CN111120432B - Rotary partition constant-pressure control system and method and tunnel cleaning robot - Google Patents
Rotary partition constant-pressure control system and method and tunnel cleaning robot Download PDFInfo
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- CN111120432B CN111120432B CN202010145668.0A CN202010145668A CN111120432B CN 111120432 B CN111120432 B CN 111120432B CN 202010145668 A CN202010145668 A CN 202010145668A CN 111120432 B CN111120432 B CN 111120432B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
- F15B11/10—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor in which the servomotor position is a function of the pressure also pressure regulators as operating means for such systems, the device itself may be a position indicating system
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a rotary partition constant-pressure control system, a rotary partition constant-pressure control method and a tunnel cleaning robot, wherein the rotary partition constant-pressure control system comprises a controller, and a telescopic arm displacement sensor, a floating cylinder pressure sensor, a rotary arm angle sensor and a display which are connected with the controller; the telescopic boom displacement sensor is arranged on the telescopic boom and used for detecting the stroke of the telescopic boom oil cylinder; the floating arm displacement sensor is arranged on the floating arm and used for detecting the stroke of the oil cylinder of the floating arm; the floating cylinder pressure sensor is arranged on the floating oil cylinder and used for detecting the pressure of the oil cylinder; the rotating arm angle sensor is arranged on the floating oil cylinder and used for detecting the pitching angle of the rotating arm; the display is used for calibrating the pitching speed of the rotating arm, the stretching speed of the stretching arm and the floating arm, the pressure of constant pressure control and displaying the pressure, the stroke and the angle in the operation process. The invention realizes the constancy of the pressure of the cleaner on the inner wall of the tunnel at different angles and prolongs the service life of the cleaner.
Description
Technical Field
The invention relates to a control device of a tunnel cleaning robot, in particular to a rotary partition constant-pressure control method, and belongs to the technical field of tunnel cleaning robot control devices.
Background
The tunnel cleaning robot is used for cleaning attachments on the inner wall of a tunnel to prevent the attachments from being too much and influencing the normal use of the tunnel, harmful gas possibly exists in the tunnel and cannot be manually cleaned, the tunnel cleaning robot is required to be cleaned mainly, the tunnel is in a circular arc shape in cross section and has random attachments on the surface, a mechanical arm is required to drive a cleaner to clean the wall of the tunnel according to the circular arc in the process of cleaning the attachments, the cleaner not only tightly presses the wall of the tunnel to ensure the cleaning effect but also cannot damage the wall due to too high pressure, and the pressure of the cleaner on the mechanical arm is also changed due to the continuous change of the angle in the cleaning process of the mechanical arm, so that the cleaner cannot be completely attached to the wall of the tunnel and cannot clean the tunnel, or the pressure is too high, the cleaning efficiency is slow, and the cleaner and the wall of the tunnel can be damaged, thereby a control method is urgently needed to be invented, the pressure of the tail end of the cleaner on the wall of the hole is ensured to be constant in the rotary construction process.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a rotary partition constant-pressure control system and a rotary partition constant-pressure control method, which are used for realizing the constancy of the pressure of a cleaner on the inner wall of a tunnel at different angles.
The invention is realized according to the following technical scheme:
a rotary zoned constant pressure control system comprising:
a controller;
the telescopic boom displacement sensor is arranged on the telescopic boom, is electrically connected with the controller and is used for detecting the stroke of the telescopic boom oil cylinder;
the floating arm displacement sensor is arranged on the floating arm, is electrically connected with the controller and is used for detecting the stroke of the oil cylinder of the floating arm;
the floating cylinder pressure sensor is arranged on the floating oil cylinder, is electrically connected with the controller and is used for detecting the pressure of the oil cylinder;
the rotating arm angle sensor is arranged on the floating oil cylinder, is electrically connected with the controller and is used for detecting the pitching angle of the rotating arm;
and the display is electrically connected with the controller and is used for calibrating the pitching speed of the rotating arm, the stretching speed of the telescopic arm and the floating arm and the constant-pressure control pressure and displaying the pressure, the stroke and the angle in the operation process.
Further, the floating cylinder pressure sensor comprises a floating cylinder pressure sensor I and a floating cylinder pressure sensor II; the floating cylinder pressure sensor I is arranged at the large cavity of the floating oil cylinder, the floating cylinder pressure sensor II is arranged at the small cavity of the floating oil cylinder, and the pressure of the large cavity and the pressure of the small cavity are detected through the floating cylinder pressure sensor I and the floating cylinder pressure sensor II, so that the pressure difference is obtained.
Furthermore, the output end of the controller is respectively and electrically connected with the floating cylinder control valve I, the floating cylinder control valve II and the main electromagnetic valve; and the working oil port B of the main electromagnetic valve is connected with the working oil port of the floating cylinder control valve II, and the working oil port of the floating cylinder control valve II is connected with the working oil port of the floating cylinder control valve I and the working oil port of the floating oil cylinder.
Further, the device also comprises a floating cylinder overflow valve; the overflow valve of the floating cylinder is connected between the floating oil cylinder and the oil tank.
Further, a resistor is connected in parallel between the controller and the display.
Further, the output end of the controller is respectively and electrically connected with a telescopic arm extension electromagnetic valve and a telescopic arm contraction electromagnetic valve; the controller controls the telescopic arm extension electromagnetic valve and the telescopic arm contraction electromagnetic valve to realize extension or contraction of the telescopic arm.
A constant pressure control method for a rotary partition comprises the following steps:
the pressure of the large cavity and the small cavity is measured through a pressure sensor arranged in the large cavity and the small cavity of the floating cylinder, so that differential pressure is obtained, and control deviation is obtained after the differential pressure is compared with the differential pressure set by a display;
measuring the pitching angle of the rotating arm in real time through an angle sensor arranged on the rotating arm, calculating the pressure of the gravity of the cleaner on the cleaner in real time through an angle value, and compensating the control deviation;
the pitching speed of the rotating arm, the stretching speed of the stretching arm and the stretching speed of the floating cylinder are set through a display, the controller calculates the control currents of the rotating arm, the stretching arm and the main valve of the floating arm according to the setting, and the main valve is controlled to realize that each arm carries out construction operation according to the set speed and the set action logic;
measuring the strokes of the telescopic boom and the floating boom in real time through displacement sensors arranged on the telescopic boom and the floating boom, and providing feedback signals for the control of the telescopic boom and the floating boom;
and obtaining the control current of the overflow valve of the floating cylinder according to the control deviation, thereby realizing the constancy of the pressure of the cleaner on the inner wall of the tunnel at different angles through controlling the overflow valve of the floating cylinder.
A tunnel cleaning robot is provided with the rotary partition constant-pressure control system.
The invention has the beneficial effects that:
compared with the prior art, the invention measures the pressure of the large cavity and the small cavity through the pressure sensor arranged in the large cavity and the small cavity of the floating cylinder, further obtains the pressure difference, obtains the control deviation by comparing the pressure difference with the pressure difference set by the display, measures the pitching angle of the rotating arm in real time through the angle sensor arranged on the rotating arm, and calculates the pressure of the gravity of the cleaner on the cleaner in real time through the angle value, thereby compensating the control deviation, and the controller obtains the control current of the overflow valve of the floating cylinder according to the control deviation, thereby realizing the constancy of the pressure of the cleaner on the inner wall of the tunnel at different angles through controlling the overflow valve of the floating cylinder, ensuring the cleaning efficiency and quality, protecting the cleaner and the tunnel wall, and prolonging the service life of the cleaner.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a portion of an electrical system of the present invention;
fig. 2 is a partial hydraulic schematic of the present invention.
In the figure: 1. the device comprises a controller, 2, a telescopic arm displacement sensor, 3, a floating arm displacement sensor, 4, a floating cylinder pressure sensor I, 5, a floating cylinder pressure sensor II, 6, a rotating arm angle sensor, 7, a display, 8, a floating cylinder overflow valve, 9, a floating cylinder control valve II, 10, a floating cylinder control valve I, 11, a telescopic arm extension electromagnetic valve, 12, a telescopic arm retraction electromagnetic valve, 13, a floating arm extension electromagnetic valve, 14, a floating arm retraction electromagnetic valve, 15 and a floating oil cylinder.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are illustrative of some, but not all embodiments of the invention. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a rotary-partition constant-pressure control system includes a controller 1, and a telescopic boom displacement sensor 2, a floating boom displacement sensor 3, a floating cylinder pressure sensor i 4, a floating cylinder pressure sensor ii 5, a rotating arm angle sensor 6, a display 7, a floating overflow valve 8, a floating control valve i 10, a floating control valve ii 9, a main electromagnetic valve, a telescopic boom extension electromagnetic valve 11, and a telescopic boom retraction electromagnetic valve 12, which are respectively connected to the controller 1.
The floating cylinder pressure sensor I4 is installed at the large cavity of the floating cylinder 15, the floating cylinder pressure sensor II 5 is installed at the small cavity of the floating cylinder 15, and the pressure of the large cavity and the pressure of the small cavity are detected through the floating cylinder pressure sensor I4 and the floating cylinder pressure sensor II 5, so that the pressure difference is obtained.
The telescopic boom displacement sensor 2 is arranged on the telescopic boom and used for detecting the stroke of the telescopic boom oil cylinder; the floating arm displacement sensor 3 is arranged on the floating arm and used for detecting the stroke of the oil cylinder of the floating arm; the rotating arm angle sensor 6 is arranged on the rotating arm and used for detecting the pitching angle of the rotating arm; the display 7 is used for calibrating the pitching speed of the rotating arm, the stretching speed of the telescopic arm and the floating arm, the pressure of constant pressure control and displaying the pressure, the stroke and the angle in the operation process.
The main solenoid valve is composed of a floating arm extension solenoid valve 13 and a floating arm retraction solenoid valve 14.
Further scheme: in order to ensure the stability of CAN bus communication, a 120 ohm resistor is connected in parallel between the controller 1 and the display 7.
As shown in fig. 2, firstly, the floating cylinder pressure sensor i 4 and the floating cylinder pressure sensor ii 5 feed back the detected pressure values to the controller 1, the controller 1 calculates the difference between the floating cylinder pressure sensor i 4 and the floating cylinder pressure sensor ii 5, then compares the difference with the preset value of the controller 1, and then adjusts the trigger pressure of the floating cylinder overflow valve 8.
When the hydraulic oil source starts to work, oil of the hydraulic oil source flows to the working oil port A from the oil inlet P through the main electromagnetic valve, the check valve is opened by the oil of the working oil port A, and the connection of the floating cylinder control valve I10 realizes the connection between the rod cavity and the rodless cavity of the floating oil cylinder 15. The oil enters the rod cavity and the rodless cavity of the floating oil cylinder 15, and the floating oil cylinder 15 is in a differential state because the oil area of the rodless cavity is larger than the oil pressure area of the rod cavity.
When an actuating mechanism at the front end of the piston rod suddenly touches a bulge or the piston rod needs to be contracted emergently due to other reasons, oil liquid in a rodless cavity of the floating oil cylinder 15 can return oil in three paths, wherein the oil liquid flows to an oil tank through a floating cylinder overflow valve 8 and flows to a rod cavity of the (H-G) floating oil cylinder 15 through a floating cylinder control valve I10; and thirdly, the oil flows to the energy accumulator, and because of three oil return paths, enough oil paths can be provided for rapidly recovering the oil in the rodless cavity.
The oil in the rod cavity of the floating oil cylinder 15 is mainly supplemented by the rodless cavity of the floating oil cylinder 15 through a floating cylinder control valve I10.
When the actuator at the front end of the piston rod suddenly touches the dent or other reasons cause the piston rod to need to extend emergently.
The oil in the rodless cavity of the floating oil cylinder 15 can also be supplemented by three paths of supplementary oil, firstly: the oil flowing into the accumulator flows to the rodless cavity of the floating oil cylinder 15; secondly, the following steps: oil in a rod cavity of the floating oil cylinder 15 flows to a rodless cavity of the floating oil cylinder 15 through the floating cylinder control valve I10, and an oil inlet P sequentially enters the rodless cavity of the floating oil cylinder 15 through the main electromagnetic valve.
And a working oil port B of the floating arm contraction electromagnetic valve 14 is connected with a working oil port of the floating cylinder control valve II 9 and is connected with the floating cylinder control valve I10 and a working oil port of the floating oil cylinder through another working oil port, so that the retraction action of the floating oil cylinder 15 is realized.
The invention also discloses a constant pressure control method for the rotary partition, which comprises the following steps:
the pressure of the large cavity and the small cavity is measured through a pressure sensor arranged in the large cavity and the small cavity of the floating cylinder, so that differential pressure is obtained, and control deviation is obtained after the differential pressure is compared with the differential pressure set by a display; measuring the pitching angle of the rotating arm in real time through an angle sensor arranged on the rotating arm, calculating the pressure of the gravity of the cleaner on the cleaner in real time through an angle value, and compensating the control deviation; the pitching speed of the rotating arm, the stretching speed of the stretching arm and the stretching speed of the floating cylinder are set through a display, the controller calculates the control currents of the rotating arm, the stretching arm and the main valve of the floating arm according to the setting, and the main valve is controlled to realize that each arm carries out construction operation according to the set speed and the set action logic; measuring the strokes of the telescopic boom and the floating boom in real time through displacement sensors arranged on the telescopic boom and the floating boom, and providing feedback signals for the control of the telescopic boom and the floating boom; and obtaining the control current of the overflow valve of the floating cylinder according to the control deviation, thereby realizing the constancy of the pressure of the cleaner on the inner wall of the tunnel at different angles through controlling the overflow valve of the floating cylinder.
The invention also provides a tunnel cleaning robot which is provided with the rotary partition constant-pressure control system.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (5)
1. A control method based on a rotary partition constant-pressure control system is characterized in that,
the rotary partition constant-pressure control system comprises:
a controller;
the telescopic boom displacement sensor is arranged on the telescopic boom, is electrically connected with the controller and is used for detecting the stroke of the telescopic boom oil cylinder;
the floating arm displacement sensor is arranged on the floating arm, is electrically connected with the controller and is used for detecting the stroke of the oil cylinder of the floating arm;
the floating cylinder pressure sensor is arranged on the floating oil cylinder, is electrically connected with the controller and is used for detecting the pressure of the oil cylinder;
the rotating arm angle sensor is arranged on the floating oil cylinder, is electrically connected with the controller and is used for detecting the pitching angle of the rotating arm;
the display is electrically connected with the controller and is used for calibrating the pitching speed of the rotating arm, the stretching speed of the telescopic arm and the floating arm and the constant-pressure control pressure and displaying the pressure, the stroke and the angle in the running process;
the floating cylinder pressure sensor comprises a floating cylinder pressure sensor I and a floating cylinder pressure sensor II;
the floating cylinder pressure sensor I is arranged at the large cavity of the floating oil cylinder, the floating cylinder pressure sensor II is arranged at the small cavity of the floating oil cylinder, and the pressure of the large cavity and the pressure of the small cavity are detected through the floating cylinder pressure sensor I and the floating cylinder pressure sensor II, so that differential pressure is obtained;
the control method comprises the following steps:
the pressure of the large cavity and the small cavity is measured through a pressure sensor arranged in the large cavity and the small cavity of the floating cylinder, so that differential pressure is obtained, and control deviation is obtained after the differential pressure is compared with the differential pressure set by a display;
measuring the pitching angle of the rotating arm in real time through an angle sensor arranged on the rotating arm, calculating the pressure of the gravity of the cleaner on the cleaner in real time through an angle value, and compensating the control deviation;
the pitching speed of the rotating arm, the stretching speed of the stretching arm and the stretching speed of the floating cylinder are set through a display, the controller calculates the control currents of the rotating arm, the stretching arm and the main valve of the floating arm according to the setting, and the main valve is controlled to realize that each arm carries out construction operation according to the set speed and the set action logic;
measuring the strokes of the telescopic boom and the floating boom in real time through displacement sensors arranged on the telescopic boom and the floating boom, and providing feedback signals for the control of the telescopic boom and the floating boom;
and obtaining the control current of the overflow valve of the floating cylinder according to the control deviation, thereby realizing the constancy of the pressure of the cleaner on the inner wall of the tunnel at different angles through controlling the overflow valve of the floating cylinder.
2. The control method based on the rotary-partition constant-pressure control system as claimed in claim 1, wherein:
the output end of the controller is respectively and electrically connected with the floating cylinder control valve I, the floating cylinder control valve II and the main electromagnetic valve;
and the working oil port B of the main electromagnetic valve is connected with the working oil port of the floating cylinder control valve II, and the working oil port of the floating cylinder control valve II is connected with the working oil port of the floating cylinder control valve I and the working oil port of the floating oil cylinder.
3. The control method based on the rotary-partition constant-pressure control system as claimed in claim 2, wherein:
the floating cylinder overflow valve is also included; the overflow valve of the floating cylinder is connected between the floating oil cylinder and the oil tank.
4. The control method based on the rotary-partition constant-pressure control system as claimed in claim 1, wherein:
and a resistor is connected in parallel between the controller and the display.
5. The control method based on the rotary-partition constant-pressure control system as claimed in claim 1, wherein:
the output end of the controller is respectively and electrically connected with the telescopic arm extension electromagnetic valve and the telescopic arm contraction electromagnetic valve;
the controller controls the telescopic arm extension electromagnetic valve and the telescopic arm contraction electromagnetic valve to realize extension or contraction of the telescopic arm.
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| CN202010145668.0A CN111120432B (en) | 2020-03-05 | 2020-03-05 | Rotary partition constant-pressure control system and method and tunnel cleaning robot |
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| CN202010145668.0A CN111120432B (en) | 2020-03-05 | 2020-03-05 | Rotary partition constant-pressure control system and method and tunnel cleaning robot |
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| CN112959712B (en) * | 2021-02-08 | 2024-09-24 | 湖州机床厂有限公司 | Floating pressing speed control structure and control method |
| CN114018383B (en) * | 2021-06-08 | 2024-03-26 | 矿冶科技集团有限公司 | Weighing system, scraper and weighing method |
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