CN110258686B - Blade lifting system, grader and control method - Google Patents
Blade lifting system, grader and control method Download PDFInfo
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- CN110258686B CN110258686B CN201910577541.3A CN201910577541A CN110258686B CN 110258686 B CN110258686 B CN 110258686B CN 201910577541 A CN201910577541 A CN 201910577541A CN 110258686 B CN110258686 B CN 110258686B
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- scraper knife
- gear
- vehicle body
- preset
- blade
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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
- 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 provides a scraper knife lifting system, a land leveler and a control method; wherein, spiller operating system includes: the scraper knife is arranged on the vehicle body in a lifting way; a distance sensor for measuring a distance between the blade and a reference; the gear device is arranged on the vehicle body and is used for setting the gear of the vehicle body; the driving device is arranged on the vehicle body and is connected with the scraper knife; and the controller is respectively electrically connected with the distance sensor, the gear device and the driving device, wherein the controller is used for controlling the driving device to drive the scraper knife to ascend and descend to a preset position according to the distance and the gear. According to the technical scheme, the lifting and descending leveling of the scraper knife can be realized only by operating the gear device during operation, the operation is simplified, the working efficiency is improved, the automatic leveling function of the scraper knife is added, the detection range of the distance sensor is effectively expanded, the detection precision of the height position of the scraper knife is improved, errors are reduced, in addition, the driving system is flexible and quick in response, and the working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a scraper knife lifting system, a land leveler and a control method.
Background
Land levelers are used primarily for land leveling and shaping operations. In the construction operation process of the land leveler, the construction is carried out back and forth, and the descending position of the scraper blade needs to be controlled in the advancing operation; when the device retreats, the scraper needs to be lifted to a certain height, so that the contact between the scraper and the ground in the retreating process is avoided, the height of the scraper needs to be detected at any time, and in the prior art, a detection point is generally arranged at the free end of an oil cylinder, namely, the detection is carried out on the action stroke of the oil cylinder, but not on the ground height of the scraper, so that a measurement error is easily generated; in the process of backing, a driver sets a driving handle (or a gear device) to be in a neutral gear, then operates a manual lifting device of the scraper knife to lift the scraper knife to a certain height, and then sets the driving handle to be in a backing gear to drive the scraper knife in a backing mode. In the operation step, when the gear shifting device is located at the forward gear position, the scraper knife can only be lowered to the initial height position to advance, and a driver needs to manually control the scraper knife to lift; in addition, in the prior art, an electric control switch reversing valve is generally adopted, an angle sensor is not arranged, and the automatic leveling function of the scraper knife in the advancing operation process cannot be realized.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
It is therefore an object of the present invention to provide a blade lifting system.
It is another object of the present invention to provide a grader.
Another object of the present invention is to provide a control method.
In order to achieve the above object, a blade lifting system according to a first aspect of the present invention is a blade lifting system for a construction machine having a vehicle body, including: a scraper knife; is arranged on the vehicle body in a lifting way; the distance sensor is arranged on the vehicle body or the scraper knife and is used for measuring the distance between the scraper knife and the reference; the gear device is arranged on the vehicle body and is used for setting the gear of the vehicle body; the driving device is arranged on the vehicle body and is connected with the scraper knife; and the controller is respectively electrically connected with the distance sensor, the gear device and the driving device, wherein the controller is used for controlling the driving device to drive the scraper knife to ascend and descend to a preset position according to the distance and the gear.
In this technical scheme, through with controller and distance sensor, keep off a position ware and drive arrangement electricity and be connected, make the controller can be according to the distance that distance sensor detected, keep off the fender position that the position ware is located, control drive arrangement drive spiller goes up and down to preset the position, as long as the user controls the lift that keeps off the position ware and can carry out the spiller like this, no longer need the lift of manual control spiller, the work load has been reduced, the degree of accuracy of automation control level and the spiller lift that the spiller goes up and down has been promoted, the control mode that the spiller goes up and down has been simplified, work efficiency has been promoted.
In the above technical solution, the blade lifting system further includes: the two ends of the scraper knife are respectively provided with a first bracket; and each first support is connected with a second support, and each second support is connected with at least one distance sensor.
In any one of the above aspects, the driving device includes: the electro-hydraulic proportional valve is electrically connected with the controller; and the hydraulic oil cylinder is connected with both the electro-hydraulic proportional valve and the scraper knife, wherein the electro-hydraulic proportional valve is used for controlling the hydraulic oil cylinder to lift the scraper knife under the control of the controller.
A technical solution of a second aspect of the present invention provides a grader, including: the blade lifting system according to any of the above first aspects; the cross slope sensor is arranged on the vehicle body (100) or the scraper knife and used for detecting the transverse inclination angle of the scraper knife, the cross slope sensor is electrically connected with a controller of the scraper knife lifting system, and the controller is used for controlling an electro-hydraulic proportional valve of the scraper knife lifting system to level the scraper knife according to the transverse inclination angle.
In this technical scheme, through adopting the spiller operating system of any one of above-mentioned technical scheme to have had above-mentioned technical scheme's whole beneficial effect, no longer repeated here.
Furthermore, the cross slope sensor is arranged in the land leveler and is electrically connected with the controller, so that the controller can control the electro-hydraulic proportional valve to lift and lower the hydraulic oil cylinders at the two ends of the scraper knife according to the transverse inclination angle detected by the cross slope sensor, thereby realizing the automatic leveling of the scraper knife in the operation process, avoiding the manual operation leveling of a user, simplifying the operation and improving the position precision of the scraper knife.
In the above technical solution, the grader further includes: the longitudinal slope sensor is arranged on the body of the land leveler and used for detecting the longitudinal inclination angle of the land leveler in the advancing direction; the scraper knife is rotationally connected with the vehicle body through the rotary platform; the rotation sensor is arranged on the rotary platform to detect the rotation angle of the scraper knife relative to the vehicle body; the longitudinal slope sensor and the rotation sensor are both electrically connected with the controller, and the controller is also used for controlling the electro-hydraulic proportional valve to control a hydraulic oil cylinder of the scraper knife lifting system to level the scraper knife according to the transverse inclination angle, the longitudinal inclination angle and the rotation angle.
A third aspect of the present invention provides a control method for a blade lifting system according to any one of the first aspects or a motor grader according to any one of the second aspects, including: step S100: acquiring a gear of a gear device; step S102: determining the running direction of the vehicle body and the preset height of the scraper knife according to the gear; step S104: acquiring the real-time height of a scraper knife; step S106: judging the relation between the real-time height and the preset height and generating a judgment result; step S108: and controlling the action of the scraper knife and the running of the vehicle body according to the judgment result.
In the technical scheme, the driving direction of the vehicle body and the preset height of the scraper knife are determined according to the gears, the relation between the real-time height of the scraper knife and the preset height is judged, and finally, the action of the scraper knife and the driving of the vehicle body are controlled according to the judgment result.
In the above technical solution, step S102 specifically includes: if the gear is a forward gear, determining a first preset value as a preset height; step S106 specifically includes: determining a first difference value between the real-time height of the scraper knife and a first preset value, judging whether the absolute value of the first difference value is smaller than or equal to the first preset difference value, and generating a judgment result; step S108 specifically includes: if the judgment result is yes, sending a forward signal to a driving system to control the driving of the vehicle body, and leveling by a scraper knife in the driving process; if the judgment result is no, a forward movement prohibition signal is sent to the running system.
In the above technical solution, step S102 specifically includes: if the gear is a reverse gear, determining a second preset value as a preset height; step S106 specifically includes: judging whether the real-time height is greater than a second preset value or not, and generating a judgment result; step S108 specifically includes: if the judgment result is yes, sending a backward signal to the driving system, and stopping lifting the scraper knife; if the judgment result is no, a reverse prohibition signal is sent to the driving system.
In the above technical solution, step S102 specifically includes: if the gear state is a neutral gear, determining a third preset value as a preset height; step S106 specifically includes: judging whether the real-time height is smaller than a third preset value or not, and generating a judgment result; step S108 specifically includes: if the judgment result is yes, stopping lifting the scraper knife; and if the judgment result is negative, controlling the scraper knife to descend to the real-time height smaller than or equal to a third preset value.
In the above technical solution, step S102 specifically includes: if the gear state is a neutral gear, determining a fourth preset value as a preset height; step S106 specifically includes: determining a second difference value between the real-time height of the scraper knife and a fourth preset value, judging whether the absolute value of the second difference value is smaller than or equal to a second preset difference value, and generating a judgment result; step S108 specifically includes: if the judgment result is yes, stopping lifting the scraper knife; and if the judgment result is negative, controlling the scraper knife to ascend and descend to a fourth preset value.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a partial perspective view of a grader in accordance with an embodiment of the present invention;
FIG. 2 is a partial schematic view of a grader in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart diagram of a control method of a grader in accordance with an embodiment of the present disclosure;
FIG. 4 is a flow chart illustrating a method of controlling a grader in accordance with another embodiment of the present disclosure;
FIG. 5 is a flow chart illustrating a method of controlling a grader in accordance with another embodiment of the present disclosure;
FIG. 6 is a flow chart illustrating a method of controlling a grader in accordance with another embodiment of the present disclosure;
fig. 7 is a flowchart illustrating a control method of a motor grader according to another embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 and fig. 2 is:
100 a vehicle body, 102 a scraper knife, 104 a distance sensor, 106 a controller, 108 a first support, 110 a second support, 112 an electro-hydraulic proportional valve, 116 a cross slope sensor, 118 a longitudinal slope sensor, 120 a rotation sensor, 122 a girder, 124 a gear device, 2 datum, H0 a first preset value, Hs real-time height, H1 a first difference value and Hp a second preset value.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Some embodiments according to the invention are described below with reference to fig. 1 to 7.
As shown in fig. 1 and 2, a blade lifting system according to an embodiment of the present invention is used for a construction machine having a vehicle body 100, and includes: a blade 102; is arranged on the vehicle body 100 in a lifting way; a distance sensor 104 provided on the vehicle body 100 or the blade 102, the distance sensor 104 being configured to measure a distance between the blade 102 and the reference 2; the gear device 124 is arranged on the vehicle body 100, and the gear device 124 is used for setting the gear of the vehicle body 100; a driving device provided on the vehicle body 100 and connected to the blade 102; and a controller 106 electrically connected to the distance sensor 104, the gear shifting device 124 and the driving device, wherein the controller 106 is configured to control the driving device to drive the blade 102 to ascend and descend to a preset position according to the distance and the gear.
In this embodiment, the controller 106 is electrically connected to the distance sensor 104, the gear shifting device 124 and the driving device, so that the controller 106 can control the driving device to drive the scraper knife 102 to ascend and descend to a preset position according to the distance detected by the distance sensor 104 and the gear at which the gear shifting device 124 is located, and thus, the scraper knife 102 can ascend and descend only by operating the gear shifting device 124 by a user, no manual control is needed, the workload is reduced, the automation control level for ascending and descending of the scraper knife 102 and the accuracy for ascending and descending of the scraper knife 102 are improved, the control mode for ascending and descending of the scraper knife 102 is simplified, and the working efficiency is improved.
It should be noted that the datum 2 may be a surface or a line, such as a ground surface on which the construction machine travels, or a horizontal line pulled during construction, etc.; in addition, when the reference 2 is the ground, the distance detected by the distance sensor 104 is the height of the blade 102, or the real-time height of the blade 102.
Alternatively, the work machine is a grader or bulldozer.
In the above embodiment, the blade lifting system further includes: the first bracket 108, two ends of the blade 102 are respectively provided with a first bracket 108; and a second bracket 110, wherein each first bracket 108 is hinged with one second bracket 110, and each second bracket 110 is connected with at least one distance sensor 104.
In this embodiment, the first bracket 108 and the second bracket 110 may be hinged to each other, so that the distance sensor 104 may rotate with the second bracket 110, which is simple in structure and easy to produce and install, and the distance sensor 104 is connected to the blade 102, and the distance sensor 104 can act synchronously with the blade 102, thereby detecting the distance between the blade 102 and the datum 2 in real time, and improving the accuracy of the detection result; furthermore, two ends of the scraper knife 102 are respectively provided with a first bracket 108, that is, two ends of the scraper knife 102 are respectively provided with a distance sensor 104, so that the datum 2 can be flexibly arranged on any side of the scraper knife 102, the flexibility of arrangement of the datum 2 is improved, and the convenience of use of the product is further improved; and at least one distance sensor 104 is connected to the second bracket 110, so that the detection result can be corrected by using data detected by the plurality of distance sensors 104, the accuracy of distance detection between the blade 102 and the reference 2 is further improved, and errors caused by angle changes of the single distance sensor 104 are reduced. Further, the second support 110 is hinged to the first support 108, so that the distance sensor 104 can rotate towards different positions to detect the datum 2 located at different positions, or the distance sensor 104 can detect different areas, the working range of the distance sensor 104 is enlarged, the flexibility of setting the datum 2 is improved, and the convenience of using the product is improved.
In any one of the above embodiments, the drive device includes: an electro-hydraulic proportional valve 112 electrically connected to the controller 106; and the hydraulic oil cylinder (not shown in the drawing) is connected with the electro-hydraulic proportional valve 112 and the scraper knife 102, and the left end and the right end of the bracket of the scraper knife 102 are respectively provided with one hydraulic oil cylinder, wherein the electro-hydraulic proportional valve 112 is used for controlling the hydraulic oil cylinders to lift the scraper knife 102 under the control of the controller 106.
In the embodiment, the electro-hydraulic proportional valve 112 is adopted to control the hydraulic oil cylinder to lift the scraper knife 102 under the control of the controller 106, so that the structure is simple, the control is convenient, the scraper knife 102 does not need to be manually controlled by a user to lift, the labor intensity is reduced, the lifting precision and speed of the scraper knife 102 are ensured, and the construction efficiency is improved.
It can be understood that, by providing a hydraulic cylinder at each of the left and right ends of the bracket of the blade 102, the blade 102 can be lifted and lowered at both the left and right ends, or at only one end, so that it is convenient to level according to the distance between the blade 102 and the reference 2 and the preset distance.
Alternatively, the driving device may be an electric cylinder or an air cylinder.
As shown in fig. 1, an embodiment of a second aspect of the present invention provides a motor grader comprising: the blade lifting system of any of the embodiments of the first aspect described above; the cross slope sensor 116 is arranged on the blade 102 of the blade lifting system, the cross slope sensor 116 is used for detecting the transverse inclination angle of the blade 102, and the cross slope sensor 116 is electrically connected with the controller 106 of the blade lifting system, wherein the controller 106 is used for controlling the electro-hydraulic proportional valve 112 of the blade lifting system to control the hydraulic oil cylinder of the blade lifting system to level the blade 102 according to the transverse inclination angle.
In this embodiment, by using the blade lifting system according to any of the above embodiments, all the beneficial effects of the above embodiments are achieved, and are not described herein again.
Further, by arranging the cross slope sensor 116 in the land scraper and electrically connecting the cross slope sensor with the controller 106, the controller 106 can control the electro-hydraulic proportional valve 112 to control the hydraulic oil cylinders at the two ends of the blade 102 to respectively execute different strokes according to the transverse inclination angle detected by the cross slope sensor 116, so that the automatic leveling of the blade 102 in the operation process is realized, the manual operation leveling by a user is avoided, and the position precision of the blade 102 and the convenience of product use are improved.
Preferably, the cross-slope sensor 116 is provided on the back of the blade 102.
As shown in fig. 1, in the above embodiment, the motor grader further includes: a longitudinal slope sensor 118 provided on the vehicle body 100 of the motor grader, the longitudinal slope sensor 118 being configured to detect a longitudinal inclination angle of the motor grader in the forward direction; the scraper knife 102 is rotatably connected with the vehicle body 100 through the rotary platform; a rotation sensor 120 provided on the revolving platform to detect a rotation angle of the blade 102 with respect to the vehicle body 100; the longitudinal slope sensor 118 and the rotation sensor 120 are electrically connected to the controller 106, and the controller 106 is further configured to control the electro-hydraulic proportional valve 112 to control a hydraulic cylinder of the blade lifting system to drive the blade 102 to perform leveling according to the transverse inclination angle, the longitudinal inclination angle, and the rotation angle.
In this embodiment, the longitudinal inclination angle of the grader in the forward direction is detected by the longitudinal slope sensor 118, and the rotation angle of the blade 102 relative to the vehicle body 100 is detected by the rotation sensor 120, so that the controller 106 can correct the transverse inclination angle of the blade 102 by combining the longitudinal inclination angle and the rotation angle, thereby improving the precision of the transverse inclination angle, further being beneficial to ensuring the leveling precision of the blade 102, and improving the convenience and reliability of the product use.
Preferably, the longitudinal slope sensor 118 is provided on a beam 122 of the grader.
As shown in fig. 3, an embodiment of a third aspect of the present invention provides a method of raising and lowering a blade for a motor grader according to any of the above embodiments, including:
step S100: acquiring a gear of a gear device;
step S102: determining the running direction of the vehicle body and the preset height of the scraper knife according to the gear;
step S104: acquiring the real-time height of a scraper knife;
step S106: judging the relation between the real-time height and the preset height and generating a judgment result;
step S108: and controlling the action of the scraper knife and the running of the vehicle body according to the judgment result.
In this embodiment, the direction of travel of automobile body and the predetermined height of spiller are confirmed according to keeping off the position, and judge the relation between the real-time height of spiller and the predetermined height, finally according to the judged result, the action of control spiller and the travel of automobile body, when the automobile body is located different fender positions, the predetermined height of spiller is different like this, and keep off the position according to this, real-time height, and predetermine the next step action of height control spiller and the travel of automobile body, can pass through the control to keeping off the position ware like this, realize the automation mechanized operation that the spiller goes up and down, the user only needs to control to keep off the position and can realize the lift of spiller automatically, the operation degree of difficulty has been reduced, and the accuracy and the degree of accuracy of spiller position have been promoted, work efficiency has been promoted.
It can be understood that different working conditions of the grader can be distinguished by identifying the gear of the gear shifter, and then the position of the blade can be determined, that is, the preset height of the blade can be determined.
As shown in fig. 4, a blade lifting method according to another embodiment of the present application includes:
step S200: acquiring a gear of a gear device;
step S202: if the gear is a forward gear, determining a first preset value as a preset height;
step S204: acquiring the real-time height of a scraper knife;
step S206: determining a first difference value between the real-time height of the scraper knife and a first preset value, judging whether the absolute value of the first difference value is smaller than or equal to the first preset difference value, and generating a judgment result;
step S208: if the judgment result is yes, sending a forward signal to a driving system to control the driving of the vehicle body, and leveling by a scraper knife in the driving process;
step S210: if the judgment result is no, a forward movement prohibition signal is sent to the running system.
In this embodiment, when the gear shifting device is located at the forward gear, the engineering machine needs the blade to be located at a lower position to strike the road surface in the forward operation, that is, in the construction stage of striking off the road surface, and as shown in fig. 2, the height of the blade should be a lower first preset value H0; it can be understood that the blade does not need to be precisely located at the height corresponding to the first preset value H0, but is close to the first preset value H0, and therefore, by calculating a first difference value H1 between the real-time height Hs of the blade and the first preset value H0, and judging the relationship between the first difference value H1 and the first preset difference value, when the absolute value of the first difference value H1 is less than or equal to the first preset difference value, it is indicated that the height of the blade is already close to the first preset value H0, and therefore, a forward signal can be sent to control the running of the vehicle body, and automatic leveling can be performed, so as to ensure the road surface smoothness, and when the gear shifter is located at a forward gear, the blade can be moved forward without being reduced to the position H0, so that the lifting sensitivity of the blade is improved, and the work efficiency is improved; if the absolute value of the first difference value H1 is greater than the first preset difference value, it indicates that the blade is further away from the height corresponding to the first preset value H0, and at this time, a signal for prohibiting forward movement is sent, so that sufficient adjustment time can be given to the blade, and the blade moves forward after being adjusted in place, thereby avoiding invalid operation caused by the fact that the blade is not at the preset height position.
It can be understood that the position of the blade may be higher or lower, and therefore the absolute value of the first difference H1 is adopted to compare with the first preset difference, so that whether the blade is lower or higher, it can be determined whether the blade is close to the height corresponding to the first preset value H0.
Of course, the scheme of the present application is not limited to this, and the determination may also be performed by using a ratio between the real-time height and the first preset value, for example, if the preset ratio range is set to 0.9 to 1.1, and the ratio between the real-time height and the first preset value is 0.9 to 1.1, it indicates that the scraper knife is close to the height corresponding to the first preset value H0.
As shown in fig. 5, a blade lifting method according to another embodiment of the present application includes:
step S300: acquiring a gear of a gear device;
step S302: if the gear is a reverse gear, determining a second preset value as a preset height;
step S304: acquiring the real-time height of a scraper knife;
step S306: judging whether the real-time height is greater than a second preset value or not, and generating a judgment result;
step S308: if the judgment result is yes, sending a backward signal to the driving system, and stopping lifting the scraper knife;
step S310: if the judgment result is no, a reverse prohibition signal is sent to the driving system.
In this embodiment, when the gear shifting device is in a reverse gear, i.e. during a reverse operation, the blade needs to be located at a higher position to avoid contact with the ground, i.e. the height of the blade should be a second preset value Hp higher than the first preset value; it can be understood that the scraper knife only needs to be higher than the height corresponding to the second preset value Hp, and therefore, by judging whether the real-time height Hs of the scraper knife is greater than the second preset value Hp, as long as the real-time height Hs is greater than the second preset value Hp, it is indicated that the height of the scraper knife is far away from the ground, and therefore a backward signal can be sent; if the real-time height is smaller than the second preset value, the fact that the real-time height Hs of the scraper knife is lower than the second preset value Hp indicates that the scraper knife is likely to collide with the road surface, a signal for forbidding retreating is sent at the moment, enough adjusting time can be given to the scraper knife, and the scraper knife retreats after being adjusted in place, so that the situation that the scraper knife collides with the road surface due to the fact that the scraper knife is not at the preset height position is avoided.
As shown in fig. 6, a blade lifting method according to another embodiment of the present application includes:
step S400: acquiring a gear of a gear device;
step S402: if the gear state is a neutral gear, determining a third preset value as a preset height;
step S404: acquiring the real-time height of a scraper knife;
step S406: judging whether the real-time height is smaller than a third preset value or not, and generating a judgment result;
step S408: if the judgment result is yes, stopping lifting the scraper knife;
step S410: and if the judgment result is negative, controlling the scraper knife to descend to the real-time height smaller than or equal to a third preset value.
In this embodiment, when the gear shifting device is in the neutral gear, the gear shifting device may be shifted to the forward gear to start the land leveling operation, and in order to improve the working efficiency, the height of the blade needs to be reduced as soon as possible, so that the blade is reduced to a certain height or below a third preset value when the gear shifting device is in the neutral gear, the stroke of the blade can be shortened when the gear shifting device enters the forward gear, and the blade is reduced to be near the first preset value as soon as possible, so that the land leveling operation is quickly performed, and the working efficiency is improved.
It will be appreciated that the third preset value is lower than the second preset value and greater than the first preset value.
As shown in fig. 7, a blade lifting method according to another embodiment of the present application includes:
step S500: acquiring a gear of a gear device;
step S502: if the gear state is a neutral gear, determining a fourth preset value as a preset height;
step S504: acquiring the real-time height of a scraper knife;
step S506: determining a second difference value between the real-time height of the scraper knife and a fourth preset value, judging whether the absolute value of the second difference value is smaller than or equal to a second preset difference value, and generating a judgment result;
step S508: if the judgment result is yes, stopping lifting the scraper knife;
step S510: and if the judgment result is negative, controlling the scraper knife to ascend and descend to a fourth preset value.
In this embodiment, when the gear shifter is located in the neutral position, the blade may need to be lowered to avoid instability due to too high center of gravity and avoid the head of the pedestrian colliding with the blade during shutdown of the grader, and therefore the height of the blade should be a lower fourth preset value; it can be understood that the cutting blade does not need to be precisely located at the height corresponding to the fourth preset value, but is close to the fourth preset value, and therefore, when the absolute value of the second difference is smaller than or equal to the second preset difference, it is indicated that the height of the cutting blade is very close to the fourth preset value, and the position is low, so that the lifting can be stopped; if the absolute value of the second difference is larger than the second preset difference, it indicates that the height of the scraper knife from the fourth preset value is still far, and therefore the scraper knife needs to be controlled to continuously lift until the height of the scraper knife approaches the fourth preset value.
It is understood that the fourth preset value may be equal to the first preset value, or slightly greater than the first preset value.
Through the control method of this embodiment, the mode of difference comparison has been adopted for the response of system of traveling is more nimble convenient, has promoted work efficiency, and in the course of the work, the user only need control keep off the position ware and can realize the lift of spiller, make level, has greatly promoted the convenience that the product used.
According to the lifting system of the scraper knife provided by the embodiment of the invention, compared with the prior art, the detection points of the scraper knife height in the application are different, the prior art installs the sensor for detecting the scraper knife 102 at the position of the free end of the hydraulic oil cylinder to detect the scraper knife height, the distance sensor 104 for detecting the scraper knife height is installed at the tail ends of the two sides of the scraper knife 102 and is connected with the sensor through the rotatable bracket, so that the position of the distance sensor 104 is changed as required, and the detection area of the distance sensor 104 is adjusted, thus the distance between the scraper knife 102 and different benchmarks 2 can be directly detected, the conversion is not carried out through the distance between the benchmarks 2 and the hydraulic oil cylinder, the detection result is more direct and accurate, and the error can be greatly reduced; furthermore, the electro-hydraulic proportional valve 112 is adopted, the cross slope sensor 116, the longitudinal slope sensor 118 and the rotation sensor 120 are added, on the basis that the scraper knife 102 is automatically lowered, the automatic leveling function of the scraper knife 102 is added through the cross slope sensor 116, the longitudinal slope sensor 118 and the rotation sensor 120, and a user can finish the advancing of a vehicle and the lifting operation of the scraper knife 102 only by operating the gear device 124; furthermore, the working sensitivity value of the scraper knife 102, namely the first preset difference value and the second preset difference value, is introduced, so that the scraper knife 102 can start the vehicle to advance without being completely reduced to the first preset value H0, the response of a driving system is more flexible, and the working efficiency is improved.
Specifically, when the grader of the present application works, the grader enters an automatic control state of the blade 102 at first, and sets an initial position of the blade 102, that is, a position corresponding to a first preset value H0, and a lifting height of the blade 102 when the grader is in a backward shift, that is, a position corresponding to a second preset value Hp; then detecting the gear of the gear shifter 124; if the gear shifting device 124 is in a reverse gear, judging whether the real-time height Hs of the scraper blade 102 is greater than a second preset value Hp, if so, outputting a reverse signal to a driving system, and stopping lifting the scraper blade 102; if not, outputting a backward movement prohibition signal to the driving system.
It can be understood that when the height of the cutting blade is greater than the second preset value Hp, the cutting blade can be ensured not to touch other objects or the road surface during retreating, and therefore retreating is realized.
Further, if the gear shifting device 124 is in a forward gear, detecting whether an absolute value of a first difference H1 between the real-time height Hs of the blade 102 and a first preset value H0 is smaller than or equal to a first preset difference, and if not, outputting a forward-movement prohibition signal to the driving system, so that the position of the blade 102 needs to be further adjusted; if yes, namely the blade 102 is close to the initial position, a forward signal is output to the driving system, and the blade 102 is automatically leveled in the driving process.
Further, if gear shifting device 124 is in a neutral state, it is detected whether the current height of blade 102 is less than or equal to a height corresponding to a third preset value, if not, a lowering operation of blade 102 is executed, and if so, the lowering operation of blade 102 is stopped.
The scraper knife lifting system of the specific embodiment of the application has the following advantages:
1) in an operation state, the height position of the scraper knife 102 is directly acquired, the precision is high, the error is small, and the height detection area is adjustable along with the rotation of the sensor;
2) the automatic leveling function of the scraper knife 102 is added, and the scraper knife 102 can be lifted and lowered for leveling only by operating the gear device 124 during operation, so that the operation is simplified, and the working efficiency is improved.
3) The first preset difference and the second preset difference of the scraper knife 102 are introduced, so that the vehicle driving response is flexible and quick, and the working efficiency is improved.
The technical scheme of the invention is described in detail in the above with reference to the attached drawings, and through the technical scheme of the invention, the lifting and descending leveling of the scraper knife can be realized only by operating the gear device during operation, so that the operation is simplified, the working efficiency is improved, the automatic leveling function of the scraper knife is also added, the detection range of the distance sensor is effectively expanded, the detection precision of the height position of the scraper knife is improved, and the error is reduced.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A grader, comprising:
a blade lifting system;
the blade lifting system comprises: the scraper knife (102) is arranged on the vehicle body (100) in a lifting way;
the distance sensor (104) is arranged on the vehicle body (100) or the scraper knife (102), and the distance sensor (104) is used for measuring the distance between the scraper knife (102) and a datum (2);
the gear device (124) is arranged on the vehicle body (100), and the gear device (124) is used for setting a gear of the vehicle body (100);
the driving device is arranged on the vehicle body (100) and is connected with the scraper knife (102);
a controller (106) electrically connected to the distance sensor (104), the gear shifter (124) and the drive device, respectively,
the controller (106) is used for controlling the driving device to drive the scraper knife (102) to ascend and descend to a preset position according to the distance and the gear;
the two ends of the scraper knife (102) are respectively provided with one first bracket (108);
a second bracket (110), one second bracket (110) being connected to each first bracket (108), at least one distance sensor (104) being connected to each second bracket (110), the second brackets (110) being hinged to the first brackets (108) such that the distance sensors (104) can be rotated to different positions;
a cross slope sensor (116) arranged on the vehicle body (100) or the scraper knife (102), wherein the cross slope sensor (116) is used for detecting the transverse inclination angle of the scraper knife (102), the cross slope sensor (116) is electrically connected with a controller (106) of the scraper knife lifting system,
the controller (106) is used for controlling an electro-hydraulic proportional valve (112) of the blade lifting system according to the transverse inclination angle so as to control a hydraulic oil cylinder of the blade lifting system to level the blade (102).
2. The motor grader of claim 1,
the driving device includes:
an electro-hydraulic proportional valve (112) electrically connected to the controller (106);
the hydraulic oil cylinder is connected with the electro-hydraulic proportional valve (112) and the scraper knife (102),
the electro-hydraulic proportional valve (112) is used for controlling the hydraulic oil cylinder to lift the scraper knife (102) under the control of the controller (106).
3. The grader of claim 1 further comprising:
a longitudinal slope sensor (118) arranged on a vehicle body (100) of the grader, wherein the longitudinal slope sensor (118) is used for detecting the longitudinal inclination angle of the grader in the advancing direction;
the scraper knife (102) is rotationally connected with the vehicle body (100) through the rotary platform;
a rotation sensor (120) provided on the revolving platform to detect a rotation angle of the blade (102) with respect to the vehicle body (100);
the longitudinal gradient sensor (118) and the rotation sensor (120) are both electrically connected with the controller (106),
the controller (106) is further used for controlling the electro-hydraulic proportional valve (112) to control a hydraulic oil cylinder of the scraper knife lifting system to level the scraper knife (102) according to the transverse inclination angle, the longitudinal inclination angle and the rotation angle.
4. A control method for a grader according to any of claims 1 to 3, comprising:
step S100: acquiring a gear of a gear device;
step S102: determining the running direction of the vehicle body and the preset height of the scraper knife according to the gear;
step S104: acquiring the real-time height of the scraper knife;
step S106: judging the relation between the real-time height and the preset height and generating a judgment result;
step S108: controlling the action of the scraper knife and the running of the vehicle body according to the judgment result;
the step S102 specifically includes:
if the gear is a forward gear, determining a first preset value as the preset height;
the step S106 specifically includes:
determining a first difference value between the real-time height of the scraper knife and the first preset value, judging whether the absolute value of the first difference value is smaller than or equal to a first preset difference value, and generating a judgment result;
the step S108 specifically includes:
if the judgment result is yes, sending a forward signal to a driving system to control the driving of the vehicle body, and leveling by a scraper knife in the driving process;
and if the judgment result is negative, sending a forward advance forbidding signal to the running system.
5. The control method according to claim 4,
the step S102 specifically includes:
if the gear is a reverse gear, determining a second preset value as the preset height;
the step S106 specifically includes:
judging whether the real-time height is larger than the second preset value or not, and generating a judgment result;
the step S108 specifically includes:
if the judgment result is yes, sending a backward signal to the driving system, and stopping lifting the scraper knife;
and if the judgment result is negative, sending a reverse prohibition signal to the driving system.
6. The control method according to claim 4,
the step S102 specifically includes:
if the gear state is a neutral gear, determining a third preset value as the preset height;
the step S106 specifically includes:
judging whether the real-time height is smaller than the third preset value or not, and generating a judgment result;
the step S108 specifically includes:
if the judgment result is yes, stopping lifting of the scraper knife;
and if the judgment result is negative, controlling the scraper knife to descend to the real-time height smaller than or equal to the third preset value.
7. The control method according to claim 4,
the step S102 specifically includes:
if the gear state is a neutral gear, determining a fourth preset value as the preset height;
the step S106 specifically includes:
determining a second difference value between the real-time height of the scraper knife and the fourth preset value, judging whether the absolute value of the second difference value is smaller than or equal to a second preset difference value, and generating a judgment result;
the step S108 specifically includes:
if the judgment result is yes, stopping lifting of the scraper knife;
and if the judgment result is negative, controlling the scraper knife to ascend and descend to the fourth 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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| CN110989615B (en) * | 2019-12-20 | 2023-07-18 | 潍柴动力股份有限公司 | Control method and device for agricultural vehicle |
| CN111576514B (en) | 2020-05-28 | 2022-03-15 | 江苏徐工工程机械研究院有限公司 | Leveling control method and system, controller and land leveler |
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