SU1661302A1 - Earth-moving machine digging depth control system - Google Patents

Abstract

This invention relates to the management of earth-moving machines. The goal is to increase operational efficiency by reducing the cost of fine-tuning the system. The system consists of sensors 4 - 6 and setters 10 - 12 lengths of the mutual arrangement of working equipment elements (RO) - boom 1, handles 2 and a bucket with elements 7 - 9 of their electric drive, sinus transducers (SP) 13 - 15, adders (C ) 16 - 21, switch 22 and setters 24 of the pivot point height PO and setpoint 23 of the required digging depth. In addition, the system is equipped with a switch 25 and a readout device 26. Through a readout device 26 connected in series through the switch 25 with sensors 4-6, the system is finely tuned. The adjusters 23 and 24 set the required digging depth and the height of the point of suspension PO above the ground, respectively. When moving, for example, the handle 2, the sensor 5 generates a signal that is summed with the signals of sensors 4 and 6 at C 16, 17. From outputs C 16 and 17, signals go to inputs of SP 14, 15, and from sensor 4 to input of SP 13. From the outputs of the SPs 13 to 15, the signals, after multiplying by the lengths of the elements of the PO, are fed to the inputs of C 18 to 21, where, summing up between themselves and with the signals from the set points 24 and 23, they form the error signal. The latter, through the switch 22, controls the element 7 of the boom 1 electric drive. The device 26 controls the digging depth. 2 Il.

Description

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The invention relates to earthmoving machine control devices and can be used, for example, in building excavator and manipulator control systems.

The purpose of the invention is to increase operational efficiency by reducing the cost of fine adjustment of the system.

FIG. 1 shows the scheme of implementation of the proposed system; in fig. 2 - parameters included in the control algorithm.

The digging depth control system of the earthmoving machine includes elements of working equipment: boom 1, arm 2, bucket 3, sensors 4-6 of the mutual arrangement of elements of working equipment, elements 7-9 of the electric hydraulic drive of working equipment, setting devices 10-12 of the lengths of working equipment elements, sinus transducers 13-15, adders 16-21, switch 22, setpoint adjuster 23 of the required digging depth, setter 24 of the suspension point of the working equipment, switchboard 25 and readout device 26.

In the hinge of the boom 1, the boom angle sensor 4 is installed relative to the machine, the output of which is connected to the positive input of the first adder 16 and the first sinus converter 13 input. The negative input of the adder 16 is connected to the output of the handle 5 angle sensor 2. The output of the adder 16 is connected to the input of the second sinus converter 14 and the positive input of the third adder 17. The negative input of the adder 17 is connected to the output of the rotation angle sensor 6 of the bucket 3. The output of the adder 17 is connected to the input of the third sinus transducer an applicant 15. The outputs of the sinus transducers 13-15 are respectively connected to the inputs of units 10–12 of the lengths of the working equipment, the outputs of which are connected to the inputs of the second 18, fourth 19 and fifth 20 adders.

The second input of the accumulator 18 is connected to the output of the setpoint adjuster 24 of the working equipment suspension point, and the output to the second input of the adder 19 and the first input of the switch 25, the output of which is connected to the input of the readout device 26. The output of the adder 19 is connected to the second input of the switch 25 and to the second the input of the adder 20. The output of the adder 19 is connected to the third input of the switch 25 and to the second input of the sixth adder 21, the second input of which is connected to the output of the setting unit 23 of the required digging depth. The output of the adder 21 through the switch 22 is connected to the input of the element 7 of the electric hydraulic drive of the element 1 of the working equipment (boom).

The system works as follows. When the device is in operation, the driver actuates at least one of the elements of the working equipment (for example, a handle). Here, the angles of mutual rotation 01, 02, and 0z of each of the elements are measured with the help of the respective sensors. From the obtained angles of rotation of the elements, the angle of rotation of each of them is determined.

relative to the horizontal plane. Next, the magnitude of the mismatch between the given and the current depth of digging Y is determined by the formula

Y U sln 01+ (0i-02) +

+ (01- 02- 03) + Y0 + Do,

where Li, L-2 and La are the lengths of the elements of the working equipment;

Yo - height to the point of suspension of the working equipment;

D is the required digging depth.

Then, using an electrohydraulic drive, one of the elements that had not previously participated in the digging process (for example, an arrow), rotates around the axis connecting this element with the previous one, until Y value becomes zero. However, for the normal functioning of the device, as follows from the design and structural schemes, the sensors must be

Accuracy fractions of a degree are set on the working equipment so that when the angle is taken to be zero, the readings of the sensors are zero.

For this, the excavator is placed on the platform "y" and on the setter 24 a working height of the working equipment is installed above the platform, after that the operator measures the height above the platform of the axis of rotation of the sensor 5 of the boom angle of rotation (Hi), the height of the axis of rotation of the sensor 6 of the angle of rotation of the handle ti (H2) and the height above the cutting edge of the bucket (NC).

A readout device 26 is connected via a switch 25 to an output of an adder 18 and

the operator rotates the sensor 4 of the angle of rotation of the boom relative to the base of the excavator until the reading device shows the height Hi, after which the sensor 4 is fixed.

Next, the readout device 26 is connected via the switch 25 to the output of the adder 19, and the operator rotates the handle 5 angle sensor 5 until the readout device shows the height Hz, after

what the sensor 5 is fixed.

Next, the reading device 26 through the switch 25 is connected to the output of the adder 20, and the operator rotates the bucket angle sensor 6 until the reading

the device does not show the height Ns, after which the sensor b is fixed.

Thus, the system is fine-tuned, and, if necessary, can be reconfigured.

Before developing the trench, the operator sets the required digging depth at the parking point on the setting unit 23, and on the setting unit 24, the height of the working equipment suspension point above the ground.

Further, the operator with the help of an electric hydraulic drive 8 of the arm 2 sets it in motion. At the same time, the signal f generated by the sensor 5 is summed with the signals of sensors 4 and 6 (# 1 and 0z) located in the hinges of the working equipment elements on the adders 16 and 17. At the outputs of the adders, respectively, the signals ft 02, 01-02-03 are generated - which are fed to the inputs of sinus transducers 14 and 15. The signal goes to the input of the sinus transducer 13. The signals from the outputs of the sinus transducers are multiplied by the lengths of the working equipment, and then fed to the inputs of adders 18-21, where, summed between themselves and sig Alami setting devices with the height of the working equipment suspension point 24 and the required excavation depth 23 to form an error signal Y, which via a switch 22 controls the boom 1 elektrogidroprivodom 7 so. as a result of a change in the boom tilt sensor reading, the mismatch tends to O, which corresponds to the desired digging depth. In addition, the operator can control the digging depth using a reading device.

Thus, the proposed system for controlling the depth of digging of the earthmoving machine allows to precisely develop the soil under the design mark at

reduced costs for fine adjustment of the system.

Claims (1)

Invention Formula Depth control system earthmoving machine containing sensor boom angle connected to the first input of the first adder and through the first sinus transducer and the boom length setting device connected in series to the first input of the second adder, a handle rotation angle sensor connected to the second input of the first adder, the output of which is connected to the first input of the third adder and through the series-connected second sinus converter and handle length setting device the first input of the fourth adder, the second input. the output of which is connected to the output of the second adder, the bucket angle sensor connected to the second input of the third adder, the output of which is through a series-connected third sinus transducer and a bucket length master connected to the first input of the fifth adder, to the second input of which the output of the fourth adder is connected, the output of the fifth adder is connected to the first input of the sixth adder, to the second input of which the unit of the required digging depth is connected, the unit of the suspension point of the working body is connected to the second input of the second adder, the output of the sixth adder is connected via a switch to an electric hydraulic actuator of the boom, characterized in that it is equipped with a switch and a reading device, in order to increase operating efficiency connected to the three inputs of the switch the second, fourth, and fifth adders, and the switch output is connected to the readout device. P iLsin O,) U Fm.2