阅读说明：本技术 一种绿化综合养护车工作臂的碰撞缓冲控制机构及方法 (Collision buffer control mechanism and method for working arm of greening comprehensive maintenance vehicle ) 是由 姜亚峰 顾清亚 岳慧斌 陈辰 陈昌泉 邓晓飞 施俊 徐震 曹雪娟 于 2020-04-29 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工作臂的碰撞缓冲控制机构及方法,旋转架上通过回转轴装配有工作臂,在工作臂的端部设有机具,回转轴底部与拉杆总成连接,驱动油缸的活塞杆与拉杆总成联动；该碰撞缓冲机构由液压控制装置进行控制,其回路上包括限速阻尼管接头一、限速阻尼管接头二、蓄能器一、蓄能器二、平衡阀一、平衡阀二、单向阀一、单向阀二、驱动油缸和比例阀。该碰撞缓冲机构的结构简单,可在意外碰到障碍物后做出溃退避让,给操作人员留出反应时间,以便操作人员及时做出合理的应对机制,保证设备不损伤或损伤降到最低,避免酿成严重的作业事故。(The invention discloses a collision buffer control mechanism and a method for a working arm of a greening comprehensive maintenance vehicle, wherein the working arm is assembled on a rotating frame through a rotating shaft, a machine tool is arranged at the end part of the working arm, the bottom of the rotating shaft is connected with a pull rod assembly, and a piston rod of a driving oil cylinder is linked with the pull rod assembly; the collision buffer mechanism is controlled by a hydraulic control device, and a loop of the collision buffer mechanism comprises a speed-limiting damping pipe joint I, a speed-limiting damping pipe joint II, an energy accumulator I, an energy accumulator II, a balance valve I, a balance valve II, a one-way valve I, a one-way valve II, a driving oil cylinder and a proportional valve. This collision buffer gear's simple structure can make after the barrier is touch to accident and break back and dodge, reserves reaction time for operating personnel to operating personnel in time makes reasonable reply mechanism, guarantees that equipment does not harm or damage and falls to minimumly, avoids brewage serious operation accident.)

1. A collision buffer control mechanism of a working arm of a greening comprehensive maintenance vehicle is characterized in that the working arm is assembled on a rotating frame through a rotating shaft, a machine tool is arranged at the end part of the working arm, the bottom of the rotating shaft is connected with a pull rod assembly, a driving oil cylinder is arranged on the rotating frame, and a piston rod of the driving oil cylinder is linked with the pull rod assembly; the collision buffer mechanism is controlled by a hydraulic control device, wherein the hydraulic control device comprises a speed-limiting damping pipe joint I, a speed-limiting damping pipe joint II, an energy accumulator I, an energy accumulator II, a balance valve I, a balance valve II, a one-way valve I, a one-way valve II, a driving oil cylinder and a proportional valve, the speed-limiting damping pipe joint I and the speed-limiting damping pipe joint II are respectively arranged on an oil inlet pipeline and an oil return pipeline of the driving oil cylinder, and the energy accumulator I and the energy accumulator II are respectively arranged on two oil paths corresponding to a large oil cavity and a small oil cavity of the driving oil cylinder.

2. The crash cushion control mechanism of a working arm of a greening maintenance vehicle as claimed in claim 1, wherein the valve block movement of the proportional valve is controlled by an on-board controller.

3. The control method of the collision buffer control mechanism of the working arm of the greening comprehensive maintenance vehicle as claimed in any one of claims 1 to 2, characterized by comprising the following specific processes:

when the machine tool meets an obstacle, the resistance received by the machine tool acts on a piston rod of a driving oil cylinder through a pull rod assembly after passing through a working arm, when the blocking force received by the machine tool is larger than the set value of an energy accumulator, the first energy accumulator is filled with oil, the piston rod of the driving oil cylinder retracts, the second energy accumulator is drained, the working arm swings towards the direction far away from the obstacle, and at the moment, an operation driver can make an emergency treatment scheme including emergency stop, retreat, lifting the working arm or laterally moving the working arm after finding out the emergency treatment scheme, so that the controllable obstacle avoidance operation is realized;

after the barrier is removed or the position of the working arm is adjusted to successfully cross the barrier, the force acting on the piston rod of the driving oil cylinder disappears, the first energy accumulator discharges oil, the piston rod of the driving oil cylinder is pushed to extend, the piston rod pushes the pull rod assembly, and the pull rod assembly drives the working arm to reset to the previous position under the action of the energy accumulator.

Technical Field

The invention belongs to the field of road greening maintenance and landscaping, and particularly relates to a collision buffer control mechanism and method for a working arm of a greening comprehensive maintenance vehicle.

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.

The machines of afforestation combined maintenance car's work arm tip are at the operation in-process, can probably because operating personnel's operation vision blind area and ground fragment of brick, stone and big branch etc. take place the rigidity collision, bear the power conduction and make the work arm receive great impact, under the condition that does not have the buffer design, just harm the work arm lightly, the accident can be brewed to the heavy time.

In order to buffer sudden stress to solve the negative problem caused by rigid collision, two solving approaches are generally available in the prior art; one method is that a sensor is used for sensing an obstacle, and then an automatic control procedure is used for rapidly taking an avoiding action; the other is passive buffer type flexible yielding after the obstacle is hit.

The first solution requires to set a sensitive sensor mechanism, and to obtain an optimal avoidance path by matching with the support of mature operation big data through a programmed optimal algorithm, the method has higher automation level, has higher requirements on the precision of the sensor and the performance of the sensor in severe working conditions, has higher requirements on the reliability of the electrified components, and does not allow errors in the operation process.

The second control approach adopts passive flexible fuzzy control, the working arm can retreat and avoid at a proper speed after colliding with an obstacle, but the rigidity of the flexible control cannot be too soft, otherwise, the working arm swings and shakes during normal driving, the rigidity of the flexible control cannot be too hard, otherwise, the working arm still cannot avoid after colliding with the obstacle, and the machine is damaged by collision. The pure mechanical spring type avoidance structure is a common buffer avoidance design, and the structure of the design is simple, but the stability needs to be further improved.

In general, the passive buffering type flexible yielding control mechanism which is more reasonable, effective and higher in stability is adopted, so that the problem of accidental collision of the greening comprehensive maintenance vehicle in the working process is greatly necessary.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a collision buffer control mechanism and a method for a working arm of a greening comprehensive maintenance vehicle, wherein the mechanism is simple in arrangement, can provide buffer reaction time for operating personnel in time, and finally realizes controllable avoidance operation.

The main technical scheme of the invention is as follows: a collision buffer control mechanism of a working arm of a greening comprehensive maintenance vehicle is characterized in that a rotary frame is provided with the working arm through a rotating shaft, the end part of the working arm is provided with a machine tool, the bottom of the rotating shaft is connected with a pull rod assembly, a driving oil cylinder is arranged on the rotary frame, and a piston rod of the driving oil cylinder is linked with the pull rod assembly; the collision buffer mechanism is controlled by a hydraulic control device, wherein the hydraulic control device comprises a speed-limiting damping pipe joint I, a speed-limiting damping pipe joint II, an energy accumulator I, an energy accumulator II, a balance valve I, a balance valve II, a one-way valve I, a one-way valve II, a driving oil cylinder and a proportional valve, the speed-limiting damping pipe joint I and the speed-limiting damping pipe joint II are respectively arranged on an oil inlet pipeline and an oil return pipeline of the driving oil cylinder, and the energy accumulator I and the energy accumulator II are respectively arranged on two oil paths corresponding to a large oil cavity and a small oil cavity of the driving oil cylinder.

Further, the valve block movement of the proportional valve is controlled by an onboard controller.

The control method of the collision buffer control mechanism of the working arm of the comprehensive greening maintenance vehicle comprises the following steps:

when the machine tool meets an obstacle, the resistance received by the machine tool acts on a piston rod of a driving oil cylinder through a pull rod assembly after passing through a working arm, when the blocking force received by the machine tool is larger than the set value of an energy accumulator, the first energy accumulator is filled with oil, the piston rod of the driving oil cylinder retracts, the second energy accumulator is drained, the working arm swings towards the direction far away from the obstacle, and at the moment, an operation driver can make an emergency treatment scheme including emergency stop, retreat, lifting the working arm or laterally moving the working arm after finding out the emergency treatment scheme, so that the controllable obstacle avoidance operation is realized;

after the barrier is removed or the position of the working arm is adjusted to successfully cross the barrier, the force acting on the piston rod of the driving oil cylinder disappears, the first energy accumulator discharges oil, the piston rod of the driving oil cylinder is pushed to extend, the piston rod pushes the pull rod assembly, and the pull rod assembly drives the working arm to reset to the previous position under the action of the energy accumulator.

The invention has the beneficial effects that:

1. the collision buffer mechanism of the working arm of the greening comprehensive maintenance vehicle disclosed by the invention is simple in structure, can be broken and retreated to avoid after accidentally colliding with a barrier, and reserves reaction time for operators, so that the operators can timely make a reasonable coping mechanism, the equipment is ensured not to be damaged or the damage is reduced to the minimum, and serious operation accidents are avoided;

2. compared with a sensing obstacle avoidance mode, the collision buffer mechanism and the control method thereof disclosed by the invention do not need higher automatic control level, have low requirements on the performance of devices, are easier to realize, have lower preparation and maintenance costs correspondingly and can obviously reduce the economic burden of enterprises;

3. the invention mainly utilizes the energy accumulator to absorb impact, and has more stable performance compared with a pure mechanical spring type avoidance structure.

Drawings

FIG. 1 is a schematic structural view of a collision buffer mechanism of a working arm of a greening comprehensive maintenance vehicle;

FIG. 2 is a hydraulic schematic diagram of a hydraulic control device of a collision buffer mechanism of a working arm of the greening comprehensive maintenance vehicle;

FIG. 3 is a partial bottom schematic view of FIG. 1;

wherein, 1-a rotating frame, 2-a rotating shaft, 3-a working arm, 4-a driving oil cylinder, 5-a machine, 6-a pull rod assembly and 7-a hydraulic control device;

71-a first speed-limiting damping pipe joint, 72-a second speed-limiting damping pipe joint, 73-a first energy accumulator, 74-a second energy accumulator, 75-a first balance valve, 76-a second balance valve, 77-a first one-way valve, 78-a second one-way valve and 79-a proportional valve.

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 truck has the advantages that the greening comprehensive maintenance truck can collide with an obstacle to generate rigid collision due to the fact that an operator has a visual field blind area during normal operation, in order to effectively break back and avoid the obstacle, reduce damage of mechanical equipment and avoid serious safety accidents, the embodiment provides the collision buffer mechanism of the working arm of the greening comprehensive maintenance truck, and the main improvement point is the realization of the collision buffer function of the working arm, so basic structures such as a second type chassis and the like on the existing greening comprehensive maintenance truck are not specifically described, but are correspondingly shown in the attached drawings, so that the function realization of the greening comprehensive maintenance truck is not limited.

The collision buffer mechanism specifically comprises a sliding frame arranged on a second-class chassis and a rotating frame connected to the sliding frame, wherein a working arm 3 is assembled on the rotating frame 1 through a rotating shaft 2, the working arm 3 is a three-stage folding arm commonly used in the field, related functions are mainly realized by a push rod oil cylinder, a machine tool 5 is arranged at the end part of the working arm 3, the bottom of the rotating shaft 2 is connected with a pull rod assembly 6, a driving oil cylinder 4 is arranged on the rotating frame 1, and a piston rod of the driving oil cylinder 4 is linked with the pull rod assembly 6; the collision damping mechanism is controlled by a hydraulic control device 7.

The hydraulic control device mainly comprises a speed-limiting damping pipe joint I71, a speed-limiting damping pipe joint II 72, an energy accumulator I73, an energy accumulator II 74, a balance valve I75, a balance valve II 76, a one-way valve I77, a one-way valve II 78, the driving oil cylinder 4 and a proportional valve 79, wherein the speed-limiting damping pipe joint I71 and the speed-limiting damping pipe joint II 72 are respectively arranged on an oil inlet pipeline and an oil return pipeline of the driving oil cylinder 4, and the energy accumulator I73 and the energy accumulator II 74 are respectively arranged on two oil branches corresponding to a large oil cavity and a small oil cavity of the driving oil cylinder 4.

The valve block movement of the proportional valve 79 is controlled by an onboard controller.

Under normal conditions, when the working arm 3 needs to rotate anticlockwise, the valve block of the proportional valve 79 is controlled by the vehicle-mounted controller to move to the left position, hydraulic oil enters from the port P, enters from the one-way valve I77 through the port A, passes through the speed-limiting damping pipe joint I71 to push the piston rod to extend out from the large cavity of the driving oil cylinder 4, the pull rod assembly 6 is driven to enable the working arm 3 to rotate anticlockwise, and return oil returns to the hydraulic oil tank from the port B and the port T after passing through the speed-limiting damping pipe joint II 72 and the balance valve II 76 from the small cavity.

Under normal conditions, when the working arm 3 needs to rotate clockwise, the vehicle-mounted controller controls the valve block of the proportional valve 79 to move to the right, hydraulic oil enters from the port P, enters from the one-way valve II 78 through the port B, passes through the speed-limiting damping pipe joint II 72 to the small cavity of the driving oil cylinder 4 to push the piston rod to retract, the pull rod assembly 6 is driven to enable the working arm 3 to rotate clockwise, and return oil returns to the hydraulic oil tank from the port A and the port T after passing through the speed-limiting damping pipe joint I71 and the balance valve I75 from the large cavity.

In the embodiment, the first balance valve 75, the second balance valve 76, the first check valve 77 and the second check valve 78 form a hydraulic lock, when the implement 5 is in normal operation, the position is fixed, the proportional valve 79 is in the middle position at the moment, the first balance valve 75, the second balance valve 76, the first check valve 77 and the second check valve 78 form a hydraulic lock, so that the first speed-limiting damping pipe joint 71, the second speed-limiting damping pipe joint 72, the first energy accumulator 73, the second energy accumulator 74 and the driving oil cylinder 4 form a closed oil path, the maximum pressure value of the closed oil path is set by the two balance valves, when the set maximum pressure value is exceeded, oil is drained from the inside of the balance valves, and flows back to the hydraulic oil tank from the middle position T port of the proportional valve 79, so that the hydraulic pipeline is prevented from bursting, and a safety protection effect is.

The first speed-limiting damping pipe joint 71 and the second speed-limiting damping pipe joint 72 have the function of adjusting the oil inlet amount through the size of the opening on the joints, so that the driving oil cylinder 4 can stably run.

The first accumulator 73 and the second accumulator 74 are combined into a structure like a gas-liquid spring to keep the working arm 3 in a relatively fixed working position. Here, the elastic force of the gas-liquid spring structure composed of the first accumulator 73 and the second accumulator 74 is preset by the first accumulator 73 and the second accumulator 74, because the first accumulator 73 and the second accumulator 74 are respectively connected with the large chamber and the small chamber of the drive cylinder 4, the pressure settings of the first accumulator 73 and the second accumulator 74 can be different.

The specific control method of the collision buffer control mechanism of the working arm of the comprehensive greening maintenance vehicle comprises the following steps:

when the implement 5 meets an obstacle, the resistance received by the implement 5 acts on a piston rod of the driving oil cylinder 4 through the pull rod assembly 6 after passing through the working arm 3, when the blocking force received by the implement 5 is greater than the set value of the energy accumulator, the first energy accumulator 73 charges oil, the piston rod of the driving oil cylinder 4 retracts, the second energy accumulator 74 discharges oil, the working arm 3 swings in the direction far away from the obstacle, and at the moment, an operation driver can make an emergency treatment scheme including emergency stop, retreat, lifting the working arm or laterally moving the working arm after finding out the response time, so as to realize controllable obstacle avoidance operation;

after the obstacle is removed or the position of the working arm is adjusted to successfully cross the obstacle, the force acting on the piston rod of the driving oil cylinder 4 disappears, the first energy accumulator 73 discharges oil, the piston rod of the driving oil cylinder 4 is pushed to extend, the piston rod pushes the pull rod assembly 6, and the pull rod assembly 6 drives the working arm 3 to reset to the previous position under the action of the energy accumulator.

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.