CN110258686A - Perching knife jacking system, land leveller and control method - Google Patents
Perching knife jacking system, land leveller and control method Download PDFInfo
- Publication number
- CN110258686A CN110258686A CN201910577541.3A CN201910577541A CN110258686A CN 110258686 A CN110258686 A CN 110258686A CN 201910577541 A CN201910577541 A CN 201910577541A CN 110258686 A CN110258686 A CN 110258686A
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- perching knife
- car body
- gear
- height
- judging result
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
- E02F3/845—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention proposes a kind of perching knife jacking system, land leveller and control methods；Wherein, perching knife jacking system includes: perching knife, is liftably set on car body；Range sensor, for measuring the distance between perching knife and benchmark；Position retaining device is set on car body, and position retaining device is used to be arranged the gear of car body；Driving device is set on car body and connect with perching knife；Controller is electrically connected with range sensor, position retaining device and driving device respectively, wherein controller is used to control driving device driving perching knife according to distance and gear and go up and down to predeterminated position.According to the technical solution of the present invention, position retaining device need to be only operated when operation achieves that perching knife is promoted and declined levelling, simplify operation, improves working efficiency, also add perching knife Automatic Levelling function, effectively expand the detection range of range sensor, the detection accuracy of blade height position is improved, reduces error, in addition, driving system response in the application flexibly and fast improves work efficiency.
Description
Technical field
The present invention relates to technical field of engineering machinery, in particular to a kind of perching knife jacking system, a kind of land leveller and
A kind of control method.
Background technique
Land leveller is mainly used for prepartion of land and plastic operation.Land leveller is all round-trip back and forth during construction operation
It constructs, the position declined to perching knife is needed to control in advance operation；When retrogressing, need to promote perching knife to a certain height,
Perching knife and ground face contact in fallback procedures are avoided, this needs to detect blade height at any time, generally will test in the prior art a little
The free end of oil cylinder is set, that is, what is detected is the actuating length of oil cylinder, rather than perching knife distance away the ground, is easy to produce measurement and misses
Difference；In fallback procedures, traveling handle (or position retaining device) is first set to neutral gear by driver, then operates the hand hoisting dress of perching knife
It sets and promotes perching knife to certain height, then traveling will be retreated after traveling handle is set to retreating gear.Such operating procedure is being kept off
When position device is located at forward gear position, perching knife can only be reduced to elemental height position could advance, and need the special hand of driver
Dynamic manipulation perching knife lifting；In addition, in the prior art, generally cannot achieve using electric-controlled switch reversal valve without angular transducer
Perching knife Automatic Levelling function in advance operation process.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
In view of this, it is an object of the present invention to provide a kind of perching knife jacking systems.
It is another object of the present invention to provide a kind of land levellers.
It is another object of the present invention to provide a kind of control methods.
To achieve the goals above, the technical solution of first aspect present invention provides a kind of perching knife jacking system, is used for
Engineering machinery with car body, comprising: perching knife；Liftably it is set on car body；Range sensor is set on car body or perching knife,
Range sensor is for measuring the distance between perching knife and benchmark；Position retaining device is set on car body, and position retaining device is for being arranged car body
Gear；Driving device is set on car body and connect with perching knife；Controller, respectively with range sensor, position retaining device and driving device
Electrical connection, wherein controller is used to control driving device driving perching knife according to distance and gear and go up and down to predeterminated position.
In the technical scheme, by the way that controller to be electrically connected with range sensor, position retaining device and driving device, so that control
Distance that device processed can be detected according to range sensor, the gear where position retaining device, control driving device driving perching knife go up and down to
Predeterminated position, as long as user's manipulation position retaining device can carry out the lifting of perching knife in this way, it is no longer necessary to the lifting of perching knife is manually controlled,
Reduce workload, improves the automatic control level of perching knife lifting and the accuracy of perching knife lifting, simplify perching knife lifting
Control mode, improve working efficiency.
In the above-mentioned technical solutions, perching knife jacking system further include: first support, the both ends of perching knife are respectively provided with one first
Bracket；Second support is connected with a second support in each first support, be connected in each second support at least one away from
From sensor.
In any of the above-described technical solution, driving device includes: electro-hydraulic proportional valve, is electrically connected with the controller；Hydraulic oil
Cylinder is connected with electro-hydraulic proportional valve and perching knife, wherein electro-hydraulic proportional valve is under the control of the controller, controlling hydraulic cylinder
Go up and down perching knife.
The technical solution of second aspect of the present invention provides a kind of land leveller, comprising: any one of above-mentioned first aspect skill
The perching knife jacking system of art scheme；Horizontal slope sensor is set on car body (100) or perching knife, and horizontal slope sensor is for detecting perching knife
Lateral inclination angle, horizontal slope sensor is electrically connected with the controller of perching knife jacking system, wherein controller is used for according to transverse direction
Tilt angle controls the electro-hydraulic proportional valve of perching knife jacking system to control the hydraulic cylinder of perching knife jacking system to perching knife execution and look for
It is flat.
In the technical scheme, by using the perching knife jacking system of any of the above-described technical solution, to be provided with
Whole beneficial effects of technical solution are stated, details are not described herein.
Further, it by the way that horizontal slope sensor is arranged in land leveller, and is electrically connected with the controller, allows the controller in this way
According to horizontal slope sensor lateral inclination angle detected, electro-hydraulic proportional valve is controlled to control the hydraulic cylinder liter at perching knife both ends
Drop, to realize the Automatic Levelling of perching knife in operation process, it is levelling to avoid user's manual operation, simplifies operation, improves
The position precision of perching knife.
In the above-mentioned technical solutions, land leveller further include: longitudinal slope sensor, on the car body of land leveller, longitudinal slope sensing
Device is for detecting the longitudinal inclination of land leveller in a forward direction；Revolving platform, perching knife are turned by revolving platform and car body
Dynamic connection；Rotation sensor, to detect rotation angle of the perching knife relative to car body on revolving platform；Longitudinal slope sensor and rotation
Turning sensor to be electrically connected with the controller, controller is also used to according to lateral inclination angle, longitudinal inclination, rotation angle,
Control electro-hydraulic proportional valve is levelling to perching knife execution with the hydraulic cylinder for controlling perching knife jacking system.
The technical solution of third aspect present invention provides a kind of control method, for any one of above-mentioned first aspect skill
The perching knife jacking system of art scheme, or the land leveller for any one of above-mentioned second aspect technical solution, comprising: step
S100: the gear where position retaining device is obtained；Step S102: according to gear, the driving direction of car body and the default height of perching knife are determined
Degree；Step S104: the real-time height of perching knife is obtained；Step S106: the judgement relationship between height and preset height, and life in real time
At judging result；Step S108: according to judging result, the movement of perching knife and the traveling of car body are controlled.
In the technical scheme, the driving direction of car body and the preset height of perching knife are determined according to gear, and to perching knife
The relationship between height and preset height is judged in real time, finally according to judging result, controls movement and the car body of perching knife
Traveling, in this way when car body is located at different gears, the preset height of perching knife is different, and according to this gear, in real time height, and
Preset height come control perching knife next step movement and car body traveling, in this way can by the control to position retaining device, realize shovel
The automatic operation of knife lifting reduces operation difficulty, and mention as long as user controls gear and can realize the lifting of perching knife automatically
The accuracy and accuracy for having risen perching knife position, improve working efficiency.
In the above-mentioned technical solutions, step S102 is specifically included: if gear is forward gear, the first preset value being determined as
Preset height；Step S106 is specifically included: being determined the first difference between the real-time height of perching knife and the first preset value, is judged the
Whether the absolute value of one difference is less than or equal to the first preset difference value, and generates judging result；Step S108 is specifically included: if judgement
As a result be it is yes, then issue progress signal to driving system to control the traveling of car body, and it is levelling to carry out perching knife in the process of moving；
If judging result be it is no, to driving system sending forbid progress signal.
In the above-mentioned technical solutions, step S102 is specifically included: if gear is retreating gear, the second preset value being determined as
Preset height；Step S106 is specifically included: whether height is greater than the second preset value in real time for judgement, and generates judging result；Step
S108 is specifically included: if the determination result is YES, then being issued backing signal to driving system, and is stopped promoting perching knife；If judgement knot
Fruit be it is no, then to driving system sending forbid backing signal.
In the above-mentioned technical solutions, step S102 is specifically included: if shifting state is neutral gear, third preset value being determined
For preset height；Step S106 is specifically included: whether height is less than third preset value in real time for judgement, and generates judging result；Step
Rapid S108 is specifically included: if the determination result is YES, then stopping the lifting of perching knife；If judging result be it is no, control perching knife decline
It is less than or equal to third preset value to real-time height.
In the above-mentioned technical solutions, step S102 is specifically included: if shifting state is neutral gear, the 4th preset value being determined
For preset height；Step S106 is specifically included: determining the second difference between the real-time height of perching knife and the 4th preset value, judgement
Whether the absolute value of the second difference is less than or equal to the second preset difference value, and generates judging result；Step S108 is specifically included: if sentencing
Disconnected result be it is yes, then stop the lifting of perching knife；If judging result be it is no, control perching knife and go up and down to the 4th preset value.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Fig. 1 is the sectional perspective structural schematic diagram of the land leveller of one embodiment of the present of invention；
Fig. 2 is the partial structural diagram of the land leveller of one embodiment of the present of invention；
Fig. 3 is the flow diagram of the control method of the land leveller of one embodiment of the present of invention；
Fig. 4 is the flow diagram of the control method of the land leveller of another embodiment of the invention；
Fig. 5 is the flow diagram of the control method of the land leveller of another embodiment of the invention；
Fig. 6 is the flow diagram of the control method of the land leveller of another embodiment of the invention；
Fig. 7 is the flow diagram of the control method of the land leveller of another embodiment of the invention.
Wherein, the appended drawing reference in Fig. 1 and Fig. 2 and the corresponding relationship between component names are as follows:
100 car bodies, 102 perching knives, 104 range sensors, 106 controllers, 108 first supports, 110 second supports, 112 electricity
Liquid proportional valve, 116 horizontal slope sensors, 118 longitudinal slope sensors, 120 rotation sensors, 122 crossbeams, 124 position retaining devices, 2 benchmark, H0
First preset value, the real-time height of Hs, the first difference of H1, the second preset value of Hp.
Specific embodiment
It is with reference to the accompanying drawing and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
According to some embodiments of the present invention referring to Fig. 1 to Fig. 7 description.
As depicted in figs. 1 and 2, the perching knife jacking system of the one embodiment proposed according to the present invention, for having car body
100 engineering machinery, comprising: perching knife 102；Liftably it is set on car body 100；Range sensor 104, be set to car body 100 or
On perching knife 102, range sensor 104 is for measuring the distance between perching knife 102 and benchmark 2；Position retaining device 124 is set to car body 100
On, position retaining device 124 is used to be arranged the gear of car body 100；Driving device is set on car body 100 and connect with perching knife 102；Control
Device 106 is electrically connected with range sensor 104, position retaining device 124 and driving device respectively, wherein controller 106 be used for according to away from
From and gear, the control driving device driving lifting of perching knife 102 is to predeterminated position.
In this embodiment, by the way that controller 106 and range sensor 104, position retaining device 124 and driving device are electrically connected
It connects, the gear of distance, 124 place of position retaining device that controller 106 is detected according to range sensor 104, control driving
Device drives perching knife 102 to go up and down to predeterminated position, as long as user's manipulation position retaining device 124 can carry out the lifting of perching knife 102 in this way,
It no longer needs to manually control, reduces workload, the automatic control level and perching knife 102 for improving the lifting of perching knife 102 are gone up and down
Accuracy, simplify perching knife 102 lifting control mode, improve working efficiency.
It should be pointed out that benchmark 2 can be a face, it is also possible to a line, such as the ground of engineering machinery traveling,
Or the horizontal line etc. of construction Shi Lashe；In addition, then the distance detected of range sensor 104 is when benchmark 2 is ground
For the height of perching knife 102, or perhaps the real-time height of perching knife 102.
Optionally, engineering machinery is land leveller or bull-dozer.
In the above-described embodiments, perching knife jacking system further include: first support 108, the both ends of perching knife 102 are respectively provided with one
First support 108；Second support 110 is hinged with a second support 110, each second support in each first support 108
At least one range sensor 104 is connected on 110.
In this embodiment, it can hingedly be arranged between first support 108 and second support 110, make range sensor 104
It can be rotated and rotated with second support 110, such structure is simple, is readily produced and installs, and range sensor 104 is connected to shovel
On knife 102, range sensor 104 can with 102 synchronization action of perching knife, thus between real-time detection perching knife 102 and benchmark 2 away from
From improving the precision of testing result；Further, it is respectively provided with a first support 108 at the both ends of perching knife 102, that is, shoveled
The both ends of knife 102 are equipped with range sensor 104, and such benchmark 2 can flexibly be located at the either side of perching knife 102, are promoted
The flexibility that benchmark 2 is arranged, and then improve the convenience that product uses；And at least one is connected in second support 110
A range sensor 104, can use the data that multiple range sensors 104 detect in this way to be corrected to testing result,
The precision for further promoting the detection of the distance between perching knife 102 and benchmark 2, reduces single range sensor 104 because angle becomes
Change the error generated.Further, second support 110 and first support 108 are hinged, allow range sensor 104 towards difference
Position rotation, detection be located at different location at benchmark 2, range sensor 104 can detecte different regions in other words, expand
The big working range of range sensor 104, also improves the flexibility of the setting of benchmark 2, and then improve product and use just
Benefit.
In any of the above-described embodiment, driving device includes: electro-hydraulic proportional valve 112, is electrically connected with controller 106；Liquid
Compressing cylinder (attached drawing is not shown), is connected with electro-hydraulic proportional valve 112 and perching knife 102, and the left and right ends of the bracket of perching knife 102 are each
Equipped with a hydraulic cylinder, wherein electro-hydraulic proportional valve 112 is used under the control of controller 106, control hydraulic cylinder lifting shovel
Knife 102.
In this embodiment, by using electro-hydraulic proportional valve 112 under the control of controller 106, hydraulic cylinder liter is controlled
Perching knife 102 drops, and such structure is simple, and it is easy to control, the lifting of user's manual manipulation perching knife 102 is not needed, it is strong to reduce labour
Degree ensure that the accuracy and speed that perching knife 102 is gone up and down, improve construction efficiency.
It is to be appreciated that a hydraulic cylinder is respectively provided with by the left and right ends of the bracket in perching knife 102, so that perching knife
102 may be implemented left and right ends while go up and down, and can also only be gone up and down one end, in this way convenient for according to perching knife 102 and benchmark 2 it
Between distance and pre-determined distance leveled.
Optionally, driving device can also use electric cylinder, cylinder.
As shown in Figure 1, the embodiment of second aspect of the present invention provides a kind of land leveller, comprising: in above-mentioned first aspect
The perching knife jacking system of any one embodiment；Horizontal slope sensor 116, on the perching knife 102 of perching knife jacking system, horizontal slope sensing
Device 116 is used to detect the lateral inclination angle of perching knife 102, and horizontal slope sensor 116 and the controller 106 of perching knife jacking system are electrically connected
It connects, wherein controller 106 is used to control the electro-hydraulic proportional valve 112 of perching knife jacking system according to lateral inclination angle to control shovel
The hydraulic cylinder of knife jacking system executes perching knife 102 levelling.
In this embodiment, by using the perching knife jacking system of any of the above-described embodiment, to be provided with above-mentioned reality
Whole beneficial effects of example are applied, details are not described herein.
Further, it by the way that horizontal slope sensor 116 is arranged in land leveller, and is electrically connected with controller 106, makes to control in this way
Device 106 processed can control electro-hydraulic proportional valve 112 according to the lateral inclination angle detected of horizontal slope sensor 116 to control perching knife
The hydraulic cylinder at 102 both ends executes different strokes respectively, to realize the Automatic Levelling of perching knife 102 in operation process, avoids
Levelling, the convenience that the position precision and product for improving perching knife 102 use is manually operated in user.
Preferably, horizontal slope sensor 116 is set on the knife spine of perching knife 102.
As shown in Figure 1, in the above-described embodiments, land leveller further include: longitudinal slope sensor 118, set on the car body of land leveller
On 100, longitudinal slope sensor 118 is for detecting the longitudinal inclination of land leveller in a forward direction；Revolving platform, perching knife 102
It is rotatablely connected by revolving platform and car body 100；Rotation sensor 120, on revolving platform with detect perching knife 102 relative to
The rotation angle of car body 100；Longitudinal slope sensor 118 is electrically connected with controller 106 with rotation sensor 120, and controller 106 is also
For according to lateral inclination angle, longitudinal inclination, rotation angle, controlling electro-hydraulic proportional valve 112 to control perching knife lifting system
The hydraulic cylinder driving perching knife 102 of system executes levelling.
In this embodiment, the longitudinal inclination of land leveller in a forward direction is detected by longitudinal slope sensor 118, with
And rotation sensor 120 detects rotation angle of the perching knife 102 relative to car body 100, enables controller 106 that longitudinal direction is combined to incline
Rake angle and rotation angle are corrected the lateral inclination angle of perching knife 102, so that the precision of lateral inclination angle is promoted, into
And advantageously ensure that the levelling precision of perching knife 102, improve convenience and reliability that product uses.
Preferably, longitudinal slope sensor 118 is set on the crossbeam 122 of land leveller.
As shown in figure 3, the embodiment of third aspect present invention provides a kind of elevating method of perching knife, for any of the above-described
The land leveller of item embodiment, comprising:
Step S100: the gear where position retaining device is obtained；
Step S102: according to gear, the driving direction of car body and the preset height of perching knife are determined；
Step S104: the real-time height of perching knife is obtained；
Step S106: the relationship between the real-time height of judgement and preset height, and generate judging result；
Step S108: according to judging result, the movement of perching knife and the traveling of car body are controlled.
In this embodiment, the driving direction of car body and the preset height of perching knife are determined according to gear, and to the reality of perching knife
Relationship between Shi Gaodu and preset height is judged, finally according to judging result, controls the movement of perching knife and the row of car body
It sails, in this way when car body is located at different gears, the preset height of perching knife is different, and according to this gear, in real time height, and in advance
If height come control perching knife next step movement and car body traveling, in this way can by the control to position retaining device, realize perching knife
The automatic operation of lifting reduces operation difficulty, and promoted as long as user controls gear and can realize the lifting of perching knife automatically
The accuracy and accuracy of perching knife position, improves working efficiency.
It is to be appreciated that difference locating for land leveller can be distinguished by identifying to the gear where position retaining device
Operating condition, and then can determine which position perching knife should be located at, it can determine the preset height of perching knife.
As shown in figure 4, according to the perching knife elevating method of another embodiment of the application, comprising:
Step S200: the gear where position retaining device is obtained；
Step S202: if gear is forward gear, the first preset value is determined as preset height；
Step S204: the real-time height of perching knife is obtained；
Step S206: it determines the first difference between the real-time height of perching knife and the first preset value, judges the first difference
Whether absolute value is less than or equal to the first preset difference value, and generates judging result；
Step S208: if the determination result is YES, then issuing progress signal to driving system to control the traveling of car body, and
It is levelling that perching knife is carried out in driving process；
Step S210: if judging result be it is no, to driving system sending forbid progress signal.
In this embodiment, when position retaining device is located at forward gear, engineering machinery is in advance operation, i.e., road pavement is scraped
The flat construction stage is needed perching knife to be located at lower position and is struck off with road pavement, at this time as shown in Fig. 2, the height of perching knife
It should be lower first preset value H0；It is to be appreciated that perching knife does not need to be exactly in corresponding to the first preset value H0
Height, but close to, therefore by calculate perching knife real-time height Hs and the first preset value H0 between the first difference
H1, and judge the relationship between the first difference H1 and the first preset difference value is less than or equal to the in the absolute value of the first difference H1
When one preset difference value, illustrate that the height of perching knife very close to the first preset value H0, therefore can issue the signal of advance to control
The traveling of car body processed, and Automatic Levelling is carried out, to guarantee surface evenness, and in this way when position retaining device is located at forward range, no
It needs the position that perching knife is reduced to H0 that can advance, improves the sensitivity of perching knife lifting, be conducive to promote working efficiency；Such as
The absolute value of the first difference of fruit H1 be greater than the first preset difference value, illustrate height corresponding to the first preset value of perching knife distance H0 also compared with
Far, the signal for forbidding advancing is issued at this time, can be given the enough adjustment times of perching knife, be readvanced, keep away after perching knife is adjusted in place
Exempt from perching knife because not leading to invalid operation in preset height and position.
It is to be appreciated that the position of perching knife may be higher, it is also possible to it is relatively low, therefore the application is using the first difference H1's
Absolute value is compared with the first preset difference value, and no matter perching knife is lower or higher in this way, whether may determine that perching knife
Close to height corresponding to the first preset value H0.
Certainly, the scheme of the application and not only limit and this, can also using in real time height the first preset value between ratio
Value is set as 0.9~1.1 to be judged, such as by default ratio range, then the ratio between real-time height and the first preset value
When value is 0.9~1.1, illustrate perching knife close to height corresponding to the first preset value H0.
As shown in figure 5, according to the perching knife elevating method of another embodiment of the application, comprising:
Step S300: the gear where position retaining device is obtained；
Step S302: if gear is retreating gear, the second preset value is determined as preset height；
Step S304: the real-time height of perching knife is obtained；
Step S306: whether height is greater than the second preset value in real time for judgement, and generates judging result；
Step S308: if the determination result is YES, then issuing backing signal to driving system, and stops promoting perching knife；
Step S310: if judging result be it is no, to driving system sending forbid backing signal.
In this embodiment, when position retaining device is located at retreating gear, i.e., in retrogressing operation, perching knife is needed to be located at this time higher
Position to avoid with ground face contact, i.e. the height of perching knife should be the second preset value Hp high compared with the first preset value；It is understood that
Ground, if perching knife exceeds height corresponding to the second preset value Hp, therefore the real-time height Hs by judging perching knife whether
Greater than the second preset value Hp, as long as height Hs is greater than the second preset value Hp in real time, illustrate that the height of perching knife has moved away from ground, because
This can issue the signal of retrogressing；If height illustrates the real-time height Hs of perching knife lower than second less than the second preset value in real time
Preset value Hp, it is possible to which road surface of colliding with issues the signal for forbidding retreating at this time, can give the enough adjustment times of perching knife, shovel
Knife retreats again after being adjusted in place, and avoids perching knife because not leading to road surface of colliding in preset height and position.
As shown in fig. 6, according to the perching knife elevating method of another embodiment of the application, comprising:
Step S400: the gear where position retaining device is obtained；
Step S402: if shifting state is neutral gear, third preset value is determined as preset height；
Step S404: the real-time height of perching knife is obtained；
Step S406: whether height is less than third preset value in real time for judgement, and generates judging result；
Step S408: if the determination result is YES, then stop the lifting of perching knife；
Step S410: if judging result be it is no, control perching knife drop in real time height be less than or equal to third preset value.
In this embodiment, when position retaining device is located at neutral gear, it can may be transferred to forward gear in next step and start level land work, in order to
Working efficiency is improved, needs to reduce blade height as early as possible, therefore, perching knife is just reduced to certain altitude in neutral gear, in other words
Third preset value is reduced to hereinafter, the stroke of perching knife can be shortened when gear enters forward gear, is reduced to first to preset as early as possible
Near value, to rapidly enter level land work, working efficiency is promoted.
It is to be appreciated that third preset value is lower than the second preset value, it is greater than the first preset value.
As shown in fig. 7, according to the perching knife elevating method of another embodiment of the application, comprising:
Step S500: the gear where position retaining device is obtained；
Step S502: if shifting state is neutral gear, the 4th preset value is determined as preset height；
Step S504: the real-time height of perching knife is obtained；
Step S506: it determines the second difference between the real-time height of perching knife and the 4th preset value, judges the second difference
Whether absolute value is less than or equal to the second preset difference value, and generates judging result；
Step S508: if the determination result is YES, then stop the lifting of perching knife；
Step S510: if judging result be it is no, control perching knife and go up and down to the 4th preset value.
In this embodiment, when position retaining device is located at neutral gear, land leveller is in shut-down, it is possible to need to lower perching knife to keep away
Exempt from that center of gravity is excessively high and unstability, and avoids the head of pedestrian from bumping to perching knife, therefore the height of perching knife should be the lower 4th pre-
If value；It is to be appreciated that perching knife does not need to be exactly in the corresponding height of the 4th preset value, but close to therefore
The second difference between real-time height Hs and the 4th preset value by calculating perching knife, and be less than in the absolute value of the second difference or
When equal to the second preset difference value, illustrate the height of perching knife very close to the 4th preset value, position is lower, therefore can stop
Only go up and down；If the absolute value of the second difference is greater than the second preset difference value, illustrate height corresponding to the 4th preset value of perching knife distance
Degree is also farther out, it is therefore desirable to control perching knife and continue to go up and down, until close to the 4th preset value.
It is to be appreciated that the 4th preset value, can be equal to the first preset value, can also be slightly larger than the first preset value.
Control method through this embodiment, by the way of difference comparsion, so that the response of driving system is more clever
Dexterous victory improves working efficiency, and in the course of work, and user, which only needs to control position retaining device, can be realized the lifting of perching knife, looks for
It is flat, greatly improve the convenience that product uses.
The perching knife jacking system of the specific embodiment proposed according to the present invention, in terms of existing technologies, this Shen
Please in blade height test point it is different, the sensor that the prior art will test perching knife 102 is mounted on hydraulic cylinder free end
Position detect blade height, the range sensor 104 that the present invention will test blade height is mounted on 102 two sides of perching knife end
End, and sensor is connected by rotatable bracket, to change 104 position of range sensor as needed, adjustment distance is passed
The search coverage of sensor 104 can directly detect distance between perching knife 102 and different benchmark 2 in this way, rather than pass through benchmark 2
With convert at a distance from hydraulic cylinder, testing result is more direct and accurate, error can be greatly reduced；Further, originally
Invention uses electro-hydraulic proportional valve 112, and increases horizontal slope sensor 116, longitudinal slope sensor 118 and rotation sensor 120,
On the basis of perching knife 102 reduces automatically, increased by horizontal slope sensor 116, longitudinal slope sensor 118 and rotation sensor 120
Only advance and the perching knife 102 of vehicle need to can be completed by operating position retaining device 124 in the Automatic Levelling function of perching knife 102, user
Lift work；Further, the application introduces 102 working sensitivity numerical value of perching knife, i.e. the first preset difference value and second is in advance
If difference, so that perching knife 102 does not need to be fully lowered into the first preset value H0 and vehicle launch can be made to advance, driving system response
It is more flexible, it improves work efficiency.
Specifically, when the land leveller work of the application, 102 automatic control state of perching knife is initially entered, setting perching knife 102
Initial position, i.e. position corresponding to the first preset value H0, the hoisting depth of perching knife 102, i.e. the second preset value Hp when retreating gear
Corresponding position；Then 124 place gear of position retaining device is detected；If position retaining device 124, which is in, retreats gear, perching knife 102 is judged
Real-time height Hs whether be greater than the second preset value Hp, if so, exporting backing signal to driving system, and stop perching knife 102 and mention
It rises；If it is not, forbidding backing signal to driving system output.
It is to be appreciated that having been able to ensure to encounter when retreating other when blade height is greater than the second preset value Hp
Object or road surface, therefore retreat.
Further, if position retaining device 124 is in forward range, the real-time height Hs and the first preset value of perching knife 102 are detected
Whether the absolute value of the first difference H1 between H0 is less than or equal to the first preset difference value, if it is not, forbidding to driving system output
Progress signal needs further to adjust the position of perching knife 102；If so, i.e. perching knife 102 is already close to initial position, at this moment to row
System output progress signal is sailed, and executes 102 Automatic Levelling control action of perching knife in the process of moving.
Further, if position retaining device 124 is in neutral position state, whether detection 102 present level of perching knife is less than or equal to the
Height corresponding to three preset values declines if it is not, executing 102 lowering action of perching knife if so, stopping perching knife 102.
The perching knife jacking system of the specific embodiment of the application, has an advantage that
1) in job state, the height and position of perching knife 102 is directly acquired, precision is high, and error is small, and with sensor
Rotation, height detection region is adjustable；
2) 102 Automatic Levelling function of perching knife is increased, when operation need to only operate position retaining device 124 and achieve that perching knife 102 mentions
Rise and decline levelling, simplified operation, raising working efficiency.
3) 102 first preset difference value of perching knife, the second preset difference value are introduced, makes vehicle driving response flexibly and fast, improves work
Make efficiency.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, according to the technical solution of the present invention, when operation only
Position retaining device need to be operated and achieve that perching knife is promoted and declines levelling, simplified operation, it is automatic to also add perching knife for raising working efficiency
Leveling function effectively expands the detection range of range sensor, improves the detection accuracy of blade height position, reduces
Error improves work efficiency in addition, the driving system response in the application is flexibly and fast.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of perching knife jacking system, for the engineering machinery with car body characterized by comprising
Perching knife (102) is liftably set on car body (100)；
Range sensor (104) is set on the car body (100) or perching knife (102), and the range sensor (104) is for surveying
Measure the distance between the perching knife (102) and benchmark (2)；
Position retaining device (124) is set on the car body (100), and the position retaining device (124) is used to be arranged the gear of the car body (100)
Position；
Driving device is set on the car body (100) and connect with the perching knife；
Controller (106) is electrically connected with the range sensor (104), the position retaining device (124) and the driving device respectively
It connects,
Wherein, the controller (106) is used to control the driving device according to the distance and the gear and drive the shovel
Knife (102) is gone up and down to predeterminated position.
2. perching knife jacking system according to claim 1, which is characterized in that further include:
First support (108), the both ends of the perching knife (102) are respectively provided with the first support (108)；
Second support (110) is connected with the second support (110) on each first support (108), each described
At least one described range sensor (104) is connected in second support (110).
3. perching knife jacking system according to claim 1 or 2, which is characterized in that
The driving device includes:
Electro-hydraulic proportional valve (112) is electrically connected with the controller (106)；
Hydraulic cylinder is connected with the electro-hydraulic proportional valve (112) and the perching knife (102),
Wherein, the electro-hydraulic proportional valve (112) is used under the control of the controller (106), controls the hydraulic cylinder liter
The perching knife (102) drop.
4. a kind of land leveller characterized by comprising
Perching knife jacking system of any of claims 1-3；
Horizontal slope sensor (116) is set on the car body (100) or perching knife (102), and the horizontal slope sensor (116) is for examining
Survey the lateral inclination angle of the perching knife (102), the controller of the horizontal slope sensor (116) and the perching knife jacking system
(106) it is electrically connected,
Wherein, the controller (106) is used to control the electro-hydraulic ratio of the perching knife jacking system according to the lateral inclination angle
Example valve (112) is levelling to the perching knife (102) execution with the hydraulic cylinder for controlling the perching knife jacking system.
5. land leveller according to claim 4, which is characterized in that further include:
Longitudinal slope sensor (118), on the car body (100) of the land leveller, the longitudinal slope sensor (118) is for detecting institute
State the longitudinal inclination of land leveller in a forward direction；
Revolving platform, the perching knife (102) are rotatablely connected by the revolving platform and the car body (100)；
Rotation sensor (120) detects the perching knife (102) relative to the car body (100) on the revolving platform
Rotation angle；
The longitudinal slope sensor (118) is electrically connected with the controller (106) with the rotation sensor (120),
The controller (106) is also used to according to the lateral inclination angle, the longitudinal inclination, the rotation angle,
The electro-hydraulic proportional valve (112) is controlled to control the hydraulic cylinder of the perching knife jacking system to the perching knife (102) execution and look for
It is flat.
6. a kind of control method is used for perching knife jacking system of any of claims 1-3, or is used for claim 4
Or land leveller described in 5 characterized by comprising
Step S100: the gear where position retaining device is obtained；
Step S102: according to the gear, the driving direction of the car body and the preset height of perching knife are determined；
Step S104: the real-time height of the perching knife is obtained；
Step S106: judge the relationship between the real-time height and the preset height, and generate judging result；
Step S108: according to the judging result, the movement of the perching knife and the traveling of the car body are controlled.
7. control method according to claim 6, which is characterized in that
The step S102 is specifically included:
If the gear is forward gear, the first preset value is determined as the preset height；
The step S106 is specifically included:
It determines the first difference between the real-time height of the perching knife and first preset value, judges the exhausted of first difference
Whether the first preset difference value is less than or equal to value, and generates judging result；
The step S108 is specifically included:
If the judging result be it is yes, issue progress signal to driving system to control the traveling of the car body, and travelling
It is levelling that perching knife is carried out in the process；
If the judging result be it is no, to the driving system sending forbid progress signal.
8. control method according to claim 6, which is characterized in that
The step S102 is specifically included:
If the gear is retreating gear, the second preset value is determined as the preset height；
The step S106 is specifically included:
Judge whether the real-time height is greater than second preset value, and generates judging result；
The step S108 is specifically included:
If the judging result be it is yes, issue backing signal to the driving system, and stop promoting the perching knife；
If the judging result be it is no, to the driving system sending forbid backing signal.
9. control method according to claim 6, which is characterized in that
The step S102 is specifically included:
If the shifting state is neutral gear, third preset value is determined as the preset height；
The step S106 is specifically included:
Judge whether the real-time height is less than the third preset value, and generates judging result；
The step S108 is specifically included:
If the judging result be it is yes, stop the lifting of the perching knife；
If the judging result be it is no, controlling the perching knife, to drop to the real-time height default less than or equal to the third
Value.
10. control method according to claim 6, which is characterized in that
The step S102 is specifically included:
If the shifting state is neutral gear, the 4th preset value is determined as the preset height；
The step S106 is specifically included:
It determines the second difference between the real-time height of the perching knife and the 4th preset value, judges the exhausted of second difference
Whether the second preset difference value is less than or equal to value, and generates judging result；
The step S108 is specifically included:
If the judging result be it is yes, stop the lifting of the perching knife；
If the judging result be it is no, control the perching knife and go up and down to the 4th preset value.
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| CN201910577541.3A CN110258686B (en) | 2019-06-28 | 2019-06-28 | Blade lifting system, grader and control method |
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| CN201910577541.3A CN110258686B (en) | 2019-06-28 | 2019-06-28 | Blade lifting system, grader and control method |
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