阅读说明：本技术 一种绿化综合养护车自动浮动机构及其控制系统和方法 (Automatic floating mechanism of greening comprehensive maintenance vehicle and control system and method thereof ) 是由 邓晓飞 岳慧斌 顾清亚 陈辰 陈昌泉 施俊 姜亚峰 徐震 曹雪娟 于 2020-04-22 设计创作，主要内容包括：本发明公开了一种绿化综合养护车自动浮动机构及其控制系统和方法,具体包括设在二类底盘上的滑动架和连接在滑动架上的旋转架,旋转架上装配有旋转臂,在旋转臂上连接主工作臂和副工作臂,主工作臂通过主臂油缸连接旋转臂与副工作臂,在副工作臂的端部设有机具,该自动浮动机构的控制系统包括有电气系统和智能液压装置；利用本发明公开的内容可根据路况,在机具贴地作业时实时高效地调整主臂油缸的伸缩变化,从而带动主工作臂、副工作臂连同机具起升或下降,实时调节机具的高度,使之始终紧贴地面进行运作,解决了贴地施工作业中遇到需上行爬坡或下坡工况时机具不能与地面紧贴的问题,克服路面缺陷,可进一步保证施工作业的效果。(The invention discloses an automatic floating mechanism of a greening comprehensive maintenance vehicle, a control system and a method thereof, and the automatic floating mechanism specifically comprises a sliding frame arranged on a second-class chassis and a rotating frame connected on the sliding frame, wherein a rotating arm is assembled on the rotating frame, a main working arm and an auxiliary working arm are connected on the rotating arm, the main working arm is connected with the rotating arm and the auxiliary working arm through a main arm oil cylinder, machines are arranged at the end part of the auxiliary working arm, and the control system of the automatic floating mechanism comprises an electric system and an intelligent hydraulic device; the telescopic change of the main arm oil cylinder can be efficiently adjusted in real time when the machine is in ground contact operation according to road conditions by utilizing the content disclosed by the invention, so that the main working arm and the auxiliary working arm are driven to rise or fall together with the machine, the height of the machine is adjusted in real time, the machine is enabled to be always tightly attached to the ground for operation, the problem that the machine cannot be tightly attached to the ground when the machine needs to go up to climb or descend in the ground contact construction operation is solved, the defect of the road surface is overcome, and the construction operation effect can be further ensured.)

1. An automatic floating mechanism of a greening comprehensive maintenance vehicle and a control system thereof are characterized by comprising a sliding frame arranged on a second-class chassis and a rotating frame connected to the sliding frame, wherein a rotating arm is assembled on the rotating frame, a main working arm and an auxiliary working arm are connected to the rotating arm, the main working arm is connected with the rotating arm and the auxiliary working arm through a main arm oil cylinder, machines are arranged at the end part of the auxiliary working arm, and the control system of the automatic floating mechanism comprises an electric system and an intelligent hydraulic device;

the electric system comprises a pressure sensor, a vehicle-mounted controller, a display control panel and an operating handle, wherein the pressure sensor is used for measuring the pressure value of a rodless cavity of a main arm oil cylinder, a main arm floating button is arranged on the operating handle, a pressure set value increasing button and a pressure set value decreasing button are arranged on the display control panel, corresponding buttons on the display control panel are pressed, and corresponding control instructions CAN be sent to the vehicle-mounted controller through a CAN bus.

2. The automatic floating mechanism and the control system thereof for the comprehensive greening maintenance vehicle as claimed in claim 1, wherein the intelligent hydraulic device comprises a three-position four-way proportional valve, a two-position two-way solenoid valve I, a two-position two-way solenoid valve II, a two-position two-way solenoid valve III, an energy accumulator I, an energy accumulator II and a main arm oil cylinder, wherein the main arm oil cylinder realizes the lifting and descending of the main arm through the extension and retraction of the rod cavity, thereby driving the machine to ascend or descend.

3. An automatic floating mechanism for a comprehensive greening maintenance vehicle as claimed in claim 1, wherein said pressure setting value increasing button is capable of increasing the pressure setting value by 10% for each press on the basis of the initial setting value in the range of 0-100%; the pressure set point decrement button enables the pressure set point to decrement within the range of 0-100% on the basis of the initial set point, and the pressure set point is decremented by 10% every time the pressure set point is pressed.

4. The automatic floating mechanism and the control system thereof for the integrated maintenance vehicle for greening according to claim 1, wherein the vehicle-mounted controller receives the operation commands of the display control panel and the operation handle and the pressure signal transmitted by the pressure sensor through the CAN bus and then indicates the operation of the electromagnetic valve control valve block of the hydraulic valve set.

5. The automatic floating mechanism of the greening maintenance vehicle and the control method of the control system thereof as claimed in any one of claims 1 to 4, wherein the specific operation principle is as follows:

during floating operation, a main arm floating button on an operating handle is pressed, a main arm floating state of the mower is started, a first two-position two-way electromagnetic valve and a second two-position two-way electromagnetic valve are powered on, so that a rod cavity of a main arm oil cylinder is communicated with oil, a rodless cavity of the main arm oil cylinder is communicated with a first energy accumulator and a second energy accumulator through a third two-position two-way electromagnetic valve, a pressure sensor detects a pressure value A of the rodless cavity, setting of a certain pressure set value percentage B is completed through a pressure set value increasing button and a pressure set value decreasing button on a display control panel, the pressure value is compared with a current pressure sensor monitoring value A, PID automatic adjustment control is carried out, and A = B is enabled to be real-time through controlling related actions of a.

6. The automatic floating mechanism of a greening comprehensive maintenance vehicle and the control method of the control system thereof as claimed in claim 5, wherein the specific control method when encountering an uphill or a protruding road condition during the ground construction operation is as follows:

under the current road conditions, the machines receive ascending holding power, power is through vice work arm, main arm hydro-cylinder is transmitted to main arm to main work arm, embody the rodless chamber pressure value A of main arm hydro-cylinder < pressure setting value B, on-vehicle controller sends control command this moment, make tribit cross proportional valve get electric, rodless chamber oil charge, make rodless chamber pressure value A = B, the pole chamber that appears as main arm hydro-cylinder stretches out, make main work arm lift, it rises to drive the machines, reach the function of uphill or through protruding road conditions.

7. The control method of the automatic floating mechanism and the control system thereof for the comprehensive greening maintenance vehicle as claimed in claim 5, wherein the specific control method when encountering downhill or pothole road conditions during ground construction work is as follows:

under the current road condition, the machines receive downward gravity, the power is transmitted to the main arm oil cylinder through the auxiliary working arm and the main working arm, the pressure value A of a rodless cavity of the main arm oil cylinder is represented as being larger than a pressure set value B, the vehicle-mounted controller sends a control instruction at the moment, the intelligent control program enables the three-position four-way proportional valve to be electrified, the rodless cavity returns oil, the pressure value A = B is enabled, the rod cavity of the main arm oil cylinder retracts, the main working arm descends, the machines are driven to descend, and the function of downhill or passing through the pit road condition is achieved.

Technical Field

The invention belongs to the field of road greening maintenance and landscaping, and particularly relates to an automatic floating mechanism of a greening comprehensive maintenance vehicle and a control system and method 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, in the traveling process of the existing comprehensive maintenance vehicle for greening, especially when the mower is attached to the ground for corresponding operation, if the mower is in a state of uphill slope/raised ground or downhill slope/depressed ground, it is difficult to ensure that the mower is always in a proper working state of being attached to the ground, which affects the working efficiency. If manual real-time adjustment machines position, then bring very big inconvenience for the construction operation, seriously influence efficiency of construction and quality, if the operation is untimely, have the potential safety hazard even.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides an automatic floating mechanism of a comprehensive greening maintenance vehicle, a control system and a control method thereof, wherein the automatic floating mechanism is simple in arrangement and can adjust the height of a machine tool in real time, so that an automatic control function is achieved, the problem that the machine tool cannot be attached to the ground when climbing up or descending down is needed in construction operation is solved, and the construction operation effect can be further ensured.

The main technical scheme of the invention is as follows: an automatic floating mechanism of a greening comprehensive maintenance vehicle and a control system thereof specifically comprise a sliding frame arranged on a second-class chassis and a rotating frame connected on the sliding frame, wherein a rotating arm is assembled on the rotating frame, a main working arm and an auxiliary working arm are connected on the rotating arm, the main working arm is connected with the rotating arm and the auxiliary working arm through a main arm oil cylinder, machines and tools are arranged at the end part of the auxiliary working arm, and the control system of the automatic floating mechanism comprises an electrical system and an intelligent hydraulic device;

the electric system comprises a pressure sensor, a vehicle-mounted controller, a display control panel and an operating handle, wherein the pressure sensor is used for measuring the pressure value of a rodless cavity of a main arm oil cylinder, a main arm floating button is arranged on the operating handle, a pressure set value increasing button and a pressure set value decreasing button are arranged on the display control panel, corresponding buttons on the display control panel are pressed, and corresponding control instructions CAN be sent to the vehicle-mounted controller through a CAN bus.

Furthermore, the intelligent hydraulic device comprises a three-position four-way proportional valve, a two-position two-way solenoid valve I, a two-position two-way solenoid valve II and a two-position two-way solenoid valve III, an energy accumulator I, an energy accumulator II and a main arm oil cylinder, wherein the main arm oil cylinder realizes the lifting and descending of a main arm through the extension and retraction of a rod cavity, and further drives the machine tool to ascend or descend.

Furthermore, the pressure set value increasing button can enable the pressure set value to be increased within the range of 0-100% on the basis of the initial set value, and the pressure set value is increased by 10% every time; the pressure set point decrement button enables the pressure set point to decrement within the range of 0-100% on the basis of the initial set point, and the pressure set point is decremented by 10% every time the pressure set point is pressed.

Furthermore, the vehicle-mounted controller receives the operation instructions of the display control panel and the operation handle and the pressure signals transmitted by the pressure sensor through the CAN bus, and then indicates the hydraulic valve group electromagnetic valve control valve block to operate.

The specific operation process principle of the control method of the automatic floating mechanism and the control system of the greening comprehensive maintenance vehicle is as follows:

during floating operation, a main arm floating button on an operating handle is pressed, a main arm floating state of the mower is started, a first two-position two-way electromagnetic valve and a second two-position two-way electromagnetic valve are powered on, so that a rod cavity of a main arm oil cylinder is communicated with oil, a rodless cavity of the main arm oil cylinder is communicated with a first energy accumulator and a second energy accumulator through a third two-position two-way electromagnetic valve, a pressure sensor detects a pressure value A of the rodless cavity, if a pressure set value increasing button or a pressure set value decreasing button on a display control panel is pressed at the moment, the pressure value is adjustable, when a certain pressure set value percentage B is set, the pressure sensor is compared with a current pressure sensor monitoring value A, PID automatic adjustment control is carried out, and A = B is achieved in real time.

Specifically, the concrete control method when the ground-attaching construction operation encounters an uphill or a raised road condition is as follows: at the moment, the machine tool is subjected to upward supporting force, the force is transmitted to the main arm oil cylinder through the auxiliary working arm and the main working arm, the pressure value A of a rodless cavity of the main arm oil cylinder is represented as being smaller than a pressure set value B, the vehicle-mounted controller sends a control command at the moment, the three-position four-way proportional valve is electrified, the rodless cavity is filled with oil, the pressure value A = B of the rodless cavity is represented as that a rod cavity of the main arm oil cylinder extends out, the main working arm is lifted, the machine tool is driven to ascend, and the function of ascending or passing through a raised road condition.

The concrete control method when meeting the road condition of a downhill or a pit during the ground construction operation comprises the following steps: at the moment, the machine is under the action of downward gravity, the force is transmitted to the main arm oil cylinder through the auxiliary working arm and the main working arm, the pressure value A of a rodless cavity of the main arm oil cylinder is greater than the pressure set value B, the vehicle-mounted controller sends a control command at the moment, the three-position four-way proportional valve is powered on by an intelligent control program, the rodless cavity returns oil, the pressure value A = B is expressed that the rod cavity of the main arm oil cylinder retracts, the main working arm descends, the machine is driven to descend, and the function of descending or passing through the pit road condition is achieved.

The invention has the beneficial effects that:

the invention discloses an automatic floating mechanism of a greening comprehensive maintenance vehicle, a control system and a control method thereof, the automatic floating mechanism has a simple structure, and can adjust the telescopic change of a main arm oil cylinder efficiently in real time, thereby driving a main working arm and an auxiliary working arm to lift or descend together with a machine tool, adjusting the height of the machine tool in real time, enabling the machine tool to be always attached to the ground for operation, solving the problem that the machine tool cannot be attached to the ground when the machine tool needs to go up a climbing or descending working condition in the ground attaching construction operation, overcoming the defect of the road surface, and further ensuring the construction operation effect.

Drawings

FIG. 1 is a schematic structural view of an automatic floating mechanism of a greening comprehensive maintenance vehicle;

FIG. 2 is a schematic structural diagram of an electrical system of an automatic floating mechanism of the greening comprehensive maintenance vehicle;

FIG. 3 is a schematic structural view of an intelligent hydraulic device of an automatic floating mechanism of a greening comprehensive maintenance vehicle in a normal state;

FIG. 4 is a schematic view of the stress of the equipment when encountering uphill (convex) road conditions during the construction operation of the comprehensive greening maintenance vehicle;

FIG. 5 is a schematic view of the stress of the equipment when encountering downhill (concave) road conditions during the construction work of the greening comprehensive maintenance vehicle;

FIG. 6 is a schematic structural view of an intelligent hydraulic device of an automatic floating mechanism of a greening comprehensive maintenance vehicle under an uphill/convex working condition;

FIG. 7 is a schematic structural view of an intelligent hydraulic device of an automatic floating mechanism of a greening comprehensive maintenance vehicle under a downhill/pit working condition;

FIG. 8 is a schematic structural view of an intelligent hydraulic device of an automatic floating mechanism of a greening comprehensive maintenance vehicle in a floating state;

the system comprises a sliding frame, a rotating frame, a 3-rotating arm, a 4-main working arm, a 5-auxiliary working arm, a 6-main arm oil cylinder, a 7-machine tool, an 8-electric system and an intelligent hydraulic device, wherein the sliding frame is arranged at the bottom of the main arm oil cylinder;

81-pressure sensor, 82-vehicle controller, 83-display control panel, 84-operating handle;

831-pressure set value increment button, 832-pressure set value decrement button;

841-main arm floating button;

91-three-position four-way proportional valve, 92-two-position two-way solenoid valve I, 93-two-position two-way solenoid valve II, 94-two-position two-way solenoid valve III, 95-energy accumulator I and 96-energy accumulator II.

Detailed Description

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

The greening comprehensive maintenance vehicle is usually subjected to defective working conditions with uphill slopes/bulges and downhill slopes/pits during ground pasting operation, and in order to ensure that a mowing tool at the end part of a working arm can always maintain efficient ground pasting operation under the conditions, and further improve the working efficiency and the use convenience of the greening comprehensive maintenance vehicle, the embodiment provides the automatic floating mechanism of the greening comprehensive maintenance vehicle and the control system thereof.

As shown in fig. 1-3, the automatic floating mechanism and the control system thereof specifically include a sliding frame 1 disposed on a second-class 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 rotating arm 3 can be driven to rotate by a swing oil cylinder and other components, a main working arm 4 and an auxiliary working arm 5 are connected to the rotating arm 3, the main working arm 4 is connected to the rotating arm 3 and the auxiliary working arm 5 through a main arm oil cylinder 6, an implement 7 for trimming is disposed at an end of the auxiliary working arm 5, the implement 7 is attached to the ground for construction work, and the control system of the automatic floating mechanism includes an electrical system 8 and an intelligent hydraulic device 9.

The electric system 8 comprises a pressure sensor 81, a vehicle-mounted controller 82, a display control panel 83 and an operating handle 84, the electric power required by the electric system is supplied by a power distribution cabinet, the pressure sensor 81 is used for measuring the pressure value of a rodless cavity of the main arm oil cylinder 6, a main arm floating button 841 is arranged on the operating handle 84, a pressure set value increasing button 831 and a pressure set value decreasing button 832 are arranged on the display control panel 83, corresponding buttons on the display control panel 83 are pressed, and corresponding control instructions CAN be sent to the vehicle-mounted controller 82 through a CAN bus.

The pressure set value increment button 831 can make the pressure set value increment in the range of 0-100% on the basis of the initial set value, and increment by 10% every time; the pressure set value decrement button 832 enables the pressure set value to be decremented within a range of 0-100% on the basis of the initial set value, and 10% is decremented every time a user presses the button, so that the touchdown pressure value becomes adjustable.

The intelligent hydraulic device 9 comprises a three-position four-way proportional valve 91, a two-position two-way electromagnetic valve I92, a two-position two-way electromagnetic valve II 93, a two-position two-way electromagnetic valve III 94, an energy accumulator I95, an energy accumulator II 96, a main arm oil cylinder 6, and 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, wherein the functions and the structures of the conventional equipment are all known in the field, and the connection setting is also the prior art and the common knowledge, so that the description is not needed here, and; the main arm oil cylinder 6 realizes the lifting and descending of the main arm through the extension and retraction of the rod cavity, further drives the machine tool to ascend or descend, and ensures that the machine tool always clings to the ground to operate when meeting the working conditions of ascending slope/bulge and descending slope/pit.

And the vehicle-mounted controller 82 receives the operation instructions of the display control panel 83 and the operation handle 82 and the pressure signal transmitted by the pressure sensor 81 through the CAN bus, and then indicates the operation of the hydraulic valve group electromagnetic valve control valve block.

The principle of the floating operation process of the greening comprehensive maintenance vehicle is as follows:

the main arm floating button 841 on the operating handle 84 is pressed down to start the main arm floating state of the mower, the two-position two-way electromagnetic valve I92 and the two-position two-way electromagnetic valve II 93 are electrified to lead the rod cavity of the main arm oil cylinder 6 to be communicated with the energy accumulator I95 and the energy accumulator II 96 through the two-position two-way electromagnetic valve III 94, the two energy accumulators have different pre-charging pressures, the floating function response is made more sensitive, and at this time, the pressure sensor 81 detects the pressure value a of the rodless chamber, and at this time, if the pressure setting value increasing button 831 or the pressure setting value decreasing button 832 on the display control panel 83 is pressed, the pressure value can be adjusted, when the set percentage B of the pressure fixed value is finished, the pressure fixed value is compared with the current monitoring value A of the pressure sensor 81 to carry out PID automatic adjustment control, by controlling the relevant actions of the hydraulic valve group, A = B is realized in real time, and the hydraulic principle is shown in FIG. 8;

more specifically, as shown in fig. 4, when the ground construction operation is performed on an uphill (convex) road condition, the implement 7 receives an upward supporting force, the force is transmitted to the main arm cylinder 6 through the auxiliary working arm 5 and the main working arm 4, which is embodied as that a pressure value a of a rodless cavity of the main arm cylinder 6 is less than a pressure set value B, at this time, the vehicle-mounted controller 82 sends a control instruction, so that the three-position four-way proportional valve 91 is powered on, the rodless cavity is filled with oil, and a pressure value a = B of the rodless cavity is expressed as that a rod cavity of the main arm cylinder 6 extends out, so that the main working arm 4 is lifted up to drive the implement 7 to ascend to achieve the function of uphill or passing the convex road condition, and a specific hydraulic principle;

as shown in fig. 5, when the road condition of a downhill (pit) is met during the construction work, the implement 7 is acted by downward gravity, the force is transmitted to the main arm cylinder 6 through the auxiliary working arm 5 and the main working arm 4, which is embodied as a pressure value a of a rodless cavity of the main arm cylinder 6 > a pressure set value B, at this time, the onboard controller 82 sends a control instruction, and the intelligent control program enables the three-position four-way proportional valve 91 to be powered on and return oil in the rodless cavity, so that the pressure value a = B is expressed as a retraction of the rod cavity of the main arm cylinder 6, so that the main working arm 4 descends to drive the implement 7 to descend, thereby achieving the function of the road condition of the downhill or the pit, and the specific hydraulic principle.

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