CN203034504U - Hybrid power bulldozer and leveling system thereof - Google Patents

Hybrid power bulldozer and leveling system thereof Download PDF

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Publication number
CN203034504U
CN203034504U CN 201320030583 CN201320030583U CN203034504U CN 203034504 U CN203034504 U CN 203034504U CN 201320030583 CN201320030583 CN 201320030583 CN 201320030583 U CN201320030583 U CN 201320030583U CN 203034504 U CN203034504 U CN 203034504U
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China
Prior art keywords
laser
hybrid power
power bulldozer
bulldozer
leveling system
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Expired - Lifetime
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CN 201320030583
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Chinese (zh)
Inventor
韩尔樑
陈松涛
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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Abstract

The utility model discloses a hybrid power bulldozer and a leveling system of the hybrid power bulldozer. The leveling system comprises a support frame, a laser emitter, a laser receiver and a controller, wherein the support frame is arranged on a working face of the hybrid power bulldozer; the laser emitter is arranged on the support frame, and the laser emitter is provided with a laser emitting head which can be rotary and can emit laser signals; the laser receiver is used for receiving the laser signals of the laser emitter, and the laser receiver is fixed opposite to a machine body of the hybrid power bulldozer; and the laser receiver sends the laser signals to the controller, and the controller outputs corresponding control signals to a lifting control device of a shovel blade of the hybrid power bulldozer according to the received laser signals. The hybrid power bulldozer, the leveling system of the hybrid power bulldozer and a leveling method of the hybrid power bulldozer use a light plane formed by lasers as a reference plane. Due to the fact that the reference plane is a stable plane in certain space height, the hybrid power bulldozer is not disturbed by a group of machines work and other factors, and leveling effects are guaranteed.

Description

Hybrid power bulldozer and leveling system thereof
Technical field
The utility model relates to technical field of engineering machinery, particularly a kind of hybrid power bulldozer and leveling system thereof.
Background technology
The power resources of hybrid power bulldozer are in motor, but not be directed to motor, this design makes the hybrid power bulldozer possess advantages such as energy-saving and environmental protection, application in engineering machinery field is extensive gradually, such as the technical field of farmland capital construction, Hydraulic and Hydro-Power Engineering, road and rail construction, airport construction and municipal engineering.
Construction back the smooth of road surface is the important indicator of the transaction capabilities of hybrid power bulldozer, therefore, needs levelling during the operation of hybrid power bulldozer, and namely the post-job road surface of perching knife keeps at grade.At present, mainly realize the levelling of hybrid power bulldozer by the three-dimensional elevation control mode of GPS.
The three-dimensional control system of GPS is integrated location technology, design software and powerful control system, can realize to excavate, smooth automation, and possess the levelling function.The three-dimensional control system of GPS is based on the application on the GPS global positioning system, and hardware is made up of global communications satellite and receiving system, and satellite-based radio-navigation positioning system is for the user provides accurate three-dimensional coordinate, navigation and temporal information.
Yet, realize that by the three-dimensional control system of GPS there is following defective in the levelling of hybrid power bulldozer:
The first, owing to the GPS measurement is by the signal of reception satellite emission, again position coordinate is handled and obtained to this signal through data, when then any factor appearance that may influence the signal reception was disturbed, the position coordinate of measuring all may produce error.Above-mentioned reason causes that the uncomfortable chalaza of this leveling method position has tunnel vision, the environment of obstruction is arranged in the angular field of view, especially is not suitable in the old town operation; And be subject to the interference of high-power wireless electricity emission source, ultra-high-tension power transmission line, and also be not suitable for the water field of big area area, influenced the operation of hybrid power bulldozer under this type of environment.
The first, along with the digitlization process of the earth, the three-dimensional control system complex structure of GPS, cost is higher.
In view of this, how improving hybrid power bulldozer leveling system, so that it avoids external environmental interference, guarantee the levelling effect, also reduce cost simultaneously, is the technical problem that those skilled in the art need to be resolved hurrily.
The utility model content
For solving the problems of the technologies described above, the purpose of this utility model is for providing a kind of hybrid power bulldozer and leveling system thereof.This leveling system can be avoided external environmental interference, guarantees the levelling effect.
The utility model provides a kind of leveling system of hybrid power bulldozer, comprising:
Bracing frame is arranged at the scope of operation of hybrid power bulldozer;
Generating laser is arranged on the bracing frame, and described generating laser has the laser beam emitting head that can rotate and send laser signal;
Laser pickoff is used for receiving the laser signal that described generating laser is launched, and the fuselage of the relative hybrid power bulldozer of described laser pickoff is fixed;
Controller, described laser pickoff is sent to described controller with the laser signal that receives, and described controller controls signal to the apparatus for controlling of lifting of hybrid power bulldozer perching knife accordingly according to the laser signal output that receives.
Preferably, also comprise the vertical rod that is arranged on the hybrid power bulldozer, described receiver is arranged in the described vertical rod.
Preferably, support frame as described above is tripod.
Preferably, described apparatus for controlling of lifting comprises oil cylinder, the electromagnetic proportional valve of control hybrid power bulldozer perching knife lifting, the hydraulic pump of the described oil cylinder of driving, and described electromagnetic proportional valve is arranged at described hydraulic pump to the path of described oil cylinder; Described controller is according to the signal of the described electromagnetic proportional valve of laser signal output control that receives.
Preferably, described apparatus for controlling of lifting also comprises mechanically controlled valve, and described mechanically controlled valve is in parallel with described electromagnetic proportional valve, and is arranged at described hydraulic pump to the path of described oil cylinder.
Preferably, described apparatus for controlling of lifting also comprises main control valve, and described main control valve is controlled described hydraulic pressure delivery side of pump and is communicated with described mechanically controlled valve or described electromagnetic proportional valve.
The utility model also provides a kind of hybrid power bulldozer, comprise the fixing laser pickoff of its fuselage relatively, be used for receiving the laser signal of the generating laser emission that is arranged on the scope of operation, generating laser has the laser beam emitting head that can rotate and send laser signal; Also comprise controller, described laser pickoff is sent to described controller with the laser signal that receives, and described controller controls signal to the apparatus for controlling of lifting of hybrid power bulldozer perching knife accordingly according to the laser signal output that receives.
Preferably, described controller is arranged in the driver's cabin of described hybrid power bulldozer.
Above-mentioned hybrid power bulldozer and leveling system thereof can utilize that the centrality of laser is good, scattering is little, the characteristics of concentration of energy, make laser scioptics and further gathering and rotation, form the optical plane that luminosity is pure, anti-interference, pulse energy is strong, this optical plane and predetermined operation plane parallel, and with this optical plane as the benchmark reference plane, because this benchmark reference plane is the stability plane that is in the certain space height, thereby be not subjected to the interference of cluster operation and other factors, thereby guarantee the levelling effect.And, based on characteristic of laser, this leveling method can be accurately, dynamically the distance between hybrid power bulldozer and the generating laser is measured, and the response speed height, adjustability is strong, precision is high, also has advantages such as resolution ratio height, power consumption is stable, power consumption is little.Adopt this hybrid power bulldozer and leveling system thereof during smooth operation, can significantly improve operating efficiency, reduce labour intensity, improve smooth quality, especially such advantage is particularly evident when carrying out the operation of large tracts of land place.
Description of drawings
Fig. 1 provides the structural representation of a kind of specific embodiment of hybrid power bulldozer leveling system for the utility model;
Fig. 2 is the flow chart of leveling system work among Fig. 1;
Fig. 3 is the hydraulic schematic diagram of leveling system among Fig. 1;
Fig. 4 is the operating principle schematic diagram of laser pickoff and generating laser in the utility model.
Among Fig. 1, the 3-4:
10 hybrid power bulldozers, 101 controllers, 102 perching knives, 103 vertical rods, 20 bracing frames, 30 generating lasers, 40 laser pickoffs, 501 perching knives promote control device, 502 perching knife descending control devices, 61 electromagnetic proportional valves, 62 main control valves, 63 mechanically controlled valves, 64 perching knife lift cylinders, the reference plane of P1 benchmark, P2 and treat the operating mode ground of operation, P3 ground grading
The specific embodiment
In order to make those skilled in the art understand the technical solution of the utility model better, the utility model is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1, Fig. 1 provides the structural representation of a kind of specific embodiment of hybrid power bulldozer leveling system for the utility model; Fig. 2 provides the flow chart of a kind of specific embodiment of hybrid power bulldozer leveling method for the utility model.
As shown in Figure 1, this leveling system comprises bracing frame 20, generating laser 30, laser pickoff 40 and controller 101.
Bracing frame 20 is arranged at the scope of operation of hybrid power bulldozer 10, and the scope of operation is the ground of hybrid power bulldozer 10 operations, among Fig. 1 bracing frame 20 is placed the place ahead of bulldozer.Generating laser 30 is arranged on the bracing frame 20, and generating laser 30 has the laser beam emitting head that can rotate, and laser beam emitting head can rotate at a high speed when operation, and the anglec of rotation can reach 360 degree.Bracing frame 20 can be tripod, and that tripod has is stable, simple in structure, be easy to carry about with one and advantage such as put.Certainly, also can erect rod member etc. as bracing frame 20, so that generating laser 30 to be installed in the scope of operation.
Laser pickoff 40 is used for receiving the laser signal of generating laser 30 emissions, be laser pickoff 40 and generating laser 30 supporting settings, wherein, the fuselage of laser pickoff 40 relative hybrid power bulldozers 10 is fixed, then during the fuselage place of the laser signal directive hybrid power bulldozer 10 of generating laser 30, this signal can be received by laser pickoff 40, and then obtains the time that laser signal arrives the fuselage place.
For the ease of laser pickoff 40 is set, vertical rod 103 can be set, and laser pickoff 40 is arranged in the vertical rod 103, vertical rod 103 can be directly installed on the fuselage of hybrid power bulldozer 10, as shown in Figure 1.
Controller 101 is connected with laser pickoff 40, can wireless or wired connection, and laser pickoff 40 is sent to controller 101 with the laser signal that receives.Controller 101 can control signal to the apparatus for controlling of lifting of hybrid power bulldozer 10 perching knives 102 accordingly according to the laser signal output that laser pickoff 40 sends, controller 101 can carry out signalling technique to be handled the signal that laser pickoff 40 sends, and obtains exporting to the control signal of apparatus for controlling of lifting after data are handled.Among Fig. 1, controller 101 is arranged in the driver's cabin of hybrid power bulldozer 10, is easy to arrange and control, and operating personnel can directly import relevant parameter to determine the predetermined operation plane in controller 101.The control principle of apparatus for controlling of lifting can be understood with reference to figure 3, and Fig. 3 is the hydraulic schematic diagram of leveling system among Fig. 1.
Apparatus for controlling of lifting comprises that the perching knife shown in Fig. 1 promotes control device 501 and perching knife descending control device 502, and be arranged at electromagnetic proportional valve 61 in this hydraulic system, as the perching knife lift cylinder 64 of executive component.Controller 101 outputs signal to perching knife and promotes control device 501 and perching knife descending control device 502, the two controls direction and the aperture of electromagnetic proportional valve 61 conductings again, extension elongation with control perching knife lift cylinder 64 or perching knife decline oil cylinder piston bar, and then the height of regulating perching knife 102 liftings or descending, finally reach the purpose of the smooth height of the control scope of operation, namely realize levelling.
Also be provided with mechanically controlled valve 63 in the hydraulic system of Fig. 3, have control handle, this mechanically controlled valve 63 also can be controlled perching knife lift cylinder 64 and perching knife decline oil cylinder.When electromagnetic proportional valve 61 breaks down, or can't satisfy smooth demand according to special operation condition control strategy in advance the time, operating personnel can be by the manually liftings of control perching knives 102 of mechanically controlled valve 63, and namely this mechanically controlled valve 63 has standby functions.
Among Fig. 3, hydraulic system also is provided with main control valve 62, and this main control valve 62 can be according to concrete operating mode, and control fluid enters electromagnetic proportional valve 61 or mechanically controlled valve 63, or pressure release refluxes, and has distribution function.
Concrete steps when above-mentioned leveling system is worked are as follows:
S1, form and the parallel plane optical plane of predetermined operation by laser beam, with this optical plane as benchmark reference plane P1, and the hybrid power bulldozer 10 that prestores is when being in each position, predetermined operation plane, and laser signal reaches each corresponding time at hybrid power bulldozer 10 fuselage places;
The residing plane, ground after smooth that namely expect on the predetermined operation plane, among Fig. 1, ground grading P3 conforms to the predetermined operation plane.Before the operation, bracing frame 20 is supported on the scope of operation, among Fig. 1, bracing frame 20 is supported on the operating mode ground P2 that treats operation, generating laser 30 is used for determining benchmark reference plane P1, so bracing frame 20 in the entire job process, need be in stable state.Behind bracing frame 20 location, again generating laser 30 is installed on the bracing frame 20, the laser beam that the laser beam emitting head of generating laser 30 penetrates top on construction ground forms optical plane, optical plane and predetermined operation plane parallel, then optical plane can be according to the predetermined operation plane requirement, form horizontal plane or slope, at this moment, optical plane can be used as benchmark reference plane P1.
Laser pickoff 40 relative fuselages are fixed, when laser pickoff 40 is installed, make centre-height and the benchmark reference plane P1 coordination of the receiving port of laser pickoff 40, laser pickoff 40 can receive laser signal just, at this moment, hybrid power bulldozer 10 residing positions namely belong on the predetermined operation plane.Suppose that hybrid power bulldozer 10 moves on the predetermined operation plane all the time, then laser pickoff 40 can receive the laser signal that penetrates along benchmark reference plane P1 all the time, when hybrid power bulldozer 10 is on the predetermined operation plane diverse location, corresponding change can take place in the time that laser pickoff 40 receives laser signal, hybrid power bulldozer 10 is the closer to generating laser 30, and the time that receives signal is more short.When the hybrid power bulldozer 10 that can prestore in the controller 101 was in each position, predetermined operation plane, laser signal reached each corresponding time of laser pickoff 40, namely reached the scheduled time at hybrid power bulldozer 10 fuselage places.
Vertical rod 103 is set among this embodiment laser pickoffs 40 is installed, during preconditioning, can regulate the position of laser pickoff 40 in vertical rod 103 so that the receiving port of laser pickoff 40 can with benchmark reference plane P1 coordination, this adjusting is easy to realize; And the height of hybrid power bulldozer 10 is limited, vertical rod 103 and bracing frame 20 is set can guarantees that laser pickoff 40 and generating laser 30 are in the top of bulldozer, to reduce the interference of external environment.Certainly, vertical rod 103 is not set and laser pickoff 40 directly is installed also is fine to the fuselage of hybrid power bulldozer 10, just the simple and easy degree implemented of the foundation of benchmark reference plane this moment P1, follow-up steps such as calculating is inferior to the embodiment that vertical rod 103, bracing frame 20 are set.
S2, receive laser signal in real time;
Laser beam emitting head constantly rotates, and when laser was launched along the line direction between generating laser 30 and the laser pickoff 40, laser pickoff 40 can receive this laser signal.
S3, obtain the real time that laser signal under the current state reaches hybrid power bulldozer 10 fuselage places according to the laser signal that receives;
S4, according to the difference of time that prestores of real time and corresponding position, output control signals to the apparatus for controlling of lifting of hybrid power bulldozer 10 perching knives 102.
As shown in Figure 4, Fig. 4 is the operating principle schematic diagram of laser pickoff and generating laser in the utility model.
Along with the operation of hybrid power bulldozer 10, the position of bulldozer fuselage constantly changes, and the position of laser pickoff 40 also produces respective change.When the operation mask has fluctuating, the Level Change of hybrid power bulldozer 10 fuselages, the height of laser pickoff 40 changes thereupon, laser pickoff 40 can't receive the laser signal that penetrates along benchmark reference plane P1, as shown in Figure 4, if laser pickoff 40 is in benchmark reference plane P1, the laser distance is L1; In fact, laser pickoff 40 is on the benchmark reference plane P1, and the laser distance is L2, and obviously L2 is greater than L1, and deviation will take place for the real time and the Preset Time that then receive laser signal.Can calculate the current operating mode ground P2 of operation and the difference on predetermined operation plane treated according to this deviation, thereby output controls signal to the perching knife apparatus for controlling of lifting accordingly so that perching knife 102 will be current treat the operating mode ground P2 of operation smooth extremely with the predetermined operation plane parallel.
This leveling system and leveling method utilize that the centrality of laser is good, scattering is little, the characteristics of concentration of energy, make laser scioptics and further gathering and rotation, form the optical plane that luminosity is pure, anti-interference, pulse energy is strong, this optical plane and predetermined operation plane parallel, and with this optical plane as benchmark reference plane P1, because this benchmark reference plane P1 is the stability plane that is in the certain space height, thereby is not subjected to the interference of cluster operation and other factors, thereby guarantees the levelling effect.And, based on characteristic of laser, this leveling system can be accurately, dynamically the distance between hybrid power bulldozer 10 and the generating laser 30 is measured (obtaining distance according to the time that receives laser signal), the response speed height, adjustability is strong, precision is high, also has advantages such as resolution ratio height, power consumption is stable, power consumption is little.Adopt this leveling system during smooth operation, can significantly improve operating efficiency, reduce labour intensity, improve smooth quality, especially such advantage is particularly evident when carrying out the operation of large tracts of land place.In addition, above-mentioned leveling system only arranges parts such as generating laser 30 and laser pickoff 40, the gps system in the background technology, and simple in structure, design cost is also lower.
Need to prove that for the ease of understanding and succinct the description, above describe in conjunction with leveling system and hybrid power bulldozer, beneficial effect no longer repeats to discuss.
More than a kind of hybrid power bulldozer provided by the utility model and leveling system thereof, leveling method are described in detail.Used specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present utility model and core concept thereof.Should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model principle, can also carry out some improvement and modification to the utility model, these improvement and modification also fall in the protection domain of the utility model claim.

Claims (8)

1. the leveling system of a hybrid power bulldozer is characterized in that, comprising:
Bracing frame (20) is arranged at the scope of operation of hybrid power bulldozer (10);
Generating laser (30) is arranged on the support frame as described above (20), and described generating laser (30) has the laser beam emitting head that can rotate and send laser signal;
Laser pickoff (40) is used for receiving the laser signal that described generating laser (30) is launched, and described laser pickoff (40) fuselage of hybrid power bulldozer (10) is relatively fixed;
Controller (101), described laser pickoff (40) is sent to described controller (101) with the laser signal that receives, and described controller (101) controls signal to the apparatus for controlling of lifting of hybrid power bulldozer (10) perching knife (102) accordingly according to the laser signal output that receives.
2. the leveling system of hybrid power bulldozer as claimed in claim 1 is characterized in that, also comprises the vertical rod (103) that is arranged on the hybrid power bulldozer (10), and described receiver is arranged in the described vertical rod (103).
3. the leveling system of hybrid power bulldozer as claimed in claim 1 is characterized in that, support frame as described above (20) is tripod.
4. as the leveling system of each described hybrid power bulldozer of claim 1-3, it is characterized in that, described apparatus for controlling of lifting comprises oil cylinder, the electromagnetic proportional valve (61) of controlling hybrid power bulldozer (10) perching knife (102) lifting, the hydraulic pump that drives described oil cylinder, and described electromagnetic proportional valve (61) is arranged at described hydraulic pump to the path of described oil cylinder; Described controller (101) is according to the signal of the laser signal output described electromagnetic proportional valve of control (61) that receives.
5. the leveling system of hybrid power bulldozer as claimed in claim 4, it is characterized in that, described apparatus for controlling of lifting also comprises mechanically controlled valve (63), and described mechanically controlled valve (63) is in parallel with described electromagnetic proportional valve (61), and is arranged at described hydraulic pump to the path of described oil cylinder.
6. the leveling system of hybrid power bulldozer as claimed in claim 5, it is characterized in that, described apparatus for controlling of lifting also comprises main control valve (62), and the described hydraulic pressure delivery side of pump of described main control valve (62) control is communicated with described mechanically controlled valve (63) or described electromagnetic proportional valve (61).
7. hybrid power bulldozer, it is characterized in that, comprise the fixing laser pickoff (40) of its fuselage relatively, be used for receiving the laser signal of generating laser (30) emission that is arranged on the scope of operation, generating laser (30) has the laser beam emitting head that can rotate and send laser signal; Also comprise controller (101), described laser pickoff (40) is sent to described controller (101) with the laser signal that receives, and described controller (101) controls signal to the apparatus for controlling of lifting of hybrid power bulldozer (10) perching knife (102) accordingly according to the laser signal output that receives.
8. hybrid power bulldozer as claimed in claim 7 is characterized in that, described controller (101) is arranged in the driver's cabin of described hybrid power bulldozer (10).
CN 201320030583 2013-01-21 2013-01-21 Hybrid power bulldozer and leveling system thereof Expired - Lifetime CN203034504U (en)

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CN 201320030583 CN203034504U (en) 2013-01-21 2013-01-21 Hybrid power bulldozer and leveling system thereof

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CN 201320030583 CN203034504U (en) 2013-01-21 2013-01-21 Hybrid power bulldozer and leveling system thereof

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103046592A (en) * 2013-01-21 2013-04-17 潍柴动力股份有限公司 Hybrid power bulldozer and leveling system and leveling method thereof
CN105605019A (en) * 2016-03-23 2016-05-25 韩忠 Hydraulic lifting valve integrated package, and operating method and application thereof
CN109208666A (en) * 2018-11-09 2019-01-15 广东水利电力职业技术学院（广东省水利电力技工学校） A kind of control system and control method of laser-control flattening bulldozer

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103046592A (en) * 2013-01-21 2013-04-17 潍柴动力股份有限公司 Hybrid power bulldozer and leveling system and leveling method thereof
CN105605019A (en) * 2016-03-23 2016-05-25 韩忠 Hydraulic lifting valve integrated package, and operating method and application thereof
CN109208666A (en) * 2018-11-09 2019-01-15 广东水利电力职业技术学院（广东省水利电力技工学校） A kind of control system and control method of laser-control flattening bulldozer

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Granted publication date: 20130703