CN207794167U - Scraper mechanical shovel fills control system and scraper - Google Patents
Scraper mechanical shovel fills control system and scraper Download PDFInfo
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- CN207794167U CN207794167U CN201721788725.7U CN201721788725U CN207794167U CN 207794167 U CN207794167 U CN 207794167U CN 201721788725 U CN201721788725 U CN 201721788725U CN 207794167 U CN207794167 U CN 207794167U
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- scraper bowl
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Abstract
The utility model is related to a kind of scraper mechanical shovel dress control systems and scraper, wherein control system includes：Material heap position detecting module (10), for detecting position of the scraper relative to material heap (3)；Working condition detection module, the working condition in scraper detect executing agency during shovel pretends industry；Control unit (60), after capable of judging that scraper bowl (2) reaches material heap (3) according to the feedback signal of material heap position detecting module (10), according to the feedback signal of working condition detection module, the movement of at least one of control large arm (1) and scraper bowl (2) is to realize autonomous loading shovel material.Such shovel dress controls the efficiency that shovel dress material can be improved by autonomous loading shovel material, simplifies manual operation, saves the time, optimizes the movement of scraper, the operation is stable and reliability height；Especially when scraper working environment is more severe, avoidable Dangerous and Harmful Factors endanger life and health and the personal safety of driver.
Description
Technical field
The utility model is related to technical field of engineering machinery more particularly to a kind of scraper mechanical shovel dress control systems and scraper
Machine.
Background technology
Underground carry scraper is the important transportation equipment of ore in underground metal mine, and dust concentration is big in working environment,
Noise is strong, and mechanical oscillation are violent, rock stress complex distribution.With the propulsion of metal mine deep mining, high underground heat, high rock
The problems such as stress and high karst water pressure, gradually highlights, and scraper working environment further deteriorates.Above-mentioned Dangerous and Harmful Factors are direct
Endanger life and health and the personal safety of underground carry scraper driver.Moreover, controlling shovel dress process to operator by driver
Skill requirement it is higher, and shovel dress material it is less efficient.
Utility model content
The purpose of this utility model is to propose that a kind of scraper mechanical shovel fills control system and scraper, can improve scraper mechanical shovel
Fill the efficiency of material.
One side according to the present utility model proposes a kind of scraper mechanical shovel dress control system, including：Material heap position detection mould
Block, working condition detection module and control unit, wherein
Material heap position detecting module is for detecting position of the scraper relative to material heap；
Working condition detection module is used in scraper detect during shovel pretends industry the work shape of executing agency
State；
Control unit is connect with material heap position detecting module and working condition detection module, can be examined by material heap position
Survey under the operating mode that module detects that scraper bowl reaches material heap, in conjunction with the feedback signal of working condition detection module, control large arm and
At least one of scraper bowl is moved to realize autonomous loading shovel material.
Further, control unit further includes velocity measuring module, can detect scraper in zero load or under load operating mode
Travel speed；Control unit is connect with velocity measuring module, can control scraper according to the feedback signal of velocity measuring module
Machine is moved with the speed needed, realizes that complete machine drives towards material heap, sails out of material heap or makes scraper bowl insert material heap.
Further, material heap position detecting module includes distance measuring sensor, and distance measuring sensor can detect scraper bowl and material
The distance between heap；
Whether control unit can reach material heap according to the Distance Judgment scraper of scraper bowl and material heap.
Further, material heap position detecting module includes vehicle location and navigation system, and vehicle location and navigation system can be examined
Survey the location of scraper；
Whether control unit can reach according to the current position judgment scraper in the material heap position to prestore and scraper
Material heap.
Further, working condition detection module includes large arm position detecting module, can by detect large arm relative to
The rotation angle of complete machine obtains position of the large arm relative to complete machine；
Control unit is connect with large arm position detecting module, can be controlled according to the feedback signal of large arm position detecting module
Large arm moves to the corresponding large arm angle of shovel holding position, and to be lifted to transporting position corresponding for control large arm after shovel fills material
Large arm angle.
Further, large arm position detecting module includes mounting bracket, servo support and angular transducer, and mounting bracket is set
In the front frame of scraper, servo support connect with large arm and can be servo-actuated with large arm, and angular transducer is located at the side of large arm
And output shaft, perpendicular to the Plane of rotation of large arm, the main part of angular transducer is located in mounting bracket, output shaft and servo-actuated branch
Frame connects.
Further, working condition detection module includes position of bucket detection module, can by detect scraper bowl relative to
The rotation angle of large arm obtains position of the scraper bowl relative to large arm；
Control unit is connect with position of bucket detection module, can be controlled according to the feedback signal of position of bucket detection module
Bucket motions are to the corresponding scraper bowl angle of shovel holding position, and to be retracted to transporting position corresponding for control scraper bowl after shovel fills material
Scraper bowl angle.
Further, position of bucket detection module includes mounting bracket, servo support and angular transducer, and mounting bracket is set
In large arm, servo support connect with scraper bowl and can be servo-actuated with scraper bowl, and angular transducer is located at the side of scraper bowl and output shaft hangs down
Directly in the Plane of rotation of scraper bowl, the main part of angular transducer is located in mounting bracket, and output shaft is connect with servo support.
Further, control unit can be after scraper bowl reaches shovel holding position, and control scraper drives towards material heap so that shovel
Bucket is gradually inserted material heap, and in the case where the speed of scraper is decreased to zero, and control scraper bowl, which executes, to be received bucket action while making
Vehicle moves forward, and stops receiving bucket action when scraper bowl is retracted to predeterminated position.
Further, control system further includes Weighing module, can detect the weight of scraper bowl loaded material；
The feedback signal of Weighing module can be compared by control unit with target load weight, and load weight current
Control scraper sails out of material heap pre-determined distance and reloads when measuring miss the mark Weight Loaded, reaches in current Weight Loaded
Large arm is controlled when target load weight executes lifting action.
Further, Weighing module includes the pressure sensor being located in big arm cylinder, can detect the work of big arm cylinder
Make pressure；
Working condition detection module includes large arm position detecting module, can be by detecting rotation of the large arm relative to complete machine
Angle obtains position of the large arm relative to complete machine；
Control unit can obtain scraper bowl dress according to the operating pressure and large arm of big arm cylinder relative to the position of complete machine
The weight of loading material.
Further, in the case where current Weight Loaded reaches target load weight, control unit can be big in control
Arm stops lifting action after being lifted to transporting position, and scraper is made reversely to sail out of material heap.
Another aspect according to the present utility model proposes a kind of scraper, includes the scraper mechanical shovel dress control of above-described embodiment
System processed.
Further, scraper is underground carry scraper.
Based on the above-mentioned technical proposal, the scraper mechanical shovel of the utility model embodiment fills control system, by the way that material heap position is arranged
Detection module and working condition detection module are set, control unit can be judged according to the feedback signal of material heap position detecting module
After scraper bowl reaches material heap, according to the feedback signal of working condition detection module, control at least one of large arm and scraper bowl fortune
It moves to realize autonomous loading shovel material.Such shovel dress control can be improved the efficiency of shovel dress material, be simplified by autonomous loading shovel material
Manual operation saves the time, optimizes the movement of scraper, the operation is stable and reliability height；Especially in the building ring of scraper
When border is more severe, life and health and personal safety that Dangerous and Harmful Factors directly endanger driver can avoid.
Description of the drawings
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model
It limits.In the accompanying drawings：
Fig. 1 is the status diagram that the utility model scraper is in shovel dress material in tunnel；
Fig. 2 is the module composition schematic diagram of one embodiment that the utility model scraper mechanical shovel fills control system；
Fig. 3 is the structure that the utility model scraper mechanical shovel fills one embodiment of large arm position detecting module in control system
Schematic diagram；
Fig. 4 is the structure that the utility model scraper mechanical shovel fills one embodiment of position of bucket detection module in control system
Schematic diagram；
Fig. 5 is the operation principle schematic diagram of one embodiment that the utility model scraper mechanical shovel fills control system；
Fig. 6 is the operation principle schematic diagram for another embodiment that the utility model scraper mechanical shovel fills control system；
Fig. 7 is the operation principle schematic diagram for the further embodiment that the utility model scraper mechanical shovel fills control system.
Specific implementation mode
The utility model described further below.In the following paragraphs, the different aspect of embodiment is defined in more detail.
The various aspects so limited can be combined with any other one side or many aspects, can not be combined unless explicitly stated otherwise.Especially
It is, it is considered to be preferred or advantageous any feature can be considered as preferred or advantageous spy with other one or more
Sign combination.
In the description of the present invention, it should be understood that term "front", "rear", "upper", "lower", " left side " and " right side "
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing this practicality newly
Type does not indicate or imply the indicated device and must have a particular orientation, with specific azimuth configuration and operation, therefore not
It can be interpreted as the limitation to scope of protection of the utility model.
The terms descriptions merely for convenience such as " first " that occurs in the utility model, " second ", with distinguish have it is identical
The different building blocks of title are not offered as priority or primary-slave relation.
Scraper work includes mainly five kinds of operating modes：It is inserted into operating mode, shovel dress operating mode, heavy haul transport operating mode, Unloading Condition, sky
Carry comfortable property.At present the independent navigation of scraper may be implemented heavy haul transport with when unloaded transport in tunnel autonomous.
Be inserted into operating mode with shovel dress operating mode include scraper large arm decline, be laid flat scraper bowl, receive bucket, lifting large arm, retreat travel etc. it is a series of
Action.Scraper loading, which relies primarily on the walking of itself, makes scraper bowl insertion material heap be loaded.
Shown in Fig. 4, the utility model first aspect provides a kind of scraper mechanical shovel dress control system, subsequently
Referred to as shovel dress control system.In a schematical embodiment, shovel dress control system includes：
Material heap position detecting module 10, for detecting position of the scraper relative to material heap 3, to judge that scraper bowl 2 is
No arrival material heap 3；
Working condition detection module, the work shape in scraper detect executing agency during shovel pretends industry
State, the main angle position relative to large arm 1 of angle position and scraper bowl 2 for including large arm 1 relative to complete machine；
Control unit 60 is arranged on scraper and connects with material heap position detecting module 10 and working condition detection module
It connects, after material heap 3 can be reached judging scraper bowl 2 according to the feedback signal of material heap position detecting module 10, according to work shape
The feedback signal of state detection module, control at least one of large arm 1 and scraper bowl 2 movement is to realize autonomous loading shovel material.Control
Component 60 can be controller, can also be the specific hardware device of the compositions such as PLC, integrated circuit, associated components.
The signal that shovel dress control in the embodiment can be fed back according to material heap position detecting module 10 judges shovel dress
Opportunity, and shovel dress process is automatically controlled to the feedback of status of executing agency according to working condition detection module, to realize entire object
Shovel fills the automation control of process.By autonomous loading shovel material, the efficiency of shovel dress material can be improved, manual operation is simplified,
The time is saved, the movement of scraper, the operation is stable and reliability height are optimized；It is especially more severe in the working environment of scraper
When, it can avoid life and health and personal safety that Dangerous and Harmful Factors directly endanger driver.
For example, with reference to figure 1, when which fills control system for underground carry scraper, since underground carry scraper is in the lane of underground
In road 4 when operation, dust concentration is big in 4 working environment of tunnel, and noise is strong, and mechanical oscillation are violent, rock stress complex distribution.It is logical
Autonomous loading shovel material is crossed, driver can be saved and control shovel dress process, can avoid dust, noise or the orographic condition in underground environment
Life and health and personal safety to driver bring injury, improve the safety and reliability of operation.Due in underground passage 4
Light is faint, and the visual field is poor when driver operates, and lacks accuracy, and the larger energy of dust concentration to the judgement of material heap position
Degree of opinion is low, further increases the operation difficulty of driver, when noise is larger in the work environment, also can influence driver over the ground
The judgement of lower scraper working condition, thus the shovel dress control system of the utility model can improve shovel dress efficiency, and improve shovel
Pretend the reliability during industry and safety.
It further, can as shown in Fig. 2, the shovel dress control system of the utility model further includes velocity measuring module 40
Detection scraper is in zero load or with the travel speed carried under operating mode in real time；Control unit 60 is connect with velocity measuring module 40, energy
It is enough scraper is controlled according to the feedback signal of velocity measuring module 40 to be moved with the speed needed, realize complete machine drive towards material heap 3,
It sails out of material heap 3 or makes 2 insert material heap 3 of institute's scraper bowl.
Scraper apart from material heap farther out with emptying point is driven towards after loaded material during, can accelerate traveling speed
Degree, to improve the working efficiency of scraper.Scraper proximity object material heap 3, when 2 insert material heap 3 of scraper bowl is loaded, not
When reaching carriage requirement and sailing out of material heap 3 and reloaded, travel speed can be reduced, so that the process of shovel dress material is easy to
Control, improves the safety and reliability of work.It, can be according to the action execution stage not by the way that velocity measuring module 40 is arranged
Working efficiency is improved as possible under the premise of ensureing safety and reliability with rational travel speed is selected.
In one embodiment, material heap position detecting module 10 includes distance measuring sensor, and distance measuring sensor can be mounted on shovel
The position for transporting front on railcar body, can detect the distance between scraper bowl 2 and material heap 3；Control unit 60 can be according to shovel
Whether bucket 2 and the Distance Judgment scraper of material heap 3 reach material heap 3.It is easy for installation, letter using the advantages of distance measuring sensor
Single practical, operability is high.
For example, laser ranging or ultrasonic distance-measuring sensor may be used in distance measuring sensor.To use laser ranging
For sensor, laser range finder is installed immediately ahead of scraper, measures the distance between material heap 3 and scraper.Such as Fig. 1 institutes
Show, underground mine material heap 3 is located at the end in tunnel 4, is distributed in slope, and underground carry scraper drives towards material heap by 4 forward direction of tunnel
3.Underground carry scraper proximity object material heap 3 is decided that when distance of the underground carry scraper apart from material heap 3 reaches preset value, explanation can
To start shovel dress operation.
In another embodiment, material heap position detecting module 10 includes vehicle location and navigation system, vehicle mounted positioning navigation
System can detect the location of scraper；Control unit 60 can be current according to 3 position of material heap to prestore and scraper
Position judgment scraper whether reach material heap 3.
The case where embodiment has been mounted with navigation positioning system suitable for underground mine tunnel can directly shovel
Automotive positioning system is also installed to be used cooperatively on fortune machine, scraper can be provided by vehicle location and navigation system in real time
The position in current position, material heap 3 or emptying point is stored in control unit 60 in advance, when driving to the position of needs just
It can start shovel dress operation.Alternatively, the position in material heap 3 or emptying point could be input to vehicle location and navigation system
In, when the position for driving to needs can start shovel dress operation.The advantages of embodiment, is that positional accuracy is higher.
For the various embodiments described above, working condition detection module includes large arm position detecting module 20, can pass through detection
Large arm 1 obtains position of the large arm 1 relative to complete machine relative to the rotation angle of complete machine；Control unit 60 and large arm position detection mould
Block 20 connects, and it is corresponding big shovel holding position can be moved to according to the feedback signal of large arm position detecting module 20 control large arm 1
Arm angle, and control large arm 1 is lifted to the corresponding large arm angle in transporting position after shovel fills material.
The embodiment can obtain the position during the lifting of large arm 1 or decline in real time, can not only determine scraper
Current working status, also can accurately control the angle position that large arm 1 moves to needs, with easily reach optimum posture into
Row shovel pretends industry.
Wherein, shovel holding position refers to the position that scraper executing agency can shovel dress material, it is desirable that large arm 1 is relative to complete machine
Preset position is dropped to, and scraper bowl 2 turns to the state of bucket floor level.Transporting position refers to that scraper loaded material is complete
Bi Hou, the location of executing agency during transported material, it is desirable that large arm 1 is lifted to the position of convenience in transport, and scraper bowl 2
Turn to the state that material is not easy to drop out.
As shown in figure 3, large arm 1 is installed in rotation on by axis pin 9 in front frame 5.Large arm position detecting module 20 is wrapped
Include mounting bracket 6, servo support 8 and angular transducer 7, mounting bracket 6 is located in the front frame 5 of scraper, servo support 8 with
Large arm 1 connects and can be servo-actuated with large arm 1, angular transducer 7 be located at the side of large arm 1 and output shaft perpendicular to large arm 1 rotation
Plane.Wherein, angular transducer 7 includes main part and output shaft, and output shaft is relative to main part rotatably arranged with main part
It is located in mounting bracket 6 by fasteners such as screws, output shaft is connect with servo support 8.
Specifically, angular transducer 7 is located at the outside of 9 end of axis pin, and the output shaft of angular transducer 7 and large arm 1
Center of rotation is coaxially disposed, and mounting bracket 6 is the platy structure of bending, including the first plate and the second plate, to facilitate installation, the
The angle of one plate and the second plate can in obtuse angle, and the first plate is connect with front frame 5, and the second plate is parallel to the rotational plane of large arm 1, angle
Spend the main part installation of sensor 7 on the second plate.Servo support 8 is L-shaped platy structure, and one end is connect with large arm 1, the other end
With the output axis connection of angular transducer 7.
When large arm 1 is rotated relative to complete machine, the output shaft of angular transducer 7 can be driven to rotate by servo support 8, to
Accurately detect the rotational angle of large arm 1.Such mounting means can make the installation of angular transducer 7 solid and reliable, prevent
Cause sensor to fall or deform since scraper touches barrier in operation process, improves the inspection of 1 angle position of large arm
The reliability and accuracy of survey.Moreover, being installed by two support assorteds, the articulated position in large arm 1 and complete machine can be solved
The problem of being difficult to be mounted directly angular transducer.
Further, working condition detection module can also include position of bucket detection module 30, can be shoveled by detecting
Bucket 2 obtains position of the scraper bowl 2 relative to large arm 1 relative to the rotation angle of large arm 1；Control unit 60 detects mould with position of bucket
Block 30 connects, and scraper bowl 2 can be controlled according to the feedback signal of position of bucket detection module 30 and moves to the corresponding shovel of shovel holding position
Struggle against angle, and control scraper bowl 2 is retracted to the corresponding scraper bowl angle in transporting position after shovel fills material.
The embodiment can obtain turned position of the scraper bowl 2 relative to large arm 1 in real time, can not only determine scraper
Current working status also can accurately control the angle position that scraper bowl 2 moves to needs, easily to reach optimum posture progress
Shovel pretends industry.
As shown in figure 4, the left and right ends of scraper bowl 2 are installed in rotation on the front end of large arm 1 by axis pin 9 respectively.Scraper bowl
Position detecting module 30 includes mounting bracket 6, servo support 8 and angular transducer 7, and mounting bracket 6 is located in large arm 1, is servo-actuated
Holder 8 connect with scraper bowl 2 and can be servo-actuated with scraper bowl 2, and angular transducer 7 is located at the side of scraper bowl 2 and output shaft is perpendicular to scraper bowl 2
Plane of rotation, the main part of angular transducer 7 is located in mounting bracket 6, and output shaft is connect with servo support 8.
Specifically, angular transducer 7 is located at the outside of 9 end of axis pin, and the output shaft of angular transducer 7 and scraper bowl 2
Center of rotation is coaxially disposed.Preferably, angular transducer 7 is located at the inside of the articulated position in large arm 1 of scraper bowl 2, to reduce angle
Spend the risk that sensor 7 is collided and impacted by foreign object in 2 course of work of scraper bowl.Mounting bracket 6 is the platy structure of bending,
Including the first plate and the second plate, to facilitate installation, the angle of the first plate and the second plate can in obtuse angle, the first plate connects with large arm 1
It connects, the second plate is parallel to the rotational plane of scraper bowl 2, and the main part installation of angular transducer 7 is on the second plate.Servo support 8 is L
Shape platy structure, one end are connect with scraper bowl 2, the output axis connection of the other end and angular transducer 7.
Further, control unit 60 can scraper bowl 2 reach shovel holding position after, control scraper drive towards material heap 3 with
So that scraper bowl 2 is gradually inserted material heap 3, and in the case where the speed of scraper is decreased to zero with resistance increase, controls scraper bowl 2
It executes and receives bucket action while vehicle being made to move forward, stop receiving bucket action when scraper bowl 2 is retracted to predeterminated position.
During scraper execution shovel pretends industry, the target load weight of scraper bowl 2 can be generally set, preferably in scraper bowl
After 2 weight of material loaded reach target load weight, it can just transport to emptying point, defeated effect is shipped to improve material scraper
Rate.Target load weight can be all-up weight, can also be the numerical value less than all-up weight.
For this purpose, the shovel dress control system of the utility model may also include Weighing module 50, the loading of scraper bowl 2 can be detected in real time
The weight of material；Control unit 60 is connect with Weighing module 50, can scraper bowl 2 shovel dress material and be retracted to predeterminated position it
Afterwards, the feedback signal of Weighing module 50 is compared with target load weight, and is filled in current Weight Loaded miss the mark
Control scraper sails out of 3 pre-determined distance of material heap and reloads when loading capacity, until reaching carriage requirement, in current Weight Loaded
Control large arm 1 executes lifting action when reaching target load weight, so as to by material transportation to emptying point.
In a preferred embodiment, Weighing module 50 includes the pressure sensor being located in big arm cylinder, Neng Goujian
Survey the operating pressure of big arm cylinder；Working condition detection module includes large arm position detecting module 20, can be by detecting large arm 1
Rotation angle relative to complete machine obtains position of the large arm 1 relative to complete machine；Control unit 60 can be according to the work of big arm cylinder
Make the weight that pressure and large arm 1 obtain 2 loaded material of scraper bowl relative to the position of complete machine.
Scraper material is loaded in scraper bowl 2, and is lifted by big arm cylinder, the Weight Loaded and large arm of scraper bowl 2
In-oil cylinder operating pressure and large arm 1 are related relative to the angle of vehicle.Therefore it is combined by the pressure detected in big arm cylinder
The large arm angle that large arm position detecting module 20 detects, can be calculated Weight Loaded.Weight of material G can be analyzed to along large arm 1
Power F and power F ＇ perpendicular to large arm 1, the power F along large arm 1 is measured by the pressure change of big arm cylinder, further according to along large arm 1
Power F and large arm 1 angle [alpha] calculate loaded material weight.
Such mode is when calculating Weight Loaded, by detecting big arm cylinder operating pressure and 1 angle calculation of large arm
Mode can improve the accuracy of weight of material measurement due to considering the angle of large arm 1.Moreover, even if weighing process
Middle large arm 1 is kept in motion, and also can real-time and accurately measure Weight Loaded.Alternatively, it can also be weighed using fluid pressure type
Sensor measures, which is that the hydraulic cylinder pressure of measurement is directly translated into weight, is applied in general to static
Motionless object is weighed.
In the case where current Weight Loaded reaches target load weight, control unit 60 can be lifted in control large arm 1
Stop lifting action after to transporting position, and scraper is made reversely to sail out of material heap 3, by material transportation to emptying point.
Secondly, the utility model additionally provides a kind of scraper, including the shovel dress control system described in above-described embodiment.It is excellent
Selection of land, scraper are underground carry scraper.
Since the shovel dress control system of the utility model can receive material heap position detecting module 10, position of bucket detects mould
The detection signal that block 20, large arm position detecting module 30 and Weighing module 50 are fed back, and pass through a series of operation control scrapers
Accelerate, slow down, commutation, stops, starting, the lifting and decline of control scraper large arm 1, and control the receipts bucket of scraper bowl 2 and put bucket,
To realize autonomous loading shovel material.
Therefore the scraper of the utility model has higher the degree of automation, controls shovel dress without driver and walked
Journey can improve the efficiency of shovel dress material, save the time, optimize the movement of scraper, the operation is stable and reliability height；Especially
When the working environment of scraper is more severe, life and health and the person that Dangerous and Harmful Factors directly endanger driver can avoid
Safety.
The control method that below the various embodiments described above are shoveled with dress control system is described in detail.It is schematical real at one
It applies in example, flow diagram as shown in Figure 5, which includes：
Step 101, material heap position detecting module 10 detect position of the scraper relative to material heap 3；
Step 102, working condition detection module in scraper detect the work of executing agency during shovel pretends industry
Make state；
Step 103, control unit 60 judge whether scraper bowl 2 reaches object according to the feedback signal of material heap position detecting module 10
Material heap 3 thens follow the steps 104 if having arrived at material heap 3, otherwise continues to travel to material heap 3；
Step 104, control unit 60 are controlled according to the feedback signal of working condition detection module in large arm 1 and scraper bowl 2
At least one movement is to realize autonomous loading shovel material.
The shovel dress control method of the utility model embodiment can improve the effect of shovel dress material by autonomous loading shovel material
Rate simplifies manual operation, saves the time, optimizes the movement of scraper, the operation is stable and reliability height；Especially in scraper
When working environment is more severe, life and health and personal safety that Dangerous and Harmful Factors directly endanger driver can avoid.
In one embodiment, step 101 control unit 60 judges according to the feedback signal of material heap position detecting module 10
Go out scraper bowl 2 and whether reach material heap 3 to specifically include：
Step 101A, distance measuring sensor detects the distance between scraper bowl 2 and material heap 3；
Step 101B, whether control unit 60 reaches material heap 3 according to the Distance Judgment scraper of scraper bowl 2 and material heap 3.
It is easy for installation that the embodiment, which uses the advantages of distance measuring sensor, and simple and practical, operability is high.For example, ranging
Laser ranging or ultrasonic distance-measuring sensor may be used in sensor.
In another embodiment, step 101 control unit 60 is sentenced according to the feedback signal of material heap position detecting module 10
Break scraper bowl 2 and whether reach material heap 3 and specifically include：
Step 101C, the location of vehicle location and navigation system detection scraper；
Step 101D, control unit 60 is according to the current position judgment scraper in 3 position of material heap to prestore and scraper
Whether material heap 3 is reached.
The embodiment has been mounted with navigation positioning system suitable for underground mine tunnel, so that it may with directly in scraper
On automotive positioning system be also installed be used cooperatively, it is current to provide scraper in real time by vehicle location and navigation system
Position, the position in material heap 3 or emptying point is stored in control unit 60 in advance, when the position for driving to needs just passes through
Control unit 60 controls scraper parking.The advantages of embodiment, is that positional accuracy is higher.Step 101A~101D is scheming
In be not shown.
Flow diagram as shown in FIG. 6, after judging that scraper reaches material heap 3 by step 103, step
104 specifically include：
Step 201, large arm position detecting module 20 obtain large arm 1 by detecting large arm 1 relative to the rotation angle of complete machine
Position relative to complete machine；
Whether step 202, control unit 60 judge large arm 1 in shovel according to the feedback signal of large arm position detecting module 20
The corresponding large arm angle of holding position, if it is makes large arm 1 motionless, no to then follow the steps 203；Shovel dress position is not reached in large arm 1
When setting corresponding large arm angle, 1 current location of large arm is higher than shovel holding position.
Step 203, control unit 60 control large arm 1 and drop to the corresponding large arm angle of shovel holding position.
Further, flow diagram as shown in FIG. 6 is judging the arrival of large arm 1 large arm corresponding with shovel holding position
After angle, step 104 further includes：
Step 204, position of bucket detection module 30 obtain scraper bowl 2 by detecting scraper bowl 2 relative to the rotation angle of large arm 1
Position relative to large arm 1；
Whether step 205, control unit 60 judge scraper bowl 2 in shovel according to the feedback signal of position of bucket detection module 30
The corresponding scraper bowl angle of holding position, if it is makes scraper bowl 2 motionless, and starts shovel dress material, no to then follow the steps 206；It is shoveling
When bucket 2 does not reach the shovel corresponding scraper bowl angle of holding position, 2 current location of scraper bowl is higher than shovel holding position, in the case where shoveling holding position, scraper bowl
2 are in flattened state.
Step 206, control scraper bowl 2 put bucket to shovel holding position.
Further, still referring to FIG. 6, after judging that scraper bowl 2 reaches shovel holding position by step 205, start shovel dress object
The step of material, specifically includes：
Step 301, control unit 60 control scraper and drive towards material heap 3 so that scraper bowl 2 is gradually inserted material heap 3；
Step 302, velocity measuring module 40 detect the travel speed of scraper；
Step 303, control unit 60 judge that the speed of service of scraper is according to the feedback signal of velocity measuring module 40
No is zero, no to then follow the steps 305 if it is thening follow the steps 304；
Step 304, control scraper bowl 2, which execute, receives bucket action；
Step 305, control vehicle continue to travel towards material heap 3.
Still referring to FIG. 6, during step 304 control scraper bowl 2 executes and receives bucket action, which may also include：
Step 304A, control unit 60 makes vehicle continue to move forward；
Step 304B, control unit 60 judges whether scraper bowl 2 withdraws according to the feedback signal of position of bucket detection module 30
To the corresponding scraper bowl angle in transporting position, if it is makes 2 stop motion of scraper bowl, otherwise persistently withdraw；Transporting position is corresponding
Scraper bowl angle is preferably the extreme position that scraper bowl 2 is withdrawn, to prevent material from being dropped out from scraper bowl 2.
Further, still referring to FIG. 6, it is corresponding judging that scraper bowl 2 has been retracted to transporting position by step 304B
After scraper bowl angle, which further includes：
Step 401, control unit 60 control large arm 1 and execute lifting action；
Step 402, control unit 60 judge whether large arm 1 is lifted to according to the feedback signal of large arm position detecting module 20
Otherwise the corresponding large arm angle in transporting position is persistently lifted if it is thening follow the steps 403；
Step 403, control scraper commutate and drive towards emptying point.
During scraper execution shovel pretends industry, the target load weight of scraper bowl 2 can be generally set, preferably in scraper bowl
After 2 weight of material loaded reach target load weight, it can just transport to emptying point, defeated effect is shipped to improve material scraper
Rate.
For this purpose, flow diagram as shown in Figure 7, is judging that scraper bowl 2 has been retracted to transport position by step 304B
After setting corresponding scraper bowl angle, before step 401, which may also include：
Step 501, Weighing module 50 detect the weight of 2 loaded material of scraper bowl；
Step 502, control unit 60 judge whether current Weight Loaded reaches mesh according to the feedback signal of Weighing module 50
Weight Loaded is marked, lifting action is executed if reaching and thening follow the steps 401 control large arm 1, it is no to then follow the steps 503；
Step 503, control scraper, which sail out of 3 pre-determined distance of material heap, reloads.
It when step 503 needs to reload, needs first to lay down the material before in scraper bowl 2, then to sail out of material heap 3 pre-
If distance, then in the state that scraper bowl 2 is laid flat, so that scraper is walked forward makes 2 insert material heap of scraper bowl.When reloading
Material before is laid down, can prevent material during scraper bowl 2 is laid flat when scraper retreats from falling everywhere.
A kind of scraper mechanical shovel dress control system provided by the utility model and scraper are described in detail above.
Specific embodiment used herein is expounded the principles of the present invention and embodiment, and above example is said
The bright method and its core concept for being merely used to help understand the utility model.It should be pointed out that for the common of the art
For technical staff, without departing from the principle of this utility model, can also to the utility model carry out it is several improvement and
Modification, modifications and modifications also fall within the protection scope of the claims of the utility model.
Claims (14)
1. a kind of scraper mechanical shovel fills control system, which is characterized in that detected including material heap position detecting module (10), working condition
Module and control unit (60), wherein
The material heap position detecting module (10) is for detecting position of the scraper relative to material heap (3)；
The working condition detection module is used in the scraper detect during shovel pretends industry the work of executing agency
Make state；
The control unit (60) connect with the material heap position detecting module (10) and working condition detection module, can be logical
It crosses under the operating mode that the material heap position detecting module (10) detects that scraper bowl (2) reaches material heap (3), in conjunction with the working condition
The feedback signal of detection module, the movement of at least one of control large arm (1) and scraper bowl (2) is to realize autonomous loading shovel material.
2. scraper mechanical shovel according to claim 1 fills control system, which is characterized in that further include velocity measuring module
(40), scraper can be detected in zero load or with the travel speed carried under operating mode；The control unit (60) is examined with the speed
It surveys module (40) to connect, the speed that the scraper can be controlled to need according to the feedback signal of the velocity measuring module (40)
Degree movement realizes that complete machine drives towards material heap (3), sails out of material heap (3) or makes the scraper bowl (2) insert material heap (3).
3. scraper mechanical shovel according to claim 1 fills control system, which is characterized in that the material heap position detecting module
(10) include distance measuring sensor, the distance measuring sensor can detect the distance between the scraper bowl (2) and material heap (3)；
Whether the control unit (60) can arrive scraper described in the Distance Judgment according to the scraper bowl (2) with material heap (3)
Up to material heap (3).
4. scraper mechanical shovel according to claim 1 fills control system, which is characterized in that the material heap position detecting module
(10) include vehicle location and navigation system, the vehicle location and navigation system can detect the location of described scraper；
The control unit (60) can be according to described in the current position judgment in material heap (3) position to prestore and the scraper
Whether scraper reaches material heap (3).
5. scraper mechanical shovel according to claim 1 fills control system, which is characterized in that the working condition detection module packet
Large arm position detecting module (20) is included, large arm (1) can be obtained relatively relative to the rotation angle of complete machine by detecting large arm (1)
In the position of complete machine；
The control unit (60) connect with the large arm position detecting module (20), can be according to the large arm position detection mould
The feedback signal control large arm (1) of block (20) moves to the corresponding large arm angle of shovel holding position, and is controlled after shovel fills material
The large arm (1) is lifted to the corresponding large arm angle in transporting position.
6. scraper mechanical shovel according to claim 5 fills control system, which is characterized in that the large arm position detecting module
(20) include mounting bracket (6), servo support (8) and angular transducer (7), the mounting bracket (6) is located at the scraper
Front frame (5) on, the servo support (8) connect with the large arm (1) and can be servo-actuated with large arm (1), the angle sensor
Device (7) is located at the side of the large arm (1) and output shaft is perpendicular to the Plane of rotation of the large arm (1), the angular transducer
(7) main part is located in the mounting bracket (6), and output shaft is connect with the servo support (8).
7. scraper mechanical shovel according to claim 1 fills control system, which is characterized in that the working condition detection module packet
Position of bucket detection module (30) is included, scraper bowl can be obtained relative to the rotation angle of large arm (1) by detecting the scraper bowl (2)
(2) position relative to large arm (1)；
The control unit (60) connect with the position of bucket detection module (30), can detect mould according to the position of bucket
The feedback signal control scraper bowl (2) of block (30) moves to the corresponding scraper bowl angle of shovel holding position, and is controlled after shovel fills material
The scraper bowl (2) is retracted to the corresponding scraper bowl angle in transporting position.
8. scraper mechanical shovel according to claim 7 fills control system, which is characterized in that the position of bucket detection module
(30) include mounting bracket (6), servo support (8) and angular transducer (7), the mounting bracket (6) is located at the large arm (1)
On, the servo support (8) connect with the scraper bowl (2) and can be servo-actuated with scraper bowl (2), and the angular transducer (7) is located at institute
It states the side of scraper bowl (2) and output shaft is perpendicular to the Plane of rotation of the scraper bowl (2), the main part of the angular transducer (7)
It is located in the mounting bracket (6), output shaft is connect with the servo support (8).
9. scraper mechanical shovel according to claim 1 fills control system, which is characterized in that the control unit (60) can be
After the scraper bowl (2) reaches shovel holding position, controls the scraper and drive towards material heap (3) so that scraper bowl (2) is gradually inserted material
Heap (3), and in the case where the speed of the scraper is decreased to zero, controls the scraper bowl (2) and execute the action of receipts bucket while making
Vehicle moves forward, and stops receiving bucket action when the scraper bowl (2) is retracted to predeterminated position.
10. scraper mechanical shovel according to claim 1 fills control system, which is characterized in that further include Weighing module (50), energy
Enough detect the weight of the scraper bowl (2) loaded material；
The feedback signal of the Weighing module (50) can be compared by the control unit (60) with target load weight, and
The scraper is controlled when current Weight Loaded is not up to the target load weight sails out of material heap (3) pre-determined distance again
It loads, large arm (1) is controlled when current Weight Loaded reaches the target load weight and executes lifting action.
11. scraper mechanical shovel according to claim 10 fills control system, which is characterized in that the Weighing module (50) includes
The pressure sensor being located in big arm cylinder can detect the operating pressure of the big arm cylinder；
The working condition detection module includes large arm position detecting module (20), can be by detecting large arm (1) relative to whole
The rotation angle of machine obtains position of the large arm (1) relative to complete machine；
The control unit (60) can be according to the operating pressure and the large arm (1) of the big arm cylinder relative to complete machine
Position obtains the weight of scraper bowl (2) loaded material.
12. scraper mechanical shovel according to claim 10 fills control system, which is characterized in that reach institute in current Weight Loaded
In the case of stating target load weight, the control unit (60) can be after controlling the large arm (1) and being lifted to transporting position
Stop lifting action, and the scraper is made reversely to sail out of material heap (3).
13. a kind of scraper, which is characterized in that fill control system including any scraper mechanical shovel of claim 1~12.
14. scraper according to claim 13, which is characterized in that the scraper is underground carry scraper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721788725.7U CN207794167U (en) | 2017-12-20 | 2017-12-20 | Scraper mechanical shovel fills control system and scraper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721788725.7U CN207794167U (en) | 2017-12-20 | 2017-12-20 | Scraper mechanical shovel fills control system and scraper |
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| CN207794167U true CN207794167U (en) | 2018-08-31 |
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| CN201721788725.7U Active CN207794167U (en) | 2017-12-20 | 2017-12-20 | Scraper mechanical shovel fills control system and scraper |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107938735A (en) * | 2017-12-20 | 2018-04-20 | 徐工集团工程机械有限公司 | Scraper mechanical shovel fills control system and method, scraper |
| CN109457753A (en) * | 2018-12-28 | 2019-03-12 | 徐工集团工程机械股份有限公司科技分公司 | A kind of automobile-used automatic following control system of engineering |
-
2017
- 2017-12-20 CN CN201721788725.7U patent/CN207794167U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107938735A (en) * | 2017-12-20 | 2018-04-20 | 徐工集团工程机械有限公司 | Scraper mechanical shovel fills control system and method, scraper |
| CN107938735B (en) * | 2017-12-20 | 2023-09-05 | 江苏徐工工程机械研究院有限公司 | Scraper loading control system and method of scraper and scraper |
| CN109457753A (en) * | 2018-12-28 | 2019-03-12 | 徐工集团工程机械股份有限公司科技分公司 | A kind of automobile-used automatic following control system of engineering |
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Effective date of registration: 20220803 Address after: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee after: JIANGSU XUGONG ENGINEERING MACHINERY RESEARCH INSTITUTE Co.,Ltd. Address before: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee before: XCMG CONSTRUCTION MACHINERY Co.,Ltd. |
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