WO2021238017A1

WO2021238017A1 - Intelligent automatic feeding mechanism and control method therefor

Info

Publication number: WO2021238017A1
Application number: PCT/CN2020/120471
Authority: WO
Inventors: 郝长千; 刘坚; 苏继胜; 尤红耀
Original assignee: 长沙中联重科环境产业有限公司
Priority date: 2020-05-25
Filing date: 2020-10-12
Publication date: 2021-12-02
Also published as: CN111559597A; CN111559597B

Abstract

An intelligent automatic feeding mechanism. The feeding mechanism comprises a feeding frame (6), a driving linkage (8) and a driven linkage (9) fixedly connected to the left and right sides of the feeding frame (6), a hydraulic rod (23) in drive connection with the driving linkage (8), and two hooking tooth mechanisms (1) fixedly provided at the front side of the feeding frame (6). The feeding mechanism further comprises: a first sensing device (2) used for outputting a first sensing signal under the effect of a side face of a waste container (24); a second sensing device (3) used for outputting a second sensing signal under the effect of a container edge of the waste container (24); two gravity sensing plates (7) used for detecting and outputting a pressure signal applied by the waste container (24); a waste container feeding limiting device used for limiting the ascending limit position of the waste container (24); and a control system connected to the first sensing device (2), the second sensing device (3), the two gravity sensing plates (7) and the waste container feeding limiting device by means of circuits respectively. Also disclosed is a control method for a feeding mechanism. The mechanism reduces the labor intensity of an operator, improves the operation efficiency, achieves the automation of a feeding cycle process, reduces the risk of container drop, and prolongs the service life of waste containers.

Description

Intelligent automatic feeding mechanism and its control method

Technical field

The invention relates to the field of garbage feeding mechanisms, and in particular, to an intelligent automatic feeding mechanism and a control method thereof.

Background technique

The feeding mechanism and operation method of the existing compression garbage truck are as follows: the operator first pushes the trash can to the feeding mechanism, and then goes to the side of the vehicle to operate the bucket button on the control panel, and the feeding mechanism starts to hang the bucket at this time. , Bucket, bucket, when all the garbage in the trash can is introduced into the car, the operator then operates the unloading button on the control panel, at this time the loading mechanism starts the reverse action to complete the unloading of the bucket. When operating the buttons on the control panel, you need to keep pressing the button, and the action will stop when you release the button. Since the operator needs to walk from the back of the car to the side of the car to operate the buttons on the control panel every time the material is loaded, the whole process needs to keep pressing the button, the operator is labor intensive and the work efficiency is low. Moreover, due to inertia, during the unloading process, the trash can may not drop together with the feeding mechanism, causing the trash can to begin to fall due to its own weight, and the falling speed is faster than the lowering speed of the feeding mechanism, and the trash can will When it hits the feeding mechanism, because the trash can is a plastic bucket with a certain degree of elasticity, the trash can will bounce up after hitting the feeding mechanism, and then start to fall due to its own weight, and the lowering speed of the feeding mechanism is slower. Fast and constant speed, so that the trash can produces bumps on the feeding mechanism, and easily causes the trash can to be damaged and dropped.

Summary of the invention

On the one hand, the present invention provides an intelligent automatic feeding mechanism to solve the technical problems of high labor intensity, low work efficiency, and bumps when unloading buckets when the feeding mechanism of the existing compression garbage truck is operated.

The technical scheme adopted by the present invention is as follows:

An intelligent automatic feeding mechanism, comprising a feeding frame, a main connecting rod and a slave connecting rod fixedly connected to the left and right sides of the feeding frame, a hydraulic rod drivingly connected with the main connecting rod, and a hydraulic rod fixedly arranged at the place The two-hanging gear mechanism on the front side of the loading frame also includes:

The first sensing device is respectively arranged on the two hanging gear mechanism, and is used to output a first sensing signal by the side of the trash can when the trash can is pushed to the loading position;

The second sensing devices are respectively arranged on the two gear-hanging mechanisms, and are used to output the second sensing signal by the edge of the trash can when the gear-hanging mechanism rises and is inserted into the edge of the trash can;

Two gravity sensing plates are fixedly arranged on the front side of the loading frame and are respectively located below the two hanging gear mechanisms for detecting and outputting the pressure signal applied by the trash can during the unloading process;

The trash can loading limit device is used to limit the rising limit position of the trash can;

The control system is respectively connected to the circuit of the first sensing device, the second sensing device, the two gravity sensing boards, and the trash can loading limit device, and is used for controlling the The hydraulic rod extends a set length to realize loading, and when the hydraulic rod is controlled to retract after loading to unload the bucket, the retraction speed of the hydraulic rod is controlled according to the change range of the pressure signal to avoid the bumping of the trash can.

Further, the first sensing device includes:

The first sensor board is pivotally hinged with the first hinge sleeve on the front side of the gear-hanging mechanism through a first pin shaft;

A compression spring, one end of the compression spring abuts against the first sensing plate, and the other end abuts against a compression spring mounting seat provided on the gear hanging mechanism;

The first sensor is arranged on the gear-hanging mechanism and connected to the control system circuit, and is used to output the first sensor to the control system when the first sensor plate is squeezed by the side of the trash can and rotated around the hinge for a set angle. Induction signal.

Further, the first sensing plate includes a pressure-receiving swing plate, a second hinge sleeve fixed at one end of the pressure-receiving swing plate, and two lateral limiters respectively symmetrically arranged on the left and right sides of the pressure-receiving swing plate Lugs and two angular limit hook ears, the distance between the two lateral limit lugs and the two angular limit hook ears matches the width of the hanging teeth of the hanging gear mechanism, and the hanging teeth are also provided on both sides A limit shoulder that cooperates with the angular limit hook lug to limit the corner of the pressure swing plate.

Further, the second sensing device includes:

The second sensor board is pivotally hinged with the hinge hole on the gear-hanging mechanism through a second pin shaft;

A torsion spring is sleeved on the second pin shaft, one end of which is in contact with the second sensing plate, and the other end is in contact with the torsion spring limit plate provided on the gear hanging mechanism;

The second sensor is arranged on the gear-hanging mechanism and connected to the control system circuit, and is used to output to the control system when the second sensor plate is squeezed by the trash can and rotated around the hinge for a set angle The second induction signal.

Further, the trash can loading limit device includes a displacement sensor built into the hydraulic rod and connected to the control system circuit for real-time detection and output of the displacement signal of the hydraulic rod;

or,

The trash can loading limit device includes a proximity switch, and the proximity switch is connected with the control system circuit to limit the rising limit position of the trash can.

According to another aspect of the present invention, there is also provided a control method of an intelligent automatic feeding mechanism, including the steps:

When the first sensing device is squeezed by the side of the trash can and is triggered, the control system controls the hydraulic rod to extend and drive the two-hanging gear mechanism to rise;

When the two-hanging gear mechanism continues to rise and is inserted into the edge of the trash can, if the second sensing device is triggered by the edge of the barrel, the control system controls the hydraulic rod to continue to extend and drive the two-hanging gear mechanism to rise to carry the trash can. Turn to the set height to realize loading;

The control system controls the hydraulic rod to retract and carry the trash can back to the starting position to unload the bucket. When retracting, the pressure signal applied by the trash can during the unloading process detected and output by the gravity sensor board suddenly disappears and suddenly disappears. When a phenomenon occurs, control the retraction speed of the hydraulic rod to avoid bumping of the trash can.

Further, in the single-bucket operation mode, when any one of the first sensing devices on the two-tooth-hanging mechanism is triggered by being squeezed from the side of the trash can, the control system controls the hydraulic rod to extend and drive the two-tooth-hanging mechanism to rise;

When one of the gear-hanging mechanisms rises and is inserted into the edge of the trash can, if the second sensing device on the same gear-hanging mechanism is triggered by the edge of the barrel, the control system controls the hydraulic rod to continue to extend the set length to drive two The gear hanging mechanism continues to rise to carry the trash can to realize loading.

Further, in the double-bucket operation mode, when the two first sensing devices on the two-tooth-hanging mechanism are triggered by being squeezed from the side of the trash can, the control system controls the hydraulic rod to extend and drive the two-tooth-hanging mechanism to rise;

When the two-tooth mechanism continues to rise and is inserted into the edge of the trash can, if the two second sensing devices on the two-tooth mechanism are triggered by the edge of the barrel, the control system controls the hydraulic lever to continue to extend the setting The length-driven two-hanging gear mechanism continues to rise to carry the trash can to realize loading.

Further, it also includes the steps:

When the hydraulic rod is extended to a preset limit position, the control system controls the hydraulic rod to pause for a set time to realize feeding.

Further, the step of controlling the retraction speed of the hydraulic rod to avoid bumping of the trash can includes:

The control system sends a signal to control the retraction speed of the hydraulic rod by reducing the engine speed to reduce the oil pump input speed;

or,

The control system sends a signal to control the retraction speed of the hydraulic rod by reducing the opening of the flow regulating valve connected with the hydraulic rod.

The present invention has the following beneficial effects:

The invention realizes the automation of the feeding cycle process by providing the first sensing device, the second sensing device, the trash can loading limit device, the gravity sensing board, and the control system, and can accurately determine whether the trash can is hung on the hanging tooth or not. Whether it falls or not, to ensure the reliability of the feeding, and to make the operation only require the operator to push the trash can to the feeding mechanism, no need to go to the side of the car to keep pressing the button on the operation control panel, reducing the labor of the operator Strength, the work efficiency is improved, and at the same time, the function of preventing bumps when the trash can is unloaded is realized by setting the gravity sensor board, which reduces the risk of dropping the trash and prolongs the service life of the trash can.

In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. Hereinafter, the present invention will be described in further detail with reference to the accompanying drawings.

Description of the drawings

The drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the exemplary embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a schematic front view of an intelligent automatic feeding mechanism according to a preferred embodiment of the present invention;

Fig. 2 is a schematic left view of the intelligent automatic feeding mechanism of the preferred embodiment of the present invention.

Fig. 3 is a schematic front view of the gear-hanging mechanism of the preferred embodiment of the present invention (the first sensing device and the second sensing device are not installed).

Fig. 4 is a schematic left view of the gear-hanging mechanism of the preferred embodiment of the present invention (the first sensing device and the second sensing device are not installed).

Fig. 5 is a schematic cross-sectional view at A-A in Fig. 3.

Fig. 6 is a schematic front view of the gear-hanging mechanism of the preferred embodiment of the present invention (the first sensing device and the second sensing device have been installed).

Fig. 7 is a three-dimensional schematic diagram of the gear-hanging mechanism of the preferred embodiment of the present invention (the first sensing device and the second sensing device have been installed).

Fig. 8 is a schematic cross-sectional view at B-B in Fig. 6.

Fig. 9 is a schematic cross-sectional view at D-D in Fig. 6.

Fig. 10 is a schematic cross-sectional view at C-C in Fig. 6.

FIG. 11 is a schematic diagram of the structure of the first sensor board according to the preferred embodiment of the present invention.

Fig. 12 is a schematic flowchart of a control method according to an embodiment of the present invention.

Fig. 13 is a schematic diagram of the state of the preferred embodiment of the present invention when the trash can is pushed into the charging mechanism.

Fig. 14 is a schematic diagram of the state when the trash can is pushed to the loading mechanism in the preferred embodiment of the present invention (the first sensing device has been triggered).

Fig. 15 is a schematic diagram of a state in which the feeding mechanism of the preferred embodiment of the present invention is raised to hang the bucket.

Fig. 16 is a schematic diagram of a state where the loading mechanism of the preferred embodiment of the present invention is lifted to complete the hanging bucket (the second sensing device has been triggered).

Fig. 17 is a schematic diagram of a state where the feeding mechanism of the preferred embodiment of the present invention continues to rise after completing the hanging bucket.

Fig. 18 is a schematic diagram of the state when the feeding mechanism of the preferred embodiment of the present invention continues to rise to the highest point.

Fig. 19 is a schematic diagram of the operation mode selection switch of the preferred embodiment of the present invention.

In the figure: 1. Gear hanging mechanism; 2. First sensing device; 3. Second sensing device; 4. Gear hanging; 5. Baffle plate; 6. Feeding frame; 7. Gravity sensing plate; 8. Main connecting rod; 9. 10. Slave connecting rod; 10. Limiting shoulder; 11. First hinge sleeve; 12. Mounting groove; 13. Compression spring mounting seat; 14. Hinge hole; 15. Torsion spring limit plate; 16. Torsion spring; 17. Mounting hole for gear-hanging mechanism; 18. First induction plate; 181. Compressed swing plate; 182. Lateral limit lug; 183. Angle limit hook lug; 184. Second hinge bushing; 19. Second Induction board; 20, compression spring; 21, first pin; 22, second pin; 23, hydraulic lever; 24, trash can.

Detailed ways

It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other if there is no conflict. Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments.

1 and 2, a preferred embodiment of the present invention provides an intelligent automatic feeding mechanism, including a feeding frame 6, symmetrically fixedly connected to the left and right sides of the feeding frame 6 main connecting rods 8 and From the connecting rod 9, the hydraulic rod 23 drivingly connected with the main connecting rod 8, the baffle 5 hingedly arranged on the rear side of the loading frame 6, and the two hanging gear mechanism symmetrically arranged on the front side of the loading frame 6 1. Also includes:

The first sensing devices 2 are respectively arranged on the two hanging gear mechanism 1 and are used to output the first sensing signal by the side of the trash can 24 when the trash can 24 is pushed to the loading position;

The second sensing devices 3 are respectively arranged on the two-tooth-hanging mechanism 1 for outputting a second sensing signal when the gear-hanging mechanism rises and is inserted into the edge of the trash can 24 by the edge of the trash can 24;

Two gravity sensing plates 7 are symmetrically fixed on the front side of the loading frame 6 and respectively located below the two hanging gear mechanism 1 for detecting and outputting the pressure signal applied by the trash can during the unloading process;

The trash can loading limit device is used to limit the rising limit position of the trash can 24;

The control system is respectively connected to the circuit of the first sensing device 2, the second sensing device 3, the two gravity sensing plates 7, and the trash can feeding limit device, and is used for according to the first sensing signal, the second sensing signal, The hydraulic rod 23 is controlled to extend a set length to realize loading, and after loading, the hydraulic rod 23 is controlled to retract to discharge the barrel according to the change range of the pressure signal to control the retraction speed of the hydraulic rod 23 to Avoid bumps in the trash can 24.

The intelligent automatic feeding mechanism of this embodiment realizes the automation of the feeding cycle process by setting the first sensing device 2, the second sensing device 3, the trash can feeding limit device, the gravity sensing board 7 and the control system. Accurately judge whether the trash can is hung on the hanging gear or whether it has fallen to ensure the reliability of feeding. During the operation, only the operator needs to push the trash can to the feeding mechanism, and there is no need to go to the side of the car and keep pressing the button on the operation control panel. The button reduces the labor intensity of the operator. During the automatic feeding process of the feeding mechanism, the operator can push other trash cans in advance, and after the feeding cycle is completed, the barrel can be changed quickly and a new feeding cycle is started. , Improve the work efficiency; at the same time, the present embodiment also realizes the function of preventing bumps when the trash can is unloaded during the automatic feeding cycle by setting the gravity sensing plate 7 The service life of the barrel.

In a preferred embodiment of the present invention, as shown in FIGS. 3 to 10, the first sensing device 2 includes:

The first sensing plate 18 is pivotally hinged with the first hinge sleeve 11 on the front side of the gear hanging mechanism 1 through the first pin 21, wherein the first sensing plate 18 is located on the front side of one of the hanging teeth 4;

A compression spring 20, one end of the compression spring 20 abuts against the first sensing plate 18, and the other end abuts against a compression spring mounting seat 13 provided on the gear hanging mechanism 1;

The first sensor is arranged on the gear-hanging mechanism 1 and connected to the control system circuit, and is used to send the first sensor plate 18 to the control system when the first sensor plate 18 is squeezed by the side of the trash can 24 and rotated around the hinge for a set angle Output the first induction signal.

In this embodiment, the first sensing plate 18 of the first sensing device 2 is hinged on the front side of the gear-hanging mechanism 1, and the gear-hanging mechanism 1 is provided with a gear-hanging mechanism mounting hole 17 into which the gear-hanging mechanism mounting hole 17 is inserted Bolts are provided to symmetrically fix the two-tooth-hanging mechanism 1 on the front side of the loading frame 6. When the trash can 24 is pushed to the loading position, the first sensor plate 18 is squeezed by the side of the trash can 24 to rotate around the first pin 21 and trigger the first sensor. The system outputs the first sensing signal, and the control system controls the hydraulic rod 23 to extend according to the first sensing signal to drive the gear hanging mechanism 1 to rise to hang the bucket, eliminating the need to manually return to the operating panel in the prior art The position operation button drives the gear hanging mechanism 1 to rise to hang the bucket, which reduces the labor intensity and improves the automation of the bucket hanging operation.

Specifically, as shown in FIG. 11, the first sensing plate 18 includes a pressure-receiving swing plate 181, a second hinge sleeve 184 fixed at one end of the pressure-receiving swing plate 181, respectively symmetrically arranged on the pressure-receiving The two lateral limiting lugs 182 and the two angular limiting hook lugs 183 on the left and right sides of the swing plate 181 are separated from the tooth-hanging mechanism 1 The width of the hanging tooth 4 is matched with the width of the hanging tooth 4, and the two sides of the hanging tooth 4 are also provided with a limiting shoulder 10 that cooperates with the angular limiting hook 183 to limit the rotation angle of the pressure swing plate 181.

In this embodiment, the first sensing plate 18 is arranged directly opposite to one of the hanging teeth 4 of the hanging gear mechanism 1, in order to limit the swing angles of the lateral position of the pressure-bearing swing plate 181, the left and right sides of the first sensing plate 18 in this embodiment Two lateral limiting lugs 182 and two angular limiting hook lugs 183 are respectively symmetrically provided on the sides, wherein the distance between the two lateral limiting lugs 182 and the two angular limiting hook lugs 183 is the same as that of the tooth-hanging mechanism 1 The width of the hanging teeth 4 matches the width of the two lateral limiting lugs 182 and the two angular limiting lugs 183 in this embodiment. It not only can rotate smoothly, but also can ensure that the first sensing plate 18 will not move along the axis of the first pin shaft 21, thereby ensuring that the first sensing plate 18 can always accurately act on the first sensor when it is squeezed and rotated. The angular limit hook lugs 183 cooperate with the limit shoulders 10, and the first sensing plate 18 can cooperate with the compression spring 20 to limit the initial position of the compressed swing plate 181 before the first sensing plate 18 is acted on by the compression spring 20. As shown in FIG. 8, the first sensing plate 18 has a tendency to rotate clockwise around the first pin 21 under the action of the compression spring 20, and the angular limit hook lug 183 is matched with the limit shoulder 10 Therefore, the tendency of the first sensing plate 18 to rotate clockwise around the first pin 21 is prevented, so that the first sensing plate 18 is in a balanced state. This initial posture can ensure that the pressure-receiving swing plate 181 is kept away from the first sensor in a normal state to avoid accidental contact, and after being squeezed by the trash can 24, it rotates at an appropriate angle to act on the first sensor.

In a preferred embodiment of the present invention, as shown in FIGS. 3 to 10, the second sensing device 3 includes:

The second sensor plate 19 is pivotally hinged with the hinge hole 14 on the gear-hanging mechanism 1 through the second pin 22;

The torsion spring 16 is sleeved on the second pin shaft 22, one end of which is in contact with the second sensing plate 19, and the other end is in contact with the torsion spring limit plate 15 provided on the gear-hanging mechanism 1;

The second sensor is arranged on the gear-hanging mechanism 1 and connected to the control system circuit, and is used to move the second sensor plate 19 toward the The control system outputs the second sensing signal.

In this embodiment, in this embodiment, the second sensing device 3 is arranged opposite to the other hanging tooth 4 of the hanging tooth mechanism 1, and the lower end of the hanging tooth 4 is provided with two connecting parts in parallel and spaced apart from each other. The two connecting parts form a mounting The groove 12 is provided with hinge holes 14 on both side walls of the installation groove 12, and at the same time, the torsion spring limit plate 15 is also fixedly arranged in the installation groove 12. The second sensing plate 19 of this embodiment is L-shaped as a whole, one end of which is pivotally hinged with the hinge hole 14 on the gear-hanging mechanism 1 through the second pin 22, and at the same time, the torsion spring 16 and the gear-hanging gear 4 cooperate to make the first The two sensing plates 19 obtain the initial posture. As shown in FIG. 9, the second sensing plate 19 has a tendency to rotate clockwise around the second pin 22 under the action of the torsion spring 16, and the hanging teeth 4 prevent the second pin shaft 22 from rotating clockwise. The tendency of the second sensing plate 19 to rotate clockwise around the second pin 22 makes the second sensing plate 19 in a balanced state. This initial posture can ensure that the second sensor board 19 is far away from the second sensor under normal conditions to avoid erroneous contact, and it can act on the second sensor by rotating a proper angle after contact and the barrel edge.

In a preferred embodiment of the present invention, as shown in FIG. 2, the loading limit device of the trash can 24 includes a displacement sensor, which is built in the hydraulic rod 23 and connected to the control system circuit, It is used to detect and output the displacement signal of the hydraulic rod 23 in real time.

In this embodiment, a displacement sensor is built into the hydraulic rod 23 to monitor the telescopic length of the hydraulic rod 23, and compared with the preset telescopic length of the control system to control the limit telescopic length of the hydraulic rod 23, thereby controlling The highest position of the trash can 24 when it is loaded. When the hydraulic rod 23 reaches the limit length to raise the trash can 24 to the highest position, the control system controls the hydraulic rod 23 to automatically retract to unload the bucket without manual intervention. Reduce the labor intensity of operators and improve work efficiency.

In another preferred embodiment of the present invention, the loading limit device of the trash can 24 includes a proximity switch, and the proximity switch is connected to the control system circuit to limit the rising limit position of the trash can 24 .

In this embodiment, a proximity switch cooperates with a control system to limit the rising limit position of the trash can 24. The proximity switch can be installed at a suitable position in the garbage truck compartment. When the hydraulic lever 23 pushes the trash can 24 to the desired position When the proximity switch is triggered at the highest position of the proximity switch, the control system controls the hydraulic rod 23 to automatically retract to unload the bucket according to the signal sent by the proximity switch, without manual intervention, reducing the labor intensity of the operator, and improving the work efficiency.

According to another aspect of the present invention, as shown in FIG. 12, there is also provided a control method of an intelligent automatic feeding mechanism, including the steps:

S1. When the first sensing device 2 is triggered by being squeezed by the side of the trash can 24, the control system controls the hydraulic rod 23 to extend and drive the two-hanging gear mechanism 1 to rise;

S2. When the two-hanging gear mechanism 1 continues to rise and is inserted into the edge of the trash can 24, if the second sensing device 3 is triggered by the edge of the barrel, the control system controls the hydraulic rod 23 to continue to extend and drive the two-hanging gear mechanism 1 Ascend to carry the trash can 24 and turn it up to the set height to realize loading;

S3. The control system controls the hydraulic rod 23 to retract and carries the trash can 24 back to the starting position to realize the unloading. When retracting, the gravity sensor panel 7 detects and outputs the pressure applied by the trash can 24 during the unloading process. When the signal suddenly disappears or appears suddenly, the retraction speed of the hydraulic lever 23 is controlled to avoid the trash can 24 from bumping.

In the control method of this embodiment, the first sensing device 2, the second sensing device 3, and the control system are coordinated to control the feeding mechanism to automatically complete the hanging bucket of the trash bin and turn it up to the set height to realize the feeding, without manual labor in the middle. Intervention has realized the automation of the feeding cycle process, and can accurately determine whether the trash can 24 is hung on the hanging gear 4 or whether it has fallen, ensuring the reliability of feeding. During operation, only the operator needs to push the trash can 24 to the feeding mechanism. No need to go to the side of the car to keep pressing the button on the control panel to reduce the labor intensity of the operator. During the automatic feeding process of the feeding mechanism, the operator can push other trash cans 24 in advance and wait for the feeding After the cycle is completed, the barrel can be changed quickly, and a new feeding cycle can be started, which improves the work efficiency; at the same time, when the feeding mechanism descends from the highest point to unload the barrel, due to inertia, the trash can 24 may not be with the feeding The mechanism will drop together, and then the trash can 24 will start to fall due to its own weight, and the falling speed is faster than the descent speed of the feeding mechanism, the trash can 24 will hit the feeding mechanism, because the trash can 24 is a plastic bucket with a certain degree of Elastic, the trash can 24 will bounce up after hitting the feeding mechanism, and then start to fall down due to its own weight, and the lowering speed of the feeding mechanism is faster and the speed does not change, so that the trash can 24 is in the feeding mechanism. Bumps occur on the upper surface, and it is easy to cause the trash bin 24 to be damaged, drop out, and so on.

In order to solve the above-mentioned turbulence problem, this embodiment controls the retraction speed of the hydraulic rod 23 through the change of the pressure signal detected by the gravity sensor plate 7, such as reducing the retraction speed of the hydraulic rod 23, that is, reducing the feeding mechanism The lowering speed can realize the function of preventing the trash can 24 from bumping when unloading the bin during the automatic feeding cycle, reducing the risk of dropping the bin, reducing the impact on the trash bin 24, and ensuring the service life of the trash bin 24.

Specifically, when the trash can 24 is pressed on the gravity sensing plate 7, the gravity sensing plate 7 will output a pressure signal. If the trash can 4 leaves the gravity sensing plate 7 due to bumps, the pressure signal will disappear, and when the trash can 24 falls back to the gravity sensing plate again, the pressure signal will appear again, and the pressure signal value will suddenly increase. This pressure signal The process of sudden disappearance and sudden appearance is the process of the trash can bumping on the feeding mechanism. When the pressure signal suddenly disappears and appears suddenly, the control system will send a signal to reduce the retraction speed of the hydraulic rod 23, thereby reducing the descent speed of the feeding mechanism, and weakening the impact force of the trash can 24, thereby preventing trash The bucket 24 is bumpy on the feeding mechanism, which reduces the risk of dropping the bucket and increases the service life of the trash can.

In another preferred embodiment of the present invention, in the single-barrel operation mode, only one trash can 24 needs to be turned over. At this time, when the operator pushes the trash can 24 to one of the hanging gear mechanisms 1 of the feeding mechanism At the position, when the first sensing device 2 on the gear-hanging mechanism 1 is triggered by the side pressing of the trash can 24, the control system controls the hydraulic rod 23 to extend and drive the two-tooth mechanism 1 to rise;

When the gear-hanging mechanism 1 rises and is inserted into the edge of a single trash can 24, if the second sensing device 3 on the same gear-hanging mechanism 1 is triggered by the edge of the barrel, the control system controls the hydraulic rod 23 to continue to extend Out of the set length, the two-hanging gear mechanism 1 is driven to continue to rise to carry the trash can 24 up to the set height to realize feeding.

The control method of this embodiment is aimed at the working condition that there is only one trash can 24 for turning over. Although the feeding mechanism generally has two feeding stations, the two trash cans 24 can be turned over at the same time. During operation, it is inevitable that there is only one trash can 24 that needs to be turned over. For this working condition, when a trash can 24 is pushed to the loading station (as shown in Figure 13), as long as one first sensing device 2 is When being squeezed and triggered, the feeding mechanism will continue to rise to hang the barrel (as shown in FIG. 14). If the first sensing device 2 is not triggered, the feeding mechanism will not have any action. After a first sensing device 2 is triggered, the feeding mechanism continues to rise, each of the hanging teeth 4 on the hanging gear mechanism 1 will be inserted into the edge of the trash can 24, and at the same time, a corresponding second sensing device 3 starts to touch The barrel edge (as shown in Figure 15), the barrel edge squeezes the second sensing device 3 to overcome the torsion spring force and rotates around the hinge point. When rotated to a certain angle, the sensor of the second sensing device 3 is triggered (e.g. 16), the feeding mechanism will continue to rise after the second sensing device 3 is triggered (as shown in Figure 17) until the trash can 24 rises to the highest position (as shown in Figure 18), otherwise, if If the second sensing device 3 is not triggered, it is judged that the trash can 24 hangs abnormally, and the feeding mechanism stops continuing to rise, then begins to descend and returns to the starting position. After the position of the trash can 24 is corrected, it restarts The previous steps. In the control method of this embodiment, as long as the first sensing device 2, the second sensing device 3 and the gravity sensing board 7 of any loading station detect and output corresponding signals, the hanging bucket and loading of the trash can can be automatically completed. Flip to the set height to realize loading, and prevent the trash can 24 from bumping when unloading the bin, reduce the risk of dropping the bin, reduce the impact on the trash bin 24, and ensure the service life of the trash bin 24.

In another preferred embodiment of the present invention, in the double-bucket operation mode, when the two first sensing devices 2 on the two-hanging gear mechanism 1 are both triggered by the side squeezing of the trash can 24, the control system controls the hydraulic pressure The rod 23 extends to drive the two-hanging gear mechanism 1 up;

When the two hanging gear mechanism 1 continues to rise and is inserted into the edge of the trash can 24, if the two second sensing devices 3 on the two hanging gear mechanism 1 are both triggered by the edge of the barrel, the control system controls the hydraulic lever 23 Continue to extend the set length to drive the two-hanging gear mechanism 1 to continue to rise to carry the trash can 24 to realize loading.

In the control method of this embodiment, the working condition of turning over the two trash cans 24 is performed. In this embodiment, when the two trash cans 24 are pushed to the loading station, only when the two first sensing devices 2 are squeezed When the pressure is triggered, the feeding mechanism will continue to rise to hang the barrel. As long as any one of the first sensing devices 2 is not triggered, the feeding mechanism will not have any action. In this embodiment, after the two first sensing devices 2 are triggered, the feeding mechanism continues to rise, and each of the hanging teeth 4 on the hanging gear mechanism 1 will be inserted into the edge of the trash can 24. At the same time, the two second sensing devices 3 At the beginning of touching the edge of the barrel, the barrel squeezes the two second sensing devices 3 to overcome the force of the torsion spring to rotate around the hinge point. When the rotation reaches a certain angle, the sensors of the two second sensing devices 3 are triggered. Then the feeding mechanism continues to rise. When the feeding mechanism rises to a certain height and the trash can 24 is completely separated from the ground, if the sensors of the two second sensing devices 3 are still in the triggered state, it is judged that the two trash cans 24 are both at this time. If the hanging bucket is normal, the feeding mechanism continues to rise; if the sensors of the two second sensing devices 3 are not all in the triggered state, it is judged that the hanging bucket of the trash can 24 is abnormal at this time, and the feeding mechanism stops rising, and then starts to descend and start to fall. Return to the starting position, and after the position of the trash can 24 is corrected, restart the previous steps. In this embodiment, when the double barrel is turned over, the barrel turning operation can be completed only after the two trash cans 24 are properly hung, which effectively prevents the drop of the barrel during the double barrel operation, and ensures the safety of the double barrel operation. Reliability and robustness. The feeding process of this embodiment is the same as that shown in FIG. 13 to FIG. 18, but the difference is that in this embodiment, two trash cans 24 are simultaneously loaded at one time.

The selection of the single-bucket operation mode and the double-bucket operation mode in the above-mentioned embodiment can be realized by turning the operation mode selection switch as shown in FIG.

In another preferred embodiment of the present invention, the control method further includes the steps:

When the hydraulic rod 23 extends to the preset limit position, the control system controls the hydraulic rod 23 to pause for 2 seconds to realize material loading.

In this embodiment, when the oil cylinder extends the longest, the feeding mechanism also rises to the highest point. After the trash can 24 reaches the highest point, the feeding mechanism will stay for 2 seconds to ensure that the garbage in the trash can 24 is completely poured out , And then the feeding mechanism begins to descend again, returns to the starting position, and completes unloading the barrel.

In another preferred embodiment of the present invention, the step of controlling the retraction speed of the hydraulic rod 23 to avoid bumps of the trash can 24 includes:

S301. The control system sends a signal to control the retraction speed of the hydraulic rod 23 by reducing the engine speed to reduce the oil pump input speed.

In this embodiment, when the pressure signal applied by the trash can 24 during the unloading process detected and output by the gravity sensor board 7 suddenly disappears or appears suddenly, the control system sends a signal to reduce the engine speed, thereby reducing the oil pump input speed , Reduce the hydraulic oil flow into the hydraulic rod 23, reduce the retraction speed of the hydraulic rod 23, and finally slow down the unloading speed of the feeding mechanism, and avoid the inconsistency of the lowering of the trash bin 24 and the feeding mechanism during unloading. When unloading the bucket, the trash can 24 is synchronized with the lowering speed of the feeding mechanism, so as to prevent the trash can 24 from bumping on the feeding mechanism and causing the trash can 24 to be damaged or dropped. At the same time, the engine speed is reduced to a certain extent. It also plays a role in saving fuel.

S311: The control system sends a signal to control the retraction speed of the hydraulic rod 23 by reducing the opening of the flow regulating valve connected to the hydraulic rod 23.

In this embodiment, when the pressure signal applied by the trash can 24 during the unloading process detected and output by the gravity sensor board 7 suddenly disappears and suddenly appears, the control system sends a signal to reduce the connection with the hydraulic lever 23 The opening degree of the flow regulating valve reduces the flow of hydraulic oil entering the hydraulic rod 23, and controls the retraction speed of the hydraulic rod 23, and finally slows down the unloading speed of the feeding mechanism, and avoids the trash bin 24 and the upper part during unloading. The problem of the inconsistency of the lowering of the feeding mechanism makes the lowering speed of the trash can 24 and the feeding mechanism synchronized when unloading the bin, so as to prevent the trash bin 24 from bumping on the feeding mechanism and causing the trash bin 24 to be damaged or dropped. At the same time, because the garbage truck contains multiple subsystems, such as power system, hydraulic system, pneumatic system, etc., there is a certain correlation between these subsystems. For example, the pumps of the hydraulic system and the pneumatic system are powered by the engine. This embodiment By adjusting the flow regulating valve connected to the hydraulic lever 23 instead of the engine speed to control the retraction speed of the hydraulic lever 23, the stability and reliability of the operation of the garbage truck engine and the entire hydraulic system can be ensured, and the adjustment of the hydraulic pressure can be avoided. When the rod 23 is retracted at a speed, it interferes with the stable operation of the power system, hydraulic system, pneumatic system and other parts of the garbage truck, which ensures the stability and reliability of the entire garbage truck operation to a certain extent.

The above descriptions are only preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

An intelligent automatic feeding mechanism, comprising a feeding frame (6), a main connecting rod (8) and a slave connecting rod (9) fixedly connected to the left and right sides of the feeding frame (6), and the main The hydraulic rod (23) drivingly connected with the connecting rod (8), and the two-hanging gear mechanism (1) fixedly arranged on the front side of the loading frame (6), characterized in that it further comprises:

The first sensing devices (2) are respectively arranged on the two-hanging gear mechanism (1), and are used to output a first sensing signal by the side of the trash can (24) when the trash can (24) is pushed to the loading position;

The second sensing devices (3) are respectively arranged on the two-tooth-hanging mechanism (1), and are used for the gear-hanging mechanism to rise and be inserted into the edge of the trash can (24) when it is affected by the edge of the trash can (24) Output the second induction signal;

Two gravity induction plates (7) are fixedly arranged on the front side of the loading frame (6), and are respectively located below the two hanging gear mechanisms (1), for detecting and outputting the pressure exerted by the trash can during the unloading process Signal;

The trash can loading limit device is used to limit the rising limit position of the trash can (24);

The control system is respectively connected with the first sensing device (2), the second sensing device (3), the two gravity sensing boards (7), and the trash can loading limit device circuit, and is used for according to the first sensing signal , The second induction signal, controlling the hydraulic rod (23) to extend a set length to realize loading, and controlling the hydraulic rod (23) to retract after loading to unload the barrel according to the change range of the pressure signal The retraction speed of the hydraulic rod (23) is controlled to avoid bumps of the trash can (24).
The intelligent automatic feeding mechanism according to claim 1, characterized in that:

The first sensing device (2) includes:

The first induction plate (18) is pivotally hinged with the first hinge sleeve (11) on the front side of the gear-hanging mechanism (1) through the first pin (21);

A compression spring (20), one end of the compression spring (20) abuts against the first induction plate (18), and the other end abuts against a compression spring mounting seat (13) provided on the gear hanging mechanism (1) ；

The first sensor is arranged on the gear-hanging mechanism (1) and connected to the control system circuit, and is used to rotate the first sensor plate (18) by the side of the trash can (24) around the hinge to set an angle The first sensing signal is output to the control system at the time.
The intelligent automatic feeding mechanism according to claim 1, characterized in that:

The first sensing plate (18) includes a pressure-receiving swing plate (181), a second hinge sleeve (184) fixed at one end of the pressure-receiving swing plate (181), which are respectively symmetrically arranged on the pressure pendulum The two lateral limiting lugs (182) and the two angular limiting hook lugs (183) on the left and right sides of the plate (181), the two lateral limiting lugs (182) and the two angular limiting hook lugs (183) ) Is matched with the width of the hanging teeth (4) of the hanging gear mechanism (1), and both sides of the hanging teeth (4) are also provided with the angular limit hook lugs (183) to limit the compression The limiting shoulder (10) of the turning angle of the swing plate (181).
The intelligent automatic feeding mechanism according to claim 1, characterized in that:

The second sensing device (3) includes:

The second induction plate (19) is pivotally hinged with the hinge hole (14) on the gear hanging mechanism (1) through the second pin shaft (22);

The torsion spring (16) is sleeved on the second pin shaft (22), one end of which is in contact with the second sensing plate (19), and the other end is connected to the torsion The spring limit plate (15) abuts;

The second sensor is arranged on the gear-hanging mechanism (1) and connected to the control system circuit, and is used to set the second sensor plate (19) to be squeezed around the hinged joint of the trash can (24) when the second sensor board (19) is squeezed When the angle is fixed, the second sensing signal is output to the control system.
The intelligent automatic feeding mechanism according to claim 1, characterized in that:

The loading limit device of the trash can (24) includes a displacement sensor, which is built in the hydraulic rod (23) and connected to the control system circuit for real-time detection and output of the hydraulic rod ( 23) Displacement signal;

or,

The loading limit device of the trash can (24) includes a proximity switch, which is connected with the control system circuit, and is used to limit the rising limit position of the trash can (24).
A control method of an intelligent automatic feeding mechanism, which is characterized in that it comprises the following steps:

When the first sensing device (2) is triggered by being squeezed by the side of the trash can (24), the control system controls the hydraulic rod (23) to extend and drive the two hanging gear mechanism (1) to rise;

When the two-hanging gear mechanism (1) continues to rise and is inserted into the edge of the trash can (24), if the second sensing device (3) is triggered by the edge of the barrel, the control system controls the hydraulic lever (23) to continue Extend and drive the two hanging gear mechanism (1) to rise to carry the trash can (24) and turn it up to the set height to realize loading;

The control system controls the hydraulic rod (23) to retract and carries the trash can (24) back to the starting position to realize the unloading of the bucket. When retracting, the gravity sensor board (7) detects and outputs the trash can ( 24) When the applied pressure signal suddenly disappears and appears suddenly, the retraction speed of the hydraulic rod (23) is controlled to avoid the trash can (24) from bumping.
The control method of an intelligent automatic feeding mechanism according to claim 6, characterized in that:

In the single-bucket operation mode, when any one of the first sensing devices (2) on the two-hanging gear mechanism (1) is triggered by the side extrusion of the trash can (24), the control system controls the hydraulic rod (23) to extend and drive two The gear-hanging mechanism (1) rises;

When one of the gear-hanging mechanisms (1) rises and is inserted into the edge of the trash can (24), if the second sensing device (3) on the same gear-hanging mechanism (1) is triggered by the edge of the barrel, the control system controls The hydraulic rod (23) continues to extend to a set length to drive the two-hanging gear mechanism (1) to continue to rise to carry the trash can (24) to realize material loading.
The control method of an intelligent automatic feeding mechanism according to claim 6, characterized in that:

In the double-barrel operation mode, when the two first sensing devices (2) on the two-hanging gear mechanism (1) are both squeezed by the side of the trash bin (24) and are triggered, the control system controls the hydraulic lever (23) to extend Drive the two hanging gear mechanism (1) up;

When the two hanging gear mechanism (1) continues to rise and is inserted into the edge of the trash can (24), if the two second sensing devices (3) on the two hanging gear mechanism (1) are both triggered by the edge of the barrel, The control system controls the hydraulic rod (23) to continue to extend a set length to drive the two hanging gear mechanism (1) to continue to rise so as to carry the trash can (24) to realize loading.
The control method of an intelligent automatic feeding mechanism according to claim 6, characterized in that it further comprises the steps of:

When the hydraulic rod (23) extends to a preset limit position, the control system controls the hydraulic rod (23) to pause for a set time to realize feeding.
The control method of the intelligent automatic feeding mechanism according to claim 6, characterized in that the step of controlling the retraction speed of the hydraulic rod (23) to avoid the bumping of the trash can (24) includes:

The control system sends a signal to control the retraction speed of the hydraulic rod (23) by reducing the engine speed to reduce the oil pump input speed;

or,

The control system sends a signal to control the retraction speed of the hydraulic rod (23) by reducing the opening of the flow regulating valve connected with the hydraulic rod (23).