CN109457753A - A kind of automobile-used automatic following control system of engineering - Google Patents
A kind of automobile-used automatic following control system of engineering Download PDFInfo
- Publication number
- CN109457753A CN109457753A CN201811622503.7A CN201811622503A CN109457753A CN 109457753 A CN109457753 A CN 109457753A CN 201811622503 A CN201811622503 A CN 201811622503A CN 109457753 A CN109457753 A CN 109457753A
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- rocker arm
- proportional valve
- electric proportional
- electronic control
- control unit
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 24
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 230000005611 electricity Effects 0.000 claims description 5
- 230000003252 repetitive effect Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010913 used oil Substances 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009439 industrial construction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention announces a kind of automobile-used automatic following control system of engineering, belongs to engineering machinery field of intelligent control technology.Electronic control unit input terminal is connected with control stick, rocker arm cylinder displacement sensor, boom cylinder displacement sensor, and electronic control unit output end is connected with rocker arm receipts electric proportional valve, rocker arm stretches electric proportional valve, swing arm drop electric proportional valve, swing arm rise electric proportional valve；Rocker arm receives electric proportional valve, rocker arm stretches electric proportional valve connecting rocker arm oil cylinder；Electric proportional valve drops in swing arm, swing arm rises electric proportional valve and connects boom cylinder；Rocker arm cylinder displacement sensor is used for the stroke of real-time monitoring rocker arm oil cylinder；Boom cylinder displacement sensor is used for the stroke of real-time monitoring boom cylinder；Electronic control unit input terminal is also connected with swing arm self study position-sensing switch, rocker arm self study position-sensing switch.The present invention is not necessarily to driver's long-time repetitive operation handle, substantially reduces the labor intensity of driver, improves work efficiency, realizes the intelligent operation of loading machine.
Description
Technical field
The present invention relates to a kind of engineering vehicle control system, specifically a kind of automobile-used automatic following control system of engineering,
Belong to engineering machinery field of intelligent control technology.
Background technique
Currently, loading machine has been widely used in agricultural production and industrial construction in the whole world, it is indispensable engineering machine
One of tool, therefore the requirement to its electric control system is higher and higher, traditional loading machine continues to use always manual operation, that is, relies on
Manual operation swing arm and rocker handle realize function action, with the continuous development of electro-hydraulic proportional control technology, loading machine work
Make device and automatically controlled pilot control is gradually changed by Hydraulic guide control, intelligence is improved in certain degree, while
The labor intensity of driver can be reduced, still, still rely on manpower moment operation handle to fulfil assignment, if the activity duration compared with
It is long, the labor intensity of driver can be still improved, feeling of fatigue is brought to driver, influences working efficiency.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention of this reality provides a kind of automobile-used automatically track of engineering and controls system
System, when loading machine enters repetition shovel dress operating condition, i.e., swing arm lifts same position every time or rocker arm is contracted to identical bits every time
It sets or the two combines, be then not necessarily to driver's long-time repetitive operation handle, and mechanical contraposition swing arm and rocker arm position every time,
To substantially reduce the labor intensity of driver, working efficiency is improved.
The technical solution adopted by the present invention are as follows: a kind of automobile-used automatic following control system of engineering, including battery, electronics control
Unit, boom cylinder and rocker arm oil cylinder processed；The electronic control unit input terminal is connected with control stick, rocker arm oil cylinder displacement sensing
Device, boom cylinder displacement sensor, electronic control unit output end is connected with rocker arm receipts electric proportional valve, rocker arm stretches electric proportional valve,
Electric proportional valve drops in swing arm, swing arm rises electric proportional valve；The rocker arm receives electric proportional valve connecting rocker arm cylinder rod chamber, and rocker arm stretches electric ratio
Example valve connecting rocker arm oil cylinder rodless cavity；The swing arm drop electric proportional valve connects boom cylinder rod chamber, and swing arm rises electric proportional valve and connects
Connect boom cylinder rodless cavity；The rocker arm cylinder displacement sensor is arranged on rocker arm oil cylinder, is used for real-time monitoring rocker arm oil cylinder
Stroke；The stroke in boom cylinder, for real-time monitoring boom cylinder is arranged in the boom cylinder displacement sensor；Institute
It states electronic control unit input terminal and is also connected with swing arm self study position-sensing switch, rocker arm self study position-sensing switch.
It is further: the end BAT+ of the electronic control unit is connected with the anode of battery with conducting wire；Electronics control
The end DI1 of unit processed is connected with swing arm self study position-sensing switch with conducting wire, the end DI2 of electronic control unit and rocker arm self study
Position-sensing switch is connected with conducting wire；+ the 12V of electronic control unit, the end DI3 and DI4 are respectively with the end A, B and E of control stick with leading
Line is connected；R3, R4 ,+12V of electronic control unit and the end GND are used with 2,1,3,4 ends of rocker arm cylinder displacement sensor respectively
Conducting wire is connected；R1, R2 ,+12V of electronic control unit and the end GND respectively with 2,1,3,4 ends of boom cylinder displacement sensor
It is connected with conducting wire；The end DO3 of electronic control unit is connected with the electromagnet that swing arm rises electric proportional valve with conducting wire；Electronic control
The end DO2 of unit is connected with the electromagnet of swing arm drop electric proportional valve with conducting wire；The end DO1 of electronic control unit and rocker arm stretch electricity
The electromagnet of proportioning valve is connected with conducting wire；The end DO0 of electronic control unit and rocker arm receive the electromagnet conducting wire of electric proportional valve
It is connected.
The end DO4 of the electronic control unit is connected with alarm lamp.
There are two the boom cylinder is total, the F mouth of two boom cylinders is connected with H mouthfuls with oil pipe, and G mouthfuls are used oil with I mouthfuls
Pipe is connected；T4 mouth that the swing arm rises electric proportional valve is oil inlet, and P4 mouthfuls are oil return opening, D mouthfuls respectively with two boom cylinders
F, H mouth be connected with oil pipe；T3 mouth of swing arm drop electric proportional valve is oil inlet, and P3 mouthful are oil return opening, C mouthfuls respectively with move
G, I mouth of arm oil cylinder are connected with oil pipe.
The T2 mouth that rocker arm stretches electric proportional valve is oil inlet, and P2 mouthful are oil return opening, B mouthfuls with the E mouth oil pipe phase of rocker arm oil cylinder
Connection；T1 mouth that the rocker arm receives electric proportional valve is oil inlet, and P1 mouthfuls are oil return opening, A mouthfuls with the K mouth oil pipe phase of rocker arm oil cylinder
Connection.
Compared with prior art, the beneficial effects of the present invention are: that is, swing arm is every when loading machine enters repetition shovel dress operating condition
Perhaps rocker arm is contracted to same position to secondary lifting same position every time or the two combines, then according to specific operating condition, passes through behaviour
Make control stick and swing arm and rocker arm are respectively positioned at required any position, then triggers swing arm self study position-sensing switch and rocker arm certainly
Learning position switch, unclamps after control stick is pulled to trigger point, then swing arm or rocker arm are automatically moved to set position, nothing
It needs driver's long-time repetitive operation handle to improve work efficiency to substantially reduce the labor intensity of driver, has broken tradition
The purely manual operation mode for loading electrical-mechanical system, realizes the intelligent operation of loading machine.
Detailed description of the invention
Fig. 1 is the principle of the present invention figure；
In figure: 1 battery, 2 swing arm self study position-sensing switches, 3 rocker arm self study position-sensing switches, 4 control sticks, 5 rocker arm oil cylinder positions
Displacement sensor, 6 boom cylinder displacement sensors, 7 alarm lamps, 8 swing arms rise electric proportional valve, 9 boom cylinders, 10 swing arms drop electricity
Proportioning valve, 11 rocker arm oil cylinders, 12 rocker arms stretch electric proportional valve, 13 rocker arms receive electric proportional valve, 14 electronic control units.
Specific embodiment
It is a specific embodiment of the invention below, the present invention will be further described with reference to the accompanying drawings.
As shown in Figure 1, a kind of automobile-used automatic following control system of engineering, 14 model XCMG102 of electronic control unit, electricity
The end BAT+ of sub-control unit 14 is connected with the anode of battery 1 with conducting wire；+ 12V, DI3 and the DI4 of electronic control unit 14
End is connected with the end A, B and E of control stick 4 with conducting wire respectively, and 4 model of control stick can use XCMD-01；Electronic control is single
R3, R4 ,+12V of member 14 and the end GND are connected with 2,1,3,4 ends of rocker arm cylinder displacement sensor 5 with conducting wire respectively, rocker arm
5 model of cylinder displacement sensor can use XCMD-10, and rocker arm cylinder displacement sensor 5 is arranged on rocker arm oil cylinder 11, is used for
The stroke of real-time monitoring rocker arm oil cylinder 11, that is, the position of rocker arm；R1, R2 ,+12V of electronic control unit 14 and the end GND
It is connected respectively with 2,1,3,4 ends of boom cylinder displacement sensor 6 with conducting wire, 6 model of boom cylinder displacement sensor can be with
Using XCMD-10, the setting of boom cylinder displacement sensor 6 is in boom cylinder 9, for the stroke of real-time monitoring boom cylinder 9,
The namely position of swing arm；The end DO4 of electronic control unit 14 is connected with alarm lamp 7 with conducting wire.
The end DI1 of electronic control unit 14 is connected with swing arm self study position-sensing switch 2 with conducting wire, swing arm self study positioning
2 model of switch can use XCMD-05, a position of the swing arm self study position-sensing switch 2 for any positioning swing arm, Huo Zhedong
Two different locations above and below arm horizontal position.The end DI2 of electronic control unit 14 and the conducting wire phase of rocker arm self study position-sensing switch 3
Connection, 3 model of rocker arm self study position-sensing switch can use XCMD-05, and rocker arm self study position-sensing switch 3 shakes for any positioning
Any one position of arm.
The end DO3 of electronic control unit 14 is connected with the electromagnet that swing arm rises electric proportional valve 8 with conducting wire；Electronic control is single
The end DO2 of member 14 is connected with the electromagnet of swing arm drop electric proportional valve 10 with conducting wire；The end DO1 of electronic control unit 14 and rocker arm
The electromagnet for stretching electric proportional valve 12 is connected with conducting wire；The end DO0 of electronic control unit 14 and rocker arm receive the electricity of electric proportional valve 13
Magnet is connected with conducting wire.
There are two boom cylinder 9 is total, the F mouth of two boom cylinders 9 is connected with H mouthfuls with oil pipe, and G mouthfuls are used oil pipe with I mouthfuls
It is connected；T4 mouth that swing arm rises electric proportional valve 8 is oil inlet, and P4 mouthfuls are oil return opening, D mouthfuls of F, H with two boom cylinders 9 respectively
Mouth is connected with oil pipe；Swing arm drop electric proportional valve 10 T3 mouth be oil inlet, P3 mouthfuls be oil return opening, C mouthfuls respectively with boom cylinder 9
G, I mouth be connected with oil pipe.The T2 mouth that rocker arm stretches electric proportional valve 12 is oil inlet, and P2 mouthfuls are oil return opening, B mouthfuls and rocker arm oil cylinder
11 E mouth is connected with oil pipe；The T1 mouth that rocker arm receives electric proportional valve 13 is oil inlet, and P1 mouthfuls are oil return opening, A mouthfuls and rocker arm oil cylinder
11 K mouth is connected with oil pipe.
Working principle:
After 14 self-test of electronic control unit passes through, when loading machine enters repetition shovel dress operating condition, i.e., swing arm lifts identical bits every time
It sets perhaps rocker arm and is contracted to same position or the two combination every time, then according to specific operating condition, will be moved by manipulation bar
Arm and rocker arm are respectively positioned at required any position, then trigger swing arm self study position-sensing switch and rocker arm self study positioning is opened
It closes, is unclamped after control stick is pulled to trigger point, then swing arm or rocker arm are automatically moved to set position, when being not necessarily to head driver
Between repetitive operation handle improved work efficiency to substantially reduce the labor intensity of driver, broken conventional load electrical-mechanical
The purely manual operation mode of system, realizes the intelligent operation of loading machine.
The above is only a preferred embodiment of the present invention, meanwhile, without departing from the principle of the present invention, may be used also
To make several improvements and modifications, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (5)
1. a kind of automobile-used automatic following control system of engineering, it is characterised in that: including battery (1), electronic control unit (14),
Boom cylinder (9) and rocker arm oil cylinder (11)；Electronic control unit (14) input terminal is connected with control stick (4), rocker arm oil cylinder
Displacement sensor (5), boom cylinder displacement sensor (6), electronic control unit (14) output end are connected with rocker arm and receive electric ratio
Valve (13), rocker arm stretch electric proportional valve (12), swing arm drop electric proportional valve (10), swing arm and rise electric proportional valve (8)；The rocker arm receives electric ratio
Example valve (13) connecting rocker arm oil cylinder (11) rod chamber, rocker arm stretch electric proportional valve (12) connecting rocker arm oil cylinder (11) rodless cavity；It is described
Swing arm drops electric proportional valve (10) and connects boom cylinder (9) rod chamber, and swing arm rises electric proportional valve (8) connection boom cylinder (9) without bar
Chamber；The rocker arm cylinder displacement sensor (5) is arranged on rocker arm oil cylinder (11), for stretching for real-time monitoring rocker arm oil cylinder (11)
Contracting amount；Boom cylinder displacement sensor (6) setting is in boom cylinder (9), for the flexible of real-time monitoring boom cylinder (9)
Amount；Electronic control unit (14) input terminal is also connected with swing arm self study position-sensing switch (2), rocker arm self study position-sensing switch
(3).
2. the automobile-used automatic following control system of a kind of engineering according to claim 1, it is characterised in that: the electronic control
The end BAT+ of unit (14) is connected with the anode of battery (1) with conducting wire；The end DI1 of electronic control unit (14) and swing arm are certainly
Learning position switch (2) is connected with conducting wire, and the end DI2 of electronic control unit (14) and rocker arm self study position-sensing switch (3) are used
Conducting wire is connected；+ the 12V of electronic control unit (14), the end DI3 and DI4 respectively with the end A, the B and E conducting wire phase of control stick (4)
Connection；R3, R4 ,+12V of electronic control unit (14) and the end GND respectively with rocker arm cylinder displacement sensor (5) 2,1,3,4
End is connected with conducting wire；R1, R2 ,+12V of electronic control unit (14) and the end GND respectively with boom cylinder displacement sensor (6)
2,1,3,4 ends be connected with conducting wire；The electromagnet that the end DO3 of electronic control unit (14) and swing arm rise electric proportional valve (8) is used
Conducting wire is connected；The end DO2 of electronic control unit (14) is connected with the electromagnet of swing arm drop electric proportional valve (10) with conducting wire；Electricity
The end DO1 of sub-control unit (14) is connected with the electromagnet that rocker arm stretches electric proportional valve (12) with conducting wire；Electronic control unit
(14) the end DO0 is connected with the electromagnet that rocker arm receives electric proportional valve (13) with conducting wire.
3. the automobile-used automatic following control system of a kind of engineering according to claim 2, it is characterised in that: the electronic control
The end DO4 of unit (14) is connected with alarm lamp (7).
4. the automobile-used automatic following control system of a kind of engineering according to claim 1, it is characterised in that: the boom cylinder
(9) there are two altogether, the F mouth of two boom cylinders (9) is connected with H mouthfuls with oil pipe, and G mouthfuls are connected with I mouthfuls with oil pipe；It is described dynamic
The T4 mouth that arm rises electric proportional valve (8) is oil inlet, and P4 mouthfuls are oil return opening, and D mouthfuls are used with F, H mouth of two boom cylinders (9) respectively
Oil pipe is connected；The T3 mouth of swing arm drop electric proportional valve (10) is oil inlet, and P3 mouthfuls are oil return opening, and C mouthfuls oily with swing arm respectively
G, I mouth of cylinder (9) are connected with oil pipe.
5. the automobile-used automatic following control system of a kind of engineering according to claim 1, it is characterised in that: rocker arm stretches electric ratio
The T2 mouth of valve (12) is oil inlet, and P2 mouthfuls are oil return opening, and B mouthfuls are connected with the E mouth of rocker arm oil cylinder (11) with oil pipe；The rocker arm
The T1 mouth for receiving electric proportional valve (13) is oil inlet, and P1 mouthfuls are oil return opening, and A mouthfuls are connected with the K mouth of rocker arm oil cylinder (11) with oil pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811622503.7A CN109457753A (en) | 2018-12-28 | 2018-12-28 | A kind of automobile-used automatic following control system of engineering |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811622503.7A CN109457753A (en) | 2018-12-28 | 2018-12-28 | A kind of automobile-used automatic following control system of engineering |
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| Publication Number | Publication Date |
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| CN109457753A true CN109457753A (en) | 2019-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811622503.7A Pending CN109457753A (en) | 2018-12-28 | 2018-12-28 | A kind of automobile-used automatic following control system of engineering |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110230334A (en) * | 2019-06-11 | 2019-09-13 | 徐州徐工挖掘机械有限公司 | A kind of hydraulic crawler excavator intelligence level land device and its control method |
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| JP2007315514A (en) * | 2006-05-26 | 2007-12-06 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | Controller for working machine |
| CN103590436A (en) * | 2013-11-13 | 2014-02-19 | 徐工集团工程机械股份有限公司科技分公司 | Intelligent shoveling bus controlling system of loader |
| CN204530811U (en) * | 2014-12-24 | 2015-08-05 | 徐工集团工程机械股份有限公司科技分公司 | The control system that working device of loader can arbitrarily angledly be set level automatically |
| CN206591561U (en) * | 2017-03-16 | 2017-10-27 | 贵州詹阳动力重工有限公司 | A kind of loader-digger loading attachment automatic control system |
| CN207794167U (en) * | 2017-12-20 | 2018-08-31 | 徐工集团工程机械有限公司 | Scraper mechanical shovel fills control system and scraper |
| CN208056139U (en) * | 2018-01-09 | 2018-11-06 | 徐工集团工程机械股份有限公司科技分公司 | A kind of loading machine shovels the control system of dress automatically |
| CN209368938U (en) * | 2018-12-28 | 2019-09-10 | 徐工集团工程机械股份有限公司科技分公司 | The automobile-used automatic following control system of engineering |
-
2018
- 2018-12-28 CN CN201811622503.7A patent/CN109457753A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007315514A (en) * | 2006-05-26 | 2007-12-06 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | Controller for working machine |
| CN103590436A (en) * | 2013-11-13 | 2014-02-19 | 徐工集团工程机械股份有限公司科技分公司 | Intelligent shoveling bus controlling system of loader |
| CN204530811U (en) * | 2014-12-24 | 2015-08-05 | 徐工集团工程机械股份有限公司科技分公司 | The control system that working device of loader can arbitrarily angledly be set level automatically |
| CN206591561U (en) * | 2017-03-16 | 2017-10-27 | 贵州詹阳动力重工有限公司 | A kind of loader-digger loading attachment automatic control system |
| CN207794167U (en) * | 2017-12-20 | 2018-08-31 | 徐工集团工程机械有限公司 | Scraper mechanical shovel fills control system and scraper |
| CN208056139U (en) * | 2018-01-09 | 2018-11-06 | 徐工集团工程机械股份有限公司科技分公司 | A kind of loading machine shovels the control system of dress automatically |
| CN209368938U (en) * | 2018-12-28 | 2019-09-10 | 徐工集团工程机械股份有限公司科技分公司 | The automobile-used automatic following control system of engineering |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110230334A (en) * | 2019-06-11 | 2019-09-13 | 徐州徐工挖掘机械有限公司 | A kind of hydraulic crawler excavator intelligence level land device and its control method |
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