Rake Controls

Abstract

The present invention discloses a control device for a pusher and rake machine, comprising: a detection and positioning mechanism, which is used to detect the spatial position or state of a material and the position of the pusher and rake machine, and transmit the detected information to the controller; a travel control mechanism, which is used to control the action and direction of the pusher and rake machine; a pusher and rake control mechanism, which is used to control the pusher and rake shovel action of the pusher and rake machine; a throttle control mechanism, which is used to drive the amplitude of the throttle to control the power and speed of the pusher and rake machine; a brake control mechanism, which is used to control the rise and fall of the brake to achieve the braking of the pusher and rake machine; and a controller, which is connected to the detection and positioning mechanism, the travel control mechanism, the pusher and rake control mechanism, the throttle control mechanism and the brake control mechanism as a general controller.

Description

Technical Field

[0001] The present invention relates to the technical field of push-rake machine control, and more particularly to a push-rake machine control device. Background Art

[0002] The pusher is an engineering equipment for cargo ship operations at bulk cargo terminals. In large thermal power plants, coal is transported to the dock by ship on a daily basis, and then the coal in the cabin is grabbed by the ship unloader. However, due to its shape and many restrictions, the ship unloader cannot grab all the coal in the cabin. The remaining coal piles are often attached to the two walls of the cabin. In this case, the pusher is needed to be hoisted into the cabin, and the remaining coal is pushed and raked to the center of the cabin and piled into a pile. Then, the remaining coal slag can be grabbed out with the grab of the ship unloader.

[0003] At present, the operation of the pusher and rake machine is basically operated manually. The operator climbs up and down the cabin through the ladder on the ship, enters the cab to rake the coal, and rakes the coal wall around the cabin that is about 8 meters high to the middle position of the cabin bottom for the coal unloading machine grab to grab again. It takes nearly 3 hours of operation to empty a coal bunker. Usually, a 40,000-ton coal ship has three coal bunkers. In order to ensure that the coal ship unloads coal in time, the operator must work in shifts day and night, and the labor intensity is very high. In addition, the space in the cabin is small, and the large amount of exhaust gas and noise emitted by the high-power diesel engine of the pusher and rake machine is not easy to spread. The air flow is poor and the dust concentration is high. The operator even needs to wear a mask to work in the closed cockpit. Especially in summer, the high temperature is unbearable. Long-term work in such a harsh environment will seriously harm the physical and mental health of the operator. Due to the low visibility in the cabin, the operator's line of sight is affected, reducing the operating efficiency. In addition, the depth of the cabin is as high as 10 meters. It is generally unsafe for operators to go up and down the cabin by climbing the ladder on the ship, especially in rainy, icy and snowy days, the ladder is wet and slippery, and the line of sight is poor, which poses a serious safety hazard.

[0004] In summary, the push-raking machine of the prior art cannot realize unmanned control, has low operating efficiency, and has hidden dangers to operating safety. Summary of the invention

[0005] In view of this, the present invention provides an automatic control device for a push-rake machine to improve working efficiency and eliminate potential safety hazards.

[0006] The technical solution of the present invention is to provide a control device for a pusher and rake machine having the following structure, including:

[0007] A detection and positioning mechanism, used for detecting the spatial position or state of the material and the position of the pusher and rake, and transmitting the detected information to the controller;

[0008] A travel control mechanism for controlling the movement and direction of the pusher and rake;

[0009] A push-rake control mechanism, used to control the push-rake shovel action of the push-rake machine;

[0010] A throttle control mechanism, used to drive the amplitude of the throttle to control the power and speed of the push rake;

[0011] The controller, as a master controller, is respectively connected to the detection and positioning mechanism, the travel control mechanism, the push-rake control mechanism and the throttle control mechanism.

[0012] Optionally, the detection and positioning mechanism includes a detection, positioning and scanning module, a height adjustment rod and a mounting seat, the mounting seat is located on the frame of the pusher and rake machine, the height adjustment rod is arranged on the mounting seat, the detection, positioning and scanning module is installed at the upper end of the height adjustment rod, and the height adjustment rod is used to adjust the height of the detection, positioning and scanning module.

[0013] Optionally, the positioning scanning module includes a laser scanner, which emits multiple laser beams. After the multiple laser beams return, the distance between the laser beam scanning position and the laser scanner is obtained, thereby obtaining the position and state of the material in space and the position of the pusher and rake, and transmitting the data to the controller.

[0014] Optionally, the controller controls the action and movement direction of the travel control mechanism according to the data returned by the positioning scanning module.

[0015] Optionally, the travel control mechanism is installed at the travel joystick of the push-and-harrow machine, and is used to control the forward, backward, left and right movements of the travel joystick to control the push-and-harrow machine to move forward, turn left, turn right and move backward.

[0016] Optionally, the travel control mechanism includes a travel mounting frame, front and rear linear servo motors, front and rear control forks, left and right control forks and left and right linear servo motors; the travel mounting frame is installed on the armrest position where the above-mentioned travel joystick is located, and a large circular hole is opened in the center of the upper plane of the travel mounting frame for the travel joystick to pass freely; the travel joystick is placed in the fork grooves of the front and rear control forks and the left and right control forks at the same time, and the left and right control forks are driven to move by the left and right linear servo motors to control the left and right movement of the travel joystick, and the front and rear control forks are driven to move by the front and rear linear servo motors to control the front and rear movement of the travel joystick.

[0017] Optionally, the push-rake control device also includes a travel locking control mechanism and a push-rake locking control mechanism, wherein the travel locking control mechanism is used to control the rise and fall of the travel locking rod to control whether the travel control rod fails; the push-rake locking control mechanism is used to control the rise and fall of the push-rake locking rod to control whether the push-rake control rod fails.

[0018] Optionally, the push-rake machine is provided with a large throttle and a small throttle, and the throttle control mechanism includes a large throttle control structure for controlling the large throttle and a small throttle control structure for controlling the small throttle, the large throttle is a hand throttle, and the small throttle is a foot throttle.

[0019] Optionally, the push-and-harrow machine control device further includes a brake control mechanism, which is used to control the raising and lowering of the brake to achieve braking of the push-and-harrow machine, and the brake control mechanism is controlled by the controller.

[0020] Optionally, the controller includes a control box, a drive group, an industrial computer and a combined inertial navigation device. The control box is installed in the cab, and the drive group is installed in the control box to drive servo motors respectively; the industrial computer is installed in the control box, and the combined inertial navigation device is installed in the control box, which is used to output inertial navigation data and upload it to the industrial computer.

[0021] Compared with the prior art, the technical solution of the present invention has the following advantages: According to the present invention, the control device of the pusher and rake machine can be quickly installed on the pusher and rake machine without modifying the original pusher and rake machine. Thus, it is convenient to put it into use and popularize it quickly, realize the unmanned automatic cleaning of the pusher and rake machine in the cabin, save the staff working in the harsh working environment in the cabin, thereby greatly improving the working environment of the operators, reducing the labor intensity, and improving the work efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is an external structural diagram of a push rake machine according to one embodiment of the present invention;

[0023] Figure 2a This is the first view of the cab layout of the push-rake machine;

[0024] Figure 2b This is the first view of the cab layout of the push-rake machine;

[0025] Figure 3 is a schematic structural diagram showing a travel control mechanism according to an embodiment of the present invention;

[0026] Figure 4 is a schematic structural diagram of a large throttle control mechanism according to an embodiment of the present invention;

[0027] Figure 5 is a schematic structural diagram showing a travel lock control mechanism according to an embodiment of the present invention;

[0028] Figure 6 is a schematic structural diagram showing a brake control mechanism according to an embodiment of the present invention;

[0029] Figure 7is a schematic diagram showing the structure of a controller according to an embodiment of the present invention;

[0030] Figure 8 is a schematic diagram showing the intelligent detection principle of one embodiment of the present invention;

[0031] Fig. 9 This is a diagram showing a work schedule of one embodiment of the present invention.

[0032] As shown in the figure:

[0033] 1-Pushing rake, 2-Multi-line laser, 3-Coal stack

[0034] 10-Detection and positioning mechanism, 101-Intelligent detection and positioning scanning module, 102-Height adjustment rod, 103-Mounting seat

[0035] 20-controller, 30-travel lock control mechanism, 13-travel lock lever, 40-brake control mechanism, 14-foot brake, 50-small throttle control mechanism, 15-foot throttle, 60-push rake lock control mechanism, 16-push rake lock lever, 70-push rake control mechanism, 17-push rake joystick, 80-large throttle control mechanism, 18-hand throttle, 90-travel control mechanism, 19-travel joystick

[0036] 201-control box, 202-drive group, 203-industrial computer, 204-combined inertial navigation device

[0037] 301-locking position detection switch, 302-servo motor, 303-reducer, 304-locking device mounting frame, 305-travel locking rod swing fork, 306-release position detection switch, 307-anti-slip gasket

[0038] 401-pressure wheel, 402-axle, 403-large servo motor, 404-large reducer, 405-brake control mounting frame, 406-pressure rod, 407-brake origin sensor, 408-brake sensor frame

[0039] 801-Linear servo motor, 802-Throttle push fork, 803-Large throttle mounting bracket, 804-Throttle origin detection sensor, 805-Throttle origin mounting bracket

[0040] 901-travel mounting frame, 902-front and rear in-position bracket, 903-left and right in-position bracket, 904-position detection sensor, 905-front and rear linear servo motor, 906-front and rear control fork, 907-left and right linear servo motor bracket, 908-left and right control fork, 909-left and right linear servo motor DETAILED DESCRIPTION

[0041] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments. The present invention covers any substitution, modification, equivalent method and scheme made within the spirit and scope of the present invention.

[0042] In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details.

[0043] The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the accompanying drawings are all simplified and not in exact proportion, and are only used for the purpose of conveniently and clearly assisting in explaining the embodiments of the present invention.

[0044] [External structure example of a push rake]

[0045] Figure 1 This is an example of the external structure of the rake according to one embodiment of the present invention.

[0046] like Figure 1 As shown, the detection and positioning mechanism 10 comprises: an intelligent detection and positioning scanning module 101 , a height adjustment rod 102 , and a mounting seat 103 .

[0047] The detection and positioning mechanism 10 is installed on the top of the cab outside the pusher and rake machine 1, and is used to detect the remaining amount of the coal pile and to position the pusher and rake machine relative to the cabin.

[0048] The detection positioning scanning module 101 is a key device in the detection positioning mechanism 10. It can simultaneously emit 16 or more laser lines at a uniform angle in the same vertical plane. After each laser line irradiates a certain point on the object, it immediately returns the distance of the point from the above-mentioned intelligent detection positioning scanning module 101 to the processor. The 16 laser lines form a laser scanning fan in space, and rotate the laser scanning fan at an extremely high frequency, thereby obtaining 360° stereo point cloud data around (composed of a large amount of laser point data with calculated distances).

[0049] The height adjustment rod 102 is installed below the detection positioning scanning module 101, and is used to support and fix the detection positioning scanning module 101. The height adjustment rod 102 contains a thread adjustment mechanism, and the height can be adjusted by screwing the thread, so that the intelligent detection positioning scanning module 101 can be conveniently used at the best height.

[0050] The mounting seat 103 is installed below the height adjustment rod 102 and is used to connect with the push-and-harrow machine 1. A shock-absorbing block is embedded inside the mounting seat 103 to reduce the influence of the vibration generated by the push-and-harrow machine 1 during operation on the entire device. At the same time, it is easy to install.

[0051] [Example of the structure of the cab of a bulldozer]

[0052] FIG. 2 shows an example of a cab structure of a bulldozer according to an embodiment of the present invention.

[0053] As shown in FIG2 , the push-rake machine cab is equipped with: a controller 20, a travel lock control mechanism 30, a travel lock lever 13, a brake control mechanism 40, a foot brake 14, a small throttle control mechanism 50, a foot throttle 15, a push-rake lock control mechanism 60, a push-rake lock lever 16, a push-rake control mechanism 70, a push-rake joystick 17, a large throttle control mechanism 80, a hand throttle 18, a travel control mechanism 90, and a travel joystick 19.

[0054] Among them, the above-mentioned travel locking lever 13, foot brake 14, foot throttle 15, push rake locking control mechanism 60, push rake locking lever 16, push rake joystick 17, hand throttle 18, and travel joystick 19 are devices built into the cab of the above-mentioned push rake machine 1, which respectively control different movement functions of the push rake machine 1.

[0055] The travel lock control mechanism 30 is installed on the travel lock rod 13 and is used to control the lifting and lowering of the travel lock rod 13, thereby controlling whether the travel operating rod 19 is invalid.

[0056] The push rake locking control mechanism 60 is installed on the push rake locking rod 16, and is used to control the lifting and lowering of the push rake locking rod 16, thereby controlling whether the push rake operating rod 17 is invalid. The push rake locking control mechanism 60 has the same structure and layout as the travel locking control mechanism 30, and is a left-right mirror image device.

[0057] The brake control mechanism 40 is installed on the foot brake 14, and is used to control the lifting and lowering of the foot brake 14, so as to control the moving movement of the push-rake machine 1 to brake in time.

[0058] The small throttle control mechanism 50 is installed on the foot throttle 15 to control the lifting and lowering of the foot throttle 15, thereby assisting in controlling the throttle output of the push-rake machine 1. The small throttle control mechanism 50 has the same structure and layout as the brake control mechanism 40, and is a left-right mirror image device.

[0059] The travel control mechanism 90 is installed on the travel joystick 19 and is used to control the front, back, left, and right movements of the travel joystick 19, thereby controlling the forward movement, left turn, right turn, and backward movement of the pusher and rake machine 1.

[0060] The push-and-hake control mechanism 70 is installed on the push-and-hake joystick 17, and is used to control the front, back, left, and right movements of the push-and-hake joystick 17, thereby accurately controlling the lifting, lowering, forward swing, and backward swing of the push-and-hake blade of the push-and-hake machine 1. The push-and-hake control mechanism 70 has the same structure and layout as the travel control mechanism 90, and is a left-right mirror image device of each other.

[0061] The large throttle control mechanism 80 is installed on the hand throttle 18 and is used to control the front and rear control of the hand throttle 18, thereby mainly controlling the throttle size of the push rake 1 and adjusting the speed.

[0062] The controller 20 is preferably installed on the empty seat of the driver's seat or other empty positions in the cab according to local conditions. It is responsible for driving and controlling the motion control of the travel lock control mechanism 30, the brake control mechanism 40, the small throttle control mechanism 50, the push-harrow lock control mechanism 60, the push-harrow control mechanism 70, the large throttle control mechanism 80, and the travel control mechanism 90. The motion control of the above devices is controlled by the intelligent algorithm of the built-in processor, so as to automatically control the push-harrow machine 1 to perform the tank cleaning operation.

[0063] [Configuration example of travel control mechanism]

[0064] Figure 3 This is an example of the structure of the travel control mechanism according to one embodiment of the present invention.

[0065] like Figure 3 As shown, the travel control mechanism 90 is used to control the swing of the travel joystick 19, thereby controlling the travel action of the pusher rake. It comprises: a travel mounting frame 901, a front and rear in-position bracket 902, a left and right in-position bracket 903, an in-position detection sensor 904, a front and rear linear servo motor 905, a front and rear control fork 906, a left and right linear servo motor bracket 907, a left and right control fork 908, and a left and right linear servo motor 909.

[0066] The travel mounting frame 901 is used to be mounted on the armrest where the travel joystick 19 is located. A large circular hole is opened in the center of the upper plane of the travel mounting frame 901, which allows the travel joystick 19 to pass freely and is sufficient for the travel joystick 19 to perform forward, backward, left and right movements. The front and rear linear servo motors 905 are mounted on the right edge of the upper plane of the travel mounting frame 901; the left and right linear servo motor brackets 907 are mounted on the upper edge of the upper plane of the travel mounting frame 901; the front and rear positioning brackets 902 and the left and right positioning brackets 903 are installed around the large circular hole in the center of the upper plane of the travel mounting frame 901.

[0067] The aforementioned front and rear linear servo motor 905 is a key component in this device and is a servo drive element. Its interior is composed of a linearly laid stator magnet and a movable slider guided by a guide rail. After power-on, a pulse signal is sent out through the servo driver, which can accurately control the movable slider of the front and rear linear servo motor 905 to move forward and backward along a linear direction. The front and rear linear servo motor 905 itself is a closed-loop control and can form a closed-loop feedback on the current position of the movable slider. At the same time, two limit switches are installed on its side, which can be used to correct the origin coordinates and accumulated errors. Figure 3 As shown, the plane where the movable slider moves is parallel to the upper plane of the traveling mounting frame 901, and the positioning accuracy of the movable slider is as high as ±0.002mm. The front and rear control forks 906 are installed on the movable sliders of the front and rear linear servo motors 905.

[0068] The front and rear control forks 906 are provided with long slots for clamping the travel joystick 19. When the front and rear control forks 906 are driven by the mover slider of the front and rear linear servo motor 905 to move forward and backward, the long slots can push the travel joystick 19 to swing forward and backward without limiting the left and right swing of the travel joystick 19.

[0069] The left and right linear servo motor bracket 907 is an L-shaped bracket used to support and elevate the left and right linear servo motors 909. It makes the plane where the movable sliders of the left and right linear servo motors 909 move perpendicular to the upper plane of the travel mounting frame 901. It also makes the left and right linear servo motors 909 suspended above the front and rear linear servo motors 905. This makes the volume of the entire device more compact.

[0070] The left and right control fork 908 is a part with an L-shaped appearance, and has a reinforcing rib at the bend, and is installed on the movable slider of the left and right linear servo motor 909. The left and right control fork 908 also has a long slot hole for clamping the travel control rod 19. When the left and right control fork 908 is driven by the movable slider of the left and right linear servo motor 909 to move left and right, the long slot hole can push the travel control rod 19 to swing left and right without restricting the forward and backward swing of the travel control rod 19.

[0071] Therefore, as described above, the front and rear linear servo motors 905, left and right linear servo motors 909, front and rear control forks 906, and left and right control forks 908 form a set of two-direction plane coordinate systems (front and rear and left and right). The long slots of the front and rear control forks 906 and the left and right control forks 908 overlap to form a cross hole, which allows the travel joystick 19 to swing arbitrarily in the plane coordinate system.

[0072] The front and rear in-position brackets 902 and the left and right in-position brackets 903 are each provided with three long slots, and each is provided with three in-position detection sensors 904. They are used to detect and output in-position signals when the travel joystick 19 is located at different positions, including: the middle position (origin), front, rear, left front, right front, left rear, right rear and other positions. The in-position detection sensor 904 can fine-tune the installation position in the long slot according to actual conditions. When the travel control mechanism 90 has an abnormal fault, the output signal of the in-position detection sensor 904 can be used to find out the fault source.

[0073] [Structural example of a large throttle control mechanism]

[0074] Figure 4 This is an example of the structure of a large throttle control mechanism according to one embodiment of the present invention.

[0075] like Figure 4 As shown, the large throttle control mechanism 80 is used to control the swing of the hand throttle 18, so as to adjust the movement speed of the push rake. It comprises: a linear servo motor 801, a throttle push fork 802, a large throttle mounting frame 803, a throttle origin detection sensor 804, a throttle origin mounting frame 805

[0076] The large throttle mounting frame 803 can be conveniently and quickly installed next to the hand throttle 18. The linear servo motor 801 is installed sideways above the large throttle mounting frame 803, so that the plane of the movable slider is perpendicular to the installation plane of the hand throttle 18, so that the entire device has a smaller volume.

[0077] The throttle push fork 802 is installed on the movable slider of the linear servo motor 801, and its appearance is similar to an "L" shape, and its bending part has a reinforcing rib. The front end of the throttle push fork 802 is provided with a round hole, which covers the bare rod of the hand throttle 18. The upper computer accurately controls the displacement of the movable slider of the linear servo motor 801 by sending pulses, so that the throttle push fork 802 drives the hand throttle 18 to swing back and forth, and accurately controls the throttle flow rate.

[0078] The throttle origin mounting frame 805 is mounted on the large throttle mounting frame 803, directly opposite to the fully closed position of the hand throttle 18. The throttle origin detection sensor 804 is mounted on the throttle origin mounting frame 805, and is used to detect whether the hand throttle 18 has reached the fully closed position of the throttle, which serves as the control origin.

[0079] [Configuration example of travel lock control mechanism]

[0080] Figure 5 This is an example of the structure of the travel lock control mechanism according to one embodiment of the present invention.

[0081] like Figure 5 As shown, the travel lock control mechanism 30 is used to control the swing of the travel lock rod 13, thereby locking or releasing the travel control rod 19, and controlling whether it can work or fail. It includes: a lock position detection switch 301, a servo motor 302, a reducer 303, a locking device mounting frame 304, a travel lock rod swing fork 305, a release position detection switch 306, and an anti-slip pad 307.

[0082] The locking device mounting frame 304 is mounted near the travel locking rod 13. The speed reducer 303 is mounted on the locking device mounting frame 304. The servo motor 302 is mounted on the speed reducer 303 and is coaxially connected thereto.

[0083] The servo motor 302 is controlled by pulse servo and serves as a power driving element of the travel lock control mechanism 30. The speed reducer 303 can amplify the output torque of the servo motor 302 through an internal speed reduction mechanism.

[0084] The locking position detection switch 301 and the releasing position detection switch 306 are respectively mounted on the locking device mounting frame 304 , and are respectively located above and to the right of the output shaft of the reducer 303 .

[0085] The above-mentioned travel locking rod swing fork 305 has a truncated cone with a round hole and a keyway, and can be installed on the output shaft of the above-mentioned reducer 303. A threaded hole is opened on the top of the truncated cone, and the connection with the output shaft of the above-mentioned reducer 303 is further reinforced by a set screw. A tail is left on the right side of the truncated cone. When the above-mentioned travel locking rod swing fork 305 is in a horizontal position, its tail contacts the above-mentioned locking position detection switch 306 on the right, indicating that the above-mentioned travel locking rod 13 is in a release control state and outputs a signal. When the above-mentioned travel locking rod swing fork 305 drives the above-mentioned travel locking rod 13 to be lifted to a vertical downward position, the tail contacts the above-mentioned release position detection switch 301 above, indicating that the above-mentioned travel locking rod 13 is in a locking control state and outputs a signal. The left side of the truncated cone is an "L"-shaped fork frame, which has a reinforcing rib at the bend and a long groove at the end. The above-mentioned travel locking rod 13 passes through the long groove and is driven by the above-mentioned travel locking rod swing fork 305 to swing up and down.

[0086] The anti-slip gasket 307 is installed on the shaft end of the output shaft of the reducer 303, and is connected to the output shaft through threads and countersunk screws, pressing the truncated table of the travel locking rod swing fork 305 to prevent it from sliding out.

[0087] [Structural example of brake control mechanism]

[0088] Figure 6 This is an example of a brake control mechanism structure showing one embodiment of the present invention.

[0089] like Figure 6 As shown, the brake control mechanism 40 is used to control the lifting or lowering of the foot brake 14, thereby controlling the braking of the push-rake machine 1. It comprises: a pressure wheel 401, a wheel shaft 402, a large servo motor 403, a large reducer 404, a brake control mounting frame 405, a pressure rod 406, a brake origin sensor 407, and a brake sensor frame 408.

[0090] The brake control mounting frame 405 is mounted near the front of the foot brake 14, and its front mounting surface is parallel to the swing direction of the foot pedal of the foot brake 14. The large reducer 404 is mounted on the brake control mounting frame 405. The large servo motor 403 is coaxially mounted on the large reducer 404.

[0091] The pressure rod 406 has a truncated cone at one end, with a round hole and a keyway, and is connected to the output shaft of the large reducer 404 through a flat key. A threaded hole is opened on the top of the truncated cone, and the flat key is tightened by a set screw to strengthen the connection between the pressure rod 406 and the output shaft of the large reducer 404. The pressure rod 406 has a slot at the other end, and another hole vertically passes through the slot, and the wheel axle 402 is installed at the hole position.

[0092] The pressure wheel 401 is mounted on the wheel axle 402. When the large servo motor 403 outputs, it is decelerated by the large reducer 404, driving the pressure rod 406 to swing. The pressure wheel 401 at the other end of the pressure rod 406 acts on the pedal of the foot brake 14, thereby pressing the pedal down to achieve braking. As the pedal of the foot brake 14 descends, the pressure wheel 401 contacts it and rolls passively, achieving the effect of reducing friction loss between parts.

[0093] The brake sensor frame 408 is mounted on the front mounting surface of the brake control mounting frame 405. The brake origin sensor 407 is mounted thereon. When the pressure rod 406 presses the pedal of the foot brake 14 to the lowest position, the pressure rod 406 is exactly at the effective detection position of the brake origin sensor 407, thereby outputting an in-position signal.

[0094] [Configuration example of controller]

[0095] Figure 7 This is an example of a controller configuration showing one embodiment of the present invention.

[0096] like Figure 7As shown, the controller 20 is used to coordinately control the operations of the controller 20, the travel lock control mechanism 30, the brake control mechanism 40, the small throttle control mechanism 50, the push-harrow lock control mechanism 60, the push-harrow control mechanism 70, the large throttle control mechanism 80, and the travel control mechanism 90. It includes: a control box 201, a driver group 202, an industrial computer 203, and a combined inertial navigation device 204.

[0097] The controller 20 is installed in any free space in the cab, preferably at a seat in the cab.

[0098] The control box 201 is installed on the driver's seat and fixed to both sides of the seat by bolts and nuts.

[0099] The driver group 202 is installed in the control box 201 to drive the linear servo motor and the servo motor mentioned above respectively.

[0100] The industrial computer 203 is installed in the control box 201 and serves as the brain of the control system to coordinate and control the work and operation of other devices.

[0101] The combined inertial navigation device 204 is installed in the control box 201, and its function is to output inertial navigation data and upload it to the industrial computer 203. The data mainly includes the instantaneous acceleration of the push-rake machine 1 during its travel.

[0102] [Working example of the intelligent detection principle]

[0103] Figure 8 This is an example of the intelligent detection principle of an embodiment of the present invention. Now, the intelligent detection principle of the intelligent push-rake control system is described in conjunction with the accompanying drawings.

[0104] like Figure 8 As shown, the cabin is a closed space all around. After being grabbed by the ship unloader, the remaining coal pile forms a triangular coal pile 3 along the walls on both sides of the cabin. Usually, the coal pile 3 can be as high as nearly 10 meters or more than 10 meters.

[0105] First, the pusher 1 equipped with an intelligent pusher control system is placed in the middle of the cabin. Its direction is usually parallel or perpendicular to the wall plane to which the coal pile 3 is attached. After the pusher 1 stops, the detection and positioning mechanism 10 installed on its top emits 16 lines of laser to scan the surrounding environment. At any moment, when the line laser irradiates an obstacle, the distance measurement is achieved, and the distance data of the point is uploaded to the controller 20. The 16 lines of laser scan the surrounding 16 circles of point cloud data composed of point distances and send them to the controller 20.

[0106] Furthermore, the controller 20 organizes and calculates the point cloud data through an algorithm, thereby inversely calculating the position of the pusher rake 1 itself relative to the cabin.

[0107] Furthermore, it can be seen from the figure that the annular areas returned by the 16 circles of point cloud data are different in size, showing that the annular area gradually becomes smaller from top to bottom. The reason is that the coal pile 3 is wide at the bottom and narrow at the top. Therefore, the top circle of point cloud data is selected as the basis for positioning.

[0108] Furthermore, as the pusher raker 1 pushes and raks the coal of the coal pile 3 to the middle of the cabin, the height of the coal pile 3 gradually decreases, thereby releasing more walls. The above detection and positioning mechanism 10 is shown as 16 circles of point cloud data from top to bottom, and the annular area gradually increases to the topmost annular area. The remaining amount of coal in the coal pile 3 can be judged in turn.

[0109] Furthermore, when the laser return ring area scanned to the lowest position of the cabin is equal to the cabin area and equal to the ring areas of the upper layers, it can be determined that the coal pile in the cabin has been cleaned.

[0110] [Work planning example of intelligent pusher rake]

[0111] Fig. 9 The following is a working plan example of an embodiment of the present invention. The process of automatic tank clearing operation of the intelligent pusher and rake machine will now be described in conjunction with the accompanying drawings.

[0112] like Fig. 9 As shown, the pusher and rake machine 1 is placed in the middle of the cabin. After it stops, the detection and positioning mechanism 10 starts laser scanning and uploads the scanning data to the controller 20.

[0113] Furthermore, the controller 20 intelligently analyzes the position of the pusher and rake machine 1 relative to the cabin based on the scanning data, and plans a working path.

[0114] Furthermore, the controller 20 controls the travel lock control mechanism 30 and the push-harrow lock control mechanism 60 to operate, lift the travel lock lever 13 and the push-harrow lock lever 16 , and release the travel operating lever 19 and the push-harrow operating lever 17 .

[0115] Furthermore, the controller 20 controls the brake control mechanism 40 and the small throttle control mechanism 50 to lift up, and releases the foot brake 14 and the foot throttle 15 that were previously pressed.

[0116] Furthermore, the controller 20 controls the large throttle control mechanism 80 to push the hand throttle 18 to open the throttle; and controls the push rake control mechanism 70 to drive the push rake joystick 17 to lift the push rake shovel; and controls the travel control mechanism 90 to drive the travel joystick 19 to swing, so that the push rake machine 1 rotates a certain angle toward the location of the coal pile 3, and then starts to move forward.

[0117] Furthermore, the pusher-rake machine 1 rushes into the coal pile 3 and climbs up along the slope of the coal pile 3. During the process, the detection and positioning mechanism 10 always calculates its position relative to the cabin to achieve real-time positioning and obstacle avoidance.

[0118] Furthermore, during the movement of the push-and-harrow machine 1, the combined inertial navigation device 204 installed therein detects and outputs the instantaneous acceleration of the push-and-harrow machine 1 in real time, and uploads it to the controller 20. The controller 20 calculates the real-time displacement of the push-and-harrow machine 1 by integrating the instantaneous acceleration twice, and compares it with the positioning information scanned by the detection and positioning mechanism 10, thereby improving the positioning accuracy and system reliability of the push-and-harrow machine 1.

[0119] Furthermore, the controller 20 controls the travel control mechanism 90 and the push-and-rake control mechanism 70 to control the push-and-rake machine 1 to move to the edge of the cabin, rake the coal pile, and then move back to the middle of the cabin, thus completing one coal raking process.

[0120] Furthermore, after returning to the middle of the cabin, the position of the machine is refreshed and repositioned through the scanning data of the detection and positioning mechanism 10. At the same time, the height and amount of the remaining coal pile are determined through the comparison of the point cloud data of the 16-line laser, and the next coal raking action is planned. The controller 20 controls the pusher and rake machine 1 by controlling the travel control mechanism 90 and the pusher and rake control mechanism 70, deflecting another angle and driving in a straight line to perform the next coal raking action.

[0121] The above-described implementation methods do not constitute a limitation on the protection scope of the technical solution. Any modification, equivalent replacement and improvement made within the spirit and principle of the above-described implementation methods shall be included in the protection scope of the technical solution.

Claims

1. A control device for a push-rake machine, characterized in that: include: A detection and positioning mechanism is used to detect the spatial position or state of the material and the position of the pusher and rake, and transmit the detected information to the controller; A travel control mechanism for controlling the movement and direction of the pusher and rake; A push-rake control mechanism, used to control the push-rake shovel action of the push-rake machine; A throttle control mechanism, used to drive the amplitude of the throttle to control the power and speed of the push rake; A brake control mechanism, the brake control mechanism is used to control the raising and lowering of the brake to achieve braking of the push rake; A controller, as a master controller, is respectively connected with the detection and positioning mechanism, the travel control mechanism, the push and rake control mechanism, the throttle control mechanism and the brake control mechanism; The travel control mechanism is installed at the travel joystick of the pusher and rake machine, and is used to control the forward, backward, left and right movement of the travel joystick to control the forward, left turn, right turn and backward movement of the pusher and rake machine; The travel control mechanism includes a travel mounting frame, front and rear linear servo motors, front and rear control forks, left and right control forks and left and right linear servo motors; the travel mounting frame is installed on the armrest position where the travel joystick is located, and a large circular hole is opened in the center of the upper plane of the travel mounting frame for the travel joystick to pass freely; the travel joystick is placed in the fork grooves of the front and rear control forks and the left and right control forks at the same time, and the left and right control forks are driven to move by the left and right linear servo motors to control the left and right movement of the travel joystick, and the front and rear control forks are driven to move by the front and rear linear servo motors to control the front and rear movement of the travel joystick.

2. The control device for a push-rake machine according to claim 1, characterized in that: The detection and positioning mechanism includes a detection, positioning and scanning module, a height adjustment rod and a mounting seat, the mounting seat is located on the frame of the pusher and rake machine, the height adjustment rod is arranged on the mounting seat, the detection, positioning and scanning module is installed on the upper end of the height adjustment rod, and the height adjustment rod is used to adjust the height of the detection, positioning and scanning module.

3. The control device for a push-rake machine according to claim 2, characterized in that: The positioning scanning module includes a laser scanner, which emits multiple laser beams. After the multiple laser beams return, the distance between the laser beam scanning position and the laser scanner is obtained, thereby obtaining the position and state of the material in space and the position of the pusher and rake, and transmitting the data to the controller.

4. The control device for a push-rake machine according to claim 3, characterized in that: The controller controls the action and movement direction of the travel control mechanism according to the data returned by the positioning scanning module.

5. The control device for a push-rake machine according to claim 1, characterized in that: The push-rake machine control device also includes a travel locking control mechanism and a push-rake locking control mechanism. The travel locking control mechanism is used to control the rise and fall of the travel locking rod to control whether the travel control rod fails; the push-rake locking control mechanism is used to control the rise and fall of the push-rake locking rod to control whether the push-rake control rod fails.

6. The control device for a push-rake machine according to claim 1, characterized in that: The push-rake machine is provided with a large throttle and a small throttle, and the throttle control mechanism comprises a large throttle control structure for controlling the large throttle and a small throttle control structure for controlling the small throttle, the large throttle is a hand throttle, and the small throttle is a foot throttle.

7. The control device for a push-rake machine according to any one of claims 1 to 6, characterized in that: The controller includes a control box, a drive group, an industrial computer and a combined inertial navigation device. The control box is installed in the cab, and the drive group is installed in the control box to drive the servo motors respectively; the industrial computer is installed in the control box, and the combined inertial navigation device is installed in the control box, which is used to output inertial navigation data and upload it to the industrial computer.

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