CN115623325B - High-motor-vehicle obstacle-removing push shovel, control system and control method thereof - Google Patents

High-motor-vehicle obstacle-removing push shovel, control system and control method thereof Download PDF

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Publication number
CN115623325B
CN115623325B CN202211620833.9A CN202211620833A CN115623325B CN 115623325 B CN115623325 B CN 115623325B CN 202211620833 A CN202211620833 A CN 202211620833A CN 115623325 B CN115623325 B CN 115623325B
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China
Prior art keywords
electric cylinder
shovel
controller
posture adjustment
vehicle
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CN202211620833.9A
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Chinese (zh)
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CN115623325A (en
Inventor
董永华
张鑫
闫志鹏
沈冬福
王峰
高杨
黄爱斌
端学东
胡涛
武侠
杨雪娇
张升波
原文波
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Shanxi Aerospace Qinghua Equipment Co Ltd
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Shanxi Aerospace Qinghua Equipment Co Ltd
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Priority to CN202211620833.9A priority Critical patent/CN115623325B/en
Publication of CN115623325A publication Critical patent/CN115623325A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN

Abstract

The invention provides a high-motor-vehicle obstacle-removing push shovel, a control system and a control method thereof, belonging to the technical field of high-motor-vehicle obstacle-removing push shovels and control thereof; the technical problems to be solved are as follows: the improved hardware structure and control method of the obstacle clearing push shovel structure and push shovel control system of the high-speed motor vehicle are provided; the technical scheme adopted for solving the technical problems is as follows: the device comprises a shovel frame arranged at the front end of a vehicle and a controller arranged in a control room of the vehicle, wherein a shovel blade is arranged at the front end of the shovel frame; the rear end of the shovel frame is provided with a bracket, the bracket is formed by welding a front beam, a rear beam, zuo Liang and a right beam, the whole bracket is in a letter A shape, the middle part of the front beam extends forwards to be provided with a connecting rod, the extending end of the connecting rod is provided with a weighing sensor, the middle part of the rear beam is provided with a fixing seat, the rear end of the left beam is fixedly connected with a chassis through a first fixing support lug, and the rear end of the right beam is fixedly connected with the chassis through a second fixing support lug; the invention is applied to a high motor vehicle of the obstacle-removing push shovel.

Description

High-motor-vehicle obstacle-removing push shovel, control system and control method thereof
Technical Field
The invention provides a high-motor-vehicle obstacle-removing push shovel, a control system and a control method thereof, and belongs to the technical field of high-motor-vehicle obstacle-removing push shovels and control thereof.
Background
When rescue is carried out aiming at various natural disasters and accident sites, the rescue vehicles or construction engineering vehicles reaching the rescue sites are required to have corresponding obstacle clearing and road dredging capabilities, and the related engineering vehicles are all provided with obstacle clearing or obstacle breaking shoveling devices at present; on the other hand, due to the lack of corresponding sensing monitoring equipment, the sight line of the position of the push shovel is poor in operation, and the obstacle clearance is basically carried out by the experience of a driver when the push shovel is operated, so that the damage to a vehicle or a device caused by misjudgment or improper operation often occurs.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and solves the technical problems that: an improved structure and control method for the obstacle-removing push shovel of high-motor vehicle and its control system are disclosed.
In order to solve the technical problems, the invention adopts the following technical scheme: the obstacle-removing push shovel for the high-speed motor vehicle comprises a shovel frame arranged at the front end of the vehicle, wherein a shovel blade is arranged at the front end of the shovel frame, a shovel blade is arranged at the bottom of the shovel blade, and a camera is further arranged on the shovel frame;
the rear end of the shovel frame is provided with a bracket, the bracket is formed by welding a front beam, a rear beam, zuo Liang and a right beam, the whole bracket is in a letter A shape, the middle part of the front beam extends forwards to be provided with a connecting rod, the extending end of the connecting rod is provided with a weighing sensor, the middle part of the rear beam is provided with a fixing seat, the rear end of the left beam is fixedly connected with a chassis of the vehicle through a first fixing support lug, and the rear end of the right beam is fixedly connected with the chassis of the vehicle through a second fixing support lug;
the fixed seat is connected with the telescopic end of the lifting electric cylinder through a bolt, and the fixed end of the lifting electric cylinder is fixedly connected with the chassis through a third fixing support lug;
the front ends of the left beam and the right beam are vertically provided with electric cylinder supports through bolts, the left beam is connected with the fixed end of the left posture adjustment electric cylinder through the electric cylinder supports, and the right beam is connected with the fixed end of the right posture adjustment electric cylinder through the electric cylinder supports;
the telescopic ends of the left posture adjustment electric cylinder and the right posture adjustment electric cylinder are spherical, the weighing sensor is specifically spherical, a ball head connecting seat is arranged at the rear end of the shovel frame, and the telescopic ends of the left posture adjustment electric cylinder and the right posture adjustment electric cylinder and the weighing sensor are connected with the shovel frame through the ball head connecting seat.
The control system of the obstacle-removing pushing shovel of the high-speed motor vehicle comprises a shovel frame arranged at the front end of the vehicle, wherein a shovel blade is arranged at the front end of the shovel frame, a shovel blade is arranged at the bottom of the shovel blade, and a camera is further arranged on the shovel frame;
the rear end of the shovel frame is provided with a bracket, the bracket is formed by welding a front beam, a rear beam, zuo Liang and a right beam, the whole bracket is in a letter A shape, the middle part of the front beam extends forwards to be provided with a connecting rod, the extending end of the connecting rod is provided with a weighing sensor, the middle part of the rear beam is provided with a fixing seat, the rear end of the left beam is fixedly connected with a chassis of the vehicle through a first fixing support lug, and the rear end of the right beam is fixedly connected with the chassis of the vehicle through a second fixing support lug;
the fixed seat is connected with the telescopic end of the lifting electric cylinder through a bolt, and the fixed end of the lifting electric cylinder is fixedly connected with the chassis through a third fixing support lug;
the front ends of the left beam and the right beam are vertically provided with electric cylinder supports through bolts, the left beam is connected with the fixed end of the left posture adjustment electric cylinder through the electric cylinder supports, and the right beam is connected with the fixed end of the right posture adjustment electric cylinder through the electric cylinder supports;
the telescopic ends of the left posture adjustment electric cylinder and the right posture adjustment electric cylinder are spherical, the weighing sensor is specifically spherical, a ball head connecting seat is arranged at the rear end of the shovel frame, and the telescopic ends of the left posture adjustment electric cylinder and the right posture adjustment electric cylinder and the weighing sensor are connected with the shovel frame through the ball head connecting seat;
the intelligent control system is characterized by further comprising a controller arranged in a vehicle control room, wherein the controller is respectively connected with the control ends of the camera, the left posture adjusting electric cylinder, the right posture adjusting electric cylinder, the lifting electric cylinder and the weighing sensor through wires.
The power input end of the controller is connected with the chassis vehicle storage battery through a power line, and an air switch is further arranged at the output end of the chassis vehicle storage battery.
The camera is connected with the controller through a video monitoring terminal, the video monitoring terminal is mounted in a camera cradle head, and the camera cradle head is mounted on the shovel frame through bolts;
the camera cloud platform is internally provided with a driving motor for controlling the rotation of the camera, and the control end of the driving motor is connected with the controller through a wire.
The motor driver in the lifting electric cylinder is connected with the controller through a CAN bus;
the motor driver in the left posture adjustment electric cylinder is connected with the controller through a CAN bus;
the motor driver in the right posture adjustment electric cylinder is connected with the controller through a CAN bus;
an encoder for receiving and transmitting instructions is arranged inside each motor driver.
The controller is an industrial personal computer with an ARMV8 architecture, and is provided with an RS232 communication port, a first CAN bus communication port and a second CAN bus communication port;
the first CAN bus communication port is used for receiving signals sent by the encoder and the weighing sensor;
the second CAN bus communication port is used for controlling the operation of each motor driver;
a touch screen is arranged in the vehicle control room, and the control end of the touch screen is connected with the controller through an RS232 communication cable.
The first CAN bus communication port is connected with a CAN communication protocol controller SJA1000 after passing through a CAN communication protocol controller PCA82C250 and an optical isolator 6N137M in sequence;
the second CAN bus communication port is connected with a CAN communication protocol controller SJA 1000.
And MCU chip pins of the controller are also respectively connected with an RS232 communication port, a RAM memory, a temperature sensor, a FLASH memory and an RTC clock circuit through wires.
A high motor vehicle obstacle clearing push shovel control method comprises the following push shovel control steps:
the motor driver of the lifting electric cylinder is connected with the controller through the CAN bus, receives the command of the controller, drives the motor to operate so as to drive the telescopic rod of the electric cylinder to stretch and retract, and feeds back the stretching direction and the length to the controller through the motor self-contained encoder A so as to drive the push shovel to do lifting and falling movements;
the motor driver of the left posture adjustment electric cylinder is connected with a controller through a CAN bus, a controller command is received, the driving motor operates to drive the electric cylinder telescopic rod to stretch out and draw back, the stretching direction and the length are fed back to the controller through a motor self-contained encoder B, and the pushing shovel is driven to do horizontal angle or blade pitching movement;
the motor driver of the right posture adjustment electric cylinder is connected with a controller through a CAN bus, receives a controller command, drives a motor to operate so as to drive an electric cylinder telescopic rod to stretch, and the stretching direction and the length are fed back to the controller through a motor self-contained encoder C so as to drive a push shovel to do horizontal angle or blade pitching motion;
the push shovel is integrally lifted by controlling the retraction of the lifting electric cylinder rod;
the push shovel is integrally lowered by controlling the lifting electric cylinder rod to extend out;
the left attitude is controlled to adjust the shrinkage of the cylinder rod of the electric cylinder, the right attitude is controlled to adjust the extension of the cylinder rod of the electric cylinder, and the push shovel is controlled to horizontally revolve leftwards around the sphere center weighing sensor;
the left posture is controlled to adjust the extension of the cylinder rod of the electric cylinder, the right posture is controlled to adjust the contraction of the cylinder rod of the electric cylinder, and the push shovel is controlled to horizontally rotate right around the sphere center weighing sensor;
the left and right posture adjustment electric cylinder rods are controlled to shrink, and the push shovel is controlled to vertically rotate upwards around the sphere center weighing sensor to drive the whole push shovel to upwardly face upward for adjustment;
the left and right posture adjustment electric cylinder rods are controlled to extend out, and the push shovel is controlled to vertically rotate downwards around the sphere center weighing sensor to drive the whole push shovel to adjust downwards in a tilting mode;
the touch screen is connected with the controller through an RS232 communication port, an operator issues a control command through the touch screen, the controller controls the whole mechanism to operate, signals from the encoder A, B, C and the weighing sensor are received, and whether the pushing shovel gesture and the operation are safe or not is judged after analysis and calculation.
Compared with the prior art, the invention has the following beneficial effects: the invention adopts the electric cylinder to replace the traditional hydraulic cylinder by improving the existing high-motor vehicle obstacle-removing push shovel structure and the corresponding control system, so that the problem that part of chassis vehicles do not have a driving power takeoff and the push shovel gesture cannot be timely adjusted according to the requirement in the driving operation state is solved; according to the invention, the spherical weighing sensor is adopted as the push shovel rotating and slewing support, the resistance from all directions of push shovel operation can be detected, the real-time stress state of the push shovel operation is detected, the system detects whether the operation state has overload hazard in real time, the operation safety of the push shovel and the chassis is effectively protected, meanwhile, the electric cylinder with the encoder is adopted, the space position of the push shovel is detected in real time, and the camera is additionally arranged on the push shovel, so that the operation state of the push shovel can be observed in real time, and the safe and efficient operation of the push shovel is effectively ensured.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic diagram of a control circuit according to the present invention;
FIG. 4 is a circuit diagram of a controller according to the present invention;
FIG. 5 is a schematic view showing a state of the present invention when the push shovel is controlled to be lifted;
FIG. 6 is a schematic view showing a state of the present invention when controlling left turn of the push shovel;
fig. 7 is a schematic view of the present invention when the push shovel is controlled to be lifted.
Number in the figure: 10 is a shovel frame, 11 is a shovel blade, 12 is a shovel blade, 13 is a camera, 14 is a ball head connecting seat, 15 is a video monitoring terminal, and 16 is a touch screen;
20 is a bracket, 21 is a front beam, 22 is a rear beam, 23 is a left beam, 24 is a right beam, 25 is an electric cylinder support, 211 is a connecting rod, 212 is a weighing sensor, 221 is a fixed seat, 231 is a first fixed support lug, 241 is a second fixed support lug;
30 is a lifting electric cylinder, 301 is a third fixed support lug, 31 is a left posture adjustment electric cylinder, 32 is a right posture adjustment electric cylinder, and 40 is a controller.
Detailed Description
As shown in fig. 1 to 4, the high motor vehicle obstacle removing push shovel provided by the invention comprises a shovel frame 10 arranged at the front end of a vehicle, wherein a shovel blade 11 is arranged at the front end of the shovel frame 10, a shovel blade 12 is arranged at the bottom of the shovel blade 11, and a camera 13 is also arranged on the shovel frame 10;
the rear end of the shovel frame 10 is provided with a bracket 20, the bracket 20 is formed by welding a front beam 21, a rear beam 22, a left beam 23 and a right beam 24, the whole bracket 20 is in a letter A shape, the middle part of the front beam 21 is provided with a connecting rod 211 in a forward extending mode, the extending end of the connecting rod 211 is provided with a weighing sensor 212, the middle part of the rear beam 22 is provided with a fixing seat 221, the rear end of the left beam 23 is fixedly connected with a chassis through a first fixing support lug 231, and the rear end of the right beam 24 is fixedly connected with the chassis through a second fixing support lug 241;
the fixed seat 221 is connected with the telescopic end of the lifting electric cylinder 30 through a bolt, and the fixed end of the lifting electric cylinder 30 is fixedly connected with the chassis through a third fixing support lug 301;
the front ends of the left beam 23 and the right beam 24 are vertically provided with an electric cylinder support 25 through bolts, the left beam 23 is connected with the fixed end of the left posture adjustment electric cylinder 31 through the electric cylinder support 25, and the right beam 24 is connected with the fixed end of the right posture adjustment electric cylinder 32 through the electric cylinder support 25;
the telescopic ends of the left posture adjustment electric cylinder 31 and the right posture adjustment electric cylinder 32 are spherical, the weighing sensor 212 is specifically spherical, the rear end of the shovel frame 10 is provided with a ball connecting seat 14, and the telescopic ends of the left posture adjustment electric cylinder 31 and the right posture adjustment electric cylinder 32 and the weighing sensor 212 are connected with the shovel frame 10 through the ball connecting seat 14.
The invention provides a control system of a high motor vehicle obstacle-removing push shovel, which also comprises a controller 40 arranged in a vehicle control room, wherein the controller 40 is respectively connected with control ends of a camera 13, a left posture adjusting electric cylinder 31, a right posture adjusting electric cylinder 32, a lifting electric cylinder 30 and a weighing sensor 212 through wires.
The power input end of the controller 40 is connected with the chassis vehicle storage battery through a power line, and an air switch QL0 is further arranged at the output end of the chassis vehicle storage battery.
The camera 13 is specifically connected with the controller 40 through a video monitoring terminal 15, the video monitoring terminal 15 is specifically installed in a camera holder, and the camera holder is specifically installed on the shovel frame 10 through bolts;
the camera cradle head is internally provided with a driving motor for controlling the rotation of the camera, and the control end of the driving motor is connected with the controller 40 through a wire.
The motor driver inside the lifting electric cylinder 30 is specifically connected with the controller 40 through a CAN bus;
the motor driver inside the left posture adjustment electric cylinder 31 is specifically connected with the controller 40 through a CAN bus;
the motor driver inside the right posture adjustment electric cylinder 32 is specifically connected with the controller 40 through a CAN bus;
an encoder for receiving and transmitting instructions is arranged inside each motor driver.
The controller 40 is specifically an industrial personal computer with an ARMV8 architecture, and the controller 40 is specifically provided with an RS232 communication port, a first CAN bus communication port and a second CAN bus communication port;
the first CAN bus communication port is configured to receive signals sent by the encoder and the weighing sensor 212;
the second CAN bus communication port is used for controlling the operation of each motor driver;
a touch screen 16 is arranged in the vehicle control room, and a control end of the touch screen 16 is connected with a controller 40 through an RS232 communication cable.
The first CAN bus communication port is connected with a CAN communication protocol controller SJA1000 after passing through a CAN communication protocol controller PCA82C250 and an optical isolator 6N137M in sequence;
the second CAN bus communication port is connected with a CAN communication protocol controller SJA 1000.
The MCU chip pins of the controller 40 are also respectively connected with an RS232 communication port, a RAM memory, a temperature sensor, a FLASH memory and an RTC clock circuit through wires.
The invention particularly provides a high-motor-vehicle obstacle-removing push shovel and a corresponding control system, wherein an engineering vehicle provided with the obstacle-removing push shovel and the control system can execute road dredging obstacle-removing operations such as road obstacle cleaning, snow removing and the like; the invention adopts the electric cylinder to replace the traditional hydraulic cylinder, can overcome the defect that the posture of the push shovel cannot be randomly adjusted in the driving process due to the fact that a high-mobility chassis vehicle is not provided with a driving power takeoff, and meets the operation requirement;
according to the invention, three electric cylinder levers are arranged to stretch out and draw back, so that the adjustment actions such as lifting, left-right rotation, inclination angle of the push shovel and the like of the push shovel can be controlled and executed in real time, and in the operation process, the push shovel directly feeds back a push shovel operation state signal to the controller through the force transducer, so that the damage of a vehicle or the damage of a device caused by the push shovel operation can be avoided;
the control system is provided with the video monitoring system, so that the operation state of the push shovel can be fed back in real time in the operation process, the problem that the operation state of the push shovel is difficult to observe in real time due to the fact that the push shovel is positioned in a visual blind area of a driver in the obstacle removing operation process is solved, and the obstacle removing operation is smoothly completed by timely adjusting the gesture of the push shovel.
Further, as shown in fig. 1 and fig. 2, the structure of the vehicle control push shovel of the present invention is specifically shown; the push shovel mainly comprises a shovel blade 11, a shovel blade 12, a ball head connecting seat 14, a camera with a tripod head, a bracket 20, a weighing sensor 212, a lifting electric cylinder 30, a left posture adjusting electric cylinder 31, a right posture adjusting electric cylinder 32, a fixing seat 221, an electric cylinder support 25, a fixing support lug and other parts; the push shovel is fixedly connected with the chassis through the first fixed support lugs and the second fixed support lugs which are connected with the bracket 20, the lifting electric cylinder 30 of the push shovel is fixedly connected with the chassis through the third fixed support lugs 301, the telescopic rod of the lifting electric cylinder 30 is fixedly connected with the rear beam 22 of the bracket through the fixing seat 221, and the lifting electric cylinder 30 can drive the bracket 20 to vertically rotate along the connecting shafts of the first fixed support lugs and the second fixed support lugs through the telescopic rod so as to drive the whole push shovel to move up and down.
The weighing sensor 212 is fixedly arranged at the end part of the connecting rod 211 of the bracket front beam 21, is particularly in a sphere shape, can transmit pressure in different directions to the weighing sensor 212, and the weighing sensor 212 is fixedly connected with a shovel blade through the ball head connecting seat 14, and the shovel blade can horizontally rotate left and right and vertically move around the ball head of the weighing sensor; the left posture adjustment electric cylinder 31 and the right posture adjustment electric cylinder 32 are respectively arranged on the left beam and the right beam of the bracket through the electric cylinder support 25, and the end parts of the telescopic rods of the left posture adjustment electric cylinder and the right posture adjustment electric cylinder are all spherical and are connected with the shovel blade through the ball head connecting seat 14 fixed on the back of the shovel blade.
When the device is operated, the telescopic rods of the left posture adjustment electric cylinder 31 and the right posture adjustment electric cylinder 32 are controlled to simultaneously stretch, so that the pitching vertical movement of the shovel blade can be controlled to adjust the included angle between the shovel blade and the ground; meanwhile, the telescopic rods of the left posture adjusting electric cylinder 31 and the right posture adjusting electric cylinder 32 are controlled to stretch and retract, so that the shovel blade can be pushed to horizontally rotate leftwards or rightwards along the ball head of the weighing sensor 212, and the obstacle clearing direction of the shovel blade is adjusted.
In addition, the camera 13 with the cradle head ball type arranged on the shovel blade can acquire image information of the obstacle clearing operation of the shovel blade in real time and display the image information on a display screen in a vehicle control room.
Further, as shown in fig. 3, the control circuit structure diagram of the present invention is specifically shown; the circuit control system provided by the invention takes electricity through the chassis vehicle storage battery, and the air switch QL0 is arranged at the power output end of the storage battery, so that overcurrent and short-circuit protection can be provided for the system;
a load cell 212 is provided in the circuit to detect the amount of work load during the shoveling operation.
Specifically, the invention provides a control method of a high motor vehicle obstacle-removing push shovel, which comprises the following push shovel control steps:
the motor driver of the lifting electric cylinder 30 is connected with the controller 40 through a CAN bus, and receives the command of the controller 40, the driving motor M1 operates to drive the electric cylinder telescopic rod to stretch and retract, and the stretching direction and length are fed back to the controller 40 through the motor self-contained encoder A to drive the push shovel to do lifting and falling movements;
the motor driver of the left posture adjustment electric cylinder 31 is connected with the controller 40 through a CAN bus, receives the command of the controller 40, drives the motor M2 to operate to drive the electric cylinder telescopic rod to stretch out and draw back, and the stretching direction and length are fed back to the controller 40 through the motor self-contained encoder B to drive the push shovel to do horizontal angle or blade pitching motion;
the motor driver of the right posture adjustment electric cylinder 32 is connected with the controller 40 through a CAN bus, receives the command of the controller 40, drives the motor M3 to operate so as to drive the electric cylinder telescopic rod to stretch out and draw back, and the stretching direction and length are fed back to the controller 40 through the motor self-contained encoder C so as to drive the push shovel to do horizontal angle or blade pitching motion;
the push shovel is integrally lifted by controlling the lifting electric cylinder 30 to shrink the cylinder rod;
the push shovel is integrally lowered by controlling the lifting electric cylinder 30 to extend out of the cylinder rod;
the left posture adjustment electric cylinder 31 cylinder rod is controlled to shrink, the right posture adjustment electric cylinder 32 cylinder rod extends out, and the push shovel is controlled to horizontally rotate leftwards around the sphere center weighing sensor 212;
the left posture adjustment electric cylinder 31 cylinder rod is controlled to extend, the right posture adjustment electric cylinder 32 cylinder rod is controlled to shrink, and the push shovel is controlled to horizontally rotate right around the sphere center weighing sensor 212;
the left and right posture adjustment electric cylinder rods are controlled to shrink, and the push shovel is controlled to vertically rotate upwards around the sphere center weighing sensor 212 to drive the whole push shovel to adjust upwards in a pitching mode;
the left and right posture adjustment electric cylinder rods are controlled to extend out, and the push shovel is controlled to vertically rotate downwards around the sphere center weighing sensor 212 to drive the whole push shovel to adjust downwards in a tilting mode;
the touch screen 16 is connected with the controller 40 through an RS232 communication port, an operator issues a control command through the touch screen 16, the controller 40 controls the whole mechanism to operate, signals from the encoder A, B, C and the weighing sensor 212 are received, and whether the pushing shovel gesture and the operation are safe or not is judged after analysis and calculation.
The video monitoring terminal 15 that the system set up is by taking the video terminal of display screen and taking the on-vehicle ball-type camera of cloud platform to constitute, and the driver can observe through taking the on-vehicle ball-type camera of cloud platform of installing on pushing away the shovel to push away shovel operation state, can also control the camera cloud platform through the video monitoring terminal simultaneously, adjusts the camera angle, observes with different angles.
Further, as shown in fig. 4, the controller MCU in the control system of the present invention adopts the ARMV8 as a central controller, the controller has one path of RS232 communication port and two paths of CAN bus communication ports, the RS232 port is used for connecting with a touch screen, the touch screen receives controller information and displays the controller information, so that a driver CAN observe the operation condition of the device conveniently, and meanwhile, the driver issues control commands to the controller through the touch screen, and the controller controls the operation of the device according to different control commands, wherein one path of CAN bus communication port is used for receiving signals of each path of encoder and weighing sensor, and the other path of CAN bus communication port is used for controlling each electric cylinder driver to control the operation of the electric cylinder.
As shown in fig. 5, which is a schematic view of a state when the push shovel is controlled to be lifted, the push shovel is lifted as a whole by controlling the cylinder rod of the lifting electric cylinder 30 to be contracted; when different obstacle clearing operations and driving states are executed, the push shovel can be lifted by controlling the cylinder rod of the lifting electric cylinder 30 to retract, and the push shovel rotates around the first fixed lug shaft.
As shown in fig. 6, the left turning of the push shovel is controlled by controlling the left-hand posture adjustment electric cylinder 31 to shrink and the right-hand posture adjustment electric cylinder 32 to extend, so that the push shovel can be controlled to horizontally turn left around the sphere center weighing sensor, and the left turning action of the push shovel is realized; similarly, when the push shovel is controlled to turn right, the opposite control operation is executed.
Fig. 7 is a schematic diagram of a state of the push shovel when the push shovel is controlled to rise, and at the moment, the left and right gesture adjustment electric cylinder rods are controlled to shrink, so that the push shovel can be controlled to vertically rotate upwards around the sphere center weighing sensor, and the whole push shovel is driven to rise upwards for adjustment.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (9)

1. The utility model provides a high motor vehicle clearance shovel, includes the shovel frame that sets up at the vehicle front end, its characterized in that: the front end of the shovel frame is provided with a shovel blade, the bottom of the shovel blade is provided with a shovel blade, and the shovel frame is also provided with a camera;
the rear end of the shovel frame is provided with a bracket, the bracket is formed by welding a front beam, a rear beam, zuo Liang and a right beam, the whole bracket is in a letter A shape, the middle part of the front beam extends forwards to be provided with a connecting rod, the extending end of the connecting rod is provided with a weighing sensor, the middle part of the rear beam is provided with a fixing seat, the rear end of the left beam is fixedly connected with a chassis of the vehicle through a first fixing support lug, and the rear end of the right beam is fixedly connected with the chassis of the vehicle through a second fixing support lug;
the fixed seat is connected with the telescopic end of the lifting electric cylinder through a bolt, and the fixed end of the lifting electric cylinder is fixedly connected with the chassis through a third fixing support lug;
the front ends of the left beam and the right beam are vertically provided with electric cylinder supports through bolts, the left beam is connected with the fixed end of the left posture adjustment electric cylinder through the electric cylinder supports, and the right beam is connected with the fixed end of the right posture adjustment electric cylinder through the electric cylinder supports;
the telescopic ends of the left posture adjustment electric cylinder and the right posture adjustment electric cylinder are spherical, the weighing sensor is specifically spherical, a ball head connecting seat is arranged at the rear end of the shovel frame, and the telescopic ends of the left posture adjustment electric cylinder and the right posture adjustment electric cylinder and the weighing sensor are connected with the shovel frame through the ball head connecting seat.
2. A control system for a high motor vehicle obstacle clearing push shovel, characterized by: the device comprises a shovel frame arranged at the front end of a vehicle, wherein a shovel blade is arranged at the front end of the shovel frame, a shovel blade is arranged at the bottom of the shovel blade, and a camera is further arranged on the shovel frame;
the rear end of the shovel frame is provided with a bracket, the bracket is formed by welding a front beam, a rear beam, zuo Liang and a right beam, the whole bracket is in a letter A shape, the middle part of the front beam extends forwards to be provided with a connecting rod, the extending end of the connecting rod is provided with a weighing sensor, the middle part of the rear beam is provided with a fixing seat, the rear end of the left beam is fixedly connected with a chassis of the vehicle through a first fixing support lug, and the rear end of the right beam is fixedly connected with the chassis of the vehicle through a second fixing support lug;
the fixed seat is connected with the telescopic end of the lifting electric cylinder through a bolt, and the fixed end of the lifting electric cylinder is fixedly connected with the chassis through a third fixing support lug;
the front ends of the left beam and the right beam are vertically provided with electric cylinder supports through bolts, the left beam is connected with the fixed end of the left posture adjustment electric cylinder through the electric cylinder supports, and the right beam is connected with the fixed end of the right posture adjustment electric cylinder through the electric cylinder supports;
the telescopic ends of the left posture adjustment electric cylinder and the right posture adjustment electric cylinder are spherical, the weighing sensor is specifically spherical, a ball head connecting seat is arranged at the rear end of the shovel frame, and the telescopic ends of the left posture adjustment electric cylinder and the right posture adjustment electric cylinder and the weighing sensor are connected with the shovel frame through the ball head connecting seat;
the intelligent control system is characterized by further comprising a controller arranged in a vehicle control room, wherein the controller is respectively connected with the control ends of the camera, the left posture adjusting electric cylinder, the right posture adjusting electric cylinder, the lifting electric cylinder and the weighing sensor through wires.
3. The control system of a high motor vehicle barrier removal shovel of claim 2, wherein: the power input end of the controller is connected with the chassis vehicle storage battery through a power line, and an air switch is further arranged at the output end of the chassis vehicle storage battery.
4. The control system of a high motor vehicle barrier removal shovel of claim 2, wherein: the camera is connected with the controller through a video monitoring terminal, the video monitoring terminal is mounted in a camera cradle head, and the camera cradle head is mounted on the shovel frame through bolts;
the camera cloud platform is internally provided with a driving motor for controlling the rotation of the camera, and the control end of the driving motor is connected with the controller through a wire.
5. The control system of a high motor vehicle barrier removal shovel of claim 2, wherein: the motor driver in the lifting electric cylinder is connected with the controller through a CAN bus;
the motor driver in the left posture adjustment electric cylinder is connected with the controller through a CAN bus;
the motor driver in the right posture adjustment electric cylinder is connected with the controller through a CAN bus;
an encoder for receiving and transmitting instructions is arranged inside each motor driver.
6. The control system for a high motor vehicle barrier removal shovel of claim 5, wherein: the controller is an industrial personal computer with an ARMV8 architecture, and is provided with an RS232 communication port, a first CAN bus communication port and a second CAN bus communication port;
the first CAN bus communication port is used for receiving signals sent by the encoder and the weighing sensor;
the second CAN bus communication port is used for controlling the operation of each motor driver;
a touch screen is arranged in the vehicle control room, and the control end of the touch screen is connected with the controller through an RS232 communication cable.
7. The control system for a high motor vehicle barrier removal shovel of claim 6, wherein: the first CAN bus communication port is connected with a CAN communication protocol controller SJA1000 after passing through a CAN communication protocol controller PCA82C250 and an optical isolator 6N137M in sequence;
the second CAN bus communication port is connected with a CAN communication protocol controller SJA 1000.
8. The control system for a high motor vehicle barrier removal shovel of claim 7, wherein: and MCU chip pins of the controller are also respectively connected with an RS232 communication port, a RAM memory, a temperature sensor, a FLASH memory and an RTC clock circuit through wires.
9. The control system of a high motor vehicle barrier removal shovel of claim 2, wherein: the control method of the obstacle clearing push shovel control system of the high motor vehicle comprises the following push shovel control steps:
the motor driver of the lifting electric cylinder is connected with the controller through the CAN bus, receives the command of the controller, drives the motor to operate so as to drive the telescopic rod of the electric cylinder to stretch and retract, and feeds back the stretching direction and the length to the controller through the motor self-contained encoder A so as to drive the push shovel to do lifting and falling movements;
the motor driver of the left posture adjustment electric cylinder is connected with a controller through a CAN bus, a controller command is received, the driving motor operates to drive the electric cylinder telescopic rod to stretch out and draw back, the stretching direction and the length are fed back to the controller through a motor self-contained encoder B, and the pushing shovel is driven to do horizontal angle or blade pitching movement;
the motor driver of the right posture adjustment electric cylinder is connected with a controller through a CAN bus, receives a controller command, drives a motor to operate so as to drive an electric cylinder telescopic rod to stretch, and the stretching direction and the length are fed back to the controller through a motor self-contained encoder C so as to drive a push shovel to do horizontal angle or blade pitching motion;
the push shovel is integrally lifted by controlling the retraction of the lifting electric cylinder rod;
the push shovel is integrally lowered by controlling the lifting electric cylinder rod to extend out;
the left attitude is controlled to adjust the shrinkage of the cylinder rod of the electric cylinder, the right attitude is controlled to adjust the extension of the cylinder rod of the electric cylinder, and the push shovel is controlled to horizontally revolve leftwards around the sphere center weighing sensor;
the left posture is controlled to adjust the extension of the cylinder rod of the electric cylinder, the right posture is controlled to adjust the contraction of the cylinder rod of the electric cylinder, and the push shovel is controlled to horizontally rotate right around the sphere center weighing sensor;
the left and right posture adjustment electric cylinder rods are controlled to shrink, and the push shovel is controlled to vertically rotate upwards around the sphere center weighing sensor to drive the whole push shovel to upwardly face upward for adjustment;
the left and right posture adjustment electric cylinder rods are controlled to extend out, and the push shovel is controlled to vertically rotate downwards around the sphere center weighing sensor to drive the whole push shovel to adjust downwards in a tilting mode;
the touch screen is connected with the controller through an RS232 communication port, an operator issues a control command through the touch screen, the controller controls the whole mechanism to operate, signals from the encoder A, B, C and the weighing sensor are received, and whether the pushing shovel gesture and the operation are safe or not is judged after analysis and calculation.
CN202211620833.9A 2022-12-16 2022-12-16 High-motor-vehicle obstacle-removing push shovel, control system and control method thereof Active CN115623325B (en)

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