CN111636512A - Automatic leveling equipment and automatic leveling and automatic height limiting control method - Google Patents
Automatic leveling equipment and automatic leveling and automatic height limiting control method Download PDFInfo
- Publication number
- CN111636512A CN111636512A CN202010617058.6A CN202010617058A CN111636512A CN 111636512 A CN111636512 A CN 111636512A CN 202010617058 A CN202010617058 A CN 202010617058A CN 111636512 A CN111636512 A CN 111636512A
- Authority
- CN
- China
- Prior art keywords
- working device
- angle
- pressure reducing
- proportional pressure
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000008569 process Effects 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 33
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Images
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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2079—Control of mechanical transmission
-
- 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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
Abstract
The invention relates to the technical field of operation machinery, in particular to automatic leveling equipment and a control method for automatic leveling and automatic height limiting. The method comprises the following steps: the working device is hinged and assembled, and the angle sensor is used for detecting the angle of the working device so as to obtain the deflection angle A of the working device; an attachment hingedly mounted at a free end of the working device; the telescopic end of the first actuator is hinged with the accessory, and the accessory can swing relative to the working device under the driving of the first actuator; and the hydraulic control system comprises a hydraulic pump, the hydraulic pump supplies oil to the first actuator under the control of a first control valve, the first control valve is reversed under the control of a first electric proportional pressure reducing valve, and the first electric proportional pressure reducing valve is applied with an electric signal according to the deflection angle of the working device so as to level the accessory in real time. The technical problems of complex leveling structure, complex pipeline and high cost in the prior scraper are solved.
Description
Technical Field
The invention relates to the technical field of operation machinery, in particular to automatic leveling equipment and a control method for automatic leveling and automatic height limiting.
Background
The shoveling machinery needs to raise the working device during loading and unloading, so that the bucket is lifted above the bucket of the transport vehicle to dump the materials. In the process of lifting the working device, in order to avoid the material from scattering from the bucket, a reasonable bucket-retracting angle of the bucket in the lifting process is required to be ensured. In order to realize the function in the bucket lifting process, the working device needs to be made into a six-link mechanism or an eight-link mechanism and is matched with a hydraulic control multi-way valve for use. Due to the complex structure of the connecting rod mechanism and high requirements on processing and manufacturing precision, the function switching between leveling and non-leveling can not be realized.
In order to solve the problems, a hydraulic leveling valve is adopted in many small-sized scraping machines such as a skid steer loader to replace a mechanical link mechanism and a hydraulic control multi-way valve, so that a certain bucket retracting angle can be kept unchanged in the lifting process, and a certain bucket retracting angle can be also kept unchanged in the falling process, and the manufacturing cost is greatly reduced. However, the leveling mode needs a separate leveling valve or a compensating oil cylinder, the pipeline is complex, the pressure drop of a loop is increased, the cost is increased, and the efficiency is reduced.
Disclosure of Invention
In order to solve the technical problems of complex leveling structure, complex pipeline and high cost in the prior scraper, the invention provides automatic leveling equipment and a control method for automatic leveling and automatic height limiting, and solves the technical problems. The technical scheme of the invention is as follows:
an apparatus for automatic leveling, comprising: the working device is hinged and assembled, and the angle sensor is used for detecting the angle of the working device to obtain the deflection angle A of the working device; an attachment hingedly mounted at a free end of the working device; the telescopic end of the first actuator is hinged with the accessory, and the accessory can swing relative to the working device under the driving of the first actuator; and the hydraulic control system comprises a hydraulic pump, the hydraulic pump supplies oil to the first actuator under the control of a first control valve, the first control valve is reversed under the control of a first electric proportional pressure reducing valve, and the first electric proportional pressure reducing valve is applied with an electric signal according to the deflection angle of the working device so as to level the accessory in real time.
According to the automatic leveling equipment, the angle of the working device is detected by arranging the angle sensor, and the accessory can be leveled in real time according to the deflection angle of the working device; the first actuator for adjusting the angle of the accessory works under the action of the first control valve, and the first control valve is reversed under the control of the first electric proportional pressure reducing valve, namely, the electric signal applied to the first electric proportional pressure reducing valve is controlled according to the deflection angle of the working device, so that the real-time leveling of the accessory can be realized. The leveling valve and the compensation oil cylinder are omitted, the structure is simplified, the cost is reduced, and the efficiency is high.
According to one embodiment of the invention, the angle sensor is used for detecting an angle of an initial position and an angle of a real-time position of the working device, and a difference value between the angle of the real-time position and the angle of the initial position of the working device is a deflection angle a of the working device.
According to one embodiment of the present invention, the first control valve includes a first spool that slides by pilot oil, and the first electro-proportional pressure reducing valve controls an oil pressure of the pilot oil.
According to one embodiment of the invention, two ends of the first valve spool are communicated with pilot oil passages, two first electric proportional pressure reducing valves are provided, and the two first electric proportional pressure reducing valves respectively control pilot oil pressures at the two ends of the first valve spool.
According to one embodiment of the invention, the working device is deflected by a second actuator, the hydraulic pump supplies oil to the second actuator under the control of a second control valve, which is reversed under the control of a second electrically proportional pressure reducing valve.
According to one embodiment of the invention, the device further comprises a controller, the controller receives the angle information detected by the angle sensor and acquires a deflection angle A of the working device, and the controller adjusts the electric signal applied by the first electro-proportional pressure reducing valve according to the deflection angle A of the working device.
According to one embodiment of the invention, the controller controls the electrical signal applied by the second electro-proportional pressure reducing valve to define a yaw height of the working device.
A control method for automatic leveling adopts the automatic leveling equipment, and comprises the following steps:
s1, acquiring the initial angle of the working device and the position angle of the working device in the deflection process;
s2, comparing the position angle in the deflection process with the initial angle in real time to obtain a difference value, namely the deflection angle A of the working device;
and S3, adjusting an electric signal applied by the first electric proportional pressure reducing valve according to the deflection angle A of the working device, controlling the first control valve to change direction, and further leveling the accessory in real time.
According to an embodiment of the present invention, the step S3 of adjusting the electric signal applied by the first electro-proportional pressure reducing valve according to the deflection angle a of the working device includes: judging whether the deflection angle A of the working device is equal to a set value B or not, if so, controlling the first electric proportional pressure reducing valve to be not electrified; and if not, the first electric proportional pressure reducing valve is electrified.
A control method for automatically limiting height adopts the automatic leveling equipment, and comprises the following steps:
p1, acquiring an initial angle of the working device and a position angle of the working device in a deflection process;
p2, comparing the position angle in the deflection process with the initial angle to obtain a difference value, namely the deflection angle A of the working device;
and P3, comparing the obtained deflection angle A of the working device with a threshold value C to adjust an electric signal applied by the second electric proportional pressure reducing valve, controlling the second control valve to switch, and further controlling the lifting height of the working device.
Based on the technical scheme, the invention can realize the following technical effects:
1. according to the automatic leveling equipment, the angle of the working device is detected by arranging the angle sensor, and the accessory can be leveled in real time according to the deflection angle A of the working device; the first actuator for adjusting the angle of the accessory works under the action of the first control valve, and the first control valve is reversed under the control of the first electric proportional pressure reducing valve, namely, the electric signal applied to the first electric proportional pressure reducing valve is controlled according to the deflection angle A of the working device, so that the real-time leveling of the accessory can be realized. A leveling valve and a compensation oil cylinder are omitted, the structure is simplified, the cost is reduced, and the efficiency is high;
2. the automatic leveling equipment and the automatic leveling control method of the invention detect the angle of the initial position and the angle of the real-time position of the working device through the angle sensor, the controller can receive the angle information in real time and obtain the deflection angle A of the working device by comparing the two angles, and the angle of the accessory can be accurately adjusted by comparing the deflection angle A with the set value B according to the deflection angle A, so that the accessory can be leveled in real time in the process of lifting and deflecting the working device; specifically, when A is equal to B, the accessory can meet the leveling requirement without deflection; when A is not equal to B, the controller controls the first electric proportional pressure reducing valve to be electrified to drive the first control valve to change direction, and further the angle of the accessory is adjusted to meet the leveling requirement;
3. the working device is driven by a second actuator, a second control valve controls a hydraulic pump to supply oil to the second actuator, two second electric proportional pressure reducing valves can control the state of the second control valve, the controller compares the deflection angle A of the working device with a threshold value C, if the deflection angle A is not equal to the threshold value C, the working device can continue to lift, and the lifting is stopped until the deflection angle of the working device is equal to the threshold value. The working device can be controlled to ascend and descend within a threshold range by controlling the electric signals applied by the two second electric proportional pressure reducing valves;
4. according to the automatic leveling device and the automatic leveling and height limiting control method, the set value B and the threshold value C can be set to be the same value or different values. When the set value B is equal to the threshold value C, the same equipment has the functions of automatic adjustment and automatic height limitation.
Drawings
FIG. 1 is a schematic structural view of the self-leveling apparatus of the present invention;
FIG. 2 is a system diagram of a pilot operated system;
FIG. 3 is a schematic diagram of a control method for automatic leveling;
FIG. 4 is a schematic diagram of an automatic height limit control method;
in the figure: 1-a working device; 2-accessory; 3-a second actuator; 4-a first actuator; 5-a hydraulic control system; 51-a hydraulic pump; 52-a first control valve; 53-a second control valve; 54-a first electro proportional pressure reducing valve; 55-a second electro-proportional pressure reducing valve; 56-oil tank; 57-relief valve; 6-vehicle body; 7-cab.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1 to 4, the present embodiment provides an automatic leveling device, which includes a working device 1 and an accessory 2, wherein one end of the working device 1 is hinged and assembled, the other end of the working device 1 is a free end, the accessory 2 is hinged and assembled at the free end of the working device 1, the working device 1 can drive the accessory 2 thereon to swing, and in the process of swinging, an angle of the accessory 2 relative to an initial position thereof changes in real time, and the accessory 2 can be automatically leveled by adjusting the angle between the accessory 2 and the working device 1.
The working device 1 is hinged and assembled on a vehicle body 6, a cab 7 is arranged on the vehicle body 6, the hinged end of the working device 1 extends to the rear of the cab 7 and is hinged with the vehicle body 6, and the free end of the working device 1 extends to the front of the cab 7 and is hinged with the accessory 2. The working device 1 is driven by the second actuator 3 to swing relative to the vehicle body 6, and the working device 1 drives the accessory 2 to swing so as to adjust the height of the accessory 2. The second actuator 3 is hinged to the vehicle body 6, the telescopic end of the second actuator 3 is hinged to the working device 1, and the second actuator 3 stretches and retracts to drive the working device 1 to swing. In order to facilitate the stable installation of the accessory 2 on the working device 1, the working devices 1 are two, and the free ends of the two working devices 1 are hinged with the accessory 2 through a connecting frame. Specifically, two working devices 1 are respectively located on two sides of a cab 7, free ends of the two working devices 1 are fixedly connected with a connecting frame, and an accessory 2 is hinged and assembled at one end of the connecting frame, which is far away from the working devices 1. In this embodiment, the work implement 1 may be a boom, and the attachment 2 may be a bucket. Preferably, an angle sensor is mounted on the working device 1 to acquire the deflection angle a of the working device 1.
The accessory 2 can deflect relative to the working device 1 under the driving of the first actuator 4, specifically, the first actuator 4 is hinged to the connecting frame, the telescopic end of the first actuator 4 is hinged to the accessory 2, and the first actuator 4 stretches and retracts to drive the accessory 2 to deflect relative to the working device 1. In the present embodiment, the first actuator 4 and the second actuator 3 are both hydraulic cylinders.
The first actuator 4 and the second actuator 3 operate under the control of a pilot operated system 5. The pilot control system 5 includes a hydraulic pump 51, the hydraulic pump 51 supplying oil to the first actuator 4 under the control of a first pilot valve 52, and the hydraulic pump 51 supplying oil to the second actuator 3 under the control of a second pilot valve 53. The first control valve 52 and the second control valve 53 are both multi-way valves, and when the two control valves 52 are in different working positions, oil can be supplied to two cavities of the two actuators respectively. The first control valve 52 includes a first valve body and a first valve spool slidably mounted in the first valve body, the first control valve 52 effecting reversal under pilot force. Specifically, both ends of the first valve core are communicated with pilot oil paths, the pilot oil paths at both ends of the first valve core are respectively provided with a first electric proportional pressure reducing valve 54, and the oil pressure of the pilot oil at both ends of the first valve core can be changed by applying different electric signals to the first electric proportional pressure reducing valve 54, so as to control the reversing of the first control valve 52.
Similarly, the second control valve 53 includes a second valve body and a second valve spool slidably mounted in the second valve body, and the second control valve 53 performs a reverse operation under pilot force. Specifically, both ends of the second spool are communicated with pilot oil paths, the pilot oil paths at both ends of the second spool are respectively provided with a second electro-proportional pressure reducing valve 55, and the oil pressure of the pilot oil at both ends of the second spool can be changed by applying different electric signals to the second electro-proportional pressure reducing valve 55, so as to control the reversing of the second control valve 53.
In order to prevent the hydraulic pressure of the pilot control system 5 from being too high, the hydraulic pump 51 of the pilot control system 5 is also directly communicated with the oil tank 56 through an overflow oil path, an overflow valve 57 is provided on the overflow oil path, and by providing the overflow valve 57, when the hydraulic pressure is too high, the pressure oil can be directly drained through the overflow valve 57, thereby preventing the hydraulic pressure of the pilot control system 5 from being too high.
In order to realize the real-time leveling control of the accessory, the automatic leveling control system further comprises a controller, the angle sensor is used for detecting the angle of the initial position and the angle of the real-time position of the working device 1 and transmitting an angle signal to the controller, the controller obtains the deflection angle A of the working device 1 according to the angle of the initial position and the angle of the real-time position of the working device 1, the controller controls the magnitude of an electric signal applied to the two first electric proportional pressure reducing valves 54 according to the deflection angle A of the working device 1 so as to control the oil pressure of pilot oil at the two ends of the first control valve 52, and the first control valve 52 controls the first actuator 4 to stretch and retract so as to adjust the angle of the accessory 2 relative to the working device 1 in a sliding mode, so that the real.
In order to realize the automatic height limiting control of the accessory, the controller can also control the magnitude of the electric signals applied to the two second electro-proportional pressure reducing valves 55 according to the deflection angle A of the working device 1, further control the oil pressure of the pilot oil at the two ends of the first control valve 53, slidably control the first actuator 3 to extend and retract so as to control the angle of the working device 1 through the first control valve 53, and limit the deflection height of the accessory 2 through limiting the deflection angle of the working device 1.
The embodiment also provides a control method for automatic leveling, and the automatic leveling equipment comprises the following steps:
s1, acquiring an initial angle of the working device 1 and a position angle thereof in the deflection process;
s2, comparing the position angle in the deflection process with the initial angle in real time to obtain a difference value, namely the deflection angle A of the working device 1;
and S3, adjusting the electric signal applied by the first electric proportional pressure reducing valve 54 according to the deflection angle A of the working device 1, controlling the first control valve 52 to reverse, and further leveling the accessory 2 in real time.
Specifically, in step S1, an initial angle signal of the work device 1 and a real-time position angle signal during yawing of the work device 1 are acquired by the angle sensor, and both angle signals are transmitted to the controller. In step S2, the controller receives the two angle signals, and the controller calculates a difference between the real-time position angle of the working device 1 and the initial angle of the working device 1 to obtain a deflection angle a of the working device 1. In step S3, adjusting the electrical signal applied by the first electro-proportional pressure reducing valve according to the deflection angle a of the working device includes: the controller judges whether the deflection angle A of the working device 1 is equal to a set value B or not, if the deflection angle A of the working device 1 is equal to the set value B, the angle of the accessory 2 relative to the working device 1 does not need to be adjusted, the controller controls the two first electric proportional pressure reducing valves 54 to lose electricity, the first control valve 52 is located at a middle position, and hydraulic oil stops entering the first actuator 4; if not, the first actuator 4 is needed to drive the accessory 2 to swing relative to the working device 1 so as to level the accessory 2, the controller controls the two first electric proportional pressure reducing valves 54 to be electrified and controls electric signals applied by the two first electric proportional pressure reducing valves 54, so that pressure oil pumped by the hydraulic pump 51 is controlled to enter the first actuator 4 through the first control valve 52, and the accessory 2 is driven to swing to level. The set value B may be set according to actual conditions.
The embodiment also provides a control method for automatically limiting the height, and the automatic leveling equipment comprises the following steps:
p1, acquiring an initial angle of the working device 1 and a position angle thereof in the deflection process;
p2, comparing the position angle in the deflection process with the initial angle to obtain a difference value, namely the deflection angle A of the working device 1;
p3, comparing the obtained deflection angle a of the working device 1 with the threshold value C, adjusting the electric signal applied by the second electro-proportional pressure reducing valve 55, controlling the second control valve 53 to switch, and further controlling the lifting height of the working device 1.
Specifically, in step P1, an initial angle signal of the work device 1 and a real-time position angle signal during the yawing of the work device 1 are acquired by the angle sensor, and both angle signals are transmitted to the controller. In step P2, the controller receives the two angle signals, and the controller calculates the difference between the real-time position angle of the working device 1 and the initial angle of the working device 1 to obtain the deflection angle a of the working device 1. Step P3 is specifically that the controller determines whether the deflection angle a of the working device 1 is equal to a threshold C, and if a is equal to the threshold C, the controller controls the two second electro-proportional pressure reducing valves 55 at the two ends of the second control valve 53 to lose power, the second control valve 53 is in the neutral position, the pressure oil cannot enter the second actuator 3, and the working device 1 stops deflecting; otherwise, the controller controls the two second electro-proportional pressure reducing valves 55 at both ends of the second control valve 53 to continue to be in the energized state until the deflection angle a of the working device 1 becomes equal to the threshold value C. The threshold C may be set according to operating conditions.
Preferably, the set value B and the threshold value C may be set to the same value, or may be different values, and when the set value B and the threshold value C are the same value, the same device may simultaneously achieve the functions of automatic leveling and automatic height limiting.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. An apparatus for automatic leveling, comprising:
the working device (1) is hinged, and an angle sensor is used for detecting the angle of the working device (1) to obtain the deflection angle A of the working device (1);
an accessory (2), the accessory (2) being hingedly mounted at a free end of the working device (1);
the telescopic end of the first actuator (3) is hinged with the accessory (2), and the accessory (2) can swing relative to the working device (1) under the driving of the first actuator (3);
a hydraulic control system (5), the hydraulic control system (5) comprising a hydraulic pump (51), the hydraulic pump (51) supplying oil to the first actuator (3) under the control of a first pilot valve (52), the first pilot valve (52) being commutated under the control of a first electro-proportional pressure reducing valve (54), the first electro-proportional pressure reducing valve (54) being supplied with an electric signal for leveling the accessory (2) in real time according to a deflection angle a of the working device (1).
2. An automatic levelling apparatus according to claim 1, characterized in that the angle sensor is used to detect the angle of the initial position and the angle of the real-time position of the working device (1), and the difference between the angle of the real-time position and the angle of the initial position of the working device (1) is the deflection angle a of the working device (1).
3. An automatic levelling apparatus according to claim 2 wherein the first control valve (52) comprises a first spool which slides under the action of pilot oil, the first electro proportional pressure reducing valve (54) controlling the pressure of the pilot oil.
4. The automatic leveling device according to claim 3, wherein two ends of the first valve spool are communicated with pilot oil passages, the number of the first electro-proportional pressure reducing valves (54) is two, and the two first electro-proportional pressure reducing valves (54) respectively control pilot oil pressures at the two ends of the first valve spool.
5. Auto-leveling equipment according to any one of claims 1-4, wherein the working device (1) is deflected by a second actuator (3), the hydraulic pump (51) supplies the second actuator (3) with oil under the control of a second control valve (53), and the second control valve (53) is reversed under the control of a second electro-proportional pressure reducing valve (55).
6. The automatic leveling device according to claim 5, further comprising a controller, wherein the controller receives the angle information detected by the angle sensor and obtains the deflection angle A of the working device (1), and the controller adjusts the electric signal applied by the first electric proportional pressure reducing valve (54) according to the deflection angle A of the working device (1).
7. An automatic levelling apparatus according to claim 6 wherein the controller controls the electrical signal applied by the second electro proportional pressure reducing valve (55) to define the yaw height of the working device (1).
8. A control method for automatic leveling, characterized in that the automatic leveling device according to any one of claims 1-7 is used, comprising the following steps:
s1, acquiring an initial angle of the working device (1) and a position angle of the working device in a deflection process;
s2, comparing the position angle of the working device (1) in the deflection process with the initial angle in real time to obtain a difference value, namely the deflection angle A of the working device (1);
and S3, adjusting an electric signal applied by the first electric proportional pressure reducing valve (54) according to the deflection angle A of the working device (1), controlling the first control valve (52) to reverse, and further leveling the accessory (2) in real time.
9. The control method for automatic leveling according to claim 8, wherein the step S3 of adjusting the electric signal applied by the first electro proportional pressure reducing valve (54) according to the deflection angle a of the working device (1) comprises: judging whether the deflection angle A of the working device (1) is equal to a set value B or not, if so, controlling the first electric proportional pressure reducing valve (54) to be not electrified; if not, the first electro-proportional pressure reducing valve (54) is electrified.
10. A control method for automatic height limiting, characterized in that the automatic leveling device of any one of claims 5-7 is used, comprising the following steps:
p1, acquiring an initial angle of the working device (1) and a position angle thereof in the deflection process;
p2, comparing the position angle of the working device (1) in the deflection process with the initial angle to obtain a difference value, namely the deflection angle A of the working device (1);
and P3, comparing the acquired deflection angle A of the working device (1) with a threshold value C, adjusting an electric signal applied by a second electro-proportional pressure reducing valve (55), controlling the second control valve (53) to switch, and further controlling the lifting height of the working device (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010617058.6A CN111636512A (en) | 2020-06-30 | 2020-06-30 | Automatic leveling equipment and automatic leveling and automatic height limiting control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010617058.6A CN111636512A (en) | 2020-06-30 | 2020-06-30 | Automatic leveling equipment and automatic leveling and automatic height limiting control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111636512A true CN111636512A (en) | 2020-09-08 |
Family
ID=72329155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010617058.6A Pending CN111636512A (en) | 2020-06-30 | 2020-06-30 | Automatic leveling equipment and automatic leveling and automatic height limiting control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111636512A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113152570A (en) * | 2021-04-19 | 2021-07-23 | 江苏徐工工程机械研究院有限公司 | Loading operation machine and control method |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1705827A (en) * | 2002-10-23 | 2005-12-07 | 株式会社小松制作所 | Method and apparatus for controlling hydraulic pump for working machine of working vehicle |
| JP2006307429A (en) * | 2005-04-26 | 2006-11-09 | Toyota Industries Corp | Lift arm device of working vehicle, and working vehicle |
| CN102421970A (en) * | 2009-05-13 | 2012-04-18 | 株式会社小松制作所 | Work vehicle |
| CN102518170A (en) * | 2011-12-27 | 2012-06-27 | 四川大学 | Hydraulic system of loading machine working device |
| CN102535569A (en) * | 2012-01-14 | 2012-07-04 | 浙江濠泰机械有限公司 | Intelligent control system of movement track of engineering machine executing mechanism and control method thereof |
| CN102829007A (en) * | 2011-06-16 | 2012-12-19 | 卡特彼勒公司 | System implementing parallel lift for range of angles |
| CN105465064A (en) * | 2014-09-25 | 2016-04-06 | 凯斯纽荷兰(中国)管理有限公司 | Hydraulic system |
| US20180105205A1 (en) * | 2015-10-30 | 2018-04-19 | Komatsu Ltd. | Work vehicle and method for controlling work vehicle |
| CN108560634A (en) * | 2018-07-02 | 2018-09-21 | 广西柳工机械股份有限公司 | Hydraulic system of loading machine working device |
| CN109024726A (en) * | 2018-08-02 | 2018-12-18 | 中国石化销售有限公司华南分公司 | A kind of engineering machinery electro-fluid execution track control system and its control method |
| CN109236771A (en) * | 2018-11-26 | 2019-01-18 | 徐工集团工程机械股份有限公司 | Leveling hydraulic system and engineering truck |
| CN110331757A (en) * | 2019-07-18 | 2019-10-15 | 江苏徐工工程机械研究院有限公司 | Loading shovel lifts control method, system and controller |
| CN110775904A (en) * | 2019-10-31 | 2020-02-11 | 三一汽车制造有限公司 | Leveling control system and leveling control method for working bucket of high-altitude vehicle and high-altitude vehicle |
| CN212477900U (en) * | 2020-06-30 | 2021-02-05 | 柳工常州机械有限公司 | Automatic leveling equipment |
-
2020
- 2020-06-30 CN CN202010617058.6A patent/CN111636512A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1705827A (en) * | 2002-10-23 | 2005-12-07 | 株式会社小松制作所 | Method and apparatus for controlling hydraulic pump for working machine of working vehicle |
| JP2006307429A (en) * | 2005-04-26 | 2006-11-09 | Toyota Industries Corp | Lift arm device of working vehicle, and working vehicle |
| CN102421970A (en) * | 2009-05-13 | 2012-04-18 | 株式会社小松制作所 | Work vehicle |
| CN102829007A (en) * | 2011-06-16 | 2012-12-19 | 卡特彼勒公司 | System implementing parallel lift for range of angles |
| CN102518170A (en) * | 2011-12-27 | 2012-06-27 | 四川大学 | Hydraulic system of loading machine working device |
| CN102535569A (en) * | 2012-01-14 | 2012-07-04 | 浙江濠泰机械有限公司 | Intelligent control system of movement track of engineering machine executing mechanism and control method thereof |
| CN105465064A (en) * | 2014-09-25 | 2016-04-06 | 凯斯纽荷兰(中国)管理有限公司 | Hydraulic system |
| US20180105205A1 (en) * | 2015-10-30 | 2018-04-19 | Komatsu Ltd. | Work vehicle and method for controlling work vehicle |
| CN108560634A (en) * | 2018-07-02 | 2018-09-21 | 广西柳工机械股份有限公司 | Hydraulic system of loading machine working device |
| CN109024726A (en) * | 2018-08-02 | 2018-12-18 | 中国石化销售有限公司华南分公司 | A kind of engineering machinery electro-fluid execution track control system and its control method |
| CN109236771A (en) * | 2018-11-26 | 2019-01-18 | 徐工集团工程机械股份有限公司 | Leveling hydraulic system and engineering truck |
| CN110331757A (en) * | 2019-07-18 | 2019-10-15 | 江苏徐工工程机械研究院有限公司 | Loading shovel lifts control method, system and controller |
| CN110775904A (en) * | 2019-10-31 | 2020-02-11 | 三一汽车制造有限公司 | Leveling control system and leveling control method for working bucket of high-altitude vehicle and high-altitude vehicle |
| CN212477900U (en) * | 2020-06-30 | 2021-02-05 | 柳工常州机械有限公司 | Automatic leveling equipment |
Non-Patent Citations (1)
| Title |
|---|
| 刘银水，李壮云: "《液压元件与系统》", 机械工业出版社, pages: 2 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113152570A (en) * | 2021-04-19 | 2021-07-23 | 江苏徐工工程机械研究院有限公司 | Loading operation machine and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107949707B (en) | Hydraulic drive device for working machine | |
| US10047771B2 (en) | Construction machine | |
| US8504251B2 (en) | Interference prevention control device of a machine | |
| CN110520635B (en) | Hydraulic drive system | |
| CN110206079B (en) | Hydraulic deloading operation stability control and calibration | |
| CN112513380B (en) | Hydraulic drive device for excavating construction machine | |
| CN112513381B (en) | Hydraulic drive device for excavating construction machine | |
| WO2015146358A1 (en) | Hoist device for dump truck | |
| US11585068B2 (en) | Boom control system for a construction machine | |
| CN212477900U (en) | Automatic leveling equipment | |
| CN111636512A (en) | Automatic leveling equipment and automatic leveling and automatic height limiting control method | |
| CN112352110B (en) | Oil pressure driving system | |
| CN211472677U (en) | Telescopic chassis and excavator | |
| CN108560634A (en) | Hydraulic system of loading machine working device | |
| EP3492662A1 (en) | System and method for controlling construction machine | |
| CN109996924B (en) | Construction machine | |
| US11668330B2 (en) | Hydraulic drive system | |
| CN111051615B (en) | Construction machine | |
| US20240133159A1 (en) | Slope work vehicle | |
| CN114423907B (en) | Engineering machinery | |
| JPH11303807A (en) | Flow rate control device for hydraulic drive machine | |
| AU2021441551A1 (en) | Slope work vehicle | |
| JPH0151962B2 (en) | ||
| JPH05195560A (en) | Hydraulic controller for backhoe | |
| CN114319497A (en) | Hydraulic excavator and intelligent control system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210901 Address after: 213100 No. 588, Yancheng South Road, Wujin high tech Industrial Development Zone, Changzhou City, Jiangsu Province Applicant after: LIUGONG CHANGZHOU MACHINERY Co.,Ltd. Applicant after: Jiangsu Liugong Machinery Co.,Ltd. Address before: 213168 588 Yancheng South Road, Wujin hi tech Industrial Development Zone, Changzhou, Jiangsu Applicant before: LIUGONG CHANGZHOU MACHINERY Co.,Ltd. |