CN115780896A - Hydraulic control double-wheel different-direction cutting saw, rescue vehicle and control method - Google Patents
Hydraulic control double-wheel different-direction cutting saw, rescue vehicle and control method Download PDFInfo
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- CN115780896A CN115780896A CN202211496682.0A CN202211496682A CN115780896A CN 115780896 A CN115780896 A CN 115780896A CN 202211496682 A CN202211496682 A CN 202211496682A CN 115780896 A CN115780896 A CN 115780896A
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Abstract
The invention discloses a hydraulic control double-wheel different-direction cutting saw, a rescue vehicle and a control method, wherein the hydraulic control double-wheel different-direction cutting saw, the rescue vehicle and the control method comprise a rack, and a cutting saw, a transmission device, a hydraulic motor and a cutting saw quick-change device which are arranged on the rack; the frame comprises a base body frame and a mounting plate assembly in swing connection with the base body frame, the mounting plate assembly comprises a cutting saw mounting plate for fixing the cutting saw and a hydraulic motor mounting plate for fixing the hydraulic motor, the cutting saw is in transmission connection with the hydraulic motor, and a distance adjusting device is connected between the cutting saw mounting plate and the hydraulic motor mounting plate; the hydraulic motor mounting plate is connected with the base frame in a swinging manner; a damping device is arranged between the mounting plate assembly and the base frame; and a limiting device is arranged between the mounting plate assembly and the base body frame. The invention is provided with the buffer spring to buffer the impact force between the cutting saw and the cutting material; the device is effectively protected by adopting a belt transmission mode to transmit motion and slipping when in a blocking state.
Description
Technical Field
The invention relates to a hydraulic control two-wheel incongruous cutting saw, a rescue vehicle and a control method, belonging to the technical field of cutting saws.
Background
The multifunctional emergency rescue vehicle is a special emergency rescue vehicle, and is mainly applied to the aspects of road rescue, ruin cleaning, barrier lake dredging, people and object rescue and the like when natural geological disasters such as earthquakes, debris flows and the like occur. Because the emergency rescue action has the characteristics of time tightness and heavy task, the emergency rescue vehicle is required to have the advantages of high-speed walking, convenient transition and capability of quickly, accurately and efficiently realizing rescue operation when arriving at a rescue site.
At present, the cutting machines for emergency rescue vehicles are used, however
(1) Most of the devices are document sheets, and the cutting device has large impact in the process of cutting, fast heat generation and easy secondary damage.
(2) Most of double-wheel different-direction cutting saws in the market are handheld and cannot be matched with an emergency rescue vehicle.
(3) When the machine is quickly replaced, the position of the machine needs to be manually replaced and judged, and the workload of a driver is increased.
(4) The rotating speed can not be changed in a self-adaptive mode aiming at different materials, and the cutting efficiency is low.
(5) The power source of the existing double-wheel incongruous cutting saw is a storage battery or a small gasoline engine, frequent fuel supplement is needed when the saw works for a long time, the saw cannot work for a long time, and the operation efficiency is low.
(6) When the existing tool is used for cutting, a feeding speed is given to the cutting saw by manually operating the mechanical arm by a driver, the driver needs to operate the handle all the time during cutting, and the control method increases the workload of the driver to a certain extent.
Therefore, the double-wheel different-direction cutting saw suitable for the emergency rescue vehicle is developed, and the workload of firemen can be reduced to a great extent.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides a hydraulic control double-wheel incongruous cutting saw, a rescue vehicle and a control method, wherein the hydraulic control double-wheel incongruous cutting saw adopts a quick-change connection mode to be convenient to carry out quick change with different machines; the cutting operation can be carried out for a long time by adopting vehicle-mounted hydraulic drive; the buffer spring is arranged, so that the impact force between the cutting saw and the cutting material can be buffered during cutting operation; the device is effectively protected by adopting a belt transmission mode to transmit motion and slipping when in a blocking state.
In order to achieve the above object, in a first aspect, the present invention provides a hydraulic control dual-wheel incongruous cutting saw, which comprises a frame, and a cutting saw, a transmission device, a hydraulic motor and a cutting saw quick-change device which are arranged on the frame;
the cutting saw is in transmission connection with the hydraulic motor, and a distance adjusting device is connected between the cutting saw mounting plate and the hydraulic motor mounting plate and used for adjusting the tensioning degree of a distance adjusting belt between an output shaft of the hydraulic motor and an input shaft of the cutting saw;
the hydraulic motor mounting plate is connected with the base frame in a swinging manner;
a damping device is arranged between the mounting plate component and the base frame and is used for buffering the swing of the mounting plate component caused by the impact force borne by the cutting saw;
and a limiting device is arranged between the mounting plate assembly and the base frame and is used for limiting the swing range of the mounting plate.
Further, the damping device comprises a spring, and two ends of the spring are respectively connected with the mounting plate assembly and the base frame.
Furthermore, the limiting device comprises an arc-shaped limiting groove and a limiting rod arranged in the limiting groove in a sliding manner, and the limiting groove and the limiting rod are respectively arranged on the mounting plate assembly and the base body frame;
the circle center of the limiting groove is located on the swing axis of the mounting plate assembly.
Further, the distance adjusting device comprises a length adjusting device and a position fixing device;
the length adjusting device comprises an adjusting bolt and an adjusting nut which are respectively arranged on the cutting saw mounting plate and the hydraulic motor mounting plate, and the adjusting bolt is in threaded connection with the adjusting nut;
fixing device includes fixed slot and fixing bolt, the fixed slot sets up in slitting saw mounting panel or hydraulic motor mounting panel, fixing bolt passes the fixed slot and connects hydraulic motor mounting panel or slitting saw mounting panel, and the hydraulic motor mounting panel after will adjusting the distance is fixed with the slitting saw mounting panel locking.
Further, the cutting saw is a double-wheel different-direction cutting saw;
an oil inlet and an oil return port of the hydraulic motor are connected with the cutting saw quick-change device through a buffer valve;
the base body frame is provided with a supporting frame.
In a second aspect, the invention provides a rescue vehicle, which comprises a vehicle, an arm support and the hydraulic control double-wheel different-direction cutting saw in any one of the first aspect;
the hydraulic control two-wheel different-direction cutting saw is connected with an arm support through a cutting saw quick-changing device, the arm support is arranged on a vehicle, and a hydraulic motor of the hydraulic control two-wheel different-direction cutting saw is connected into a hydraulic system of the vehicle.
Furthermore, a rotary table is arranged on the vehicle, the arm support comprises a movable arm, a bucket rod and an arm support quick-change device which are sequentially hinged, an angle sensor is sequentially arranged at each hinge point, the movable arm is hinged with the rotary table, the angle sensor is arranged at each hinge point, and the arm support quick-change device is connected with a cutting saw quick-change device;
the bucket rod is provided with a telescopic frame and an adjusting frame, the adjusting frame comprises a first frame rod and a second frame rod which are hinged, the first frame rod is hinged with the bucket rod, the second frame rod is hinged with the arm frame quick-changing device, the telescopic frame is provided with a bucket oil cylinder, and the bucket oil cylinder rod is hinged with a hinge point of the first frame rod and the second frame rod and used for driving the cutting saw quick-changing device to move;
the camera is arranged on the second hack lever and faces the joint of the arm support quick-change device and the cutting saw quick-change device.
In a third aspect, the present invention provides a control method for a rescue vehicle according to any one of the second aspects, including:
acquiring data of a rescue vehicle and a hydraulic control two-wheel different-direction cutting saw, and constructing a coordinate relation between the center of the cutting saw and each hinge point;
switching a dicing saw mode based on the cut material;
rotating the rotary table based on an angle sensor between the movable arm and the rotary table to rotate the arm support to a specified position;
acquiring angle information theta 1 of a movable arm and a rotary table, angle information theta 2 of the movable arm and a bucket rod, angle information theta 3 of the bucket rod and an arm support quick-change device, the distance from a hinged point of the movable arm and the rotary table to a hinged point of the movable arm and the bucket rod, the distance from a hinged point of the bucket rod and the movable arm to the arm support quick-change device, and the distance between the bucket rod and the arm support quick-change device and a rotation center of a cutting saw blade, and controlling the arm support quick-change device to move to a cutting saw quick-change preset position by combining the coordinate relation between the cutting saw center and each hinged point;
the control arm support quick-change device is connected with a hydraulic control double-wheel different-direction cutting saw;
and controlling the hydraulic control two-wheel different-direction cutting saw to rescue.
Further, the coordinate relation between the center of the cutting saw and each hinge point is constructed, and the coordinate relation comprises the following steps:
establishing a coordinate system T1 based on hinge points of a movable arm and a rotary table, establishing a coordinate system T2 based on hinge points of the movable arm and a bucket rod, establishing a coordinate system T3 based on hinge points of the bucket rod and a boom quick-change device, and establishing a coordinate relation between the center of the cutting saw and each hinge point:
T0= 0 T1 0 T2 0 T3；
wherein the content of the first and second substances, 0 t1 is a coordinate system of a swing arm hinge point relative to a rotation center point of the swing platform hinged with the vehicle; 0 t2 is the coordinate of the hinged point of the bucket rod relative to the rotary central point of the rotary table hinged with the vehicleIs a step of; 0 and T3 is a coordinate system of a rotation central point of the arm support quick-change device hinged point relative to the turntable and the vehicle.
Further, control cantilever crane quick change device connects hydraulic control double round incongruous slitting saw, includes:
the method comprises the steps that a bucket cylinder acts to drive an arm support quick-changing device to act, the telescopic quantity of the bucket cylinder is detected, the arm support quick-changing device is judged based on the telescopic quantity of the bucket cylinder, meanwhile, images of the arm support quick-changing device and a cutting saw quick-changing device are obtained in real time through a camera, the distance between the arm support quick-changing device and the cutting saw quick-changing device is calculated and detected in real time, and if the distance is smaller than a specified safe distance, a collision alarm is sent out.
The invention has the following beneficial effects:
the invention provides a hydraulic control double-wheel incongruous cutting saw, an intelligent control method and a rescue vehicle.
The buffer spring is arranged on the cutting device, so that impact force between the cutting saw and a cutting material can be buffered during cutting operation, the cutting saw is in belt transmission connection with the hydraulic motor, when the cutting saw is clamped in a metal material, the cutting device can be protected through the slipping phenomenon of a belt, and the buffer valve is arranged in the cutting device, so that pressure impact caused by cutting load change in the cutting process can be buffered, and a hydraulic system of a whole vehicle can be protected.
The coordinate relation between the center of the cutting saw and each hinge point constructed in the method can realize real-time judgment of the space position of the cutting saw, and is convenient and more accurate to cut.
Drawings
Fig. 1 is an overall perspective view of a hydraulic control dual-wheel anisotropic cutting saw provided by an embodiment of the invention;
FIG. 2 is a perspective view of a frame, transmission and cutting saw according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a perspective view of a base frame of a hydraulic dual-wheel counter-rotating cutting saw according to an embodiment of the present invention;
FIG. 5 is a perspective view of a hydraulic motor in a hydraulic control dual-wheel counter-rotating cutting saw according to an embodiment of the present invention;
fig. 6 is a perspective view of a quick-change device and a cushion valve of a cutting saw in a hydraulic-control dual-wheel counter-rotating cutting saw provided by an embodiment of the invention;
FIG. 7 is a block diagram of a rescue vehicle provided in an embodiment of the present invention;
fig. 8 is a control flow chart of a control method of the rescue vehicle according to the embodiment of the invention;
in the figure: 100. a frame; 110. a base frame; 120. a dicing saw mounting plate; 130. a hydraulic motor mounting plate; 140. a spring; 150. a limiting groove; 160. a limiting rod; 170. adjusting the bolt; 180. adjusting the nut; 190. a fixing groove; 200. cutting and sawing; 300. a transmission device; 400. a hydraulic motor; 410. a cushion valve; 500. a cutting saw quick-changing device; 600. a vehicle; 610. a turntable; 700. a boom; 710. a movable arm; 720. a bucket rod; 721. a telescopic frame; 722. a first frame bar; 723. a second frame bar; 724. a bucket cylinder; 730. A quick-change device for a cantilever crane.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
as shown in fig. 1 to 6, the hydraulic control dual-wheel anisotropic cutting saw provided by the embodiment of the present invention includes a rack 100, and a cutting saw 200, a transmission device 300, a hydraulic motor 400 and a cutting saw quick-change device 500 which are arranged on the rack 100; the rack 100 comprises a base frame 110 and a mounting plate assembly connected with the base frame 110 in a swinging manner, the mounting plate assembly comprises a cutting saw mounting plate 120 for fixing the cutting saw 200 and a hydraulic motor mounting plate 130 for fixing the hydraulic motor 400, the cutting saw 200 is in belt transmission connection with the hydraulic motor 400, and a distance adjusting device is connected between the cutting saw mounting plate 120 and the hydraulic motor mounting plate 130 and used for adjusting the distance between an output shaft of the hydraulic motor 400 and an input shaft of the cutting saw 200 and adjusting the tensioning degree of a belt; the hydraulic motor mounting plate 130 is connected with the base frame 110 in a swinging mode; a damping device is arranged between the mounting plate assembly and the base frame 110 and is used for buffering the swing of the mounting plate assembly caused by the impact force applied to the cutting saw 200; and a limiting device is arranged between the mounting plate assembly and the base frame 110 and is used for limiting the swing range of the mounting plate. The device can be interchanged with different machines and tools by adopting a quick-change connection mode, so that the flexibility of the device can be effectively improved; in the invention, the hydraulic motor 400 is connected with the cutting saw 200 in a belt transmission mode, when the cutting saw is clamped in a metal material, a cutting device can be protected through the slipping phenomenon of a belt, and a distance adjusting device is arranged between the cutting saw mounting plate 120 and the hydraulic motor mounting plate 130 and is used for adjusting the tension degree of the belt; the hydraulic motor mounting plate 130 is connected with the base body frame 110 in a swinging mode, meanwhile, a limiting device is arranged between the mounting plate assembly and the base body frame 110 and used for limiting the swinging range of the mounting plate, and impact force between the cutting saw 200 and a cutting material can be buffered during cutting operation.
When specifically setting up, for convenient preparation and reduce cost, spring 140 is chooseed for use to damping device, the hydraulic motor mounting panel 130 of mounting panel subassembly is connected to the one end of spring 140, because the swing of hydraulic motor mounting panel 130 is connected base member frame 110, when cutting, transmits the impact force that cut saw 200 bore to spring 140 with the wobbling mode, absorbs the impact force that cut saw 200 received through the flexible of spring 140.
In the specific arrangement, in order to avoid the too large swing amplitude of the installation plate assembly, a limiting device is arranged between the base frame 110 and the installation plate assembly and used for limiting the swing range of the installation plate assembly, the limiting device comprises an arc-shaped limiting groove 150 and a limiting rod 160 arranged in the limiting groove 150 in a sliding manner, in order to ensure that the movement of the limiting rod 160 does not interfere with the inner side wall of the limiting groove 150 when the installation plate assembly swings, the circle center of the limiting groove 150 is arranged on the swing axis of the installation plate assembly, the limiting groove 150 and the limiting rod 160 are respectively arranged on the installation plate assembly and the base frame 110 when the installation plate assembly is specifically arranged, and the specific arrangement of components does not require.
When the belt tensioning device is specifically arranged, the belt in transmission can be malleable after being used for a long time, and the belt tensioning device is used for tensioning the belt and comprises a length adjusting device and a position fixing device, wherein the length adjusting device is used for adjusting the distance between the cutting saw mounting plate 120 and the hydraulic motor mounting plate 130 so as to adjust the tensioning degree of the belt, the belt tensioning device is locked and fixed through the fixing device after being adjusted to a specified position, the length adjusting device comprises an adjusting bolt 170 and an adjusting nut 180 which are respectively arranged on the cutting saw mounting plate 120 and the hydraulic motor mounting plate 130, and when tensioning adjustment is needed, the belt tensioning degree can be adjusted by rotating the adjusting bolt 170 or the adjusting nut 180; the fixing device comprises a fixing groove 190 and a fixing bolt, the fixing groove 190 is arranged on the cutting saw mounting plate 120 or the hydraulic motor mounting plate 130, the fixing bolt penetrates through the fixing groove 190 to be connected with the hydraulic motor mounting plate 130 or the cutting saw mounting plate 120, and the hydraulic motor mounting plate 130 and the cutting saw mounting plate 120 after the distance is adjusted are locked and fixed.
During specific design, the dicing saw 200 is a double-wheel different-direction dicing saw, an oil inlet and an oil return port of the hydraulic motor 400 are connected with the dicing saw quick-change device 500 through the buffer valve 410, and pressure impact caused by load change of the dicing saw 200 in the cutting process can be buffered through the buffer valve 410 so as to protect a whole vehicle hydraulic system; the invention arranges a support frame on the base frame 110 for supporting the device.
Example two:
based on the hydraulic control two-wheel different-direction cutting saw in the first embodiment, a second embodiment of the invention provides a rescue vehicle, as shown in fig. 7, the rescue vehicle comprises a vehicle 600 and an arm support 700, the arm support 700 is connected with the vehicle 600 through a rotary table 610, the rotary table 610 rotates to drive the arm support 700 to rotate so as to adjust the circumferential position of the arm support 700, the hydraulic control two-wheel different-direction cutting saw in the first embodiment is arranged on the arm support 700, the two-wheel different-direction cutting saw is connected with the arm support 700 through a cutting saw quick-change device 500, and quick switching is convenient to perform.
When the arm support 700 is specifically designed, the arm support 700 comprises a movable arm 710, a bucket rod 720 and an arm support quick-change device 730 which are sequentially hinged, the arm support 700 is in quick-change connection with the cutting saw quick-change device 500 through the arm support quick-change device 730, a hydraulic control two-wheel incongruous cutting saw is in quick-change connection, and in order to conveniently detect the motion angle of each connecting hinge point, an angle sensor is arranged at the position where the movable arm 710 is hinged with the rotary table 610, and an angle sensor is arranged at each hinge point of the arm support 700.
During specific design, the telescopic frame 721 and the adjusting frame are arranged on the bucket rod 720, the bucket oil cylinder 724 is arranged on the telescopic frame 721, the adjusting frame comprises a first frame rod 722 and a second frame rod 723 which are hinged, the first frame rod 722 is hinged with the bucket rod 720, the second frame rod 723 is hinged with the arm frame quick-changing device 730, through the arrangement, the adjusting frame is driven to move by utilizing the telescopic action of the bucket oil cylinder 724, and the adjusting frame drives the double-wheel anisotropic cutting saw to swing along the hinge point of the arm frame quick-changing device 730 and the bucket rod 720.
In the specific design, in order to conveniently monitor the distance between the boom quick-change device 730 and the dicing saw quick-change device 500, the second frame rod 723 is provided with a camera facing the joint of the boom quick-change device 730 and the dicing saw quick-change device 500.
Example three:
based on the second embodiment, the third embodiment of the present invention provides a method for controlling a rescue vehicle, which is used for controlling the vehicle 600 to perform rescue, as shown in fig. 8, and specifically includes the following steps:
step 1: the method comprises the following steps of acquiring data of the rescue vehicle 600 and the hydraulic control double-wheel anisotropic cutting saw, and establishing a relation between the center of the cutting saw and coordinates of each hinge point so as to determine the position of the hydraulic control double-wheel anisotropic cutting saw through the coordinate relation, wherein the method comprises the following steps:
a coordinate system T1 is established based on the hinged points of the movable arm 710 and the rotary table 610, a coordinate system T2 is established based on the hinged points of the movable arm 710 and the bucket rod 720, a coordinate system T3 is established based on the hinged points of the bucket rod 720 and the arm support quick-change device 730, and the coordinate relationship between the center of the cutting saw and each hinged point is established:
T0= 0 T1 0 T2 0 T3；
wherein the content of the first and second substances, 0 t1 is a coordinate system of a pivot point of the boom 710 with respect to a rotation center point of the turntable 610 to which the vehicle 600 is articulated; 0 t2 is a coordinate system of a pivot point of the bucket rod 720 relative to a rotation center point of the turntable 610 hinged with the vehicle 600; 0 and T3 is a coordinate system of a rotation center point of the arm support quick-change device 730 which is hinged with the vehicle 600 relative to the rotary table 610.
Step 2: based on an angle sensor between the boom 710 and the turntable 610, a rotation angle of the boom 700 relative to the turntable 610 is measured, and the boom 700 is rotated to a specified position.
And step 3: the method comprises the steps of acquiring angle information theta 1 of a movable arm 710 and a rotary table 610, angle information theta 2 of the movable arm 710 and a bucket rod 720 and angle information theta 3 of the bucket rod 720 and a boom quick-change device 500 based on angle sensors of all hinge points of a boom 700, acquiring the distance from the hinge point of the movable arm 710 and the rotary table 610 to the hinge point of the movable arm 710 and the bucket rod 720 and the distance from the hinge point of the bucket rod 720 and the hinge point of the movable arm 710 to the hinge point of the bucket rod 720 and the boom quick-change device 730, wherein the distance data are fixed quantities and are stored after being acquired once, and the angle data are variable quantities which need to be acquired in real time, and then controlling the boom quick-change device 730 to move to a preset position of the dicing saw by combining the coordinate relationship between the center of a dicing saw 200 and each hinge point.
And 4, step 4: the control arm support quick-change device 730 is connected with a hydraulic control double-wheel different-direction cutting saw:
controlling the action of a bucket oil cylinder 724, driving an arm support quick-change device 730 to act, detecting the expansion amount of the bucket oil cylinder 724, judging whether the arm support quick-change device 730 moves in place or not based on the expansion amount of the bucket oil cylinder 724, simultaneously acquiring images of the arm support quick-change device 730 and the dicing saw quick-change device 500 in real time through a camera, calculating and detecting the distance between the arm support quick-change device 730 and the dicing saw quick-change device 500 in real time, sending a collision alarm if the distance is smaller than a specified safe distance, and carrying out manual interference parameters by a driver if the position deviation is overlarge in the quick-change process until the dicing saw 200 is quickly changed.
And (4) performing simulated synthesis training on each parameter of manual interference, and then performing machine learning for setting threshold values of each parameter in the next automatic quick change.
The machine learning control algorithm mainly comprises a data storage unit and data processing, and is mainly used for storing historical data of the angles of all hinge points and results (parameters such as theta 1, theta 2 and theta 3) of machine learning and simulation synthesis training. The historical data (parameters such as theta 1, theta 2 and theta 3) of the storage unit are extracted, and each parameter of the historical data is subjected to feature extraction, and each angle parameter of the theta 1, the theta 2 and the theta 3 is mainly extracted, wherein the main feature of the feature is that when the automatic quick change of the cutting saw 200 is completed once, the shortest rotation angle value corresponding to each hinge point theta 1, theta 2 and theta 3 is used. And in the machine learning stage, the characteristic values extracted in the early stage are imported into a set model for training so as to enable the characteristic values to reach the optimal control parameters. And sending the data after the machine learning training to a controller, controlling to receive each parameter, converting each parameter into each threshold value, sending each threshold value to each control unit, and controlling the movable arm 710, the bucket rod 720 and the arm support 700 quick-change device to reach a preset position.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a heterodromous slitting saw of hydraulic control double round which characterized in that:
comprises a rack (100), and a cutting saw (200), a transmission device (300), a hydraulic motor (400) and a cutting saw quick-change device (500) which are arranged on the rack (100);
the frame (100) comprises a base body frame (110) and a mounting plate assembly connected with the base body frame (110) in a swinging mode, the mounting plate assembly comprises a cutting saw mounting plate (120) for fixing a cutting saw (200) and a hydraulic motor mounting plate (130) for fixing a hydraulic motor (400), the cutting saw (200) is in belt transmission connection with the hydraulic motor (400), and a distance adjusting device is connected between the cutting saw mounting plate (120) and the hydraulic motor mounting plate (130) and used for adjusting the distance between an output shaft of the hydraulic motor (400) and an input shaft of the cutting saw (200) and adjusting the tensioning degree of a belt;
the hydraulic motor mounting plate (130) is connected with the base frame (110) in a swinging mode;
a damping device is arranged between the mounting plate component and the base body frame (110) and is used for buffering the swinging of the mounting plate component caused by the impact force borne by the cutting saw (200);
and a limiting device is arranged between the mounting plate assembly and the base frame (110) and is used for limiting the swing range of the mounting plate.
2. The hydraulically controlled two-wheeled slitting saw as defined in claim 1, wherein:
the damping device comprises a spring (140), and two ends of the spring (140) are respectively connected with the mounting plate assembly and the base body frame (110).
3. The hydraulically controlled two-wheeled slitting saw as defined in claim 1, wherein:
the limiting device comprises an arc-shaped limiting groove (150) and a limiting rod (160) arranged in the limiting groove (150) in a sliding mode, and the limiting groove (150) and the limiting rod (160) are respectively arranged on the mounting plate assembly and the base body frame (110);
the circle center of the limiting groove (150) is located on the swing axis of the mounting plate assembly.
4. The hydraulically controlled two-wheeled slitting saw as defined in claim 1, wherein:
the distance adjusting device comprises a length adjusting device and a position fixing device;
the length adjusting device comprises an adjusting bolt (170) and an adjusting nut (180) which are respectively arranged on the cutting saw mounting plate (120) and the hydraulic motor mounting plate (130), and the adjusting bolt (170) is in threaded connection with the adjusting nut (180);
fixing device includes fixed slot (190) and fixing bolt, fixed slot (190) set up in slitting saw (200) mounting panel (120) or hydraulic motor (400) mounting panel (130), fixing bolt passes fixed slot (190) and connects hydraulic motor (400) mounting panel (130) or slitting saw (200) mounting panel (120), and hydraulic motor (400) mounting panel (130) and slitting saw (200) mounting panel (120) locking after will adjusting apart from are fixed.
5. The hydraulically controlled two-wheeled slitting saw as defined in claim 1, wherein:
the cutting saw (200) is a double-wheel different-direction cutting saw (200);
an oil inlet and an oil return port of the hydraulic motor (400) are connected with a cutting saw quick-change device (500) through a buffer valve (410);
the base body frame (110) is provided with a supporting frame.
6. A rescue vehicle comprising a vehicle, characterized in that:
the hydraulic control double-wheel different-direction cutting saw further comprises an arm support (700) and the hydraulic control double-wheel different-direction cutting saw as claimed in any one of claims 1 to 5;
the hydraulic control two-wheel different-direction cutting saw is connected with an arm support (700) through a cutting saw quick-changing device (500), the arm support (700) is arranged on a vehicle (600), and a hydraulic motor (400) of the hydraulic control two-wheel different-direction cutting saw is connected into a hydraulic system of the vehicle (600).
7. Rescue vehicle as claimed in claim 6, characterized in that:
a rotary table (610) is arranged on the vehicle (600), the arm support (700) comprises a movable arm (710), a bucket rod (720) and an arm support quick-change device (730) which are sequentially hinged, an angle sensor is sequentially arranged at each hinge point, the movable arm (710) is hinged with the rotary table (610), the angle sensor is arranged at each hinge point, and the arm support quick-change device (730) is connected with the cutting saw quick-change device (500);
the cutting saw cutting machine is characterized in that a telescopic frame (721) and an adjusting frame are arranged on the bucket rod (720), the adjusting frame comprises a first frame rod (722) and a second frame rod (723) which are hinged, the first frame rod (722) is hinged with the bucket rod (720), the second frame rod (723) is hinged with a frame arm quick-change device (730), a bucket oil cylinder (724) is arranged on the telescopic frame (721), and a cylinder rod of the bucket oil cylinder (724) is hinged with a hinge point of the first frame rod (722) and the second frame rod (723) and used for driving the cutting saw quick-change device to move (500);
the second hack lever (723) is provided with a camera, and the camera faces to the joint of the boom quick-change device (730) and the cutting saw quick-change device (500).
8. The rescue vehicle control method according to any one of claims 6 to 7, characterized in that: the method comprises the following steps:
acquiring data of the rescue vehicle (600) and the hydraulic control two-wheel anisotropic cutting saw, and constructing a coordinate relation between the center of the cutting saw (200) and each hinge point;
switching a dicing saw (200) mode based on the cut material;
rotating the rotary table (610) based on an angle sensor between the movable arm (710) and the rotary table (610), and rotating the arm support (700) to a designated position;
acquiring angle information theta 1 of a movable arm (710) and a rotary table (610), angle information theta 2 of the movable arm (710) and a bucket rod (720), angle information theta 3 of the bucket rod (720) and an arm support quick-change device (500), a distance from a hinged point of the movable arm (710) and the rotary table (610) to a hinged point of the movable arm (710) and the bucket rod (720), a distance from a hinged point of the bucket rod (720) and the movable arm (710) to a hinged point of the bucket rod (720) and an arm support device (730), and a distance from the hinged point of the bucket rod (720) and the arm support quick-change device (730) to a rotation center of a saw blade of a cutting saw (200), and controlling the arm support quick-change device (730) to move to a cutting saw quick-change preset position by combining the coordinate relationship between the center of the cutting saw (200) and each hinged point;
the control arm support quick-change device (500) is connected with a hydraulic control double-wheel different-direction cutting saw;
and controlling the hydraulic control two-wheel different-direction cutting saw to rescue.
9. The control method according to claim 8, characterized in that:
constructing a coordinate relationship between the center of the dicing saw (200) and each hinge point, comprising:
establishing a coordinate system T1 based on hinge points of a movable arm (710) and a rotary table (610), establishing a coordinate system T2 based on hinge points of the movable arm (710) and a bucket rod (720), establishing a coordinate system T3 based on hinge points of the bucket rod (720) and a boom quick-change device (500), and establishing a coordinate relation between the center of the cutting saw (200) and each hinge point:
T0= 0 T1 0 T2 0 T3；
wherein the content of the first and second substances, 0 t1 is a coordinate system of a rotating center point of a hinged point of the movable arm (710) relative to the rotating platform (610) and the vehicle (600); 0 t2 is a coordinate system of a rotating center point of a hinged point of the bucket rod (720) relative to the rotating platform (610) and the vehicle (600); 0 and T3 is a coordinate system of a rotation center point of a hinge point of the arm support quick-change device (730) relative to the rotary table (610) and the vehicle (600).
10. The control method according to claim 9, characterized in that:
control cantilever crane quick change device (730) connects the different directional slitting saw of hydraulically controlled double round, includes:
the method comprises the steps that a bucket cylinder (714) acts to drive an arm support quick-change device (730) to act, the expansion amount of the bucket cylinder (724) is detected, whether the arm support quick-change device (730) moves in place is judged based on the expansion amount of the bucket cylinder (724), images of the arm support quick-change device (730) and a dicing saw quick-change device (500) are obtained in real time through a camera, the distance between the arm support quick-change device (730) and the dicing saw quick-change device (500) is calculated and detected in real time, and if the distance is smaller than a specified safety distance, a collision alarm is sent out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211496682.0A CN115780896A (en) | 2022-11-25 | 2022-11-25 | Hydraulic control double-wheel different-direction cutting saw, rescue vehicle and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211496682.0A CN115780896A (en) | 2022-11-25 | 2022-11-25 | Hydraulic control double-wheel different-direction cutting saw, rescue vehicle and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115780896A true CN115780896A (en) | 2023-03-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211496682.0A Pending CN115780896A (en) | 2022-11-25 | 2022-11-25 | Hydraulic control double-wheel different-direction cutting saw, rescue vehicle and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115780896A (en) |
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2022
- 2022-11-25 CN CN202211496682.0A patent/CN115780896A/en active Pending
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