SU1153018A1 - Apparatus for automatic control of earth-moving and planing machine - Google Patents

Description

(21) 3682119 / 29-03

(22) 12.30.83

(46) 04/30/85. Bul № 16 (72) V.K. Pavlov

(71) All-Union head design and survey and research institute "Soyuzgiprovodkhoz

(53) 621.879.23 (088.8)

(56) 1. Construction and road machines, No. 5, 1973, p. 4-7.

2. USSR author's certificate No. 815172, cl. E 02 F 9/20, 1979 (prototype).

(54) (57) 1. AUTOMATIC CONTROL DEVICE OF DIGGER-PLANING MACHINE, containing a traction frame, hinged bucket on it with a movable rear wall, an element for comparing the position of the bucket, as well as a sensor and setter for the position of the bucket connected to the element of the comparison of the position of the bucket , sensors of limiting positions of the rear wall, actuators of the bucket and rear wall, characterized in that, in order to increase the productivity of the machine, it is equipped with a frame position sensor, an elevator and a flap located on bucket, elevator and back wall adjusters, gauges and setting devices of two limiting flap positions, s-admitters for overload and transport position of the bucket, comparison elements for overload, flap limit position, rear wall and elevator and bucket transport position, elevator movement actuators and dampers, elements AND, OR, NOT, as well as an adder.

To the inputs of which bucket position and frame sensors are connected, the output of the adder is connected to the first input of each comparison element, to the second input of which one of the corresponding setters is connected, and the outputs of two comparison elements of the limiting positions of the damper are connected to the first input of the corresponding elements NOT to the second input of which is connected to one of the respective sensors of the limiting positions of the valve, and the outputs of the two elements are NOT connected to the actuator of the valve, the outputs of the two elements are compared and marginal positions of the rear wall are connected to the first input of the corresponding elements NOT, to the second input of which one of the respective sensors of the rear wall limit position is connected, and the outputs of the two elements are NOT connected to the rear wall actuator, the output of the bucket transport position comparison element is connected to the first input of the element And, to the second input, which is connected one of the sensors of the limiting position of the rear wall, and the output of the element AND is connected to the second input of the element OR, while the output element The position comparison device is connected to the first inputs of the OR and NOT elements, the output of the bucket overload comparison element is connected to the second input of the latter, and the outputs of the elements NOT and OR are connected to the bucket actuator.

2. The device according to claim 1, characterized in that, in order to simplify the construction, the frame position sensor is designed as a relative position sensor, the fixed element of which is mounted on the frame and movable on the bucket, or vice versa. The invention relates to road construction machinery, in particular, to drive control mechanisms and to regulate the position of working bodies (ROs) of earth-moving and leveling machines. A bucket control device of the earth-leveling machine is known, comprising its control unit, a bucket position sensor (WPC) and a high-speed actuator (MI) of the bucket hydraulic drive. The leveling of the surface of the earth takes place at the expense of a bucket with a knife of elevated areas and backfilling of lower parts of the surface with soil in the bucket. To provide a set of soil into the bucket by impacting the handles of the hydraulic distributor, remotely controls the rear wall and bucket flap, changes their position and performs surface planning operations 1. A disadvantage of the known control system is non-automated control of the flap and rear wall movement for timely filling bucket soil on lower surface areas, which reduces the planning properties of the machine, since it is difficult for the operator to gradually reduce the ualno identify, assess and timely manner to ensure appropriate soil podsypku. The closest to the proposed technical essence and the achieved result is the device for automatic control of the earth-planning machine, which contains a traction frame, a bucket with a movable rear wall hinged to it, a bucket position comparison element, as well as a bucket position sensor and master, connected to bucket position comparison, rear wall limit position sensors, bucket and rear wall actuators. Using this device, the bucket and its rear wall are automatically controlled and the bucket is filled and emptied according to the signals of the soil level sensor installed in the bucket 2. A disadvantage of the known device is the low reliability of the level sensor, which entails low quality layouts. The device can only work with loose soil. When cutting solid soil, the sensor element can be exposed to chips and give false signals when the bucket is full when the bucket is empty. In this case, the back wall will be pushed back and later gaps will be observed during backfilling. All this will worsen the quality of the layout and will require executive passes of the Maidina to the same place. In addition, when working on this device, constant operator intervention is necessary, for example, overloading (engine stalling), when the device returns to the transport position after filling the bucket, etc. The purpose of the invention is to increase the productivity of the earth-planning machine. This goal is achieved by the fact that a device comprising a traction frame, a bucket with a movable rear wall hinged to it, a bucket position comparison element, as well as a bucket position sensor and adjuster connected to the bucket position comparison element, rear wall limit position sensors, actuators the mechanisms of the bucket and the rear wall are equipped with a frame position sensor, an elevator and a flap located on the bucket, setting devices for the positions of the elevator and the rear wall of the bucket, sensors and setting devices of two damper, overload and bucket transport positioners, elements of comparison of overload, limit position, damper, wall and elevator and bucket transport position, elevator and damper moving actuators, AND, OR, NOT logic elements, as well as an adder, to the inputs of which are connected bucket and frame position sensors, the output of the adder is connected to the first input of each of the comparison elements, to the second input of which one of the corresponding setters is connected, and the outputs are two elements Comparisons of limiting positions of the flap are connected to the first input of the corresponding elements NOT, to the second input of which one of the respective sensors of the limiting positions of the flap is connected, and the outputs of the two elements are NOT connected to the actuator of the flap, the outputs of the two elements of the comparison of the limiting positions of the back wall are connected to the first input of the corresponding NOT elements, to the second input of which one of the respective sensors of the rear wall limit position is connected, and the outputs of the two elements are NOT Connected to the rear wall actuator, the output of the comparison element of the bucket's transport position is connected to the first input of the AND element, to the second input of which one of the rear wall limit position sensors is connected, and the output of the AND element is connected to the second input of the OR element, while the output of the comparing position element connected to the first inputs of the elements OR and NOT, the output of the element comparing the overload of the bucket is connected to the second input of the latter, and the outputs

elements NOT and OR are connected to the bucket actuator.

In addition, the frame position sensor is designed as a relative position sensor, the fixed element of which is mounted on the frame and the movable element is mounted on the bucket, or vice versa.

FIG. 1 shows the kinematic diagram of the device proposed; in fig. 2 - functional scheme.

The device comprises a traction frame 1, a bucket 2, a rear wall 3, a damper 4, an elevator 5, an actuator 6 of the bucket (MI), an actuator 7 of the rear wall, an actuator 8 of the damper, an actuator 9 of the elevator, a sensor 10 of the bucket position (WPC ), the frame position sensor 11 (DPR), the sensor 12 relative to the position, the sensor 13 limits the posterior wall positions, the sensors 14, the object of the flap position, the movable elements 15 sensors, the control unit 16, the overload adjuster 17 (Fig. 2), the bucket position adjuster 18 , knobs 19 and 20 positions h slonki, dial 21 positions of the elevator, the setting elements 22 and the positions of the rear wall 23, the dial 24 of the bucket installation in transport position, sum Matora 25, element 26 comparing a stirred working bodies (ES).

The device contains a traction frame 1, on which is fixed a bucket 2 with a movable rear wall 3, a flap 4 and an elevator 5, an actuating mechanism of the bucket 6, the rear wall 7, the flap 8 and the elevator 9.

WPC, fixed elements are placed on the ladle by the sensor 13 of the limiting position of the rear wall 3 and the flap 4. The rear wall 3 of the flap 4 is connected with the movable elements of the limit position sensors 13. The DPR 11 is located on the traction frame. They may be angular or copier (e.g., along a cable or laser beam), proportional or discrete. Instead of DPR, it is possible to use a relative position sensor (frame) 12, the fixed element of which is fixed on the bucket, and the movable 15 is connected to the frame (or vice versa). The control cab 16 is located in the tractor cab. All sensors of the device are connected to the input of the control unit, the output of which is connected to the actuating mechanisms of the working bodies.

Consider the operation of the device with one type of sensors, for example, angular 10 and 11, located respectively on bucket 2 and frame 1.

In the initial position, the frame 1 is set in a horizontal position, cutting the edge of the bucket 2 is trimmed to the level of the wheels. The rear wall 3 is in the forward extreme position, the flap 4 is covered, the elevator 5 is turned off. In this position, sensors 10 and 11 are set to "O. The car starts to move, the front wheels hit a hill, 5 the angular position of the frame 1 and the bucket 2 is changed. The bucket stabilization system returns it to the initial angular position. Next, we consider the work on the structural scheme (Fig. 2).

0

The signals from the two sensors 10 and 11 are added up in the adder 25. The sum signal is compared in the comparison elements with the signals of the setters for turning on the PO. Since the position of the bucket is stabilized, the signal from the bucket sensor is almost constant, and the signal from DPR changes its value. When the cutting edge of the bucket sinks below the level of the wheels, cutting begins. In this case, the signal from the adder 25 exceeds the value of the signal from setters 21 and 23, the elevator starts to work, the back wall moves back. The bucket is filled with soil. With a further rise of the front wheels, the thickness of the chips,

5, the shear is cut, and the cut resistance is increased. If a certain chip thickness is exceeded, wheel slip or gacha or engine stalling is possible. To prevent this from occurring, when setting up the device with the setting device 17, such chip thickness is chosen at which wheel slip or engine stalling does not occur. When the signal of the adder 25 reaches the signal value from the setting device 17 of the ES 26 through the element DOES NOT turn off, the bucket lowering channel. Bucket movement

down stops, but it continues to fill with soil. The back wall 3 goes back and when it reaches the extreme back position, the sensor 13 of the limit back position is triggered and through the element DOES NOT turn off the channel of movement of the wall

0 back. The wall stops. At the same time, the signal from the sensor 13 is supplied to the element I, to the second input of which is fed a signal from the bucket ES 26 to the transport position. The output of the element AND through the element OR includes MI lifting the bucket. The bucket rises, the signal from the adder changes. At a certain signal, determined by the setter 24 of setting the bucket to the transport position, the ES switches off the signal of the element I and the bucket stops,

0 and the setting device 21 with the ES 26 turns off the movement of the elevator 5. The device transports the ground until the bucket stabilization system raises the bucket above the level of the wheels, i.e. the front wheels won't start dropping into the mu. When the signal of the adder 25 reaches the signal level, setting the control unit 19 and 22, respectively, opens junction 4 and starts the movement of the wall 3 in the aspen. There is a filling. When the frame returns to its original position and the signal from the setpoint 20 is compared with the signal from the adder 25, the flap closes. The device returns to its original position. The operation of the device is also possible from the relative position sensor 12. At the same time, the output of the relative position sensor is connected directly to the inputs of the ES group. Further work is similar. In this way, a fully completed automated cycle of the device operation by layout is obtained. When using proportional sensors and actuators, as well as sensors that give absolute elevations (hard copy or light, such as laser), the greatest effect is obtained in the application, i.e. operator intervention is practically not required with high quality planning work. The availability of information about the position of the frame in relation to the position of the bucket allows you to receive information to ensure the automatic operation of almost all working parts of the machine.

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