CN211446515U - Anti-collision device and milling machine - Google Patents
Anti-collision device and milling machine Download PDFInfo
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- CN211446515U CN211446515U CN201922059455.1U CN201922059455U CN211446515U CN 211446515 U CN211446515 U CN 211446515U CN 201922059455 U CN201922059455 U CN 201922059455U CN 211446515 U CN211446515 U CN 211446515U
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Abstract
The utility model relates to an engineering machine tool technical field specifically provides an buffer stop, milling machine. The buffer stop is suitable for preventing milling machine and stack pallet from colliding, and it includes: the first sensor is arranged on a material conveying device of the milling machine; the second sensor is arranged on the milling machine; the first sensor is suitable for detecting a first distance between the feeding device and the feeding car in the horizontal direction, and the second sensor is suitable for detecting an inclination angle of the feeding device relative to the horizontal direction. The utility model discloses can effectively prevent milling machine's feeding device collides with the stack pallet to improve the degree of safety of milling operation, avoid because of the loss that feeding device and stack pallet collided and caused.
Description
Technical Field
The utility model relates to an engineering machine tool technical field, particularly, the utility model relates to an buffer stop, milling machine.
Background
The milling machine is used as an engineering machine and is used for maintaining a road surface. The road milling machine is one of the main machines of the asphalt pavement maintenance construction machinery, one of the main devices of the asphalt concrete pavement maintenance construction, is mainly used for excavating and renovating asphalt concrete surface courses of highways, town roads, airports, goods yards and the like, can also be used for removing the defects of pavement upheaval, oil wave, reticulate patterns, ruts and the like, can also be used for excavating pavement pit slots and grooves, roughening of cement pavements and milling and flattening of staggered platforms of the surface courses.
The milling machine consists of engine, frame, milling rotor, milling depth regulator, hydraulic element, aggregate conveyer, steering system, braking system, etc.
Milling machines are usually used in conjunction with feed carriages, which operate on the road surface and transport the waste material obtained during milling to the feed carriages, which transport the waste material away.
Therefore, the milling machine needs to be kept at a proper distance from the feeding car during operation to avoid collision of the milling machine with the feeding car.
SUMMERY OF THE UTILITY MODEL
The present invention aims to solve at least one of the above technical problems.
Therefore, the first objective of the present invention is to provide an anti-collision device.
A second object of the present invention is to provide a milling machine.
For realizing the utility model discloses a first purpose, the embodiment of the utility model provides an anti-collision device is suitable for and prevents that milling machine and stack pallet from colliding, include: the first sensor is arranged on a material conveying device of the milling machine; the second sensor is arranged on the milling machine; the control device is respectively connected with the first sensor and the second sensor; the first sensor is suitable for detecting a first distance between the position of the first sensor and the feeding car in the horizontal direction, and the second sensor is suitable for detecting a feeding angle of the feeding device relative to the horizontal direction.
Among the above-mentioned technical scheme, through mutually supporting of first sensor and second sensor, can obtain the liftoff height of feeding device in the longitudinal direction with the corresponding position department of stack pallet, combine the height parameter of known and fixed stack pallet, then can know whether there is the collision risk between milling machine and the stack pallet. Therefore, the technical scheme can improve the safety degree of milling operation and avoid the loss caused by collision of the material conveying device and the feeding car.
Additionally, the utility model discloses the buffer stop that above-mentioned embodiment provided can also have following additional technical characterstic:
in the above technical solution, further comprising: and the third sensor is suitable for detecting the milling depth of the milling machine and is connected with the control device.
In milling operations, the height of the articulated position of the feed conveyor from the ground is influenced by the dimensional parameters of the milling machine itself and the milling depth. This height is promptly the embodiment of the utility model provides a second height, the second height is the vertical distance of bottom surface under second sensor and the milling machine plus the total of milling the degree of depth. Wherein, the milling depth is measured in real time by the third sensor. Therefore, according to the technical scheme, through the arrangement of the third sensor, the judgment error of the second height caused by the change of the milling depth can be eliminated, the accuracy degree of the anti-collision device is improved, and the collision between the milling machine and the feed car is further effectively avoided.
In any one of the above technical solutions, the milling machine includes an oil cylinder, and the third sensor is disposed on the oil cylinder.
By arranging the third sensor on the oil cylinder of the milling machine, the milling depth of the milling machine can be accurately reflected according to the change of the oil cylinder, so that the judgment error caused by the change of the milling depth is further eliminated.
Among the above-mentioned any technical scheme, including a plurality of first sensors, a plurality of first sensors set up along the direction of height of feeding device interval from top to bottom, and controlling means is connected with a plurality of first sensors.
The control device analyzes the height of the cargo box of the feeding car according to the position information of the first sensors and the input signals of the first sensors. The height specifications of the existing container are only limited, so that the feed carriage can be judged to belong to which specification through the return data of a plurality of sensors along the height direction, and the accuracy of control is improved.
In any of the above technical schemes, the device comprises a laser scanning sensor, the laser scanning sensor is arranged on the material conveying device, and the laser scanning sensor is connected with the control device.
The control device is used for analyzing the height of the cargo box of the feeding car according to the position information of the laser scanning sensor and the input signal of the laser scanning sensor. The height specifications of the existing container are only limited, so that the feed carriage can be judged to belong to which specification through the return data of a plurality of sensors along the height direction, and the accuracy of control is improved.
In any one of the above technical solutions, the fourth sensor is adapted to detect a traveling speed of the milling machine.
The advancing speed of the milling machine can be obtained through the fourth sensor, and further, when the material conveying device collides with the feeding car is accurately judged according to the current operation state of the milling machine. Since the fourth sensor is connected to the motor of the milling machine. The fourth sensor can thus measure the number of revolutions of the motor and accurately determine the travel speed of the milling machine from the number of revolutions of the motor.
Among any one of the above-mentioned technical scheme, buffer stop still includes: and the fifth sensor is suitable for detecting the inclination angle of the milling machine.
When the milling machine is tilted during the milling operation, the second height is influenced by the dimensional parameters of the milling machine itself and the tilt angle of the milling machine. Therefore, in the embodiment, through the arrangement of the fifth sensor, the judgment error of the milling machine on the second height caused by inclination can be eliminated, and the accuracy of the anti-collision device is improved.
In any of the above technical solutions, the first sensor is a millimeter wave radar sensor or an ultrasonic sensor.
The millimeter wave radar sensor or the ultrasonic sensor accurately detects any one of the first distance between the material conveying device and the feeding car in the horizontal direction or the relative speed between the milling machine and the feeding car so as to judge the collision risk.
Among any one of the above-mentioned technical scheme, buffer stop still includes: and the sixth sensor is arranged on the feeding trolley and is suitable for detecting the height of the feeding trolley.
The sixth sensor is used for measuring the height of the feeding car, so that the vertical distance between the feeding device of the milling machine and the feeding car can be further accurately judged, and the reliability and the accuracy of the anti-collision device are effectively improved.
After the control device obtains the detection results of the first sensor and the second sensor, the collision risk can be judged, at least one of the conveying angle and the advancing speed of the milling machine can be adjusted, or the warning modules such as a loudspeaker of the milling machine and the like are controlled to give a warning to a driver, so that the purpose of avoiding collision is achieved.
Among any one of the above-mentioned technical scheme, buffer stop still includes: and the control device is respectively connected with the first sensor and the second sensor so as to receive input signals of the first sensor and the second sensor and control the milling machine.
Therefore, the control device can control the milling machine to perform one or more actions of adjusting the material conveying angle of the material conveying device, changing the running speed of the milling machine and alarming the feeding car according to the known size of the material conveying device, the positions of the first sensor and the second sensor on the material conveying device and input signals of the first sensor and the second sensor.
For realizing the utility model discloses a second purpose, the embodiment of the utility model provides a milling machine is suitable for and mutually supports with the stack pallet to mill the operation of milling, include: a milling machine body; the material conveying device is connected with the milling machine body and is suitable for conveying materials to the feeding car; if the utility model discloses buffer stop of any embodiment is suitable for and prevents that feeding device and stack pallet from colliding, and controlling means is integrated to be set up in milling machine's driver's cabin.
The embodiment of the utility model provides a milling machine includes the utility model discloses the buffer stop of any embodiment, it has consequently the utility model discloses buffer stop's of any embodiment whole beneficial effect is no longer repeated here.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic view of a first construction of a milling machine according to some embodiments of the present invention;
fig. 2 is a second schematic illustration of a milling machine according to some embodiments of the present invention;
fig. 3 is a first schematic composition of a bump guard according to some embodiments of the present invention;
fig. 4 is a second schematic component view of a bump guard according to some embodiments of the present invention;
fig. 5 is a schematic view of a first step of a milling machine control method according to some embodiments of the present disclosure;
fig. 6 is a schematic diagram of a second step of a milling machine control method according to some embodiments of the present disclosure;
fig. 7 is a schematic view of a milling machine according to some embodiments of the present invention in a first elevation;
fig. 8 is a schematic view of a milling machine according to some embodiments of the present invention in a second height position.
Wherein, the corresponding relation between the reference signs and the component names is as follows:
10: milling machine, 20: feed carriage, 30: anti-collision device, 12: milling machine body, 14: feeding device, 16: feeding device connecting portion, 122: motor, 124: cylinder, 302: first sensor, 304: second sensor, 306: third sensor, 308: fourth sensor, 310: fifth sensor, 312: control device, 314: sixth sensor, L1: first distance, L2: second distance, H1: first height, H2Second height α inclination angle.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Technical solutions of some embodiments of the present invention are described below with reference to the accompanying drawings.
As shown in fig. 1 to 3, an embodiment of the present invention provides a collision avoidance device 30. The bump guard 30 is adapted to prevent the milling machine 10 from colliding with the feed carriage 20.
The milling machine 10 is a vehicle device suitable for maintaining and repairing a road surface, and is used for excavating and repairing the road surface of places such as an expressway, a town road, an airport runway, a port and dock, a parking lot and the like, eliminating the defects of upheaval, oil waves, pits, ruts, cracks and the like of the road surface, and milling and leveling the napping and surface staggered platform of a cement road surface. In which the milling machine 10 delivers the waste material obtained in the milling operation to the feed carriage 20, which feed carriage 20 carries the waste material away.
The milling machine 10 is operated by a driver in the cab, who operates the milling machine 10 to advance and mill while simultaneously considering the feeding operation of the milling machine 10 to ensure accurate delivery of material into the feed car 20. In the related art, the milling machine 10 often collides with the feed carriage 20 due to driver negligence, sight obstruction, judgment error, and the like. Collisions of milling machine 10 with feed carriage 20 may not only cause material to be thrown, but may also result in safety hazards.
As shown in fig. 1 to 3, to avoid collision of milling machine 10 with feed carriage 20 and improve the operation safety of milling machine 10, the present invention provides an anti-collision device 30 adapted to prevent collision of milling machine 10 with feed carriage 20, which includes: first sensor 302, second sensorTwo sensors 304 and a control device 312. The first sensor 302 is located on the feeding device 14 of the milling machine 10. The second sensor 304 is provided on the milling machine 10. Wherein the first sensor 302 is adapted to detect a first distance L in a horizontal direction from the feed carriage 20 at which the first sensor 302 is located1The second sensor 304 is adapted to detect the feeding angle α of the feeding device 14 relative to the horizontal.
In addition, the present embodiment may further include a control device 312, wherein the control device 312 is connected to the first sensor 302 and the second sensor 304 respectively; the control device 312 controls the milling machine 10 to perform one or more of adjusting the feed angle of the feed conveyor 14, changing the travel speed of the milling machine 10, and alerting the hopper car 20 based on the known dimensions of the feed conveyor 14, the position of the first and second sensors 302, 304 on the feed conveyor 14, and the input signals from the first and second sensors 302, 304.
The milling machine 10 includes a milling machine body 12 and a feed conveyor 14. The milling machine body 12 is adapted to perform milling operations, and the material delivery device 14 is connected to the milling machine body 12 and adapted to deliver material to the feed carriage 20.
As shown in fig. 2, the first sensor 302 is disposed on the feeding device 14 of the milling machine 10 and is adapted to detect a first distance L between the feeding device 14 and the carriage 20 in the horizontal direction1A second sensor 304 is provided on the milling machine 10 and is adapted to detect the angle α at which the conveyor 14 is inclined relative to the horizontal.
In some embodiments of this implementation, the first sensor 302 is a millimeter wave radar sensor or an ultrasonic sensor.
Through the mutually supporting of first sensor 302 and second sensor 304, the embodiment of the utility model discloses a can obtain the relative distance of feeding device 14 and pay-off car 20 in longitudinal direction to this judges whether there is the risk of colliding with each other feeding device 14 and pay-off car 20, thereby adjusts milling machine 10 in time, avoids milling machine 10 and pay-off car 20 to collide with each other from this.
For example, to avoid collision between the milling machine 10 and the feeding car 20, as shown in fig. 2, the feeding device 14 is inclined from one end of the milling machine body 12 to the direction of the feeding car 20The ground is extended out. The first sensor 302 is disposed at a lower end of the middle portion of the feeding device 14 and adapted to detect a first distance L between the feeding device 14 and the carriage 20 in a horizontal direction1The feeder 14 is connected to the planer body 12 by a feeder connection 16. the feeder 14 is rotatable about the feeder connection 16 to adjust its tilt angle.a second sensor 304 is provided on the feeder 14 adjacent the feeder connection 16 and adapted to detect the tilt angle α of the feeder 14 relative to horizontal.
Wherein the vertical distance between the first sensor 302 and the second sensor 304 is the second distance L2Since the linear distance between the first sensor 302 and the second sensor 304 is related to the size of the milling machine 10 itself and the linear distance between the first sensor 302 and the second sensor 304 is known and fixed, the vertical distance between the first sensor 302 and the second sensor 304 is known after the inclination angle α of the conveyor 14 relative to the horizontal is obtained by the second sensor 304, i.e., the second distance L is obtained2Length of (d).
The height of the second sensor 304 from the ground is a second height H2. Second height H2Is the vertical distance between the second sensor 304 and the road surface, and the second height H2Is influenced by the dimensional parameters of the milling machine 10 itself and are known because the model of the milling machine 10 is fixed.
Thus, according to the measurement results of the first sensor 302 and the second sensor 304, the embodiment of the present invention can obtain the height of the feeding device 14 at the position corresponding to the feeding carriage 20 in the longitudinal direction, i.e. the first height H1. According to a first height H1In combination with the known and fixed height parameters of the feed carriage 20, it is possible to know whether there is a risk of collision between the milling machine 10 and the feed carriage 20, and where they may collide. For example, when the first height H1The approach to the height of the carriage 20 indicates that the feeding unit 14 collides with the carriage 20.
First height H1Obtained by the following formula:
H1＝[tanα*(L1+L2)]+H2；
wherein the inclination angle α is obtained by the second sensor 304, the first distance L1Obtained by the first sensor 302; second distance L2Can be obtained according to the dimensional parameters of the milling machine 10 itself in combination with the inclination angle α, and the second height H2May be obtained according to the dimensional parameters of known milling machines 10 themselves.
Therefore, the embodiment of the present invention can obtain the first height H1According to a first height H1The height of the feed carriage 20 is combined to know whether there is a risk of collision between the milling machine 10 and the feed carriage 20.
Example 1
As shown in fig. 2 and 4, the present embodiment further includes the following technical features in addition to the technical features of the above-described embodiment.
The collision prevention device 30 includes: a third sensor 306. The third sensor 306 is adapted to detect the milling depth of the milling machine 10. The milling machine 10 includes an oil cylinder 124, and the third sensor 306 is disposed on the oil cylinder 124.
In the present exemplary embodiment, the milling depth of the milling machine 10 can be detected accurately by the third sensor 306 mounted on the cylinder 124, thereby increasing the accuracy of the collision protection device 30.
Specifically, the second height H of the present embodiment2Is the vertical distance of the second sensor 304 from the road surface after milling. Namely: second height H2Are influenced by the dimensional parameters of the milling machine 10 itself and the milling depth. Second height H of the present embodiment2Which is the sum of the vertical distance of the second sensor 304 from the lower floor of the milling machine 10 plus the milling depth. Wherein the milling depth is measured in real time by the third sensor 306.
Therefore, in this embodiment, through the arrangement of the third sensor 306, the determination error caused by the change of the milling depth can be eliminated, so as to improve the accuracy of the anti-collision device 30, and further effectively avoid the collision between the milling machine 10 and the feed carriage 20.
Example 2
As shown in fig. 4, the present embodiment further includes the following technical features in addition to the technical features of the above-described embodiment.
The collision prevention device 30 includes: a fifth sensor 310. Fifth sensor 310 is adapted to detect the angle of inclination of milling machine 10.
The fifth sensor 310 is provided on the milling machine 10, and measures the inclination angle of the milling machine 10 during the milling work in real time. The effect is to further improve the accuracy of the bump guard 30.
Specifically, when the milling machine 10 is tilted during the milling operation, the tilt direction and the tilt angle are adjusted to the second height H2An influence is produced. Namely: when the milling machine 10 is tilted during milling operation, the second height H2Is influenced by the dimensional parameters of the milling machine 10 itself and the angle of inclination of the milling machine 10. Thus, in the present embodiment, the fifth sensor 310 is provided to eliminate the determination error of the milling machine 10 due to the inclination, thereby improving the accuracy of the anti-collision device 30. Among other things, the fifth sensor 310 may be an angle sensor that directly measures the inclination angle of the milling machine 10. The fifth sensor 310 may also be a distance sensor that determines the inclination angle of the milling machine 10 during the milling operation by measuring the difference in the lengths of the front and rear cylinders of the milling machine 10.
Example 3
As shown in fig. 4, the present embodiment further includes the following technical features in addition to the technical features of the above-described embodiment.
The collision prevention device 30 includes: a third sensor 306 and a fifth sensor 310. The third sensor 306 is adapted to detect the milling depth of the milling machine 10. Fifth sensor 310 is adapted to detect the angle of inclination of milling machine 10.
Specifically, the second height H2Is influenced by the dimensional parameters of the milling machine 10 itself, the milling depth and the inclination angle of the milling machine 10. Thus, in the present embodiment, the common arrangement of the third sensor 306 and the fifth sensor 310 can eliminate the determination error of the milling machine 10 due to the inclination and the determination error due to the change of the milling depthThis further improves the accuracy of the bump guard 30.
Example 4
In addition to the technical features of the above-described embodiment, the present embodiment further includes the following technical features.
That is, the first sensor 302 is adapted to detect both distance and velocity. Thereby, the first sensor 302 is aligned with the first distance between the feeding device 14 and the feeding carriage 20 in the horizontal direction1A check is made as to the relative speed of the milling machine 10 and the feed carriage 20.
In this embodiment, based on the relative speeds of the milling machine 10 and the feed carriage 20, it is possible to further know when the feeding device 14 will collide with the feed carriage 20 based on the risk of collision between the feeding device 14 and the feed carriage 20. Therefore, in the embodiment, the operation parameters of the milling machine 10 can be further accurately adjusted, and the collision risk can be effectively avoided by adjusting the inclination angle of the milling machine 10 in time or accelerating the traveling speed of the milling machine 10.
Example 5
As shown in fig. 2 and 4, the present embodiment further includes the following technical features in addition to the technical features of the above-described embodiment.
The collision prevention device 30 includes: a fourth sensor 308. The fourth sensor 308 is adapted to detect the travel speed of the milling machine 10. The milling machine 10 includes a motor 122, and the fourth sensor 308 is connected to the motor 122.
The travel speed of the milling machine 10 can be obtained in real time through the arrangement of the fourth sensor 308, so that the milling machine 10 can be accurately controlled.
Example 6
As shown in fig. 2 and 4, the present embodiment further includes the following technical features in addition to the technical features of the above-described embodiment.
The bump guard 30 includes a fourth sensor 308. The fourth sensor 308 is adapted to detect the travel speed of the milling machine 10. The milling machine 10 includes a motor 122, and the fourth sensor 308 is connected to the motor 122. And the first sensor 302 is also adapted to detect the relative speed of the milling machine 10 and the feeder carriage 20.
As a result, the collision protection device 30 can obtain both the travel speed of the milling machine 10 and the relative speed of the milling machine 10 and the feed carriage 20. Therefore, the present embodiment can further know whether the milling machine 10 needs to be adjusted and what degree of adjustment should be performed based on when the material conveying device 14 and the feed carriage 20 will collide with each other, so as to accurately control the milling machine 10, i.e., to avoid the collision between the material conveying device 14 of the milling machine 10 and the feed carriage 20, and to avoid the problem of inaccurate material throwing or material throwing caused by the excessive distance between the two.
Example 7
In addition to the technical features of the above-described embodiment, the present embodiment further includes the following technical features.
The collision avoidance device 30 further includes: a sixth sensor 314. The sixth sensor 314 is disposed on the feeding carriage 20 and adapted to detect the height of the feeding carriage 20.
The sixth sensor is used for measuring the height of the feeding car, so that the vertical distance between the feeding device of the milling machine and the feeding car can be further accurately judged, and the reliability and the accuracy of the anti-collision device are effectively improved.
Example 8
As shown in fig. 4, the present embodiment further includes the following technical features in addition to the technical features of the above-described embodiment.
The control device 312 is disposed on the milling machine 10 and is adapted to adjust at least one of a feeding angle or a traveling speed of the milling machine 10 according to an operating parameter of the milling machine 10. Wherein the operating parameter comprises a first distance L1And an angle of inclination α.
Wherein the first distance L1Sensed by the first sensor 302. Tilt Angle α is sensed by the second sensor 304. first sensor 302 andthe second sensor 304 is electrically or communicatively coupled to the control device 312, respectively, to transmit the detection result to the control device 312. After obtaining the detection results of the first sensor 302 and the second sensor 304, the control device 312 controls the first height H1Is calculated. Wherein the control device 312 obtains the first height H1According to a first height H1In combination with the known and fixed height parameters of feed carriage 20, it is determined whether there is a risk of collision between milling machine 10 and feed carriage 20, and where they may collide. Furthermore, the control device 312 adjusts at least one of the feeding angle and the traveling speed of the milling machine 10, or controls an alarm module such as a horn of the milling machine 10 to give a warning to the driver, thereby achieving the purpose of avoiding collision.
If the collision is about to occur due to the low speed of the feeding car 20, the control device 312 adjusts the conveying angle and reduces the advancing speed, and reminds the car driver to advance; if the feeding car 20 is fast and is about to exceed the feeding range, the control device 312 adjusts the feeding angle and increases the advancing speed, and reminds the car driver to decelerate; if the collision risk occurs when the feeding car 20 retreats, the control device 312 adjusts the feeding angle and sounds a horn to remind the car driver to stop.
It should be noted that, for the fixed parameters, the present embodiment may input them into the control device 312 for direct use. For example, the types of the conventional feeding carriages 20 are two to three, and the heights of the various conventional feeding carriages 20 are fixed, so that the height of the conventional feeding carriage 20 can be input into the control device 312 as a fixed parameter for use, and the height of the feeding carriage 20 recorded in the control device 312 can be selected or modified.
Example 9
As shown in fig. 1-4, the present embodiment provides a milling machine 10. Milling machine 10 is adapted to interact with a feed carriage 20 for milling operations. The milling machine 10 includes a milling machine body 12 and a feed conveyor 14. The feed conveyor 14 is connected to the milling machine body 12 and is adapted to feed material to the feed carriage 20. Milling machine 10 also includes buffer stop 30 of any embodiment of the present invention. The bump guard 30 is adapted to prevent the feeding device 14 from colliding with the feed carriage 20.
Example 10
As shown in fig. 5, the present embodiment provides a milling machine control method adapted to prevent a collision of the milling machine 10 with the feed carriage 20, which includes the steps of:
s102, detecting a first distance L between a material conveying device 14 of the milling machine 10 and a feeding car 20 in the horizontal direction1；
S104, detecting the inclination angle alpha of the material conveying device 14 relative to the horizontal direction;
s106. according to the first distance L1And an inclination angle α that adjusts at least one of a feed angle of milling machine 10 or a relative speed of milling machine 10 and feed carriage 20.
According to the height above the ground of the position, corresponding to the feed carriage, of the material conveying device in the longitudinal direction, the height parameter of the known and fixed feed carriage is combined, and then whether the collision risk exists between the milling machine and the feed carriage can be known. Therefore, the technical scheme can improve the safety degree of milling operation and avoid the loss caused by collision of the material conveying device and the feeding car.
As shown in FIG. 6, in some embodiments of the present embodiment, the first distance L is a function of1And an inclination angle α, the step of adjusting at least one of a feed angle of the milling machine 10 or a relative speed of the milling machine 10 and the feed carriage 20 comprising:
s202, determining a first distance L from the first position1Corresponding distance threshold value LThreshold(s)And an angle threshold α corresponding to the angle of inclination αThreshold(s)；
S204, dividing the first distance L1And a distance threshold value LThreshold(s)Make a magnitude comparison and compare the lean angle α to an angle threshold αThreshold(s)Comparing the sizes;
and S206, adjusting at least one of the material conveying angle of the milling machine 10 or the relative speed of the milling machine 10 and the feed carriage 20 according to the comparison result.
The first distance is compared with the distance threshold value, the inclination angle is compared with the angle threshold value, the specific adjusting mode of the milling machine and/or the feeding car is determined according to the comparison result, and the accuracy and the efficiency of judgment and adjustment can be improved.
In some embodiments of the present disclosure, adjusting at least one of a feed angle of the milling machine 10 or a relative speed of the milling machine 10 and the feed carriage 20 according to the comparison includes: determine the first distance L1Less than a distance threshold LThreshold(s)And the lean angle α is less than the angle threshold αThreshold(s)Increasing the feeding angle; or determining the first distance L1Less than a distance threshold LThreshold(s)And the lean angle α is greater than or equal to the angle threshold αThreshold(s)Reducing the relative speed; or determining the first distance L1Greater than or equal to a distance threshold LThreshold(s)And the lean angle α is less than the angle threshold αThreshold(s)Reducing the conveying angle; or determining the first distance L1Greater than or equal to a distance threshold LThreshold(s)And the lean angle α is greater than or equal to the angle threshold αThreshold(s)The relative speed is increased.
Example 11
The present embodiment provides a collision avoidance device 30, and in addition to the technical features of the above-described embodiments, the present embodiment further includes the following technical features.
The anti-collision device 30 comprises a plurality of first sensors 302, the plurality of first sensors 302 are arranged at intervals up and down along the height direction of the material conveying device 14, the control device 312 is connected with the plurality of first sensors 302, and the control device 312 analyzes the height of the cargo box of the feeding cart 20 according to the position information of the plurality of first sensors 302 and the input signals of the plurality of first sensors 302; or comprises a laser scanning sensor which is arranged on the material conveying device 14 and is connected with the control device 312, and the control device 312 is used for analyzing the height of the cargo box of the feeding car 20 according to the position information of the laser scanning sensor and the input signal of the laser scanning sensor.
For example, as shown in fig. 7 and 8, the present embodiment jointly implements the detection or measurement of the height of the cargo box by the plurality of first sensors 302. For example, four first sensors 302 are provided on the feeding device 14. As shown in fig. 7, when the feeding device 14 is at the first height, the lower two first sensors 302 can receive the reflected waves from the carriage 20. The upper two first sensors 302 do not receive reflected waves from the feed carriage 20. As shown in fig. 8, when the feeding device 14 is at the second height, three first sensors 302 can receive the reflected wave from the feeding carriage 20. The uppermost one of the first sensors 302 does not receive the reflected wave from the feed carriage 20. Thus, the height of the cargo box of the feeding cart can be analyzed according to the signals collected by the plurality of first sensors 302.
Example 12
The present embodiment provides a milling machine control method adapted to prevent a collision of milling machine 10 with feed carriage 20, including:
step 10: acquiring the height of the cargo box of the feed carriage 20, the feeding angle of the feeding device 14 of the milling machine 10, the milling depth of the milling machine 10, the known dimensions of the feeding device 14, and the horizontal distance between any position of the milling machine 10 and the cargo box of the feed carriage 20;
step 20: analyzing the acquired information in the step 10 to obtain the minimum distance between the material conveying device 14 of the milling machine 10 and the container of the feeding car 20;
step 30: one or more of adjusting the feed angle of the feed conveyor 14, changing the travel speed of the milling machine 10, and alerting the hopper car 20 may be performed based on a comparison analysis of the minimum distance between the feed conveyor 14 and the cargo box of the hopper car 20 to a distance threshold.
Optionally, step 30 includes: if the minimum distance between the material conveying device 14 and the container of the feeding car 20 is smaller than or equal to the first distance threshold value, executing one or more actions of increasing the material conveying angle of the material conveying device 14, reducing the advancing speed of the milling machine and reminding the feeding car 20 of increasing the advancing speed; if the minimum distance between the feeding device 14 and the cargo box of the feeding cart 20 is greater than or equal to the second distance threshold, one or more of reducing the feeding angle of the feeding device 14, increasing the traveling speed of the milling machine, and reminding the feeding cart 20 of reducing the traveling speed are performed.
Further optionally, in step 10, the height of the cargo box of the feeding cart 20 is obtained by a distance sensor or a laser scanning sensor arranged at an interval up and down along the height direction.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
As shown in fig. 1 and 2, the present embodiment provides a bump guard 30 and a milling machine 10. The milling machine 10 has the main function of milling out damaged road surfaces and conveying the waste material to the feed carriage 20 for transport.
In the construction process of the milling machine in the related technology, the material conveying device is often collided with the feed carriage due to reasons such as misoperation and the like, and further the mechanisms such as the lock pin, the oil cylinder and the like are damaged. It should be noted that, during the construction of the milling machine, each position of the feeding device may collide with the feeding car, and the collision point depends on the height of the feeding car and the angle of the feeding device. Therefore, it is difficult to determine which position of the feeding device will collide with the feeding carriage in the related art. In addition, since the total length of the material conveying device can reach 8 meters or more than 8 meters, and the collision point where collision may occur is unknown, the conventional distance measuring device in the related art cannot accurately predict the collision risk and the collision point. And arrange a plurality of range units, then increased manufacturing cost, also can improve measuring error, reduce the accurate degree just of collision risk suggestion.
In view of the limitations of the related art, the present embodiment determines where and when the material conveying device 14 of the milling machine 10 collides with the material feeding cart 20 through the arrangement of the collision prevention device 30.
Specifically, as shown in fig. 3, the anti-collision device 30 provided in the embodiment is provided on the milling machine 10. It includes: a first sensor 302 and a second sensor 304. The first sensor 302 is disposed on the feeding device 14 of the milling machine 10 and is adapted to detect a first distance L between the feeding device 14 and the carriage 20 in the horizontal direction1The first sensor 302 is a millimeter wave radar sensor and the second sensor 304 is provided on the feeder 14. in particular, the second sensor 304 is provided near the feeder attachment portion 16 of the milling machine 10 and is adapted to detect the inclination α of the feeder 14 relative to the horizontal.
The control device 312 is connected with the first sensor 302 and the second sensor 304 respectively; the control device 312 controls the milling machine 10 to perform one or more of adjusting the feed angle of the feed conveyor 14, changing the travel speed of the milling machine 10, and alerting the hopper car 20 based on the known dimensions of the feed conveyor 14, the position of the first and second sensors 302, 304 on the feed conveyor 14, and the input signals from the first and second sensors 302, 304.
Thus, based on the measurement results of the first sensor 302 and the second sensor 304, in addition to the structural parameters of the milling machine 10, it can be determined whether the feed conveyor 14 of the milling machine 10 is at risk of colliding with the feed carriage 20.
As shown in fig. 4, in some embodiments of the present embodiment, the anti-collision device 30 further includes a third sensor 306 and a fifth sensor 310. A third sensor 306 is disposed on the cylinder 124 of the milling machine 10 and is adapted to detect the milling depth of the milling machine 10. Specifically, the third sensor 306 is mounted on cylinders in front of and behind the side skids of the milling machine 10, which can measure and obtain the distance of the milling machine 10 to descend from the road surface. Thirdly, the milling depth of the milling machine 10 can be known according to the length difference of the front and rear cylinders. Finally, plus the size of the body of the milling machine 10, a more precise second height H can be obtained by the third sensor 3062. A fifth sensor 310 is provided on the milling machine 10 and is adapted to detect the inclination angle of the milling machine 10. Through the arrangement of the third sensor 306, the judgment error caused by the change of the milling depth can be eliminated. Through the arrangement of the fifth sensor 310, the judgment error caused by the inclination of the milling machine 10 can be eliminated. Thus, the accuracy of the anti-collision device 30 can be further improved by the provision of at least one of the third sensor 306 and the fifth sensor 310.
Based on the measurement results of the first sensor 302 and the second sensor 304, the present embodiment can obtain the height from the ground, i.e., the first height H, of the conveyor 14 at the position corresponding to the carriage 20 in the longitudinal direction1. According to a first height H1In combination with the known and fixed height parameters of the feed carriage 20, it is possible to know whether there is a risk of collision between the milling machine 10 and the feed carriage 20, and where they may collide.
In some embodiments of this embodiment, the first sensor 302 is at a first distance L1On the basis of detection, the milling machine 1 is also subjected toThe relative speed of 0 and the feed carriage 20 is detected.
As shown in fig. 4, in some embodiments of the present embodiment, the anti-collision device 30 further includes a fourth sensor 308 and a sixth sensor 314. The fourth sensor 308 is connected to the motor 122 of the milling machine 10 and is adapted to detect the travel speed of the milling machine 10. The sixth sensor 314 is disposed on the feeding carriage 20 and adapted to detect the height of the feeding carriage 20.
The sixth sensor 314 may be an image detection device or a laser scanning device, for example, the application numbers: CN201610454954, name: a novel height measuring method and apparatus in the patent literature of a height gauge obtains the height of the carriage 20.
According to the relative speed of the milling machine 10 and the feed carriage 20 obtained by the first sensor 302 and the advancing speed of the milling machine 10 obtained by the fourth sensor 308, in combination with the height of the feed carriage 20, it is further possible to accurately determine when the feeding device 14 collides with the feed carriage 20 according to the current operating state of the milling machine 10, so as to automatically control the angle of the feeding device 14, the traveling speed of the milling machine 10 in advance, and perform horn sounding to remind a car driver, thereby avoiding collision.
To sum up, the utility model discloses beneficial effect does:
1. through the combination of the first sensor 302 and the second sensor 304, the collision between the feeding device 14 of the milling machine 10 and the feeding car 20 can be effectively prevented, the safety degree of milling operation is improved, and the loss caused by the collision between the feeding device 14 and the feeding car 20 is avoided.
2. Through the mutual cooperation of the first sensor 302 and the fourth sensor 308, the advancing speed of the milling machine 10 and the relative speed between the milling machine and the feeding car 20 are detected, so that the time when the material conveying device 14 and the feeding car 20 are likely to collide is accurately judged, the milling machine 10 is timely and accurately adjusted, the collision between the material conveying device 14 and the feeding car 20 can be avoided, and the problems of inaccurate material throwing or material throwing caused by the fact that the distance between the material conveying device 14 and the feeding car 20 is too large can be avoided.
3. At least one of the feeding angle and the traveling speed of the milling machine 10 is automatically adjusted by the control device 312, so that the operation intensity of the driver is reduced, and the accident risk caused by distraction or fatigue driving of the driver is avoided.
In the present application, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description of the present invention, it should be understood that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit indicated must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be construed as limiting the present invention.
In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An anti-collision device suitable for preventing a milling machine from colliding with a feed carriage, comprising:
the first sensor is arranged on the milling machine;
the second sensor is arranged on the milling machine;
the first sensor is suitable for detecting a first distance between the position of the first sensor and the feeding car in the horizontal direction; the second sensor is suitable for detecting the conveying angle of the conveying device relative to the horizontal direction.
2. The bump guard of claim 1, further comprising:
a third sensor adapted to detect a milling depth of the milling machine, the third sensor being connected to a control device.
3. The bump guard of claim 2,
the milling machine comprises an oil cylinder, and the third sensor is arranged on the oil cylinder.
4. The bump guard of claim 1, comprising:
a plurality of first sensors, a plurality of first sensors are followed feeding device's direction of height interval sets up from top to bottom, and controlling means is connected with a plurality of first sensors.
5. The bump guard of claim 1, comprising:
the laser scanning sensor is arranged on the material conveying device and connected with the control device.
6. The bump guard of claim 1, further comprising:
a fourth sensor adapted to detect a travel speed of the milling machine.
7. The bump guard of claim 1, further comprising:
a fifth sensor adapted to detect an angle of inclination of the milling machine.
8. The bump guard of claim 1, further comprising:
and the sixth sensor is arranged on the feeding trolley and is suitable for detecting the height of the feeding trolley.
9. The bump guard of any of claims 1 to 8, further comprising:
and the control device is respectively connected with the first sensor and the second sensor so as to receive input signals of the first sensor and the second sensor and control the milling machine.
10. A milling machine adapted to interact with a feed carriage for milling operations, comprising:
a milling machine body;
the material conveying device is connected with the milling machine body and is suitable for conveying materials to the feed wagon;
the collision avoidance device of any one of claims 1 to 9, adapted to prevent the milling machine from colliding with the feed carriage, the control device being integrated in a cab of the milling machine.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922059455.1U CN211446515U (en) | 2019-11-26 | 2019-11-26 | Anti-collision device and milling machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922059455.1U CN211446515U (en) | 2019-11-26 | 2019-11-26 | Anti-collision device and milling machine |
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| CN211446515U true CN211446515U (en) | 2020-09-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113882307A (en) * | 2021-10-21 | 2022-01-04 | 长沙中联重科环境产业有限公司 | Inclination adjusting mechanism, covering shovel device and snow sweeper |
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2019
- 2019-11-26 CN CN201922059455.1U patent/CN211446515U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113882307A (en) * | 2021-10-21 | 2022-01-04 | 长沙中联重科环境产业有限公司 | Inclination adjusting mechanism, covering shovel device and snow sweeper |
| CN113882307B (en) * | 2021-10-21 | 2024-04-09 | 长沙中联重科环境产业有限公司 | Inclination adjusting mechanism, cover shovel device and snow breaker |
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