CN203320470U - Snow-sweeping trolley and rolling brush lifting control device of snow-sweeping trolley - Google Patents
Snow-sweeping trolley and rolling brush lifting control device of snow-sweeping trolley Download PDFInfo
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- CN203320470U CN203320470U CN2013201898003U CN201320189800U CN203320470U CN 203320470 U CN203320470 U CN 203320470U CN 2013201898003 U CN2013201898003 U CN 2013201898003U CN 201320189800 U CN201320189800 U CN 201320189800U CN 203320470 U CN203320470 U CN 203320470U
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- round brush
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- snowslinger
- rolling brush
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- 238000010408 sweeping Methods 0.000 title abstract description 13
- 238000005096 rolling process Methods 0.000 title abstract 11
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 4
- 230000004069 differentiation Effects 0.000 abstract 1
- 230000010354 integration Effects 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 14
- 230000000875 corresponding effect Effects 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 208000001034 Frostbite Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Abstract
The utility model relates to a snow-sweeping trolley and a rolling brush lifting control device of a snow-sweeping trolley. The snow-sweeping trolley comprises a trolley body and a snow-sweeping device arranged at the front end of the trolley body; the snow-sweeping device comprises a main rack, a rolling brush rack hinged on the main rack, a rolling brush, an execution mechanism driving the rolling brush to rotate and the rolling brush lifting control device; the rolling brush lifting control device comprises a first sensor, a second sensor and a controller; the first sensor is used for detecting a rotating angle of the rolling brush rack; the second sensor is used for detecting the height of the rolling brush above the ground directly; the controller performs calculation according to data detected by the first sensor and the second sensor, so that an actual height value is obtained; the actual height value is compared with a preset height value; a PID (Proportion Integration Differentiation) control algorithm is operated; and the rolling brush is controlled to go up and down to the preset height according to a calculation result. According to the rolling brush lifting control device and method of the snow-sweeping trolley, the liftoff height of the snow sweeping trolley can keep stable, an operator doesn't need to go outside a cab to operate the trolley manually in cold weather, and the operation comfort degree of the operator is increased.
Description
Technical field
The utility model relates to a kind of snowslinger, relates in particular to the round brush apparatus for controlling of lifting on snowslinger.
Background technology
With the snowslinger of round brush, be that rotation by round brush realizes the accumulated snow cleaning.At present, when this class snowslinger road pavement is carried out the accumulated snow cleaning, be mainly to pass through mechanical device manual adjustment round brush terrain clearance by the driver, and then carry out the accumulated snow cleaning works.But in practical work process, the factors such as distortion due to hypsography, round brush wearing and tearing, support wheel, cause the round brush terrain clearance unstable, can not reach normal cleaning effect, now need the driver go out the terrain clearance of estimating round brush outside driver's cabin and carry out manual adjustments, with lifting round brush height, make the round brush road pavement have the suitable pressure that is adjacent to, reach the good effect of sweeping away snow.Yet, in cold winter, allow the driver frequently go out outside driver's cabin, meeting frostbite driver's health, also can reduce the effect of sweeping away snow.
Summary of the invention
The technical problems to be solved in the utility model is to overcome the deficiency that above-mentioned prior art exists, and proposes a kind of snowslinger round brush apparatus for controlling of lifting, in controlling with the round brush terrain clearance that is applied to snowslinger, makes the terrain clearance of snowslinger keep stable.
The technical problems to be solved in the utility model is to overcome the deficiency that above-mentioned prior art exists, and a kind of snowslinger is proposed, so that noting be used in arctic weather, the operating personnel carries out manual operation outside driver's cabin, improve the comfort level of workman's operation, also make the round brush road pavement keep the suitable pressure of being close to, reach the good effect of sweeping away snow.
For solving above-mentioned first technical problem, the utility model provides a kind of snowslinger round brush apparatus for controlling of lifting, it comprises: at least one first sensor in order to the anglec of rotation that detects the round brush frame, the second sensor and a controller of at least one terrain clearance in order to the direct-detection round brush, described controller electrically is connected with described the second sensor with described first sensor respectively, in order to the Data Control round brush lifting that detects according to first sensor and the second sensor to setting height.
Preferably, described first sensor is angular displacement sensor or obliquity sensor.
Preferably, described the second sensor is ultrasonic sensor, described round brush apparatus for controlling of lifting also comprises at least one AD module, the data that described ultrasonic sensor is measured are analog signal, and described AD module is in order to become described analog signal conversion data signal and to send data signal to controller.
Preferably, the round brush apparatus for controlling of lifting of described snowslinger also comprises a guidance panel, is provided with to realize the control button of round brush descending operation on it and in order to realize the automatic/hand changeover switch of system works model selection.
Preferably, the round brush apparatus for controlling of lifting of described snowslinger also comprises a display screen, in order to show the terrain clearance of round brush.
For solving above-mentioned second technical problem, the utility model provides a kind of snowslinger, it comprises: car body and be arranged on the snow removal equipment of car body front end, described snow removal equipment comprises: mainframe, be hinged on round brush frame on mainframe, be fixed on the round brush on the round brush frame, executing agency and the above-mentioned round brush apparatus for controlling of lifting rotated with respect to mainframe in order to drive round brush and round brush frame.
Preferably, described first sensor is angular displacement sensor or obliquity sensor, angular displacement sensor if, and it is arranged in the rotating shaft that the round brush frame is connected with mainframe, obliquity sensor if, it is arranged on any level face of round brush frame; Described the second sensor is ultrasonic sensor, and the quantity of described ultrasonic sensor is a plurality of, and each ultrasonic sensor is arranged on the position at the corresponding round brush rear portion of described round brush frame.
Compared with prior art, the utlity model has following beneficial effect:
1, the utility model is by the actual height value of sensor Real-time Feedback snowslinger round brush, and this actual height value and predefined height setting value are compared, according to comparative result, round brush is adjusted to the height setting value in real time, thereby guaranteed the stable of round brush terrain clearance, make the round brush road pavement keep the suitable pressure of being close to, reach the good effect of sweeping away snow.
2, owing to adopting obliquity sensor (or angular displacement sensor) and ultrasonic sensor to obtain the terrain clearance of round brush simultaneously, make system there is certain Measurement redundancy, guarantee the high reliability of controller, even wherein certain sensor breaks down, also can guarantee the snow removal equipment safe operation.
3, indirectly measure the terrain clearance of round brush by obliquity sensor (or angular displacement sensor), also contribute to compensate the measure error that ultrasonic sensor produces when non-horizontal level, improve the accuracy of measuring height.
4, snowslinger is by adopting controller to control the automatic lifting that execution unit (motor or hydraulic cylinder) is realized round brush, solved the trouble of regulating manually mechanical device, avoid the manually discomfort in the face of severe cold in cold open work in winter, alleviated workman's labour intensity.
The accompanying drawing explanation
The structural representation that Fig. 1 is snowslinger of the present utility model.
The structural representation of the round brush apparatus for controlling of lifting that Fig. 2 is snowslinger.
Structural representation when the round brush terrain clearance that Fig. 3 is snowslinger is zero.
The structural representation when round brush that Fig. 4 is snowslinger has certain terrain clearance.
The main program flow chart that Fig. 5 is the controller in the round brush apparatus for controlling of lifting.
The specific embodiment
In order to further illustrate principle of the present utility model and structure, now by reference to the accompanying drawings preferred embodiment of the present utility model is elaborated.
At first the utility model provides a kind of round brush lift control method of snowslinger, and it comprises the steps:
Step 1: detect the anglec of rotation of round brush frame the liftoff reference altitude that indirect calculation goes out round brush by first sensor, this liftoff reference altitude is designated as to the first height, and, by the terrain clearance of the second sensor direct-detection round brush, be designated as the second height;
Step 2: the first height is highly subtracted each other with second and obtains a deviate,
If this deviate is greater than error and sets value and keep a period of time, judge that wherein one group of sensor corresponding to data that does not conform to convention breaks down and starts warning, the actual height value that the data of another group sensor measurement of take are round brush;
If this deviate draws the actual height value after in the error setting value, the first height highly being revised with second;
Step 3: actual height value and height setting value are compared, and the operation pid control algorithm, control the round brush lifting to highly setting value according to result of calculation.
Above-mentioned round brush lift control method is applied on snowslinger, can obtains a kind of round brush apparatus for controlling of lifting and a kind of snowslinger that can realize the round brush automatic lifting of snowslinger.
Consult Fig. 1, thisly can realize that the snowslinger of round brush automatic lifting comprises: car body 1 and be arranged on the snow removal equipment 2 of car body 1 front end.Front end at car body 1 is driver's cabin 11, and snow removal equipment 2 is arranged on the front end of driver's cabin 11.Snow removal equipment 2 comprises: mainframe 21, round brush frame 22, round brush 23, executing agency 24 and round brush apparatus for controlling of lifting.Mainframe 21 is fixed on the front end of driver's cabin 11, round brush frame 22 is hinged on mainframe 21 by rotating shaft 26, round brush 23 is fixed on the front end bottom of round brush frame 22, executing agency 24 is connected with round brush frame 22 with mainframe 2 respectively, executing agency 24 can be motor or hydraulic cylinder, it 26 rotates around the shaft in order to drive round brush frame 22, and then drives round brush 23 around mainframe 2 rotations and rising or the decline of realization height.
Consult Fig. 2, round brush apparatus for controlling of lifting 25 comprises: at least one first sensor 251, at least one the second sensor 252, a controller 253, a driving mechanism 254, a guidance panel 255, a display screen 256 and an AD module 257.
Consult Fig. 1 and Fig. 2, the second sensor 252 is in order to the terrain clearance of direct-detection round brush, and in the present embodiment, the second sensor 252 is ultrasonic sensor.Owing to adopting the ultrasonic sensor range finding to belong to point measurement, and the uneven meeting of road causes the point measurement mode to have error, therefore, ultrasonic sensor of the present utility model is one group of ultrasonic sensor group, this ultrasonic sensor group forms (only drawing 2 in Fig. 2) by a plurality of sensors, and a plurality of sensor locations are at the diverse location at the corresponding round brush of round brush frame 22 23 rear portions.Ultrasonic sensor also connects an AD module 257, with the analog signals that ultrasonic sensor is detected, after the analog-to-digital conversion of AD module 257, be sent on controller 253, the height value value of averaging calculating of gained measured each ultrasonic sensor again by controller 11, and using this average as round brush the actual height apart from ground.
Consult Fig. 2, controller 11 is electrically connected with first sensor 251, the second sensor 252, guidance panel 255, display screen 256 and driving mechanism 254 respectively.Controller 11 calculates the liftoff reference altitude of round brush in order to the anglec of rotation detected according to first sensor 251, and the round brush terrain clearance of this liftoff reference altitude and the second sensor 252 direct-detections is compared, if the deviate of the two is greater than error and sets value and keep a period of time, judge wherein the sensor fault that one group of data that do not conform to convention are corresponding and start and report to the police, and take the actual height value that data of another group sensor measurement are round brush; If this deviate is in the error setting value, will carry out after data that two kinds of sensors detect are revised drawing the actual height value, and actual height value and predefined height setting value are compared, the operation pid control algorithm, control the round brush lifting to setting height according to result of calculation.Guidance panel 255 and display screen 256 are arranged in driver's cabin, the driver realizes the operation of round brush lifting and the selection of system works pattern by the control button on control panel 255 and automatic/hand changeover switch, also can pass through control panel 255 and set the height setting value H that the error of the two sensors of round brush sets value M and round brush
S.Driving mechanism 254 can be with the 5(of executing agency: motor or hydraulic cylinder etc.) be connected, in order to the control signal of sending according to controller 11, drive executing agency 5 to carry out corresponding action.
The main program flow of controller 11 as shown in Figure 5.
At first, measure in real time round brush frame 22 26 the anglec of rotation around the shaft by obliquity sensor or angular displacement sensor, and calculate the liftoff reference altitude H1 of round brush according to this anglec of rotation, and directly measure the terrain clearance H2 of round brush by the ultrasonic sensor group.
Then secondhand liftoff reference altitude H1 and the round brush terrain clearance H2 directly measured are compared, if the deviate of the two is greater than error setting value M and keeps a period of time, judge that wherein one group of sensor breaks down, now, controller automatic decision survey data does not conform to the sensor fault corresponding to that group survey data of convention, and shielded and reported to the police, the actual height value H that the measured data of another group sensor of take are round brush; If deviate sets value M with interior (being less than setting value M) in error, the measured data of the data of being surveyed with ultrasonic sensor and obliquity sensor (or angular displacement sensor) calculate actual height value H after being revised, and in real time the actual height value H of round brush is presented on display screen, to facilitate driver's operation.
Afterwards, by the driver, by guidance panel 255, select automatic mode or manual mode to operate the round brush lifting.When the driver selects manual mode to control the round brush lifting, system enters manual control program, now, controller is according to the command signal of guidance panel input, as: " coarse adjustment rising ", " coarse adjustment decline ", " stopping " etc., control program under the operation manual mode, control executing agency's (motor or hydraulic cylinder) action, realizes rising and the decline of round brush; The keyboard input height setting value H that the driver also can carry by guidance panel or display screen
S, under the feedback of obliquity sensor, controller automatically arrives height setting value H to the Height Adjustment of round brush
SOn.When the driver selects automatic mode to control the round brush lifting, controller is by actual height value H and height setting value H
SCompare, the operation pid control algorithm, output a control signal to drive system, realizes that the round brush lifting is to setting height the most at last to the automatic control of executing agency's (motor or hydraulic cylinder) position output.
It should be noted that round brush height setting value H
SAccording to driver's experience, set, the driver carrys out initial setting one round brush height setting value H according to macroscopic Snow Thickness
SIf can not make the accumulated snow cleaning clean according to this initial setting round brush height setting value, need to take the circumstances into consideration to reduce round brush height setting value, if make round brush to seize up or the running difficulty according to this initial setting round brush height setting value, need to take the circumstances into consideration to improve round brush height setting value.
Also it should be noted that, obliquity sensor of the present utility model or angular displacement sensor also can be made limit switch and use, to slow down the unnecessary action of executing agency's (motor or hydraulic cylinder), improve reliability and the life-span of executing agency's (motor or hydraulic cylinder).
These are only better possible embodiments of the present utility model, and unrestricted protection domain of the present utility model, the equivalent structure that all utilization the utility model manuals and accompanying drawing content have been done changes, and all is included in protection domain of the present utility model.
Claims (6)
1. a snowslinger round brush apparatus for controlling of lifting, is characterized in that, comprising:
At least one first sensor, in order to detect the anglec of rotation of round brush frame;
At least one the second sensor, in order to the terrain clearance of direct-detection round brush;
One controller, it electrically is connected with described the second sensor with described first sensor respectively, in order to the Data Control round brush lifting that detects according to first sensor and the second sensor to setting height.
2. snowslinger round brush apparatus for controlling of lifting as claimed in claim 1, is characterized in that, described first sensor is angular displacement sensor or obliquity sensor.
3. snowslinger round brush apparatus for controlling of lifting as claimed in claim 1, it is characterized in that, described the second sensor is ultrasonic sensor, described round brush apparatus for controlling of lifting also comprises at least one AD module, the data that described ultrasonic sensor is measured are analog signal, and described AD module is in order to become described analog signal conversion data signal and to send data signal to controller.
4. snowslinger round brush apparatus for controlling of lifting as claimed in claim 1, it is characterized in that, also comprise a guidance panel, be provided with to realize the control button of round brush descending operation on it and in order to realize the automatic/hand changeover switch of system works model selection.
5. snowslinger round brush apparatus for controlling of lifting as claimed in claim 1, is characterized in that, also comprises a display screen, in order to show the terrain clearance of round brush.
6. a snowslinger, comprise: car body and the snow removal equipment that is arranged on the car body front end, described snow removal equipment comprises: mainframe, the executing agency that is hinged on round brush frame on mainframe, is fixed on the round brush on the round brush frame and rotates with respect to mainframe in order to drive round brush and round brush frame, it is characterized in that, also comprise as the described snowslinger round brush of any one in claim 1-5 apparatus for controlling of lifting.
7.Snowslinger as claimed in claim 6, it is characterized in that, described first sensor is angular displacement sensor or obliquity sensor, angular displacement sensor if, it is arranged in the rotating shaft that the round brush frame is connected with mainframe, obliquity sensor if, it is arranged on any level face of round brush frame; Described the second sensor is ultrasonic sensor, and the quantity of described ultrasonic sensor is a plurality of, and each ultrasonic sensor is arranged on the position at the corresponding round brush rear portion of described round brush frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201898003U CN203320470U (en) | 2013-04-16 | 2013-04-16 | Snow-sweeping trolley and rolling brush lifting control device of snow-sweeping trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201898003U CN203320470U (en) | 2013-04-16 | 2013-04-16 | Snow-sweeping trolley and rolling brush lifting control device of snow-sweeping trolley |
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| Publication Number | Publication Date |
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| CN203320470U true CN203320470U (en) | 2013-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013201898003U Expired - Fee Related CN203320470U (en) | 2013-04-16 | 2013-04-16 | Snow-sweeping trolley and rolling brush lifting control device of snow-sweeping trolley |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111660A (en) * | 2013-04-16 | 2014-10-22 | 中国国际海运集装箱(集团)股份有限公司 | Snow removal truck, snow removal truck rolling brush elevating control device, and snow removal truck rolling brush elevating control method |
| CN105544446A (en) * | 2015-12-24 | 2016-05-04 | 北汽福田汽车股份有限公司 | Sweeping vehicle and method, device and system for adjusting height of sweeping disc of sweeping vehicle |
| CN107489122A (en) * | 2017-10-11 | 2017-12-19 | 中国重汽集团柳州运力科迪亚克机械有限责任公司 | Snow sweeper round brush adjusting means |
-
2013
- 2013-04-16 CN CN2013201898003U patent/CN203320470U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111660A (en) * | 2013-04-16 | 2014-10-22 | 中国国际海运集装箱(集团)股份有限公司 | Snow removal truck, snow removal truck rolling brush elevating control device, and snow removal truck rolling brush elevating control method |
| CN104111660B (en) * | 2013-04-16 | 2017-09-29 | 中国国际海运集装箱(集团)股份有限公司 | Snowslinger and snowslinger round brush apparatus for controlling of lifting and method |
| CN105544446A (en) * | 2015-12-24 | 2016-05-04 | 北汽福田汽车股份有限公司 | Sweeping vehicle and method, device and system for adjusting height of sweeping disc of sweeping vehicle |
| CN107489122A (en) * | 2017-10-11 | 2017-12-19 | 中国重汽集团柳州运力科迪亚克机械有限责任公司 | Snow sweeper round brush adjusting means |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131204 Termination date: 20200416 |
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| CF01 | Termination of patent right due to non-payment of annual fee |