WO2013063901A1 - Système de commande de cartographie d'action et niveleuse le comprenant - Google Patents

Système de commande de cartographie d'action et niveleuse le comprenant Download PDF

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Publication number
WO2013063901A1
WO2013063901A1 PCT/CN2012/073894 CN2012073894W WO2013063901A1 WO 2013063901 A1 WO2013063901 A1 WO 2013063901A1 CN 2012073894 W CN2012073894 W CN 2012073894W WO 2013063901 A1 WO2013063901 A1 WO 2013063901A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
handle
blade
handle body
sensor
Prior art date
Application number
PCT/CN2012/073894
Other languages
English (en)
Chinese (zh)
Inventor
周风华
李志勇
李航洋
Original Assignee
湖南三一智能控制设备有限公司
三一重工股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 湖南三一智能控制设备有限公司, 三一重工股份有限公司 filed Critical 湖南三一智能控制设备有限公司
Publication of WO2013063901A1 publication Critical patent/WO2013063901A1/fr

Links

Classifications

    • 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
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2008—Control mechanisms in the form of the machine in the reduced scale model
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

Definitions

  • the present invention relates to the field of construction machinery, and in particular to an action mapping control system and a grader having the same.
  • the grader's blade operation device has six degrees of freedom, namely the blade left lift, the blade right lift, the blade extension, the blade angle, the blade rotation, and the blade work yaw.
  • the conventional method mostly uses the manual link to directly link the hydraulic valve block to achieve the purpose of the corresponding cylinder action.
  • the more advanced control method uses an electronically controlled handle to control the movement of the corresponding cylinder through the function buttons on the electronically controlled handle.
  • these control methods require a clear operational identification, and the operator needs to have a wealth of operational experience in order to operate the blade operation device with great precision, and the operation convenience is not high.
  • a first object of the present invention is to provide an easy-to-operate motion mapping control system for controlling the operation of a machine working device, including: a handle having a plurality of degrees of freedom of motion, and more Sensors, controllers; a plurality of sensors are located on the handle and correspond to a plurality of degrees of freedom of movement of the handles; each sensor is used to sense motion information of the handles in corresponding degrees of freedom, and send motion information to the controller
  • the controller is configured to control the working device to move in corresponding degrees of freedom according to the movement information of the handle at the corresponding degree of freedom.
  • the working device is a blade working device; the controller is configured to drive the blade working device to move in a corresponding degree of freedom by controlling the blade operating device to control the hydraulic cylinder of the corresponding degree of freedom according to the movement information of the handle at the corresponding degree of freedom. .
  • the handle comprises a base, a handle body connected to the base, and a dialing member mounted on the outer surface of the handle body;
  • the movement freedom of the handle comprises: the left end of the handle body moves up and down relative to the base, and the right end of the handle body is opposite to the base Moving, the handle body moves to the left and right relative to the base, the handle body rotates axially relative to the base, the handle body moves in a rake relative to the base, and the dial moves left and right relative to the handle body.
  • the handle further includes a first link, the handle body is coupled to the base through the first link, and is rotatable with the first link as a rotation axis;
  • the plurality of sensors include a first sensor, and the first sensor is configured to sense the handle The rotation motion information of the body rotating with the first link as a rotation axis;
  • the controller is configured to receive the rotation motion information, and control the blade rotation cylinder according to the rotation motion information to drive the blade rotation motion.
  • the handle further includes a central shaft, the central shaft is disposed in the base; the first end of the first link is coupled to the central shaft, and can drive the handle body to move around the central axis;
  • the plurality of sensors include the second sensor, the second The sensor is used for sensing the arc motion information of the handle body rotating around the central axis;
  • the controller is configured to receive the arc motion information sent by the second sensor, and control the blade elevation cylinder according to the arc motion information to adjust the blade elevation angle.
  • the handle further includes a second link, a third link and a fourth link;
  • the handle body is an empty shell structure;
  • the second link is disposed on an inner surface of the handle body;
  • One end of the second link and one end of the fourth link are hinged;
  • the second link, the third link and the fourth link form a zigzag structure;
  • the other end of the fourth link and the second end of the first link Connected, the second end of the first link is located in the housing of the handle body.
  • the plurality of sensors include a third sensor and a fourth sensor; the third sensor is provided with a movement information; the fourth sensor is disposed at a left end of the third link, and is configured to sense a movement of the right end of the handle body relative to the base Second, the mobile information; the controller is configured to control the blade left lifting cylinder according to the first movement information, and drive the left end of the blade to rise or fall; and is further configured to control the blade right lifting cylinder according to the second movement information to drive the right end of the blade to rise or fall.
  • the plurality of sensors include a fifth sensor disposed in the central axis, the fifth sensor is configured to sense third movement information of the handle body moving left and right relative to the base; the controller is configured to receive the third movement information, and according to the third The mobile information controls the blade extension cylinder and drives the blade to move left and right.
  • the plurality of sensors include a sixth sensor disposed on one side of the dial member, and the sixth sensor is configured to sense fourth movement information of the dial member moving left and right relative to the handle body; the controller is configured to receive the fourth movement information, and according to The fourth movement information controls the blade yaw cylinder to drive the blade yaw motion.
  • the motion mapping control system embodiment of the present invention operates by operating the freedom of the handle
  • the mapping to the working device realizes that the operation of the working device is consistent with the operation of the handle, which can reduce the skill requirements of the operator, reduce the working intensity of the operator, and simplify the operation and improve the operation convenience.
  • FIG. 1 is a schematic structural view of a first embodiment of a handle in a motion mapping control system according to the present invention
  • FIG. 2-1 is a schematic structural view of a second embodiment of a handle in a motion mapping control system according to the present invention
  • FIG. 2-2 is a schematic diagram of FIG. A schematic structural view of a part of the sensor installed in the structure;
  • Figure 2-3 is a schematic view showing the axial rotation of the handle body relative to the base in Figure 2-1;
  • Figure 2-4 is a schematic view of the front and rear arc movements of the handle body with respect to the base of Figure 2-1.
  • Figure 2-5 is a schematic view of the left end of the handle body of Figure 2-1 moving up and down relative to the base;
  • Figure 2-6 is Figure 2-5 Schematic diagram of the change in the medium angle ⁇ ;
  • Figure 2-7 is a schematic view of the right end of the handle body of Figure 2-1 moving up and down relative to the base;
  • Figure 2-8 is a schematic diagram of the change of the angle ⁇ in Figure 2-7;
  • Figure 2-9 shows the operation of the dialing device in Figure 2-1.
  • the invention provides a motion mapping control system for a control machine working device, and an embodiment thereof mainly comprises: a handle 11 having a plurality of degrees of motion freedom as shown in FIG. 1 , a plurality of sensors (not shown), and a control
  • the plurality of sensors are located on the handle 11 and correspond to a plurality of degrees of freedom of movement of the handle 11; each sensor is configured to sense motion information of the handle 11 at a corresponding degree of freedom, and The motion information is sent to the controller; the controller is configured to control the working device to move in the corresponding degree of freedom according to the motion information of the handle 11 at the corresponding degree of freedom.
  • the working device is exemplified as a blade working device.
  • the handle 11 may include a base 111, a handle body 113 connected to the base 111, and a dial 115 mounted on the outer surface of the handle body 113.
  • the degree of freedom of movement of the handle 11 includes: the left end of the handle body 113 moves up and down relative to the base 111 (ie, the direction indicated by the double-headed arrow c in FIG. 1), The right end of the handle body 113 moves up and down relative to the base 111 (ie, the direction indicated by the double arrow d in FIG.
  • the handle body 113 moves left and right relative to the base 111 (ie, the direction indicated by the double arrow e in FIG. 1), and the handle body 113 is opposite.
  • the base 111 rotates axially (ie, the direction indicated by the double arrow a in FIG. 1), the handle body 113 moves forward and backward relative to the base 111 (ie, the direction indicated by the double arrow b in FIG. 1), and the dial 115 is opposite to the handle body 113.
  • Move left and right ie the direction indicated by the double arrow f in Figure 1).
  • the handle 11 may further include: a disc 118, which is a transitional joint between the handle body 113 and the base 111, which functions as a blocking engagement and does not participate in the action mapping; on the upper surface of the handle body 113 A grip portion 113a is also provided, in which the thumb of the worker is placed at the position of the dial 115, and the remaining four fingers are placed at the grip portion 113a.
  • the controller controls the blade operating device to move the hydraulic control cylinder at the degree of freedom according to the movement information of the handle 11 at a certain degree of freedom, thereby driving the blade operating device to move in corresponding degrees of freedom.
  • the controller controls the blade left lifting cylinder according to the movement information of the lifting and lowering of the left end of the handle 11, and then drives the left end of the blade working device to move up and down.
  • the handle body 113 is coupled to the base 111 via the first link 117, and is rotatable with the first link 117 as a rotational axis.
  • the handle 11 further includes a central shaft 119, and the central shaft 119 is disposed in the base 111; the first end of the first link 117 is coupled to the central shaft 119, and can drive the handle body 113 around The center shaft 119 rotates.
  • the handle 11 further includes a second link 112, a third link 114 and a fourth link 116;
  • the handle body (113) is a hollow shell structure;
  • the second link 112 is disposed at On the inner surface of the handle body 113, the specific mounting position of the second link 112 may be fixed directly below the grip portion 113a;
  • One end of the second link 112, the third link 114 and the fourth link 116 form a Z-shaped structure;
  • the other end of the fourth link 116 is connected with the second end of the first link 117, the first link
  • the second end of the 117 is located in the housing of the handle body 113.
  • the first sensor 13a may be disposed in the first link 117 for sensing rotational motion information of the handle body 113 with the first link 117 as a rotation axis.
  • Figure 2-3 As shown, when the handle body 113 is in a rotational motion, the handle body 113 is axially rotated relative to the base 111 with the first link 117 as a rotation axis.
  • the first sensor 13a installed at the first link 117 can detect the amount of change of its action (i.e., the change of the angle A1 in FIGS. 2-3), and the first sensor 13a outputs the rotational motion information of the handle body 113 to the controller.
  • the control signal After the controller processes and amplifies, the control signal is output to the electromagnetic hydraulic valve, and the electromagnetic hydraulic valve passes through a series of intermediate hydraulic devices to control the rotary cylinder of the blade to realize the rotary motion of the blade.
  • the second sensor 13b may be disposed at one end of the central axis 119 for sensing the arc motion information of the handle body 113 rotating about the central axis 119.
  • the first link 117 is fixed relative to the handle body 113, and the central shaft 119 can be fixed on the base 111.
  • the second sensor 13b mounted at one end of the central axis 119 can detect the amount of change in the motion of the central axis 119 (i.e., the amount of change in the angle A2 shown in FIGS.
  • the second sensor 13b outputs the arc motion information of the handle body 113 to the controller, through the controller's operation processing and amplification, outputs a control signal to the electromagnetic hydraulic valve, and the electromagnetic hydraulic valve passes through a series of intermediate hydraulic devices Control the blade elevation cylinder to adjust the blade elevation angle.
  • the third sensor may be disposed at a position indicated by "A”, that is, at the right end of the second link 112, and the fourth sensor may be disposed at a position indicated by "B", that is, the third link 114.
  • On the left end As shown in FIG. 2-5 and FIG. 2-6, when the left end of the handle body 113 moves up and down, the second link 112 moves upward or downward with the point A as a fulcrum, and the second link 112 and the third link 114 are moved. The angle ⁇ between them will increase or decrease correspondingly, and the angle ⁇ of point B will not change.
  • the third sensor installed at point A can detect the amount of change of the action of the second link 112 (corresponding to the first movement information of the up and down movement of the left end of the handle body 113), and the third sensor outputs the first movement information to the controller, after being controlled
  • the output control signal is sent to the electromagnetic hydraulic valve, and the electromagnetic hydraulic valve passes through a series of intermediate hydraulic devices to control the left lift cylinder of the blade to realize the ascending or descending action of the left end of the blade.
  • the fourth sensor installed at point B can detect the change amount of the movement of the third link 114 (corresponding to the second movement information of the up and down movement of the right end of the handle body 113), and the fourth sensor outputs the second movement information to the controller, after being controlled
  • the output control signal is sent to the electromagnetic hydraulic valve, and the electromagnetic hydraulic valve passes through a series of intermediate hydraulic devices to control the right lifting cylinder of the blade to realize the ascending or descending action of the right end of the blade.
  • the fifth sensor 13e can be disposed in the central axis 119 for sensing the third movement information of the handle body 113 moving left and right relative to the base 111.
  • the first link 117 is fixed relative to the handle body 113, and the center shaft 119 is fixed to the base 111.
  • the handle body 113 moves with the first link 117 left and right with respect to the central axis 119.
  • the fifth sensor 13e mounted on the central axis 119 can detect the amount of change in the action of the first link 117 (i.e., the third movement information of the handle body 113 moving left and right), and the fifth sensor 13e outputs the third movement information to the controller.
  • the controller processes and amplifies the output control signal to the electromagnetic hydraulic valve.
  • the electromagnetic hydraulic valve passes through a series of intermediate hydraulic devices to control the blade extension cylinder to realize the left and right movement of the blade.
  • the sixth sensor can be disposed at a position adjacent to the side of the dial 115 (as shown by the "C" point in FIG. 2-2) for sensing the dial 115 relative to the handle body 113.
  • the fourth movement information moved left and right.
  • the sixth sensor can also be set at the position shown by the "D" point in Figure 2-9. When the operator presses the dial 115 to move it left and right, the sixth sensor can detect it.
  • the amount of change of the action of the dialing member 115 ie, the fourth movement information
  • the sixth sensor outputs the fourth movement information to the controller
  • the control signal is output to the electromagnetic hydraulic valve, and the electromagnetic hydraulic valve passes through a series of The intermediate hydraulic device controls the blade yaw cylinder to realize the yaw motion of the blade operation device.
  • the handle 11 has the degrees of freedom of moving the left end up and down, the right end up and down, the right and left movement, the rotation, the curvature adjustment, and the left and right movement of the dial.
  • the freedom of the handle By operating the freedom of the handle, the motion is mapped to the grader blade working device, and the control is intuitive.
  • the upper left and lower blade lift, the blade right lift, the blade extension, the blade rotation, the blade angle, and the slanting device of the blade device are aligned to achieve the operation of the blade working device in accordance with the operation of the handle.
  • the handle 11 of the handle 11 can be arranged in an elongated shape. When the handle 11 is placed on the left side, it is convenient to operate the left thumb. Similarly, when the handle 11 is placed on the right side, the right thumb can also operate the dial 115.
  • the handle 11 can be removed and mounted to the wireless remote control unit for normal operation.
  • the types of signals sent by the above sensors are not limited to proportional voltage, proportional current, variable resistance, switching amount, etc.; the installation position of each sensor can be optimized according to its motion space and actual conditions; in addition, the sensor will The sensed motion information can also be sent to the controller in a wireless manner.
  • the invention mainly uses the operation degree of the handle to be consistent with the actual degree of freedom of the working device, that is, the operation object is consistent with the action of the execution object, and the operation convenience is improved. Therefore, it is not limited to the grader working device, and is not limited to the blade working device of the grader.
  • the front ripper, the middle ripper, and the rear ripper can be controlled by the above-mentioned handle having multiple degrees of freedom.
  • snow plows, snow wings, etc. controlled objects can also be such as bulldozers, excavators, loaders, cranes, etc.
  • the above handles can also be extended to function and function accessories to meet more demanding object requirements, such as sound and light indication, position feedback, speed feedback, force feedback, wireless remote control, etc.
  • Each embodiment of the motion mapping control system of the present invention maps the operation action to the working device by operating the degree of freedom of the handle, so that the action of the working device is consistent with the operation of the handle, which can reduce the skill requirements of the operator, and the operator does not need to have very Strong work experience and skills, the general operator can accurately control the operating device; Reduce the operator's work intensity, the operation difficulty, and improve the convenience of operation.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un système de commande de cartographie d'action comprenant : une poignée (11) avec plusieurs degrés de liberté de mouvement, plusieurs capteurs et une unité de commande. Les capteurs sont disposés sur la poignée (11) et correspondent chacun aux plusieurs degrés de liberté de déplacement de la poignée (11). Chaque capteur est utilisé pour détecter des informations de mouvement du degré correspondant de liberté de la poignée (11), et envoyer les informations de mouvement vers l'unité de commande. L'unité de commande ordonne à un dispositif fonctionnel de bouger sur le degré de liberté correspondant en fonction des informations de mouvement du degré de liberté correspondant de la poignée (11). L'invention concerne également une niveleuse comprenant ce système de commande de cartographie d'action. Grâce au système de commande de cartographie d'action, les actions du dispositif fonctionnel sont conformes aux actions d'opération de la poignée (11), de sorte que les difficultés fonctionnelles sont réduites et que la commodité est améliorée.
PCT/CN2012/073894 2011-11-02 2012-04-12 Système de commande de cartographie d'action et niveleuse le comprenant WO2013063901A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201110340540.0A CN102505719B (zh) 2011-11-02 2011-11-02 一种动作映射控制系统及具有其的平地机
CN201110340540.0 2011-11-02

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Publication Number Publication Date
WO2013063901A1 true WO2013063901A1 (fr) 2013-05-10

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WO (1) WO2013063901A1 (fr)

Families Citing this family (3)

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DE102015202103A1 (de) * 2015-02-06 2016-08-11 Kässbohrer Geländefahrzeug AG Fahrzeug, insbesondere Kettenfahrzeug zur Schneepistengestaltung und -pflege
CN107165220A (zh) * 2017-05-31 2017-09-15 成都跟驰科技有限公司 重型工程机械的操纵机构控制系统
CN115417354A (zh) * 2022-11-03 2022-12-02 临工重机股份有限公司 一种电动高空作业车控制方法及电动高空作业车

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JPS63189533A (ja) * 1987-01-29 1988-08-05 Komatsu Ltd バケツトレベラ装置
US6536298B1 (en) * 2000-06-30 2003-03-25 Caterpillar Inc Modular joystick
CN2625191Y (zh) * 2003-07-02 2004-07-14 阎春刚 一种履带式车辆单杆控制操纵机构
CN101900141A (zh) * 2009-05-29 2010-12-01 株式会社神户制钢所 作业机械的控制装置及作业机械
CN101818506A (zh) * 2010-04-16 2010-09-01 山推工程机械股份有限公司 采用电控发动机的静压驱动推土机极限负荷调节方法

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CN102505719B (zh) 2014-06-11

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