CN209353394U - Grab bucket control system - Google Patents
Grab bucket control system Download PDFInfo
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- CN209353394U CN209353394U CN201821897326.9U CN201821897326U CN209353394U CN 209353394 U CN209353394 U CN 209353394U CN 201821897326 U CN201821897326 U CN 201821897326U CN 209353394 U CN209353394 U CN 209353394U
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Abstract
The utility model relates to a kind of grab bucket control systems, comprising: depth transducer, opening and closing bucket sensor and control device；The depth transducer and opening and closing bucket sensor are separately positioned on the main drum of grab bucket, and the control room of grab boat is arranged in the control device；The control device is separately connected the depth transducer and opening and closing bucket sensor；The depth transducer is used to measure the decentralization depth of grab bucket, and the decentralization depth is sent to the control device；The opening and closing bucket sensor is used to measure the opening and closing dimension information of grab bucket, and the opening and closing dimension information is sent to the control device；The control device receives the decentralization depth and opening and closing dimension information, controls the grab bucket.Above-mentioned grab bucket control system improves control precision, precise control with higher.
Description
Technical field
The utility model relates to field of intelligent control technology, more particularly to a kind of grab bucket control system.
Background technique
In dredging work, the method that dredging vessel is generally used the control of water-depth measurement benchmark carries out dredging operation.It dredges
The grab bucket motion control for dredging ship is that hand of dredging is realized by being pushed forward of manipulation and control handle, middle position and/or post-tensioning.
In this course of work, hand of dredging must keep the concern to various signal lamps the moment, and be fed back according to different signal lamps
Signal and field condition manipulation and control bar, are at position appropriate, so that the parameters such as present speed of grab bucket movement meet
Operating condition, above-mentioned grab bucket control program low precision, and construction precision stability depend heavily on the ability and experience for hand of dredging, and hold
The working strength for easily increasing hand of dredging, keeps its tired, is also easy to produce malfunction, influences the precise control of grab bucket.
Utility model content
Based on this, it is necessary to which the technical issues of being affected for traditional grab bucket control program low precision, accuracy mentions
For a kind of grab bucket control system.
A kind of grab bucket control system, comprising: depth transducer, opening and closing bucket sensor and control device；
The depth transducer and opening and closing bucket sensor are separately positioned on the main drum of grab bucket, the control device
The control room of grab boat is set；The control device is separately connected the depth transducer and opening and closing bucket sensing
Device；
The depth transducer is used to measure the decentralization depth of grab bucket, and the decentralization depth is sent to the control and is filled
It sets；The opening and closing bucket sensor is used to measure the opening and closing dimension information of grab bucket, and the opening and closing dimension information is sent to the control
Device processed；The control device receives the decentralization depth and opening and closing dimension information, controls the grab bucket.
Above-mentioned grab bucket control system can measure the decentralization depth of grab bucket, by the decentralization depth by depth transducer
It is sent to the control device, is used to measure the opening and closing dimension information of grab bucket by opening and closing bucket sensor, by the opening and closing size
Information is sent to the control device, carries out control device to the grab bucket according to above-mentioned decentralization depth and opening and closing dimension information
Corresponding control, such control process improve control precision, control with higher using the measured data for grab bucket as foundation
Accuracy processed.
Above-mentioned grab bucket control system in one of the embodiments, further includes hydraulic pressure sensor, the hydraulic pressure
Sensor is arranged on hydraulic power station pipeline, and the hydraulic pressure sensor connects the control device；
The hydraulic pressure sensor measures the hydraulic data of the hydraulic power station, and the hydraulic data is sent to control
Device processed, the control device control information to disc brake braking mechanism according to hydraulic data output disc brake.
This implementation can carry out disc brake according to the real-time hydraulic data control disc brake braking mechanism measured at hydraulic power station
Operation effectively increases the control precision of disc brake operation.
Above-mentioned grab bucket control system in one of the embodiments, further includes position sensor, and the position sensor is set
It sets in grab bucket, the position sensor connects the control device；
The position sensor obtains the position data of the grab bucket, and the position data is sent to control device；Institute
It states control device and extracts the position data received in the setting period, generate grab bucket motion profile.
As one embodiment, above-mentioned grab bucket control system, further includes display device, and the display device connects the control
Device processed；
The display device is for showing the grab bucket motion profile.
The present embodiment can show grab bucket motion profile by display device, so that the grab bucket of associated user's timely learning is being set
The position of timing section carries out effective monitoring to grab bucket.
As one embodiment, the control device generates the digging of grab bucket according to the position data and opening and closing dimension information
The state diagram of dredging is sent to the display device and shown by mud state diagram.
The present embodiment can show the state diagram of dredging of grab bucket by display device, and associated user is made to further appreciate that grab bucket
State of dredging, guarantee the comprehensive of monitoring work.
Above-mentioned grab bucket control system in one of the embodiments, further includes temperature sensor, and the temperature sensor is set
It sets on Ω fluid torque-converter surface, the temperature sensor connects the control device；
The temperature on Ω fluid torque-converter surface described in the temperature sensor measurement, is sent to the control for the temperature
Device.
In the present embodiment, the safety in operation of control device Ω fluid torque-converter according to the temperature monitoring,
User is informed by the modes such as prompt or alarm when above-mentioned temperature is more than temperature threshold, so that user takes corresponding measure,
Guarantee the safety of grab bucket control work.
As one embodiment, above-mentioned grab bucket control system, further includes alarm, and the alarm connects the control dress
It sets；The alarm signal that the alarm receives the control device output is alarmed；The control device is super in the temperature
Alarm signal is exported when excess temperature threshold value.
The present embodiment can export alarm signal when temperature is more than temperature threshold, make alarm equipment alarm, the grab bucket of raising
Safety in control process.
Above-mentioned grab bucket control system in one of the embodiments, further includes speed probe, and the speed probe is set
The output end in Ω fluid torque-converter is set, the speed probe connects the control device；
The speed probe measures the rotary speed information of the main drum, and the rotary speed information is sent to control device；
The control device monitors the operation conditions of the main drum according to the rotary speed information.
The depth transducer includes infrared pulse meter in one of the embodiments,.
Decentralization depth of the present embodiment by the measurement grab bucket of infrared pulse meter, accuracy with higher.
The control device reads the extension elongation of steel wire rope of grab bucket in one of the embodiments, according to the stretching
Length verifies the decentralization depth.
The present embodiment can verify the decentralization depth according to the extension elongation, if extension elongation verifying and decentralization depth
Unanimously, show that the decentralization depth that control device obtains is accurate depth data, the grab bucket control carried out based on above-mentioned decentralization depth
Make accuracy with higher.
Detailed description of the invention
Fig. 1 is the grab bucket control system architecture schematic diagram of one embodiment；
Fig. 2 is the grab bucket control system architecture schematic diagram of one embodiment；
Fig. 3 is the grab bucket control process structure schematic diagram of one embodiment.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, with reference to the accompanying drawings and embodiments,
The utility model is described in further detail.It should be appreciated that the specific embodiments described herein are only used to solve
The utility model is released, the protection scope of the utility model is not limited.
" first second third " is only difference class it should be noted that term involved in the utility model embodiment
As object, do not represent the particular sorted for object, it is possible to understand that ground, " first second third " can in the case where permission
To exchange specific sequence or precedence.It should be understood that the object that " Yi Er third " is distinguished in the appropriate case can be with
It exchanges, so that the embodiments of the present invention described herein can be with suitable other than those of illustrating or describing herein
Sequence is implemented.
The term " includes " of the utility model embodiment and " having " and their any deformations, it is intended that covering is not arranged
His includes.Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Referenced herein " multiple " refer to two or more."and/or", the association for describing affiliated partner are closed
System indicates may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, individualism
These three situations of B.Character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Refering to what is shown in Fig. 1, Fig. 1 is the grab bucket control system architecture schematic diagram of one embodiment, comprising: depth transducer
11, opening and closing bucket sensor 12 and control device 13；
The depth transducer 11 and opening and closing bucket sensor 12 are separately positioned on the main drum of grab bucket, the control
The control room of grab boat is arranged in device 13；The control device 13 is separately connected the depth transducer 11 and described opens
Close bucket sensor 12；
The depth transducer 11 is used to measure the decentralization depth of grab bucket, and the decentralization depth is sent to the control and is filled
Set 13；The opening and closing bucket sensor 12 is used to measure the opening and closing dimension information of grab bucket, and the opening and closing dimension information is sent to institute
State control device 13；The control device 13 receives the decentralization depth and opening and closing dimension information, controls the grab bucket.
Above-mentioned depth transducer 11 is high accuracy depth sensor, if precision reaches 0.1 micron of depth transducer, is led to
The decentralization depth of grab bucket can be measured by crossing above-mentioned depth transducer 11 of stating, so that control device 13 can be according to above-mentioned decentralization depth
And the Larger water depths information control grab bucket decentralization in waters where grab bucket.Above-mentioned opening and closing bucket sensor 12 is high-precision opening and closing bucket
Sensor, if precision reaches 0.1 micron of opening and closing bucket sensor, opening and closing bucket sensor 12 can measure grab bucket opening dimension and
It is closed the opening and closing dimension information of the grab buckets such as size, so that control device 13 is accurately obtained the open and-shut mode of grab bucket, according to upper
It states open and-shut mode to carry out controlling grab bucket opening or closure, realizes control of dredging of grabbing bucket.Above-mentioned control device 13 can pass through number
Depth transducer 11 is separately connected according to interface and closes bucket sensor 12, to read depth transducer 11 and opening and closing bucket sensor respectively
The data of 12 measurements, carry out grab bucket control in time, improve grab bucket control efficiency.
Above-mentioned grab bucket control system can measure the decentralization depth of grab bucket by depth transducer 11, and the decentralization is deep
Degree is sent to the control device 13, is used to measure the opening and closing dimension information of grab bucket by opening and closing bucket sensor 12, opens described
It closes dimension information and is sent to the control device 13, make control device 13 according to above-mentioned decentralization depth and opening and closing dimension information to institute
It states grab bucket to be controlled accordingly, such control process improves control precision using the measured data for grab bucket as foundation, has
There is higher precise control.
In one of the embodiments, refering to what is shown in Fig. 2, above-mentioned grab bucket control system, further includes hydraulic pressure sensor
14, the hydraulic pressure sensor 14 is arranged on hydraulic power station pipeline or at the hydraulic oil outlet of hydraulic power station, institute
It states hydraulic pressure sensor 14 and connects the control device 13；
The hydraulic pressure sensor 14 measures the hydraulic data of the hydraulic power station, and the hydraulic data is sent to
Control device 13, the control device 13 control information to disc brake braking mechanism according to hydraulic data output disc brake.
This implementation can carry out disc brake according to the real-time hydraulic data control disc brake braking mechanism measured at hydraulic power station
Operation effectively increases the control precision of disc brake operation.
As one embodiment, control device can be from hydraulic pressure sensor, grab bucket depth transducer, grab bucket opening and closing bucket
Sensor acquires hydraulic system real-time status and grab bucket real-time status, is calculated by comprehensive analysis, and output executes instruction, and manipulates liquid
The Ω clutch of power torque-converters, disc brake braking mechanism, suspension bucket clutch, closes the mutual cooperations such as bucket clutch at brake holding arrestment mechanism
Movement, the decline and opening and closing bucket, realization for controlling grab bucket are accurately dredged.
Above-mentioned grab bucket control system in one of the embodiments, further includes position sensor, and the position sensor is set
It sets in grab bucket, the position sensor connects the control device；
The position sensor obtains the position data of the grab bucket, and the position data is sent to control device；Institute
It states control device and extracts the position data received in the setting period, generate grab bucket motion profile.
The above-mentioned setting period can according to specific position detection demand determine, such as be set as before current time one
A period；Control device can generate the grab bucket motion profile of above-mentioned setting period in this way, believe grab bucket state collected
Breath has carried out perfect.
As one embodiment, above-mentioned grab bucket control system, further includes display device, and the display device connects the control
Device processed；
The display device is for showing the grab bucket motion profile.
The present embodiment can show grab bucket motion profile by display device, so that the grab bucket of associated user's timely learning is being set
The position of timing section carries out effective monitoring to grab bucket.
As one embodiment, the control device generates the digging of grab bucket according to the position data and opening and closing dimension information
The state diagram of dredging is sent to the display device and shown by mud state diagram.
The present embodiment can show the state diagram of dredging of grab bucket by display device, and associated user is made to further appreciate that grab bucket
State of dredging, guarantee the comprehensive of monitoring work.
As one embodiment, control device can pass through grab bucket depth transducer, grab bucket opening and closing bucket sensor and position
The measuring devices such as sensor obtain grab bucket real-time status, are calculated by comprehensive analysis, record every bucket and actually dig deeply, record the bucket tooth
The information such as (x, y, the z) coordinate position of (lip) and dress mud weight, time, and graphic file is generated by the system, display is real-time
It dredges situation.
Above-mentioned grab bucket control system in one of the embodiments, further includes temperature sensor, and the temperature sensor is set
It sets on Ω fluid torque-converter surface, the temperature sensor connects the control device；
The temperature on Ω fluid torque-converter surface described in the temperature sensor measurement, is sent to the control for the temperature
Device.
The safety in operation of above-mentioned control device Ω fluid torque-converter according to the temperature monitoring, in above-mentioned temperature
User is informed by the modes such as prompt or alarm when degree is more than temperature threshold, so that user takes corresponding measure, guarantees grab bucket
Control the safety of work.
As one embodiment, above-mentioned grab bucket control system, further includes alarm, and the alarm connects the control dress
It sets；The alarm signal that the alarm receives the control device output is alarmed；The control device is super in the temperature
Alarm signal is exported when excess temperature threshold value.
Above-mentioned temperature threshold can be arranged by the performance characteristic of Ω fluid torque-converter, for example be set as Ω fluid torque-converter
Accessible peak of surface temperature etc. when normal work.
The present embodiment can export alarm signal when temperature is more than temperature threshold, make alarm equipment alarm, the grab bucket of raising
Safety in control process.
Above-mentioned grab bucket control system in one of the embodiments, further includes speed probe, and the speed probe is set
The output end in Ω fluid torque-converter is set, the speed probe connects the control device；
The speed probe measures the rotary speed information of the main drum, and the rotary speed information is sent to control device；
The control device monitors the operation conditions of the main drum according to the rotary speed information.
It controls transposition and obtains rotary speed information, can identify whether above-mentioned rotary speed information is in revolving speed model corresponding to main drum
It encloses, if rotary speed information is in the corresponding range of speeds, the normal operation of surface main drum；If rotary speed information is not in above-mentioned revolving speed model
It encloses, the operation of surface main drum occurs abnormal.
The depth transducer includes infrared pulse meter in one of the embodiments,.
Decentralization depth of the present embodiment by the measurement grab bucket of infrared pulse meter, accuracy with higher.
The control device reads the extension elongation of steel wire rope of grab bucket in one of the embodiments, according to the stretching
Length verifies the decentralization depth.
The present embodiment can verify the decentralization depth according to the extension elongation, if extension elongation verifying and decentralization depth
Unanimously, show that the decentralization depth that control device obtains is accurate depth data, the grab bucket control carried out based on above-mentioned decentralization depth
Make accuracy with higher.
After control device receives the decentralization depth and opening and closing dimension information in one of the embodiments, it can be generated
Control instruction is transmitted to each device by relevant cables and executes solenoid valve, manipulates the Ω clutch of fluid torque-converter by control instruction
Device, disc brake braking mechanism, suspension bucket clutch, closes the mutual cooperations such as the clutch movement that struggles against at brake holding arrestment mechanism, realizes accurate dig
Mud.Control device can also carry out comprehensive analysis with dimension information is opened and closed to above-mentioned decentralization depth, determine that grab bucket transfers depth (certainly
It is dynamic to seek depth).
Specifically, during actually dredging, control device can be with preset following functional module: parameter input module, uses
In that will grab bucket, decentralization target tidal level, speed command, tidal plane of reference detection parameters and default construction parameter are input to control system；Number
Modeling module is learned, the instruction of input, compensating approach parameter and parameter preset are subjected to mathematical model modeling；Computing module is controlled,
It is compensated and is corrected according to the dynamic of mathematical model real-time perfoming target tracking, bias correction, disturbance；Feedback modifiers module, is based on
Control computing module and monitoring data, Real-time Feedback compensating approach parameter；Execution module, to Ω fluid torque-converter revolving speed, brake holding
Arrestment mechanism, disc brake braking mechanism, suspension bucket clutch, conjunction bucket clutch are controlled；Control device can also read related use
The target instruction target words such as target elevation, speed command are transferred in the grab bucket of family input, are passed according to target instruction target word, depth transducer and opening and closing bucket
The control algolithm that the measured data and preset module of the sensor feedbacks such as sensor include is implemented real-time target to grab bucket and is tracked, partially
Difference is corrected, the dynamic of all kinds of disturbances compensates and a series of process control activities such as amendment, speed adjusting, terminal braking brake, is made
Grab bucket quickly, it is accurate, smoothly reach predetermined dredging operation position.The control process of above-mentioned grab bucket can be with reference to shown in Fig. 3.
In the practical control process of grab bucket, control device can also use real-time digital landform fitting algorithm, according to applying
The discrete bathymetric data in work area, real-time fitting calculate mud face elevation below the subpoint of any bucket position, and grab bucket current location is extremely dug
Decentralization stroke between pick point, automatic seeking are deep；By dynamic regulation disc brake brake pressure, accurately control grab bucket close bucket excavation phase its
Sedimentation deformation amount scabbles and is shallowly put soil layer by mining clay caused by grab bucket geometry, to make full use of grab bucket opening scale,
Reach the shallow point excavated area of the nothing within the scope of precision index to maximize.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of grab bucket control system characterized by comprising depth transducer, opening and closing bucket sensor and control device；
The depth transducer and opening and closing bucket sensor are separately positioned on the main drum of grab bucket, the control device setting
In the control room of grab boat；The control device is separately connected the depth transducer and opening and closing bucket sensor；
The depth transducer is used to measure the decentralization depth of grab bucket, and the decentralization depth is sent to the control device；Institute
The opening and closing dimension information that opening and closing bucket sensor is used to measure grab bucket is stated, the opening and closing dimension information is sent to the control and is filled
It sets；The control device receives the decentralization depth and opening and closing dimension information, controls the grab bucket.
2. grab bucket control system according to claim 1, which is characterized in that it further include hydraulic pressure sensor, the liquid
Pressure pressure sensor is arranged on hydraulic power station pipeline, and the hydraulic pressure sensor connects the control device；
The hydraulic pressure sensor measures the hydraulic data of the hydraulic power station, and the hydraulic data is sent to control dress
It sets, the control device controls information to disc brake braking mechanism according to hydraulic data output disc brake.
3. grab bucket control system according to claim 1, which is characterized in that further include position sensor, the position passes
Sensor is arranged in grab bucket, and the position sensor connects the control device；
The position sensor obtains the position data of the grab bucket, and the position data is sent to control device；The control
Device processed extracts the position data received in the setting period, generates grab bucket motion profile.
4. grab bucket control system according to claim 3, which is characterized in that it further include display device, the display device
Connect the control device；
The display device is for showing the grab bucket motion profile.
5. grab bucket control system according to claim 4, which is characterized in that the control device is according to the position data
The state diagram of dredging that grab bucket is generated with opening and closing dimension information, is sent to the display device for the state diagram of dredging and shows
Show.
6. grab bucket control system according to any one of claims 1 to 5, which is characterized in that it further include temperature sensor, institute
Temperature sensor setting is stated on Ω fluid torque-converter surface, the temperature sensor connects the control device；
The temperature is sent to the control and filled by the temperature on Ω fluid torque-converter surface described in the temperature sensor measurement
It sets.
7. grab bucket control system according to claim 6, which is characterized in that it further include alarm, the alarm connection
The control device；The alarm signal that the alarm receives the control device output is alarmed；The control device exists
The temperature exports alarm signal when being more than temperature threshold.
8. grab bucket control system according to any one of claims 1 to 5, which is characterized in that it further include speed probe, institute
The output end that Ω fluid torque-converter is arranged in speed probe is stated, the speed probe connects the control device；
The speed probe measures the rotary speed information of the main drum, and the rotary speed information is sent to control device；It is described
Control device monitors the operation conditions of the main drum according to the rotary speed information.
9. grab bucket control system according to any one of claims 1 to 5, which is characterized in that the depth transducer includes
Infrared pulse meter.
10. grab bucket control system according to any one of claims 1 to 5, which is characterized in that the control device reading is grabbed
The extension elongation of bucket wirerope verifies the decentralization depth according to the extension elongation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821897326.9U CN209353394U (en) | 2018-11-16 | 2018-11-16 | Grab bucket control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821897326.9U CN209353394U (en) | 2018-11-16 | 2018-11-16 | Grab bucket control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209353394U true CN209353394U (en) | 2019-09-06 |
Family
ID=67783643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821897326.9U Active CN209353394U (en) | 2018-11-16 | 2018-11-16 | Grab bucket control system |
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| Country | Link |
|---|---|
| CN (1) | CN209353394U (en) |
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2018
- 2018-11-16 CN CN201821897326.9U patent/CN209353394U/en active Active
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