• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    An automatic control system for a ripper used on a construction equipment in which a load detector is provided on the ripper for detecting load acting on the ripper shank and lift cylinders are actuated to automatically raise the shank when overload is applied to the shank during ripping operation. The ripper is also provided with a depth detector for detecting upper and lower limit positions of the shank and the vertical movement of the shank can be limited between the upper and lower limits. When no overload is applied, the shank is maintained at the lower limit position to rip the ground at a predetermined penetration depth.
    公开号:SU1003764A3
    申请号:SU752105097
    申请日:1975-01-31
    公开日:1983-03-07
    发明作者:Такахаси Ясуюки；Сано Томохару
    申请人:Кабусики Кайся Комацу Сейсакусе (Фирма)；
    IPC主号:
    专利说明:

    For THIS, the load sensor is in the form of a strain gauge element or in the form of an oil pressure switch inside the tilt cylinder.
    The depth sensor is made in the form of limit switches and a rotary DXC, connected by means of a system of levers with a tilt cylinder, with cams on the rotary disk capable of interacting with limit switches.
    FIG. 1 shows the tractor mounted on the tractor and its working unit (side view} in Fig. 2 is a functional diagram of the main variant of the system / Fig, 3 is a circuit diagram of the control unit; Fig. 4 is a functional diagram of the second variant of the system controlled tilt.
    . The control system for the E-COOLER is designed as follows.
    FIG. 1 shows a tractor having a casing 1 and moving by means of caterpillars 2. A pair of mounting brackets 1 to 3 is rigidly fixed to the rear of the casing 1. The ripper 4 is removably mounted on the mounting brackets 5 and includes a pair of tilted b cylinders, a pair of links 7 that extend in parallel tilt cylinders, a pair of lift cylinders 8 installed diagonally between the tilt cylinders and links 7, a pair of girder brackets 9 that are pivotally connected at the top with the ends of the tilt b cylinders removed from brackets, and at the bottom - with an end section of links 7 and. lifting cylinders 8, remote from the mounting brackets, holder 10, tail 9, installed between and attached to a pair of beam brackets 9, the shank 11 is removably mounted in a groove formed in the holder 10 shank and having a point or end at the bottom of his uchaska.
    The work unit 12 includes an electromagnetic valve 13, an electric signal controlled, oil reservoir 14, a working body 15, a hydraulic actuator 16 operating on a fluid under pressure supplied from the solenoid valve 13. The working lever 15 is actuated by a rod hydraulic drive 16. At the bottom of the speed change lever 17, a forward travel direction sensor 18 and a reverse are installed, which closes and opens in accordance with the forward position and the reverse position of the speed change lever 17. The depth sensor 19 is mounted to determine the penetration depth of the shank 11 of the rapper by the angle of rotation of the tilt cylinder ,. The depth sensor 19 includes a microchip installed at the end portion closer to the mounting bracket 3 of one of the tilt cylinders 6, a disk 20 pivotally mounted on a bracket that is rigidly attached to the mounting bracket 3, an upper limit cam 21 and a lower limit cam 22 22 attached to the disk 20, limit switches 23 and 24, attached to the bracket and engaged with the cams, 21 and 22, respectively, levers 23 and 24, mounted between the bracket and the disk 20 for the mechanical transmission of the rotary movement of the cylinder pa 6 inclination to the disk 20, for rotating the disc 20. The depth sensor 19 is set to determine mechanically and electrically predetermined upper limit and a predetermined depth of penetration of the shank 11. The installation position of the cams 21 and 22 are adjustable.
    In addition, the sensor 19 depth can be performed so that the rotation of the hinge links 7 can be determined by a limit switch.
    A load sensor 25 is mounted to determine a load interrupting a predetermined value, i.e. overload applied to the shank 11. As a load detector 25, it is possible to successfully use a strain gauge or device that electrically detects the voltage obtained from an overload, or a pressure switch that switches from one position to another when the pressure in the cylinders 6 tilt exceeds the preset value. In the case of using a strain gauge, the padding can be installed at an appropriate place convenient for determining the voltage, for example, on the curved section of the mounting bracket 3 or on the end section of the tilt cylinder 6 or link 7 closer to the mounting bracket 3. In case of using the pressure switch, it is preferably installed wind on the end portion of one of the tilt cylinders 6 closest to the mounting bracket 3 so that pressurized fluid can be introduced into the pressure switch through the orifice developed in the end portion of the cylinder b tilt. At the top of the oil reservoir 14, a manual or automatic control mode selection switch 26 is installed. A selection of automatic or manual ripper 4 is selected, a switch 27 for raising or lowering the shank 11 during manual control, and a switch 28 for manually controlling the inclination of the shank 11.
     Figure 2 shows schematically the electrical circuit used in the control system. The output signal from the forward positioning movement sensor 18 and the reverse is fed to the relay control unit 29. The forward motion signal from sensor 18 allows the control unit to automatically control the ripper only when the tractor is moving. forward. The output of load sensor 25, which represents the effect of an overload on the shank 11 of the frame, is fed to control unit 29. and thus allows the control block to lift shank 11 only when
    excess load applied to
    tractor moving forward.
    The depth detector 19 supplies the control unit 29 with a signal representing the upper limit position of the taper 11, and a signal representing the optimum depth of the shank 11. If the first signal is given during automatic forward movement,
    ; the control unit stops raising the shank 11. If the last signal is given, the control unit. stops the lowering of the shank and maintains it at the optimum penetration depth until an excessive load is applied to the shank and the tractor does not move forward.
    The solenoid valve 13 is actuated by a control signal supplied from the control unit. The valve is shifted to the A position of the x-lift when its excitation winding 13 is energized, and to the Lower position of the Shank B, when its excitation winding 13- is powered, and returns to the neutral position C, when both windings are de-energized. The direction of the fluid under pressure from power supply 30 changes when the valve moves from one position to another, and thus causes the hydraulic actuator 16 to exit and retract. In the neutral position C, the flow from the power supply 30 to the actuator 16 is interrupted and any from the drive channels 16 communicates with the drainage 31. The outermost end portion of the actuator stem 16 is pivotally connected to the middle portion of the operating lever 15, which is pivoted when the drive shaft 16 is lengthened and removed. The rotary movement of the operating lever 15 actuates the valve driver's actuator valve 32, thereby causing fluid under pressure from the medium supply source 33 to enter the lift cylinders 8 through the valve actuator valve 32 to actuate the cylinders 8. The discharge valve 34 is installed to reduce pressure fluid through the removal of fluid when the pressure exceeds a predetermined value.
    FIG. 3 shows the actual design of the control unit in which a load cell of the strain gauge type is used. The control unit includes a load sensor relay coil 35, which is energized when an overload strain gauge is detected, contacts 36 and 37 of the relay, a displacement direction sensor shown as an end switch, which closes when the speed change lever is moved to the forward position, and opens, when the lever 17 is shifted to the reverse position, the limit switch 24 of the depth sensor 19, which opens when the shank 11 is in the upper limit position, and the limit switch 23 of the depth sensor 19, which The switch opens when the shank 11 is in the optimum depth position.
    Fig 4 shows a reps 1 control system in which a pressure switch is used as a load cell. For the control system is equipped with an additional solenoid valve 38, multi-way valve 39 and a signal control valve 40.
    The system works as follows.
    权利要求:
    Claims (2)
    [1]
    Suppose that the shank 11 is now in the upper limit position and the limit switch 24 is open. When the power supply switch SW is closed, the power indicator light P 1 is ignited and current is supplied from the power source E. If an operation is required for automatic loosening, the manual-automatic mode selection switch 26 is set to automatic control and the speed change lever 17 is moved to the forward position . This causes the limit switch LS and the relay coil R 2, connected in series with the limit switch LS, to close the normally open contact. After the contact is closed, a positive voltage is applied to the winding of relay R 4 through switch 26, diode O 1, contact g 1, limit switch 23 and contact r b to energize the winding of relay R4, this closes the normally open contact and energizes the winding 13 and solenoid valve 13. The solenoid valve 13 thus moves to the tailing lowering position B, and the lift cylinders 8 are driven from c. action for lowering tail 11 When the shank 11 reaches the right predetermined depth, the depth sensor 19 detects this depth and causes the end switch 23 to open. This, in turn, provides the winding of relay R4 and causes its contact G4 to open. The coil 13 of the solenoid valve 13 is supplied and the electro magnetic valve 13 returns to the neutral position C. At the same time, the valve actuator valve switches to the holding position of the shank to keep the shank 11 in the same position. The cultivator can thus perform a grading operation at a predetermined optimum depth. If the load has a value that exceeds the preset value and is applied to the shank 11, the winding 35 of the load sensor 25 is energized, its contact 37 is closed. This leads to energizing the winding of the relay R4 and to the ignition of the signal lamp PL 2, indicating that the load has been exceeded. After the winding of the relay R 1 is energized and its contact r is switched to the reverse position with respect to the position shown in the drawing, the winding of the relay R 3 is energized and the normally open contact r is closed. The coil 13A of the solenoid valve is thus energized, and the solenoid valve 13 is switched to the D-lift position. The fluid thus flows under pressure to the side of the hydraulic actuator stem 16 and the valve actuator valve 32 is switched to the lifting position of the shank. The shank 11 is raised by cylinder-8. After lifting the shank 11, the load acting on the shank 11 is reduced. When the load decreases below a predetermined value, the winding 35 of the load sensor 25 is de-energized and the contact 36 is opened. Obiotka relay R 1 also provides with and its contact r switches to the position shown in the drawing. Thus, the supply of electric current to the winding 13a of the solenoid valve 13 is interrupted and the power of the shank 11 is stopped. It should be borne in mind that the penetration depth of the shank 11 at this point will be the optimum depth corresponding to the load value. Thereafter, contact r moves to the lowering position, so that the shank 11 continues to descend to a predetermined depth until an overload is applied to the shank 11. The above operation is continuously performed and the shank 11 automatically continues to loosen the earth at a predetermined depth when applied normal load. When an excessive load is applied to the shank 11, it can be raised to a depth at which the load is reduced to a value -below. When the tractor must move backwards after completion of the loosening operation, the speed change lever 17 is moved to the reverse position. The limit switch LS is biased and the winding of the relay R 2 is provided. Normally closed contact r, and remains closed to energize the winding of relay R3. This causes the winding 13 of the solenoid valve 13 to be powered and raises the shank 11. When the depth sensor 19 detects 1 position, the upper limit of the shank 11, the limit switch 24 opens and the shank 11 is held in the raised position, respectively, and the tractor moves back. The system according to the second embodiment (Fig. 4) works as follows. In the initial position, the field winding 38c (of the electromagnetic valve 38 is de-energized. In this position, automatic or manual control can be performed behind the shank 11, as described above. Since the pressure switch P5 is used as a load detector in this example, the winding circuit of the relay R1 (Fig. 2 and 3) is very simple, as shown on the right and below of Fig. 4. When tilting control, the excitation winding 38 a of the solenoid valve 38 is powered, and the solenoid valve 38 is switched This makes it possible for the current medium at low pressure from the power source 30 to enter the multi-way valve 39 through the solenoid valve 38. The multi-way valve 39 switches to the 11 position A, only in which the inclination angle b can be actuated. the manual control (FIG. 3) is shifted to the lifting or lowering position of the shank, the control valve 32 is switched to the appropriate positions for actuating the tilt-6 cylinders 6, thereby 1 for tilting the -11 shank. In case the switch 28 is closed during the tilt operation, the switch 27 for raising and lowering the needles of the tovik is used to control the value and direction of the tilt. Switching from automatic control to manual control can be performed by triggering switch 26. If switch 26 is set to manual control, a positive voltage is applied to the common contact of the switch 27. The tail can be moved accordingly if necessary by switching the switch 27 ezhdu position stem lifting position and lowering the shank neytreshnym position. Diodes 01 and D 2 are set to catch fire (turn on the PL 3 or PL 4 light bulb) at the time of switching from manual to automatic control or vice versa. If the Tilt switch 28 is set to the tilt position, the winding of the R5 relay is energized and the Z11 contact is connected to it. This energizes the excitation winding 38a of the tilt solenoid valve 38 to set the solenoid valve 38 to the tilt position. The tilt cylinders 6 are thus actuated and the shank 11 can be tilted to the desired angle when the switch 27 is actuated. It should be noted that when one of the controls for raising and lowering the tail 11 and its tilting is performed, the other of these controls is. The use of the proposed system allows the operation to be loosened without any special training or qualification and such (In a way that does not require special working techniques when performing the operation of loosening. The effectiveness of the operation of loosening as a result increases significantly. In addition, the system allows control the raising and lowering both manually and automatically; claims 1. Automatic control system of a shredder with a shank, holding the power source performance tilt cylinders, lifting and lowering the shank, a load sensor mounted on the rapper, a depth sensor and a displacement direction sensor, connected to the inputs of the relay control unit, and control mode switches, raising the lowering and lowering of the shank, in order to increase the reliability of control and expanding the functionality of the system, it is equipped with an electromagnetic valve, a spool, a power source and a hydraulic actuator in the form of a cylinder, the piston of which is kinematically connected through the operating lever with the spool, It is connected to the executive cylinders for raising and lowering the shank, the control windings of the solenoid valve are connected to the outputs of the relay control unit, and the outputs of the solenoid valve are connected to the cylinder of the hydraulic drive. 2. The system according to claim 1, characterized in that it is provided with an additional tilt solenoid valve connected to the main power source, a tilt switch through which the control winding of the additional solenoid valve is connected to the relay control unit, and the output of the auxiliary solenoid valve is connected through a multi-input valve to cylinder tilt. 3. The system according to claim 1, characterized in that the load sensor is made in the form of a strain gauge element. 4. The system according to claim 1, wherein the load sensor has been replaced as an oil pressure switch inside the tilt cylinder. 5. The system according to claim 1, differs from the fact that the depth sensor is made in the form of limit switches and a turntable connected through a system of levers to a cylinder of inclination, with cams installed on the turnable disk with the possibility of interaction with the end switches. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 420068, cl. E 02F 9/20, 1969.
    [2]
    2. US patent 2,745,328, cl. 172/7, pub. 1956. (prototype). fS g g / / zJ
    f1 / g. / f / //
    0Vf.l
    S
    IS
    / 7r1
    . "I
    0fff.
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1003764A3|1983-03-07|Automatic ripper control system
    US4159474A|1979-06-26|Depth indicating means for a tractor supported tool
    JP3786733B2|2006-06-14|Tool control method for work machine
    EP1988220B1|2012-09-19|Automated control of boom or attachment for work vehicle to a preset position
    KR20020026850A|2002-04-12|Speed controller for work vehicle and its control method
    EP1752664A2|2007-02-14|Control device for hydraulic cylinder and operating machine including control device
    US20120031088A1|2012-02-09|Hydraulic drive system for construction machine
    US4863337A|1989-09-05|Control system for working machine having boom
    US6295746B1|2001-10-02|Method and apparatus for controlling movement of a work implement
    EP0389136A1|1990-09-26|Float circuit for boom of construction apparatus
    US4062539A|1977-12-13|Automatic control systems for rippers for use in civil works
    US4825567A|1989-05-02|Safety device intended for equipping a self-propelled appliance having stabilizers, especially a public works appliance of the shovel-loader type
    US6877773B1|2005-04-12|Pilot hydraulic control for a pair of stabilizer legs on a backhoe loader machine
    KR100982894B1|2010-09-16|Apparatus for controlling boom holding of excavator
    EP1431465B1|2010-02-17|An earth-moving vehicle with a working arm fixed in a reference position for circulation on the road
    CA1046993A|1979-01-23|Electromagnetic bucket positioner for loader vehicles
    JP4341399B2|2009-10-07|Tractor
    CA1303465C|1992-06-16|Blade control system for concrete cutting apparatus
    JPH086836Y2|1996-02-28|Lateral posture stabilizer for hydraulic excavator
    JP2009254269A|2009-11-05|Lifting device for work vehicle
    JPH0749667B2|1995-05-31|Hydraulic device for operation of parallel movement of attachment of agricultural loader
    RU2729537C1|2020-08-07|Single bucket loader control system
    SU626168A1|1978-09-30|Hydraulic shovel working equipment
    JP2000154885A|2000-06-06|Operation lever device
    KR20000015023U|2000-07-25|Dozer automatic lifting control device of wheel type excavator
    同族专利:
    公开号 | 公开日
    JPS50111805A|1975-09-02|
    JPS5428004B2|1979-09-13|
    US4031964A|1977-06-28|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    RU2458206C2|2007-11-21|2012-08-10|Вольво Констракшн Эквипмент Аб|Method of controlling working mechanism|
    RU2634441C1|2016-08-30|2017-10-30|Федеральное государственное бюджетное образовательное учреждение высшего образования "Санкт-Петербургский государственный архитектурно-строительный университет"|Automatic ripper cutting angle control system|US2745328A|1949-12-27|1956-05-15|Western Equipment Mfg Co|Hitch attachment structure for carry-type scraper|
    US3503456A|1967-09-01|1970-03-31|Caterpillar Tractor Co|Mounting linkage for rippers|
    US3658133A|1968-12-10|1972-04-25|Ralph Sweet|Automatic depth control device for tillage units|
    US3674095A|1970-10-26|1972-07-04|Deere & Co|Servo-control for an agricultural tractor hydraulic lift|
    FR2199611B3|1972-09-20|1975-10-17|Applic Machine Motr|
    US3825072A|1972-09-28|1974-07-23|Allis Chalmers|Electronic upper link sensing|US4044838A|1975-04-21|1977-08-30|American Tractor Equipment Corporation|Automatic control for ripper tool|
    US4166506A|1975-06-30|1979-09-04|Kabushiki Kaisha Komatsu Seisakusho|Controlling apparatus for bulldozer blade|
    JPS5644211B2|1976-08-31|1981-10-17|
    US4351397A|1980-03-10|1982-09-28|International Harvester Co.|Vibrating ripper|
    EP0052823A1|1980-11-21|1982-06-02|Deere & Company|Draft load control for agricultural tractors|
    US4900093A|1986-11-10|1990-02-13|Caterpillar Inc.|Impact ripper and control|
    US4817731A|1987-07-01|1989-04-04|Komatsu Dresser Company|Ripper mechanism|
    US4834461A|1987-11-18|1989-05-30|Caterpillar Inc.|Control system for a multiple shank impact ripper|
    JPH072736Y2|1988-09-30|1995-01-25|株式会社小松製作所|Direct acting shock ripper device|
    US5210964A|1989-03-09|1993-05-18|The Province Of British Columbia, Ministry Of Forests|Spot mounder method and apparatus|
    JP2580351B2|1989-12-28|1997-02-12|株式会社小松製作所|Automatic control device for impact ripper|
    DE4214688C2|1992-05-02|2003-06-12|Dbt Gmbh|Setup for the automatic final shutdown of a mining plane|
    US5685377A|1996-09-05|1997-11-11|Caterpillar Inc.|Auto-return function for a bulldozer ripper|
    US6585079B1|1999-12-14|2003-07-01|1994 Weyer Family Limited Partnership|Work platform with rotary actuator|
    US6439341B1|2001-02-14|2002-08-27|Snorkel International, Inc.|Apparatus for monitoring loading of a lift|
    JP4690012B2|2003-11-21|2011-06-01|株式会社小松製作所|Ripper equipment|
    US7104340B1|2005-03-22|2006-09-12|Deere & Company|Towed implement draft force sensor|
    US7658234B2|2005-12-09|2010-02-09|Caterpillar Inc.|Ripper operation using force vector and track type tractor using same|
    US7458428B2|2006-02-07|2008-12-02|Deere & Company|Towed scraper blade control method|
    US8083004B2|2007-03-29|2011-12-27|Caterpillar Inc.|Ripper autodig system implementing machine acceleration control|
    WO2009061712A2|2007-11-06|2009-05-14|Vermeer Manufacturing Company|Stump cutter|
    US20090199441A1|2008-02-11|2009-08-13|Caterpillar Inc.|High visibility ripper assembly and machine using same|
    US8944177B2|2011-05-17|2015-02-03|Louis E. Guynn|Scraper with lateral tilt|
    US8333248B1|2011-06-20|2012-12-18|Bryan D Sulzer|Automatic pitch hold of a electrohydraulically controlled ripper|
    US8720595B2|2011-06-20|2014-05-13|Deere & Company|Depth limiting of ripper attachment by electronically limiting cylinder length|
    US20130068489A1|2011-09-20|2013-03-21|Tim Blunier|Method And Apparatus For Maintaining Farm Implement Level Throughout Vertical Range Of Motion|
    US20130092405A1|2011-10-18|2013-04-18|Ronald Hall|Vibratory ripper having pressure sensor for selectively controlling activation of vibration mechanism|
    US9062437B2|2012-04-20|2015-06-23|Ronald H. Hall|Vibratory ripper having depth adjustable ripping member|
    GB201322859D0|2013-12-23|2014-02-12|Agco Int Gmbh|Vehicle control system|
    US9297146B1|2014-09-09|2016-03-29|Caterpillar Inc.|Automatic ripping pass detection|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP1272574A|JPS5428004B2|1974-02-01|1974-02-01|
    [返回顶部]