CN102505719A - Action mapping control system and land leveler with same - Google Patents
Action mapping control system and land leveler with same Download PDFInfo
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- CN102505719A CN102505719A CN2011103405400A CN201110340540A CN102505719A CN 102505719 A CN102505719 A CN 102505719A CN 2011103405400 A CN2011103405400 A CN 2011103405400A CN 201110340540 A CN201110340540 A CN 201110340540A CN 102505719 A CN102505719 A CN 102505719A
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- connecting rod
- handle
- sensor
- handle body
- perching knife
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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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2008—Control mechanisms in the form of the machine in the reduced scale model
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides an action mapping control system and a land leveler with the same. The action mapping control system is used for controlling actions of an operating device and comprises a handle with a plurality of degrees of freedom of movement, a plurality of sensors and a controller, the sensors are located on the handle and correspond to the degrees of freedom of movement of the handle one by one, each sensor is used for sensing movement information of the corresponding degree of freedom of the handle, and transmits the movement information to the controller, and the controller is used for controlling the operation device to move on the corresponding degree of freedom according to the movement information of the corresponding degree of freedom of the handle. The actions of the operation device are consistent with operation actions of the handle, skill requirements to operators can be reduced, work intensity of the operators is reduced, operation difficulty is simplified, and operation convenience is improved.
Description
Technical field
The present invention relates to engineering machinery field, be specifically related to the land leveller that a kind of action mapping is controlled system and had it.
Background technology
The perching knife apparatus for work of land leveller has six-freedom degree, is to go up and down in a perching knife left side respectively, perching knife rightly goes up and down, perching knife is extended, perching knife angle, perching knife rotation, perching knife apparatus for work beat.For the action control of perching knife apparatus for work, traditional approach adopts the direct interlock hydraulic valve block of manual link mostly, to reach the purpose of corresponding cylinder action.More advanced control mode adopts electric control handle, realizes the action of the corresponding oil cylinder of control through the function button on the electric control handle.Yet these control modes all need operation mark more clearly, and operating personnel need possess the operating experience of rich, could control the perching knife apparatus for work very accurately, and simple operation property is not high.
Summary of the invention
In order to overcome the above-mentioned defective and the deficiency of prior art; First purpose of the present invention is to provide a kind of action mapping control system of simple operation; Be used for the action of controller apparatus for work, comprise: have the handle of a plurality of freedoms of motion, a plurality of sensor, controller; A plurality of sensors are positioned on the handle, and corresponding one by one with a plurality of freedoms of motion of handle; Each sensor is used for the movable information of sensing handle in corresponding degree of freedom, and movable information is sent to controller; Controller is used for according to the movable information of handle in corresponding degree of freedom, and the control operation device moves on corresponding degree of freedom.
Further, apparatus for work is the perching knife apparatus for work; Controller is used for according to the movable information of handle in corresponding degree of freedom, through the hydraulic control oil cylinder of control perching knife apparatus for work in corresponding degree of freedom, drives the perching knife apparatus for work and on corresponding degree of freedom, moves.
Further, handle comprises base, the handle body that is connected with base, is installed in the dialing part on the handle body external surface; The freedom of motion of handle comprises: the left end of handle body with respect to base move up and down, the right-hand member of handle body with respect to base move up and down, handle body with respect to base move left and right, handle body with respect to datum axle to rotation, handle body with respect to radian motion, dialing part before and after the base with respect to the handle body move left and right.
Further, handle also comprises first connecting rod, and handle body is connected with base through first connecting rod, and can be the axis of rotation rotation with the first connecting rod; A plurality of sensors comprise first sensor, and first sensor is used for the information that rotatablely moves that the sensing handle body is the axis of rotation rotation with the first connecting rod; Controller is used for receiving the information that rotatablely moves, and according to the information Control perching knife rotary oil cylinder that rotatablely moves, drives perching knife and rotatablely move.
Further, handle also comprises central axis, and central axis is arranged in the base; First end of first connecting rod is connected with central axis, and can drive handle body and move around the central axis radian; A plurality of sensors comprise second sensor, and second sensor is used for the radian movable information of sensing handle body around the motion of central axis radian; Controller is used to receive the radian movable information that second sensor sends, and according to radian movable information control perching knife elevation angle oil cylinder, the adjustment perching knife elevation angle.
Further, handle also comprises second connecting rod, third connecting rod and the 4th connecting rod; Handle body is a hollow shell structure; Second connecting rod is arranged on the inner surface of handle body; The two ends of third connecting rod are hinged with an end of end of second connecting rod and the 4th connecting rod respectively; Second connecting rod, third connecting rod and the 4th connecting rod form Z word structure; The other end of the 4th connecting rod is connected with second end of first connecting rod, and second end of first connecting rod is arranged in the housing of handle body.
Further, a plurality of sensors comprise the 3rd sensor and four-sensor; The 3rd sensor is arranged on the right-hand member of second connecting rod, is used for first mobile message that the left end of sensing handle body moves up and down with respect to base; Four-sensor is arranged on the left end of third connecting rod, is used for second mobile message that the right-hand member of sensing handle body moves up and down with respect to base; Controller is used for driving the perching knife left end and rising or descend according to first mobile message control perching knife left side lift cylinder; Also be used for driving the perching knife right-hand member and rising or descend according to the right lift cylinder of second mobile message control perching knife.
Further, a plurality of sensors comprise the 5th sensor that is arranged in the central axis, and the 5th sensor is used for three mobile message of sensing handle body with respect to the base move left and right; Controller is used to receive the 3rd mobile message, and according to the 3rd mobile message control perching knife oil cylinder of extending, drives the perching knife side-to-side movement.
Further, a plurality of sensors comprise the 6th sensor that is arranged on dialing part one side, and the 6th sensor is used for four mobile message of sensing dialing part with respect to the handle body move left and right; Controller is used to receive the 4th mobile message, and according to the 4th mobile message control perching knife beat oil cylinder, drives the motion of perching knife beat.
Action mapping control system embodiment of the present invention is through the degree of freedom of operating grip; Operational motion is mapped on the apparatus for work; The action that realizes apparatus for work is consistent with the operational motion of handle, can reduce the operators'skills requirement, has alleviated operating personnel's working strength; Simplify operation easier, improved simple operation property.
Description of drawings
Fig. 1 is the first example structure sketch map of handle in the action mapping control of the present invention system;
Fig. 2-1 is the second example structure sketch map of handle in the action mapping control of the present invention system;
Fig. 2-2 is the structural representation of mounting portion sensor in the structure shown in Fig. 2-1;
Fig. 2-3 be among Fig. 2-1 handle body with respect to datum axle to the rotation sketch map;
Fig. 2-4 is the sketch map that handle body moves with respect to radian before and after the base among Fig. 2-1
The sketch map that Fig. 2-5 moves up and down with respect to base for handle body left end among Fig. 2-1;
Fig. 2-6 is the variation sketch map of angle [alpha] among Fig. 2-5;
The sketch map that Fig. 2-7 moves up and down with respect to base for handle body right-hand member among Fig. 2-1;
Fig. 2-8 is the variation sketch map of angle beta among Fig. 2-7;
Fig. 2-9 is the operation chart of dialing part among Fig. 2-1.
The specific embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
The invention provides a kind of action mapping control system that is used for the controller apparatus for work, embodiment mainly comprises: the handle with a plurality of freedoms of motion 11 as shown in Figure 1, a plurality of sensor (figure does not show), controller (figure does not show); Wherein, these a plurality of sensors are positioned on the handle 11, and corresponding one by one with a plurality of freedoms of motion of handle 11; Each sensor is used for the movable information of sensing handle 11 in corresponding degree of freedom, and movable information is sent to controller; Controller is used for according to the movable information of handle 11 in corresponding degree of freedom, and the control operation device moves on corresponding degree of freedom.
Below each embodiment all with the apparatus for work for the perching knife apparatus for work illustrates, as shown in Figure 1, handle 11 can comprise base 111, the handle body 113 that is connected with base 111, be installed in the dialing part 115 on handle body 113 external surfaces; Wherein, the freedom of motion of handle 11 comprises: the left end of handle body 113 moves up and down (being direction shown in the four-headed arrow c among Fig. 1), handle body 113 with respect to base 111 right-hand member with respect to base 111 move up and down (being direction shown in the four-headed arrow d among Fig. 1), handle body 113 with respect to base 111 move left and right (being direction shown in the four-headed arrow e among Fig. 1), handle body 113 with respect to base 111 axially rotate (being direction shown in the four-headed arrow a among Fig. 1), handle body 113 with respect to base 111 front and back radians motions (being direction shown in the four-headed arrow b among Fig. 1), dialing part 115 with respect to handle body 113 move left and right (being direction shown in the four-headed arrow f among Fig. 1).During concrete operations, handle 11 can also comprise: disk 118, this disk 118 are transition and linkage spares between handle body 113 and the base 111, work the linking effect of blocking, and do not participate in action mapping; Also be provided with handle part 113a on the upper surface of handle body 113, during operation, staff's thumb is placed on the position of dialing part 115, and all the other four fingers are placed on handle part 113a place.
Corresponding to above-mentioned six-freedom degree, six sensors (figure do not show) are set on handle 11, the movable information of corresponding one by one sensing handle 11 on each degree of freedom, and the movable information that senses is sent to controller.Controller is according to the movable information of handle 11 at certain single-degree-of-freedom, and control perching knife apparatus for work is at the hydraulic control oil cylinder of this degree of freedom, and then driving perching knife apparatus for work moves on corresponding degree of freedom.As, the movable information that controller goes up and down according to handle 11 left ends, control perching knife left side lift cylinder, and then the left end of driving perching knife apparatus for work moves up and down.
Preferably, shown in Fig. 2-1, handle body 113 is connected with base 111 through first connecting rod 117, and can be the axis of rotation rotation with first connecting rod 117.
Preferably, shown in Fig. 2-1, handle 11 also comprises central axis 119, and central axis 119 is arranged in the base 111; First end of first connecting rod 117 is connected with central axis 119, and can drive handle body 113 around central axis 119 rotations.
Preferably, shown in Fig. 2-1, handle 11 also comprises second connecting rod 112, third connecting rod 114 and the 4th connecting rod 116; Handle body (113) is a hollow shell structure; Second connecting rod 112 is arranged on the inner surface of handle body 113, the concrete installation site of second connecting rod 112 can be fixed on handle part 113a under; The two ends of third connecting rod 114 are hinged with an end of end of second connecting rod 112 and the 4th connecting rod 116 respectively; Second connecting rod 112, third connecting rod 114 and the 4th connecting rod 116 form Z word structure; The other end of the 4th connecting rod 116 is connected with second end of first connecting rod 117, and second end of first connecting rod 117 is arranged in the housing of handle body 113.
Shown in Fig. 2-2, first sensor 13a can be arranged in this first connecting rod 117, and being used for sensing handle body 113 is the information that rotatablely moves of axis of rotation with first connecting rod 117.Shown in Fig. 2-3, handle body 113 is when rotatablely moving, and handle body 113 is that axis of rotation axially rotates with respect to base 111 with first connecting rod 117.The first sensor 13a that is installed in first connecting rod 117 places just can detect the variable quantity of its action (being the variation of angle A 1 among Fig. 2-3); The information that rotatablely moves of first sensor 13a output handle body 113 is given controller; Through the calculation process and the amplification of controller, the output control signal is given electromagnetic hydraulic valve, and electromagnetic hydraulic valve is through a series of intermediate liquid pressure device; Control perching knife rotary oil cylinder realizes that perching knife rotatablely moves.
Shown in Fig. 2-2, the second sensor 13b can be arranged on an end of central axis 119, is used for the radian movable information of sensing handle body 113 around central axis 119 rotations.Shown in Fig. 2-4; First connecting rod 117 is fixed with respect to handle body 113, and central axis 119 can be fixed on the base 111, when handle body 113 front and back radians move; Handle body 113 carries out the radian motion together with first connecting rod 117 with respect to central axis 119; Be installed in the variable quantity (be the variable quantity of Fig. 2-4 shown in angle A 2, corresponding to the radian movable information of handle body 113) of the second sensor 13b at central axis 119 1 end places with regard to axle 119 actions of ability inspection center, the radian movable information of second sensor 13b output handle body 113 is given controller; Calculation process and amplification through controller; The output control signal is given electromagnetic hydraulic valve, and electromagnetic hydraulic valve is realized the adjustment of the perching knife elevation angle through a series of intermediate liquid pressure device control perching knife elevation angle oil cylinder.
Shown in Fig. 2-5, the 3rd sensor can be arranged on the position of " A " indication, and promptly on the right-hand member of second connecting rod 112, four-sensor can be arranged on the position of " B " indication, promptly on the left end of third connecting rod 114.Shown in Fig. 2-5 and Fig. 2-6; When the left end of handle body 113 moves up and down; Second connecting rod 112 can be that fulcrum moves up or down with the A point, and second connecting rod 112 increases or reduces with the angle meeting between the third connecting rod 114 is corresponding, and the angle β that B is ordered can not change.Be installed in the variable quantity that the 3rd sensor that A orders just can detect second connecting rod 112 actions (first mobile message that moves up and down corresponding to handle body 113 left ends); The 3rd sensor is exported first mobile message and is given controller; Through the calculation process and the amplification of controller, the output control signal is given electromagnetic hydraulic valve, and electromagnetic hydraulic valve is through a series of intermediate liquid pressure device; Control perching knife left side lift cylinder, the rising or the down maneuver of realization perching knife left end.
Shown in Fig. 2-7 and Fig. 2-8; When the right-hand member of handle body 113 moves up and down; The right-hand member of third connecting rod 114 is a stress point, and third connecting rod 114 can be a fulcrum with the B point, moves up or down together with second connecting rod 112 integral body; Third connecting rod 114 increases or reduces with the angle β meeting between the 4th connecting rod 64 is corresponding, and the angle between second connecting rod 112 and the third connecting rod 114 can not change.Be installed in the variable quantity that four-sensor that B orders just can detect third connecting rod 114 actions (second mobile message that moves up and down corresponding to handle body 113 right-hand members); Four-sensor is exported second mobile message and is given controller; Through the calculation process and the amplification of controller, the output control signal is given electromagnetic hydraulic valve, and electromagnetic hydraulic valve is through a series of intermediate liquid pressure device; The right lift cylinder of control perching knife, the rising or the down maneuver of realization perching knife right-hand member.
Shown in Fig. 2-2, the 5th sensor 13e can be arranged in the central axis 119, is used for three mobile message of sensing handle body 113 with respect to base 111 move left and right.First connecting rod 117 is fixed with respect to handle body 113, and central axis 119 is to be fixed on the base 111, when handle body 113 move left and right, handle body 113 together with first connecting rod 117 with respect to central axis 119 move left and right.The 5th sensor 13e that is installed in central axis 119 just can detect the variable quantity (being the 3rd mobile message of handle body 113 move left and right) of first connecting rod 117 actions; The 5th sensor 13e exports the 3rd mobile message and gives controller; Through the calculation process and the amplification of controller, the output control signal is given electromagnetic hydraulic valve, and electromagnetic hydraulic valve is through a series of intermediate liquid pressure device; The control perching knife oil cylinder of extending is realized the perching knife side-to-side movement.
Shown in Fig. 2-2, the 6th sensor can be arranged on the position (position shown in " C " point among Fig. 2-2) of closing on dialing part 115 1 sides, is used for four mobile message of sensing dialing part 115 with respect to handle body 113 move left and right.Shown in Fig. 2-9, the 6th sensor can also be arranged on the position shown in " D " point among Fig. 2-9; When operator is pinned dialing part 115 and is made its move left and right; The 6th sensor just can detect the variable quantity (i.e. the 4th mobile message) of dialing part 115 actions, and the 6th sensor is exported the 4th mobile message and given controller, through the calculation process and the amplification of controller; The output control signal is given electromagnetic hydraulic valve; Electromagnetic hydraulic valve is through a series of intermediate liquid pressure device, and control perching knife beat oil cylinder is realized the motion of perching knife apparatus for work beat.
Degree of freedom such as above-mentioned handle 11 possesses that left end moves up and down, right-hand member moves up and down, move left and right, rotation, radian adjustment and dialing part move left and right; Degree of freedom through operating grip; With action mapping to the grader blade operation device; Control intuitively to go up and down in a perching knife left side, perching knife rightly goes up and down, perching knife is extended, perching knife rotates, perching knife angle, the corresponding oil cylinder of spade blade device beat, and is consistent with the operational motion of handle with the action that reaches the perching knife apparatus for work.According to staff's personal habits, above-mentioned handle 11 can be installed on the handle mount pad at handrail platform place, the left side in the land leveller control room or handrail platform place, the right.Dialing part 115 can be set to strip, when handle 11 places the left side, makes things convenient for left hand thumb operation dialing part 115; Equally, when handle 11 placed the right, right hand thumb also can be operated dialing part 115.Handle 11 can take off separately and be installed on the wireless remote controller, can both operate normally.
It will be understood by those skilled in the art that the signal type that above-mentioned each sensor sends is not limited to ratio-voltage, proportional current, variable resistor, switching value etc.; The installation site of each sensor can be according to its space and actual conditions optimization; In addition, sensor can also be sent to controller through wireless mode with the movable information of sensing; The present invention utilizes the actual degree of freedom of the operation degree of freedom of handle and apparatus for work consistent; It is keeping strokes of operand and execution object; Promote the convenience of operation; So be not limited to the land leveller apparatus for work, more be not limited to the perching knife apparatus for work of land leveller, as controlling preposition shank, mid-shank, rearmounted shank, snowplow, the snow wing etc. through above-mentioned handle with a plurality of degree of freedom; Controlled device can also be like bulldozer, excavator, loader, crane etc.All right expanded function of above-mentioned handle and function accessories are to satisfy the more object-oriented requirements of carrying out, like acousto-optic indication, position feedback, speed feedback, dynamics feedback, wireless remote control etc.
Action mapping control each embodiment of system of the present invention is through the degree of freedom of operating grip; Operational motion is mapped on the apparatus for work; The action that realizes apparatus for work is consistent with the operational motion of handle; Can reduce the operators'skills requirement, operating personnel need not to possess very strong working experience and technical ability, and the general operation personnel can both be precisely errorless controls apparatus for work; Alleviate operating personnel's working strength, simplified operation easier, improved simple operation property.
More than be merely preferred embodiment of the present invention, or not all within spirit of the present invention and principle in order to restriction the present invention, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an action mapping control system is used for the action of control operation device, it is characterized in that, comprising: have the handle (11) of a plurality of freedoms of motion, a plurality of sensor, controller;
Said a plurality of sensor is positioned on the said handle (11), and corresponding one by one with a plurality of freedoms of motion of said handle (11); Each sensor is used for the movable information of the said handle of sensing (11) in corresponding degree of freedom, and said movable information is sent to said controller;
Said controller is used for controlling said apparatus for work and on said corresponding degree of freedom, moving according to the movable information of said handle (11) in corresponding degree of freedom.
2. action mapping according to claim 1 is controlled system, it is characterized in that said apparatus for work is the perching knife apparatus for work;
Said controller is used for according to the movable information of said handle (11) in corresponding degree of freedom, through controlling the hydraulic control oil cylinder of said perching knife apparatus for work in said corresponding degree of freedom, drives said perching knife apparatus for work and on said corresponding degree of freedom, moves.
3. action mapping according to claim 2 is controlled system, it is characterized in that said handle (11) comprises base (111), the handle body (113) that is connected with said base (111), is installed in the dialing part (115) on said handle body (113) external surface;
The freedom of motion of said handle (11) comprising: the left end of said handle body (113) moves up and down with respect to said base (111); The right-hand member of said handle body (113) moves up and down with respect to said base (111); Said handle body (113) is with respect to said base (111) move left and right; Said handle body (113) is with respect to the axial rotation of said base (111); Said handle body (113) is with respect to radian motion before and after the said base (111); Said dialing part (115) is with respect to said handle body (113) move left and right.
4. action mapping according to claim 3 is controlled system; It is characterized in that; Said handle (11) also comprises first connecting rod (117), and said handle body (113) is connected with said base (111) through said first connecting rod (117), and can be the axis of rotation rotation with said first connecting rod (117);
Said a plurality of sensor comprises first sensor (13a), and it is the information that rotatablely moves of axis of rotation rotation with said first connecting rod (117) that said first sensor (13a) is used for the said handle body of sensing (113);
Said controller is used to receive the said information that rotatablely moves, and according to the said information Control perching knife rotary oil cylinder that rotatablely moves, drives perching knife and rotatablely move.
5. action mapping according to claim 4 is controlled system, it is characterized in that said handle (11) also comprises central axis (119), and said central axis (119) is arranged in the said base (111); First end of said first connecting rod (117) is connected with said central axis (119), and can drive said handle body (113) and move around said central axis (119) radian;
Said a plurality of sensor comprises second sensor (13b), and said second sensor (13b) is used for the radian movable information of the said handle body of sensing (113) around the motion of said central axis (119) radian;
Said controller is used to receive the said radian movable information that said second sensor (13b) sends, and according to said radian movable information control perching knife elevation angle oil cylinder, the adjustment perching knife elevation angle.
6. control system according to claim 4 or 5 described action mapping, it is characterized in that said handle (11) also comprises second connecting rod (112), third connecting rod (114) and the 4th connecting rod (116);
Said handle body (113) is a hollow shell structure; Said second connecting rod (112) is arranged on the inner surface of said handle body (113); The two ends of said third connecting rod (114) are hinged with an end of end of said second connecting rod (112) and said the 4th connecting rod (116) respectively; Said second connecting rod (112), third connecting rod (114) and the 4th connecting rod (116) form Z word structure;
The other end of said the 4th connecting rod (116) is connected with second end of said first connecting rod (117), and second end of said first connecting rod (117) is arranged in the housing of said handle body (113).
7. action mapping according to claim 6 is controlled system, it is characterized in that said a plurality of sensors comprise the 3rd sensor and four-sensor;
Said the 3rd sensor is arranged on the right-hand member of said second connecting rod (112), is used for first mobile message that the left end of the said handle body of sensing (113) moves up and down with respect to said base (111);
Said four-sensor is arranged on the left end of said third connecting rod (114), is used for second mobile message that the right-hand member of the said handle body of sensing (113) moves up and down with respect to said base (111);
Said controller is used for driving the perching knife left end and rising or descend according to said first mobile message control perching knife left side lift cylinder; Also be used for driving the perching knife right-hand member and rising or descend according to the right lift cylinder of said second mobile message control perching knife.
8. action mapping according to claim 5 is controlled system; It is characterized in that; Said a plurality of sensor comprises the 5th sensor (13e) that is arranged in the said central axis (119), and said the 5th sensor (13e) is used for three mobile message of the said handle body of sensing (113) with respect to said base (111) move left and right;
Said controller is used to receive said the 3rd mobile message, and according to said the 3rd mobile message control perching knife oil cylinder of extending, drives the perching knife side-to-side movement.
9. control system according to each described action mapping among the claim 3-4; It is characterized in that; Said a plurality of sensor comprises the 6th sensor that is arranged on said dialing part (115) one sides, and said the 6th sensor is used for four mobile message of the said dialing part of sensing (115) with respect to said handle body (113) move left and right;
Said controller is used to receive said the 4th mobile message, and according to said the 4th mobile message control perching knife beat oil cylinder, drives the motion of perching knife beat.
10. a land leveller is characterized in that, comprises like each described action mapping among the claim 1-9 controlling system.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110340540.0A CN102505719B (en) | 2011-11-02 | 2011-11-02 | Action mapping control system and land leveler with same |
| PCT/CN2012/073894 WO2013063901A1 (en) | 2011-11-02 | 2012-04-12 | Action mapping control system and land leveller having same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110340540.0A CN102505719B (en) | 2011-11-02 | 2011-11-02 | Action mapping control system and land leveler with same |
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| Publication Number | Publication Date |
|---|---|
| CN102505719A true CN102505719A (en) | 2012-06-20 |
| CN102505719B CN102505719B (en) | 2014-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110340540.0A Expired - Fee Related CN102505719B (en) | 2011-11-02 | 2011-11-02 | Action mapping control system and land leveler with same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102505719B (en) |
| WO (1) | WO2013063901A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3054367A3 (en) * | 2015-02-06 | 2017-01-25 | Kässbohrer Geländefahrzeug AG | Vehicle, in particular tracked vehicle for piste design and maintenance |
| CN107165220A (en) * | 2017-05-31 | 2017-09-15 | 成都跟驰科技有限公司 | The operating mechanism control system of heavy engineering machinery |
| CN115417354A (en) * | 2022-11-03 | 2022-12-02 | 临工重机股份有限公司 | Control method of electric aerial work vehicle and electric aerial work vehicle |
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| JP2004132098A (en) * | 2002-10-11 | 2004-04-30 | Hitachi Constr Mach Co Ltd | Work unit with blade |
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| JP5249857B2 (en) * | 2009-05-29 | 2013-07-31 | 株式会社神戸製鋼所 | Control device and work machine equipped with the same |
| CN101818506B (en) * | 2010-04-16 | 2011-12-07 | 山推工程机械股份有限公司 | Limit load regulating method of static pressure driving bulldozer using electronic control motor |
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| JP2004132098A (en) * | 2002-10-11 | 2004-04-30 | Hitachi Constr Mach Co Ltd | Work unit with blade |
| CN2782778Y (en) * | 2005-04-05 | 2006-05-24 | 吴骏 | Automatic levelling system for earth levelling machine |
| CN101790614A (en) * | 2007-07-31 | 2010-07-28 | 卡特彼勒公司 | The work mechanism of controlling based on task |
| CN201193335Y (en) * | 2008-05-08 | 2009-02-11 | 三一重机有限公司 | Positive flow control device for hydraulic excavator |
| CN102061714A (en) * | 2010-12-03 | 2011-05-18 | 三一重机有限公司 | Control method for descending movable arm of excavator |
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| EP3054367A3 (en) * | 2015-02-06 | 2017-01-25 | Kässbohrer Geländefahrzeug AG | Vehicle, in particular tracked vehicle for piste design and maintenance |
| CN107165220A (en) * | 2017-05-31 | 2017-09-15 | 成都跟驰科技有限公司 | The operating mechanism control system of heavy engineering machinery |
| CN115417354A (en) * | 2022-11-03 | 2022-12-02 | 临工重机股份有限公司 | Control method of electric aerial work vehicle and electric aerial work vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102505719B (en) | 2014-06-11 |
| WO2013063901A1 (en) | 2013-05-10 |
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