CN212460374U - Automatic cross-region mechanism of greening comprehensive maintenance vehicle and control system thereof - Google Patents

Abstract

The utility model discloses an automatic district mechanism of striding of afforestation combined maintenance car and control system thereof, the mechanism includes the carriage and establishes the swivel mount on it, be equipped with the swinging boom on the swivel mount, the swinging boom bottom is connected with the pull rod assembly, connect main work arm and vice work arm on the swinging boom, be equipped with the swing hydro-cylinder on the swivel mount, the swing hydro-cylinder links with the pull rod assembly, be equipped with angle sensing mechanism on the swinging boom, this automatic control system of district mechanism of striding is including electrical system and hydraulic control device. The cross-region mechanism is simple in structure, is provided with two angle adjusting modes of a manual micro-motion mode and an automatic cross-region mode, can realize cross-region operation of the greening comprehensive maintenance vehicle under the condition that the driving direction is not changed, is more flexible to control, and contributes to improving the construction efficiency of the greening comprehensive maintenance vehicle.

Description

Automatic cross-region mechanism of greening comprehensive maintenance vehicle and control system thereof

Technical Field

The utility model belongs to highway greening maintenance and afforestation field, concretely relates to automatic cross-district mechanism of afforestation combined maintenance car and control system thereof.

Background

At present, the pruning of green belts on two sides of a road is mainly finished by a manual handheld greening pruning machine or other semi-hydraulic hedge pruning equipment, and the equipment has the advantages of strong vibration, large noise, low efficiency and unsafe factors. Meanwhile, along with the rapid construction of the national highway network high standard, the traffic mileage is increased, and the heavy highway greening maintenance task is urgently completed by equipment with high standard and more mechanical intelligence.

A comprehensive greening maintenance vehicle is also called a greening pruning vehicle, is a special maintenance vehicle which is specially designed and produced aiming at greening pruning of a middle hedge, a side slope, a first-level road and a second-level road of a highway and the like, and is mainly used for municipal greening and greening pruning on a highway section. The road greening maintenance not only relates to the beauty of the environment, air purification, but also influences the vision of a driver, can reduce the fatigue of the driver, can adsorb waste gas and smoke dust discharged by vehicles, is also very important for preventing dazzling during night driving, and plays an important role in ensuring the driving safety and the like.

When the automatic plane or vertical face pruning machine works, the telescopic arm and the scissors of the upper equipment are adjusted to reach the preset pruning position, and then the vehicle is enabled to move forwards to automatically prune the plane or vertical face of the green isolation belt. The vehicle saves time and labor and can also ensure the safety of operators. However, the existing comprehensive maintenance vehicle for greening can encounter a bottleneck problem during construction operation, that is, on the premise of not changing the forward driving direction, if a single-side (right) maintenance task is originally satisfied, the operation direction cannot be directly adjusted (and the operation direction is adjusted to the left side during standing) according to actual needs, and the operation efficiency is greatly influenced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve not enough among the prior art, provide an automatic district mechanism of striding of comprehensive maintenance car of afforestation and control system thereof, it can carry out the operation of striding the district on the basis that does not change the direction of travel, guarantees to build the efficiency and the effect of construction operations such as mowing better.

The utility model discloses a main technical scheme does: the utility model provides an automatic district mechanism of striding of afforestation combined maintenance car and control system thereof, includes the carriage and establishes the swivel mount on it, is equipped with the swinging boom on the swivel mount, and the swinging boom bottom is connected with the pull rod assembly, connects main work arm and vice work arm on the swinging boom, is equipped with the swing hydro-cylinder on the swivel mount, and the swing hydro-cylinder links with the pull rod assembly, is equipped with angle sensing mechanism on the swinging boom, and this automatic control system of striding district mechanism is including electrical system and hydraulic control device.

Further, angle sensing mechanism includes angle sensor, sensor support and sensor connecting rod, the sensor support passes through the sensor connecting rod assembly on the swivel mount, and angle sensor assembles on the sensor mounting panel, and the sensor mounting panel is installed inside the swinging boom, angle sensor bottom and sensor support swing joint.

Further, the electric system comprises a vehicle-mounted controller, a control panel and a power distribution cabinet, the control panel comprises a manual front micro-motion operation button, a manual rear micro-motion operation button, an automatic left cross-region operation button, an automatic right cross-region operation button, an emergency operation button and a mode switching operation button, the control panel is used for sending a CAN bus instruction to the vehicle-mounted controller according to angle information fed back by the angle sensor, and the vehicle-mounted controller controls a valve block in the hydraulic valve group electromagnetic valve to move.

Furthermore, the hydraulic device mainly comprises a three-position four-way proportional valve, a hydraulic control one-way valve, a rod cavity energy accumulator, a rodless cavity energy accumulator and a swing oil cylinder, wherein the swing oil cylinder drives a rotating arm to rotate by pushing or pulling a pull rod assembly, and then drives a main working arm, an auxiliary working arm and a machine tool connected to the end part of the working arm to rotate so as to achieve the purposes of inching and cross-region operation.

The utility model has the advantages that:

the utility model discloses an automatic bay mechanism of a greening comprehensive maintenance vehicle, a control system and a control method thereof, the bay mechanism has simple structure and two angle adjusting modes of a manual micro-motion mode and an automatic bay mode, can realize the bay operation of the greening comprehensive maintenance vehicle under the condition of not changing the driving direction, and is beneficial to improving the construction efficiency of the greening comprehensive maintenance vehicle;

if the key is loosened manually in the cross-region process, the emergency mode is started, and then the purpose of cross-region can be continuously achieved, so that the safety and the efficiency are improved.

Drawings

FIG. 1 is a schematic structural view of an automatic crossing mechanism of a greening comprehensive maintenance vehicle and a control system thereof;

FIG. 2 is a schematic diagram of an electrical system;

FIG. 3 is a schematic structural diagram of the hydraulic control device in a normal state;

fig. 4 is a schematic structural diagram of the boom at the +90 ° position, where a is a schematic front view and B is a schematic top view;

fig. 5 is a schematic structural diagram of the boom at the +15 ° position, where C is a schematic front view and D is a schematic top view;

fig. 6 is a schematic structural view of the boom at the-15 ° position, where E is a schematic front view and F is a schematic top view;

fig. 7 is a schematic structural view of the boom at a-90 ° position, wherein G is a schematic front view and H is a schematic top view;

FIG. 8 is a schematic structural view of a hydraulic control device in a swing process before the greening maintenance vehicle;

FIG. 9 is a schematic structural view of a hydraulic control device in the rear swinging process of the greening comprehensive maintenance vehicle;

FIG. 10 is a schematic structural view of the hydraulic control device during the swing process from +90 to +15 degrees during the right crossing of the greening comprehensive maintenance vehicle;

FIG. 11 is a schematic structural view of the hydraulic control device during the swing process from-15 to-90 degrees during the right crossing of the greening comprehensive maintenance vehicle;

FIG. 12 is a cross-region angle diagram of the greening comprehensive maintenance vehicle;

the device comprises a sliding frame, a rotating arm, a pull rod assembly, a main working arm, a secondary working arm, a swinging oil cylinder, an angle sensing mechanism, an electric system and a hydraulic control device, wherein the sliding frame is 1, the rotating frame is 2, the rotating arm is 3, the pull rod assembly is 4, the main working arm is 5, the auxiliary working arm is 6, the swinging oil cylinder is 7, the angle sensing mechanism is 8;

81-angle sensor, 82-sensor bracket, 83-sensor link;

91-vehicle controller, 92-control panel, 93-power distribution cabinet;

921-manual front micro-motion operation button, 922-manual rear micro-motion operation button, 923-automatic left cross-zone operation button, 924-automatic right cross-zone operation button, 925-emergency operation button, 926-mode switching operation button;

101-a three-position four-way proportional valve, 102-a hydraulic control one-way valve, 103-a rod cavity energy accumulator and 104-a rodless cavity energy accumulator;

1011-left coil, 1012-right coil.

Detailed Description

The following examples further illustrate the invention but are not to be construed as limiting the invention. Modifications and substitutions made to the methods, steps or conditions of the present invention without departing from the spirit of the present invention are within the scope of the present invention.

In order to realize the cross-region operation of the comprehensive greening maintenance vehicle and further improve the working efficiency and the use convenience of the comprehensive greening maintenance vehicle, the embodiment provides the automatic cross-region mechanism of the comprehensive greening maintenance vehicle and the control system thereof, and the main improvement point lies in the realization of the cross-region mechanism, so that the basic structures of a second type chassis, a trimming device, a lifting oil cylinder and the like on the existing comprehensive greening maintenance vehicle are not specifically described, but the function realization is not limited; as shown in fig. 1-3, the automatic cross-region mechanism and the control system thereof specifically include a sliding frame 1 disposed on a second-type chassis and a rotating frame 2 slidably connected to the sliding frame 1, a rotating arm 3 is mounted on the rotating frame 2, the bottom of the rotating arm 3 is connected to a pull rod assembly 4, a main working arm 5 and an auxiliary working arm 6 are connected to the rotating arm 3, the machine is disposed at the end of the auxiliary working arm 6, a swing cylinder 7 is disposed on the rotating frame 2, the swing cylinder 7 is linked with the pull rod assembly 4, an angle sensing mechanism 8 is disposed on the rotating arm 3, and the control system of the automatic cross-region mechanism includes an electrical system 9 and a hydraulic control device 10.

Angle sensing mechanism 8 includes angle sensor 81, sensor support 82 and sensor connecting rod 83, sensor support 82 passes through sensor connecting rod 83 and assembles on swivel mount 2, and sensor 81 assembles on the sensor mounting panel, and the sensor mounting panel is installed inside rotatory arm 3, and sensor 81 bottom and sensor support 82 rotationally swing joint.

The electrical system 9 includes the on-vehicle controller 91, control panel 92 and is used for the switch board 93 of power supply, including manual preceding fine motion operating button 921, manual back fine motion operating button 922, automatic left bay operating button 923, automatic right bay operating button 924 on the control panel 92, emergent operating button 925 and mode switching operating button 926, according to the angle information of angle sensor 81 feedback, control panel 92 to on-vehicle controller 91 sends the CAN bus instruction.

The hydraulic device 10 mainly comprises a three-position four-way proportional valve 101, a hydraulic control one-way valve 102, a rod cavity energy accumulator 103, a rodless cavity energy accumulator 104 and a swing oil cylinder 7, and the functions and structures of conventional equipment such as an air filter, an oil inlet filter, a hydraulic pump, a motor, a radiator, an oil return filter and the like which are commonly arranged in a normal hydraulic device are all known in the field, and the connection setting is also common knowledge, so that the description is not needed and the detailed description is not shown in the attached drawings; the swing oil cylinder 7 drives the rotating arm 3 to rotate by pushing or pulling the pull rod assembly 4, and then drives the main working arm 5, the auxiliary working arm 6 and the machine tool connected to the end part of the working arm to rotate so as to achieve the purpose of cross-region operation.

The onboard controller 91 receives the operation command of the control panel 92 and the real-time signal of the angle sensor 81, switches different modes through a mode switching operation button 926, switches between a manual inching mode and an automatic transregional mode, and has the selection of an emergency mode in the automatic transregional mode, and instructs the hydraulic valve group solenoid valve to control the valve block.

And pressing a manual front micro operation button 921, transmitting an operation instruction to the vehicle-mounted controller 91, sending a control instruction to the hydraulic valve by the vehicle-mounted controller 91 and driving the swing oil cylinder 7 to swing forwards, and monitoring and transmitting a swing angle in real time by the angle sensor 81, wherein the swing angle is limited and protected within an angle of +/-45 degrees.

And a manual rear micro-motion operation button 922 is pressed, a control instruction is transmitted to the vehicle-mounted controller 91, the vehicle-mounted controller 91 sends a control instruction to the hydraulic valve and drives the swing oil cylinder 7 to swing backwards, the angle sensor 81 monitors and transmits a swing angle in real time, and the limiting protection is carried out when the angle is +/-45 degrees.

The automatic left cross-region operation button 923 is pressed, the control instruction is transmitted to the vehicle-mounted controller 91, the vehicle-mounted controller 91 sends the control instruction to the hydraulic valve and drives the swing oil cylinder 7 to swing, and the angle sensor 81 monitors and transmits the swing angle in real time to realize the cross-region swing from the position of +90 degrees to-90 degrees.

The automatic right bay operating button 924 is pressed, the control instruction is transmitted to the vehicle-mounted controller 91, the vehicle-mounted controller 91 sends a control instruction to the hydraulic valve and drives the swing oil cylinder 7 to swing, and the angle sensor 81 monitors and transmits the swing angle in real time to realize the swing bay from the position of-90 degrees to +90 degrees.

The specific detailed control method comprises the following steps:

1. the hydraulic control process of the front swing process of the comprehensive greening maintenance vehicle comprises the following steps:

when the boom is on the left side, a manual front micro-motion control button 921 on the control panel 92 is pressed, a front swing micro-motion mode is entered, a control instruction is transmitted to the vehicle-mounted controller 91 through the CAN bus, then the vehicle-mounted controller 91 sends the control instruction to the three-position four-way proportional valve 101, as shown in fig. 8, the valve core moves to the left position, pressure oil output by the hydraulic pump passes through the hydraulic control one-way valve 102, a part of the pressure oil reaches the rodless cavity of the swing oil cylinder 7, a part of the pressure oil reaches the rodless cavity energy accumulator 104, and the pressure oil reaching the rodless cavity pushes the swing oil cylinder 7 to extend forwards, so that the pull rod assembly 4 is pushed, the rotating arm 3 is driven, and the rotating arm, the main working arm 5, the auxiliary working arm 6 and the; the oil liquid in the rod cavity returns to the oil tank after passing through a hydraulic control one-way valve 102 and a three-position four-way proportional valve 101; in the front swing process, inching at 25% of flow, monitoring the motion angle in real time by the angle sensor 81, and finishing the motion when the position reaches +45 degrees; the arm frame is arranged on the right side, the operation is as above, when the angle sensor 81 monitors the movement angle in real time, and the movement is finished when the position reaches-45 degrees;

2. the hydraulic control process of the rear swing process of the greening comprehensive maintenance vehicle comprises the following steps:

when the boom is on the left side, a manual rear micro-motion control button 922 on the control panel 92 is pressed, a rear swing micro-motion mode is entered, a control instruction is transmitted to the vehicle-mounted controller 91 through the CAN bus, then the vehicle-mounted controller 91 sends the control instruction to the three-position four-way proportional valve 101, as shown in fig. 9, the valve core moves to the right position, pressure oil output by the hydraulic pump passes through the hydraulic control one-way valve 102, a part of the pressure oil reaches the rod cavity of the swing oil cylinder 7, a part of the pressure oil reaches the rod cavity energy accumulator 103, the pressure oil reaching the rod cavity pushes the swing oil cylinder 7 to retract, and therefore the pull rod assembly 4 is pulled, the rotating arm 3 is driven, and the rotating arm, including the main working arm 5, the auxiliary working arm 6 and the machine tool, swings backwards; the oil in the rodless cavity flows back to the oil tank after passing through a hydraulic control one-way valve 102 and a three-position four-way proportional valve 101; in the back swing process, inching at 25% of flow, monitoring the motion angle in real time by the angle sensor 81, finishing the motion when the arm support reaches the position of 0 degree, operating the arm support on the right side as above, monitoring the motion angle in real time by the angle sensor 81, and finishing the motion when the arm support reaches the position of 0 degree;

3. the hydraulic control process of the greening comprehensive maintenance vehicle left cross-district process comprises the following steps:

firstly pressing a mode switching operation button 926 on the control panel 92, then pressing an automatic left cross-zone operation button 923 to enter a cross-zone mode, wherein a control instruction is transmitted to the vehicle-mounted controller 91 through the CAN bus, then the vehicle-mounted controller 91 sends the control instruction to a left coil 1011 of the three-position four-way proportional valve 101, as shown in fig. 10, a valve core moves to the left position, pressure oil output by the hydraulic pump passes through the hydraulic control one-way valve 102, a part of the pressure oil reaches a rodless cavity of the swing oil cylinder 7, a part of the pressure oil reaches a rodless cavity energy accumulator 104, and the pressure oil reaching the rodless cavity pushes the swing oil cylinder 7 to extend forwards, so that the pull rod assembly 4 is pushed, and the rotary arm 3 is driven to swing forwards together with the main working arm 5, the auxiliary working arm 6 and the machine tool; the oil in the rod cavity flows back to the oil tank through the hydraulic control one-way valve 102 and the three-position four-way proportional valve 101; in the process of left cross-section, the boom moves at 100% flow, the angle sensor 81 monitors the movement angle in real time, when the boom swings to +15 degrees, as shown in fig. 5, the vehicle-mounted controller 91 sends an instruction, the three-position four-way proportional valve 101 is powered off, the valve core returns to the middle position, the boom is in a normal state as shown in fig. 3, the boom still continues swinging under the action of inertia force, oil in the rod cavity compresses the energy accumulator, system pulsation is absorbed, hydraulic impact is relieved, and the rodless cavity energy accumulator 104 supplies oil to the rodless cavity; when the angle sensor 81 monitors that the arm support swings to a-15-degree state as shown in fig. 6, the vehicle-mounted controller 91 sends an instruction, the three-position four-way proportional valve 101 is powered on, as shown in fig. 11, oil passes through the hydraulic control one-way valve 102, a part of pressure oil enters a rod cavity of the swing oil cylinder 7, a part of pressure oil enters the rod cavity energy accumulator 103, the situation that the swing oil cylinder retracts backwards is reflected, at this time, the automatic left cross-region operation button 923 can be pressed all the time, the manual rear micro-motion operation button 922 can also be switched, if the automatic left cross-region operation button 923 is released in the operation process, the mode is switched to the emergency operation mode through the mode switching operation button 926, and the purpose of cross-region as shown in fig. 7 is;

4. the hydraulic control process of the greening comprehensive maintenance vehicle right crossing area process comprises the following steps:

firstly pressing a mode switching operation button 926 on a control panel 92, then pressing an automatic right bay operation button 924 to enter a bay mode, transmitting a control instruction to a vehicle-mounted controller 91 through a CAN bus, then sending the control instruction to a left coil 1011 of a three-position four-way proportional valve 101 by the vehicle-mounted controller 91, moving a valve core to a left position, enabling pressure oil output by a hydraulic pump to pass through a hydraulic control one-way valve 102, enabling a part of the pressure oil to reach a rodless cavity of a swing oil cylinder 7, enabling a part of the pressure oil to reach a rodless cavity energy accumulator 104, and enabling the pressure oil reaching the rodless cavity to push the swing oil cylinder 7 to extend forwards so as to push a pull rod assembly 4 and further drive a rotating arm 3 to swing forwards together with a main working arm 5, an auxiliary working arm 6 and a machine tool; the oil in the rod cavity flows back to the oil tank through the hydraulic control one-way valve 102 and the three-position four-way proportional valve 101; in the process of right cross-region, the arm support moves at 100% of flow, the angle sensor 81 monitors the movement angle in real time, when the arm support swings to-15 degrees as shown in figure 6, the vehicle-mounted controller 91 sends an instruction, the three-position four-way proportional valve 101 is powered off, the valve core returns to the middle position to be in a normal state as shown in figure 3, the arm support still continues to swing under the action of inertia force, oil in the rod cavity compresses the energy accumulator, system pulsation is absorbed, hydraulic impact is relieved, and the rodless cavity energy accumulator 104 supplies oil to the rodless cavity; when the angle sensor 81 monitors that the arm support swings to a + 15-degree state as shown in fig. 5, the vehicle-mounted controller 91 sends an instruction, the three-position four-way proportional valve 101 is powered on, as shown in fig. 11, oil passes through the hydraulic control one-way valve 102, a part of pressure oil enters the rod cavity of the swing oil cylinder 7, a part of pressure oil enters the rod cavity accumulator 103, the swing oil cylinder 7 retracts, at this time, the automatic right bay control button 924 can be pressed all the time, the manual rear inching operation button 922 can be switched to, if the automatic right bay control button 924 is released in the operation process, the mode is switched to the emergency operation mode through the mode switching operation button 926, and the purpose of bay as shown in fig. 4 is achieved.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. However, the above description is only for the specific embodiment of the present invention, the technical features of the present invention are not limited thereto, and other embodiments that can be derived by any person skilled in the art without departing from the technical solution of the present invention should be covered by the claims of the present invention.

Claims (4)

1. The utility model provides an automatic district mechanism of striding of afforestation combined maintenance car and control system thereof, its characterized in that includes the carriage and establishes the swivel mount on it, is equipped with the swinging boom on the swivel mount, and the swinging boom bottom is connected with the pull rod assembly, connects main work arm and vice work arm on the swinging boom, is equipped with the swing hydro-cylinder on the swivel mount, and the swing hydro-cylinder links with the pull rod assembly, is equipped with angle sensing mechanism on the swinging boom, and this automatic control system of striding district mechanism is including electrical system and hydraulic control device.

2. The automatic trans-regional mechanism and the control system thereof for the integrated maintenance vehicle for greening of claim 1, wherein the angle sensing mechanism comprises an angle sensor, a sensor bracket and a sensor connecting rod, the sensor bracket is assembled on the rotating frame through the sensor connecting rod, the angle sensor is assembled on a sensor mounting plate, the sensor mounting plate is installed inside the rotating arm, and the bottom end of the angle sensor is movably connected with the sensor bracket.

3. The automatic bay mechanism and the control system thereof of claim 1, wherein the electrical system comprises an on-board controller, a control panel and a power distribution cabinet, the control panel comprises a manual front micro-motion operation button, a manual rear micro-motion operation button, an automatic left bay operation button, an automatic right bay operation button, an emergency operation button and a mode switching operation button, the control panel is used for sending CAN bus commands to the on-board controller according to angle information fed back by the angle sensor, and the on-board controller controls the movement of the valve block in the hydraulic valve set solenoid valve.

4. The automatic trans-regional mechanism and the control system thereof of the integrated greening maintenance vehicle as claimed in claim 1, wherein the hydraulic control device mainly comprises a three-position four-way proportional valve, a hydraulic control one-way valve, a rod cavity accumulator, a rodless cavity accumulator and a swing oil cylinder, the swing oil cylinder drives the rotating arm to rotate by pushing or pulling the pull rod assembly, and further drives the main working arm, the auxiliary working arm and the machine tool connected to the end of the working arm to rotate to achieve the purpose of micro-motion and trans-regional operation.

Images