection detecting element 3 is configured to detect parameters such as the temperature of the guide teeth 22 to determine whether the crawler 2 is deflected or not based on the temperature of the guide teeth 22. The skew detecting element 3 detects the skew in a non-contact manner. The deflection state of the crawler 2 may be combined with the running state of the friction-type crawler engineering machine, and the running state (straight running or turning) of the current friction-type crawler engineering machine is combined, so as to determine whether the crawler 2 is normally deflected or abnormally deflected. Moreover, according to the technical scheme, the detection can be performed when the track is inclined, the detection is timely, the action of other parts is not needed, and the detection sensitivity is higher.
In some embodiments, the skew detection element 3 includes one of: a temperature sensing element. The temperature detecting element is used to detect the temperature of the surface of the guide tooth 22. Specifically, referring to fig. 4, the guide tooth 22 has two side surfaces, one of which corresponds to one temperature detection element and the other of which corresponds to the other temperature detection element. The two temperature detecting elements detect the temperatures of both side surfaces of the same guide tooth 22.
In some embodiments, the track deviation monitoring system further comprises a first controller (not shown) electrically connected to the temperature sensing element; each pair of temperature detecting elements includes two temperature detecting elements each configured to detect the temperature of one of the side surfaces of the guide tooth 22. The first controller is configured to calculate a difference between the temperatures detected by the two temperature detecting elements to determine whether the crawler 2 is deflected.
Whether the temperatures of both side surfaces of the guide tooth 22 are set values is judged by calculating the difference between the temperatures detected by the two temperature detecting elements. The set value is, for example, 5 to 25 °. If the temperature difference is within the set value, it indicates that the guide teeth 22 are not deflected. If the temperature difference is within the set value, it indicates that the guide teeth 22 are deflected. The positions of the two sides of the guide tooth 22 are one outer and one inner. The outer side refers to the outer side of the work vehicle, and the inner side refers to the center of the work vehicle. The temperature of the side surface of the guide tooth 22 corresponding to the temperature detection element close to the inner side is high, which indicates that the inner side surface of the guide tooth 22 is worn and the crawler belt 2 deviates inwards. The temperature of the side surface of the guide tooth 22 corresponding to the temperature detection element close to the outer side is high, which indicates that the outer side surface of the guide tooth 22 is worn and the crawler belt 2 deviates outwards.
In other embodiments, the guide teeth 22 are embedded within a temperature-change material assembly that includes a dye, a developer, and a solvent. Under the high temperature state, the color-changing dye and the color developing agent are dissolved and dispersed in the solvent, and the temperature-changing material component takes on a specific color state. When the temperature is reduced, the solvent is gradually solidified, and the color-changing dye is subjected to structural change under the action of the color-developing agent, so that the temperature-changing material component shows the color. By adjusting the solidification temperature of the solvent, temperature-change material components which change color at different temperatures can be prepared.
The color of both sides of the same guide tooth 22 can be observed by the operator. The positions of the two sides of the guide tooth 22 are one outer and one inner. The outer side refers to the outer side of the work vehicle, and the inner side refers to the center of the work vehicle. The temperature of the side surface of the guide tooth 22 corresponding to the color detection element close to the inner side is high, which indicates that the inner side surface of the guide tooth 22 is worn and the crawler belt 2 deviates inwards. The temperature of the side surface of the guide tooth 22 corresponding to the color detection element close to the outer side is high, which indicates that the outer side surface of the guide tooth 22 is worn and the crawler belt 2 deviates outwards.
The color of the temperature-change material component is different along with the temperature. If no wear occurs and the temperature of both sides of the guide tooth 22 is substantially the same, the colour of the temperature-change material assembly is substantially the same. If wear occurs, the temperatures of the two sides of the guide tooth 22 are not the same. By collecting and comparing the colors of both side surfaces of the guide teeth 22, it is possible to judge whether the crawler 2 is deviated.
The detection of all the guide teeth 22 can be achieved by providing a pair of the deflection detecting elements 3, i.e., two deflection detecting elements 3, for all the guide teeth 22 of the crawler 2. Specifically, the position of the deflection detecting element 3 is always located in the gap 11 of the drag link plate 1, and the position of the deflection detecting element 3 is fixed, and all the guide teeth 22 passing through the gap 11 can be detected. According to the technical scheme, the detection of all the guide teeth 22 can be realized by adopting fewer parts, and the detection efficiency is very high.
In other embodiments, the track deviation monitoring system further comprises a second controller (not shown) and at least one pair of proximity switches 4. The second controller is electrically connected to the skew detecting element 3. The proximity switch 4 is electrically connected with the second controller; the proximity switch 4 is mounted on the drag link plate 1 and is adjacent to the deflection detecting element 3; the proximity switch 4 is configured to activate the deflection detecting element 3 when the guide tooth 22 is detected upstream of the gap 11.
In the embodiments described above, the first controller and the second controller may adopt the same controller, and both may adopt implementations such as a PLC controller.
In some embodiments, the track deviation monitoring system further comprises a display electrically connected with the deviation detecting element 3 or the controller to display the detection result of the deviation detecting element 3. The display may display the result processed by the controller, or may directly display the detection result of the skew detecting element 3.
The drive mechanism 5 includes a drive wheel 51, a first guide wheel assembly 52 located at the front end of the vehicle, a second guide wheel assembly 53 located at the rear end of the vehicle, and a third guide wheel assembly 54 located between the first guide wheel assembly 52 and the second guide wheel assembly 53.
The driving wheel 51, the first guide wheel assembly 52, the second guide wheel assembly 53 and the third guide wheel assembly 54 all comprise two coaxial wheels arranged at intervals, the guide teeth 22 of the crawler 2 are positioned between the two wheels, and the guide teeth 22 play a limiting role in preventing the crawler 2 from disengaging. The edge area of the inner surface of the crawler belt 2 rubs against the respective wheels of the drive wheel 51, the first guide wheel assembly 52, the second guide wheel assembly 53, and the third guide wheel assembly 54. The crawler belt 2 and the driving wheel 51 adopt non-meshing transmission. The track 2 is in contact static friction transmission with the driving wheel 51 under sufficient tension, and the guide teeth 22 of the track 2 play a guiding role without transmitting a driving force for moving the track 2. The driving wheel 51 drives the caterpillar 2 to rotate through friction, and other structures except friction force between the driving wheel 51 and the caterpillar 2 are not sampled to realize driving. After the crawler belt 2 rotates, the first guide wheel assembly 52, the second guide wheel assembly 53 and the third guide wheel assembly 54 are driven to rotate by friction force.
Referring to fig. 5 and 6, an embodiment of the present invention provides a method for monitoring track deviation, which can be implemented by using the track deviation monitoring device described in the above embodiment. The method comprises the following steps:
step S10 detects parameters of each of the two side surfaces of the guide teeth 22 of the crawler 2. In particular, the parameter comprises temperature. The specific structure of the crawler belt 2 is as described in the above embodiments. How to obtain the respective parameters of the two flanks of the guide tooth 22 can also be achieved in the manner described above.
Step S20 is to determine whether the crawler 2 is deflected or not based on the respective parameters of the two side surfaces of the guide teeth 22 of the crawler 2.
The parameters of both sides of the guide teeth 22 are dynamically acquired in real time so as to judge the state of the track 2 of the friction-type track working machine in time.
According to the track deviation monitoring method provided by the technical scheme, the eccentric wear condition of the track 2 can be obtained through the parameters of the guide teeth 22 of the track 2, so that excessive eccentric wear of the track 2 is avoided; the track 2 does not have abnormal deflection, so that the guide teeth 22 do not rub with each wheel set of the driving mechanism 5, the guide teeth 22 are not easy to have excessive wear, and the service life of the track 2 is ensured; meanwhile, the running rolling resistance of the chassis of the crawler engineering machinery where the crawler 2 is located is reduced, the maneuverability of the whole machine is improved, and the linear running capability of the chassis is better improved.
In some embodiments, determining whether the track 2 is deflected or not, based on the respective temperatures of the two sides of the guide teeth 22 of the track 2, comprises in particular the following steps: comparing the difference in temperature of each of the two sides of the guide teeth 22 of the track 2; and judging whether the crawler 2 deflects or not according to the difference.
Specifically, in some embodiments, temperature sensing elements are employed to sense the respective temperatures of both sides of the guide teeth 22 of the track 2. If the difference value is larger than the preset value, the crawler 2 deflects; if the difference is less than or equal to the preset value, the track 2 is not deflected.
In some embodiments, the track deviation monitoring method further comprises the following steps: and step S30, sending out an alarm signal when the crawler 2 is inclined.
In some embodiments, before step S10, the method further includes the following steps:
step S40 is to detect whether the guide tooth 22 has reached the detection position corresponding to the temperature detection element.
Step S50, if the guide tooth 22 has reached the detection position corresponding to the temperature detection element, the temperature detection element is activated to detect the respective temperatures of both side surfaces of the guide tooth 22 of the crawler 2.
In some embodiments, before step S10, the method further includes:
step S60 is to detect a running parameter of the friction-type crawler work machine to which the crawler 2 belongs. The driving parameters comprise the driving speed of the friction type crawler engineering machinery.
And step S70, judging whether the running parameters reach the starting values. In the case where the running parameter satisfies the start value, the respective temperatures of both side surfaces of the guide teeth 22 of the crawler 2 are detected. The starting value is 15km/h, for example, and when the running speed of the friction type crawler engineering machine is greater than or equal to 15km/h, the deviation detecting element 3 can be started to acquire the parameters.
The step S70 includes the following steps: the respective temperature sets of both sides of all the guide teeth 22 passing through the gap 11 are detected for a set time. Each temperature set comprises at least two temperature values detected in succession; the number of individual temperature sets is processed as the individual temperature of the two flanks of the guide tooth 22.
In some embodiments, the determination of whether the track 2 is deflected or not, using the color of the guide teeth 22 as a determination parameter, based on the respective parameters of the two sides of the guide teeth 22 of the track 2, comprises the following steps: embedding temperature-change material components on two side surfaces of the guide teeth 22 of each crawler 2; acquiring the color corresponding to the temperature-change material components of the two side surfaces of the guide teeth 22 of the crawler 2; whether the crawler 2 is deflected is judged according to the color of the temperature-change material assembly of the side of each guide tooth 22.
Several specific embodiments are described below. An embodiment in which the temperature of the guide teeth 22 is used as the determination parameter will be described.
The execution of the track deviation monitoring method mainly comprises the following steps: the method comprises four processes of sending a monitoring instruction, executing monitoring, feeding back an early warning and terminating monitoring.
1) Sending out a monitoring command: in the whole machine debugging stage, a tester sends out a monitoring requirement through a display control interface, and the controller receives an instruction.
2) Monitoring and executing: the controller receives the instruction, judges the running speed of the whole machine, and starts to execute the next step when the speed is continuously more than 15 kilometers per hour; the proximity switch is electrified to start working, the temperature detection elements are correspondingly triggered to record the temperature once for the track guide teeth when the guide teeth 22 pass once, and the two temperature detection elements on the outer side and the inner side record temperature data once when the guide teeth 22 pass once until the monitoring is finished. Wherein the proximity switch 4,The temperature detection elements are mounted on the outer chain receiving plate 1a and the inner chain receiving wheel 1b, respectively. The outer chain supporting plate 1a corresponds to the side surface A of the guide tooth 22; the inner carrier roller 1B corresponds to the side surface B of the guide tooth 22. Further, the installation position of the proximity switch 4 is closer to one end of the drive axle than the position of the temperature detection element, so that the proximity switch is ensured to contact with the guide teeth preferentially, then a signal is fed back to the controller, the temperature detection element performs temperature monitoring and recording, and finally the following records are formed in the controller: outside temperature W of guide teeth 22 1 ,W 2 …W n Inner temperature measuring N of the guide teeth 22 1 ,N 2 …N n . Wherein, the guide teeth 22 are distributed in the track body 21 at intervals, and the number of the guide teeth 22 is not less than 40. n is the number of guide teeth 22, which is a natural number.
3) Early warning feedback: processing the temperature data outside the guide teeth 22 and the temperature data measured inside the guide teeth 22, dynamically removing the maximum value and the minimum value in real time respectively, and taking respective average values as respective temperatures of the inner side and the outer side of the guide teeth 22; the mean values are then compared. When the temperature difference is larger than or equal to 15 ℃, early warning is displayed, and the display interface is characterized in that related indicator lights change from green to red and continuously flash; and when the temperature difference is less than 15 ℃, not displaying the early warning, specifically, the related indicator lamp of the display interface is normally green and continuously flickers until the monitoring is terminated.
Further, if the average value of the outside temperature of the guide teeth 22 is greater than the average value of the inside temperature and the temperature difference is greater than or equal to 15 degrees, the early warning is given to display that the crawler belt 2 deviates outwards; if the average value of the outside temperature of the guide teeth 22 is smaller than the average value of the inside temperature and the temperature difference is more than or equal to 15 degrees, the early warning is displayed that the crawler 2 deviates inwards.
4) And (4) termination of monitoring: after the relevant early warning display is received, the driver can send a monitoring stopping instruction, at the moment, the monitoring execution and early warning feedback function is invalid, and the next step of stopping and adjusting can be carried out.
An example in which the color of the guide tooth 22 is used as the determination parameter will be described below.
The temperature-change material components are coated on the two sides of the guide teeth of the crawler 2 and can be directly contacted with each wheel set. The temperature change material component has the following characteristics: when the tissue temperature of the attached temperature-change material component is lower than 50 ℃, the temperature-change material component displays green; when the temperature is higher than 50 ℃ and lower than 80 ℃, the temperature-change material component displays orange color; when the temperature is higher than 80 ℃, the temperature-change material assembly shows red color.
Further, in addition to the guide teeth 22 being embedded with temperature-change material components, each wheel of the driving mechanism 5 may also be embedded with temperature-change material components, specifically, the temperature-change material components are coated on both sides of the driving wheel or the bogie wheel respectively. By the fact that if the track 2 deviates, the track is eccentric, the temperatures of the two sides of the driving wheel or the bogie wheel are different, namely, the colors of the temperature change material components are different. The eccentric guide teeth 22 are in direct contact with the drive wheel 51 or at least one of the guide wheel assemblies. The drive wheel 51 or the guide wheel assembly is heated due to friction, resulting in an increase in temperature. The driver can directly observe the color change of the driving wheel 51 or the guide wheel assembly, obtain whether the track has eccentric wear, and can also more directly observe the working state of the track 2.
In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, but such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (15)
1. A track deviation monitoring method is characterized by comprising the following steps:
detecting respective parameters of two side surfaces of a guide tooth of the crawler belt; the parameter comprises a temperature;
and judging whether the crawler belt deflects or not according to respective parameters of two side surfaces of the guide teeth of the crawler belt.
2. The track deviation monitoring method according to claim 1, wherein the step of judging whether the track deviates specifically comprises the following steps of:
comparing the difference in temperature of each of the two sides of the guide teeth of the track;
and judging whether the crawler belt deflects or not according to the difference value.
3. The track deviation monitoring method of claim 2, wherein the determining whether the track is deviated according to the difference comprises:
if the difference value is larger than a preset value, the crawler belt deflects; if the difference is less than or equal to a preset value, the crawler belt does not deflect.
4. The track running deviation monitoring method according to claim 3, further comprising the steps of:
and sending out an alarm signal when the crawler belt is deflected.
5. The track running deviation monitoring method according to claim 1, wherein the temperature of each of two side surfaces of the guide teeth of the track is detected by using a temperature detecting element.
6. The track deviation monitoring method of claim 1, further comprising, before the step of detecting the temperature of each of two sides of a guide tooth of the track, the steps of:
detecting whether the guide teeth reach a detection position corresponding to the temperature detection element;
and if the guide teeth reach the detection positions corresponding to the temperature detection elements, the temperature detection elements are started to detect the respective temperatures of the two side surfaces of the guide teeth of the crawler.
7. The track deviation monitoring method of claim 1, further comprising, prior to the step of detecting the respective temperatures of the two sides of the guide teeth of the track:
detecting the driving parameters of the friction type crawler engineering machinery to which the crawler belongs;
judging whether the driving parameters reach a starting value or not; in the case where the driving parameter satisfies the starting value, the respective temperatures of both side surfaces of the guide teeth of the crawler are detected.
8. The track running deviation monitoring method according to claim 1, wherein the step of detecting respective parameters of two lateral surfaces of guide teeth of the track comprises the steps of:
detecting respective temperature sets of two side surfaces of the guide tooth within a set time, wherein each temperature set comprises at least two temperature values which are continuously detected;
the number of each of the temperature sets is processed as the respective temperature of the two sides of the guide tooth.
9. The track running deviation monitoring method according to claim 1, further comprising the steps of:
acquiring colors corresponding to respective temperature-change material components on two side surfaces of the guide teeth of the track; wherein, temperature-change material components are embedded on two side surfaces of each guide tooth of the crawler;
and judging whether the crawler belt is deflected or not according to the color of the temperature-change material assembly on the side surface of each guide tooth.
10. The track running deviation monitoring method according to claim 1, further comprising the steps of:
continuously detecting respective temperatures of both side surfaces of each guide tooth of the crawler belt;
and judging whether the track deflects or not according to the detected temperature difference value of the two side surfaces of each guide tooth.
11. The utility model provides a track off tracking monitoring system which characterized in that includes:
drag chain plates (1) arranged in pairs; a gap (11) is arranged between the two drag chain plates (1);
the crawler belt (2) is wound on the drag chain plate (1); the track (2) comprises a track body (21) and a ring of guide teeth (22) positioned on the inner surface of the track body (21); the guide tooth (22) is configured to pass through the gap (11); and
at least one pair of deflection detection elements (3) mounted to the drag link plate (1) and located in the gap (11), the deflection detection elements (3) being arranged in one-to-one correspondence with the drag link plate (1).
12. The track deviation monitoring system according to claim 11, wherein the deviation detecting element (3) comprises one of: a temperature detection element, a color detection element.
13. The track deviation monitoring system of claim 12, further comprising:
a first controller electrically connected to the temperature detection element; each pair of the temperature detecting elements includes two of the temperature detecting elements, each of the temperature detecting elements being configured to detect a temperature of one of the side surfaces of the guide tooth (22); the first controller is configured to calculate a difference between temperatures detected by the two temperature detection elements to determine whether the crawler belt (2) is deflected.
14. The track deviation monitoring system of claim 11, further comprising:
a second controller electrically connected to the skew detecting element (3); and
at least one pair of proximity switches (4) electrically connected to the second controller; the proximity switch (4) is mounted to the drag link plate (1) and adjacent to the deflection detecting element (3); the proximity switch (4) is configured to activate the deflection detecting element (3) when the guide tooth (22) is detected upstream of the gap (11).
15. A friction track working machine, characterized by comprising a driving mechanism (5) and a track deviation monitoring system according to any one of claims 11 to 14; the driving mechanism (5) is in driving connection with a track (2) of the track deviation monitoring system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210581064.XA CN114802501B (en) | 2022-05-26 | 2022-05-26 | Track deviation monitoring method and device and friction type track engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210581064.XA CN114802501B (en) | 2022-05-26 | 2022-05-26 | Track deviation monitoring method and device and friction type track engineering machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114802501A true CN114802501A (en) | 2022-07-29 |
| CN114802501B CN114802501B (en) | 2023-06-02 |
Family
ID=82517496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210581064.XA Active CN114802501B (en) | 2022-05-26 | 2022-05-26 | Track deviation monitoring method and device and friction type track engineering machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114802501B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201327424Y (en) * | 2008-11-28 | 2009-10-14 | 张谊 | Equipment with temperature warning function |
| CN106005078A (en) * | 2016-06-02 | 2016-10-12 | 贵州省烟草公司毕节市公司 | Anti-derail traveling device of small crawler-type chained deep-ploughing and excavating all-in-one machine |
| CN106560366A (en) * | 2015-09-30 | 2017-04-12 | 凯斯纽荷兰(中国)管理有限公司 | System And Method For Automatically Controlling Vehicle Speed Based On Track-related Temperatures Of Work Vehicle |
| US20180364744A1 (en) * | 2015-12-22 | 2018-12-20 | Deere And Company | Vehicle control system with track temperature sensing |
| CN109789903A (en) * | 2016-09-30 | 2019-05-21 | 株式会社普利司通 | Rubber belt track |
| WO2019225752A1 (en) * | 2018-05-24 | 2019-11-28 | 株式会社ブリヂストン | System for measuring temperature of crawler traveling apparatus, and crawler vehicle |
| WO2020044986A1 (en) * | 2018-08-30 | 2020-03-05 | 株式会社ブリヂストン | Rubber crawler track and crawler vehicle |
| CN113978458A (en) * | 2021-10-11 | 2022-01-28 | 湖南中联重科应急装备有限公司 | Control device for tracked vehicle and tracked vehicle |
| US20220055699A1 (en) * | 2020-08-18 | 2022-02-24 | Camso Inc. | Monitoring of track system for traction of a vehicle |
-
2022
- 2022-05-26 CN CN202210581064.XA patent/CN114802501B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201327424Y (en) * | 2008-11-28 | 2009-10-14 | 张谊 | Equipment with temperature warning function |
| CN106560366A (en) * | 2015-09-30 | 2017-04-12 | 凯斯纽荷兰(中国)管理有限公司 | System And Method For Automatically Controlling Vehicle Speed Based On Track-related Temperatures Of Work Vehicle |
| US20180364744A1 (en) * | 2015-12-22 | 2018-12-20 | Deere And Company | Vehicle control system with track temperature sensing |
| CN106005078A (en) * | 2016-06-02 | 2016-10-12 | 贵州省烟草公司毕节市公司 | Anti-derail traveling device of small crawler-type chained deep-ploughing and excavating all-in-one machine |
| CN109789903A (en) * | 2016-09-30 | 2019-05-21 | 株式会社普利司通 | Rubber belt track |
| WO2019225752A1 (en) * | 2018-05-24 | 2019-11-28 | 株式会社ブリヂストン | System for measuring temperature of crawler traveling apparatus, and crawler vehicle |
| WO2020044986A1 (en) * | 2018-08-30 | 2020-03-05 | 株式会社ブリヂストン | Rubber crawler track and crawler vehicle |
| US20220055699A1 (en) * | 2020-08-18 | 2022-02-24 | Camso Inc. | Monitoring of track system for traction of a vehicle |
| CN113978458A (en) * | 2021-10-11 | 2022-01-28 | 湖南中联重科应急装备有限公司 | Control device for tracked vehicle and tracked vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114802501B (en) | 2023-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9592866B2 (en) | Track assembly having a wear monitoring system | |
| CA2950140C (en) | Track pad wear indicator | |
| US6851546B2 (en) | Chain wear monitoring method and apparatus | |
| US20150066291A1 (en) | Wear monitoring system for undercarriage component | |
| CN100457531C (en) | Track roller assembly for the crawler chain of a crawler chassis | |
| CN109709109B (en) | Pier disease full-view detection system and method | |
| CN105584549B (en) | Thrust bias detection system | |
| CN107107974A (en) | Bizet for the chain link in ground engaging track system | |
| US20150266527A1 (en) | Link for track assembly | |
| US20180065691A1 (en) | Slider for track assembly of machine | |
| CN114802501A (en) | Crawler deviation monitoring method and device and friction type crawler engineering machinery | |
| CN108840191B (en) | Deviation monitoring device | |
| JP7404048B2 (en) | Crawler traveling device, crawler monitoring system, crawler traveling vehicle and crawler monitoring method | |
| CN114801779A (en) | Walking deviation rectifying method and system and crawler-type operation machine | |
| US20150159349A1 (en) | Lubricant testing assembly | |
| CN116331768A (en) | System and method for monitoring a plate feeder | |
| JPH10253344A (en) | Method and device for checking wear of wheel of unmanned car | |
| JP2021088302A (en) | Crawler traveling device, crawler monitoring system, crawler traveling vehicle, and crawler monitoring method | |
| CN210150607U (en) | Automatic overhead travelling crane | |
| CN215905671U (en) | Drive chain diagnosis assembly, chain wheel device and moving sidewalk or escalator | |
| US11860061B2 (en) | Undercarriage wear measurement using a gyro sensor | |
| CN217458027U (en) | Running gear and carloader | |
| CN116902098A (en) | Deviation correction monitoring device and deviation correction control method for preventing deviation of multi-crawler chassis | |
| JP3703567B2 (en) | Angle measuring device and angle measuring method | |
| KR100471248B1 (en) | Wheel shaft diagnosis controlling device of vehicle and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |