• 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:
    The control system is provided with a detector that detects whether the ripper is operated in a piercing operating mode or a digging operating mode. In the piercing operating mode the angle of the shank is adjusted to a preset piercing angle, while in the digging operating mode the shank angle is adjusted to a preset digging angle thereby effecting optimum piercing and digging operations. Limit switches for detecting upper and lower limit positions of the shank are provided for raising and lowering the shank between these limit positions while adjusting the shank angle. Further an overload detector is provided for raising the shank when its load exceeds a predetermined load and lowering the shank when the load decreases below it. A manual preference control device also provided for enabling manual control during automatic control.
    公开号:SU858575A3
    申请号:SU762378194
    申请日:1976-06-30
    公开日:1981-08-23
    发明作者:Тецука Ивао；Като Кусао；Такахаси Ясуюки；Сано Томохару
    申请人:Кабусики Кайся Комацу Сейсакусе (Фирма)；
    IPC主号:
    专利说明:

    This invention relates to a system for automatically controlling earth-moving and leveling machines, in particular a working body of a ripper. A device for automatic stabilization of the working body is known, which enables and disables a hydraulic actuator spool actuator and contains a relay control circuit in which the hydraulic actuator spool hydraulic actuator is controlled by the transverse inclination angle of this organ, compared with a given angle of inclination fl . It is also known to control the road-building machinery, which controls the working body control system - :: limit switches for the lower and upper positions of the working body 2 J. It is also known to control the working body of the leveling machine, which include working cylinders for raising and lowering the working body, sensor upper and lower positions, an operating mode sensor, an electromagnetic actuator, a bypass valve, a pressure sensor, a hydraulic control system and an electrical circuit, and is automatically regulated and the deepening and installation of the working body at a given angle of 3j. However, the drilling operation with the aid of known devices is carried out manually with the help of an operator who moves the coulter of the ripper in a vertical direction and adjusts the coulter's ANGLE according to his experience and a combination of factors such as soil condition, speed of movement, and other working conditions. Accordingly, it is required that the operator be highly qualified and experienced. In addition, in order to manually adjust the coulter of the ripper, the operator must constantly monitor the work process. This not only increased the operator’s fatigue (fatigue), but also reduced work efficiency. The closest technical solution is an automatic control system for a working ripper body containing working cylinders for lifting and tilting the ripper associated with an electromagnetic drive for lifting and tilting the ripper through the overflow valve, Power supply, up and down position sensors
    working device, load sensor on the ripper, sensors for setting the corner of the ripper when driving and digging, switches the operating mode and type of control, and sensors for setting the angle of the ripper when driving and digging are connected via an electrical circuit to the windings of the electromagnetic drive for lifting and tilting the looser G4 1. 1. -J,
    The disadvantage of the well-known system is unreliability of control reliability and low productivity.
    The purpose of the invention is to increase the reliability and enhance the functionality of the system.
    The goal is achieved by the fact that it is equipped with a switching circuit for manual control of the ripper and a safety relay, with the switching circuit of the manual control of the cultivator connected via up and down position sensors to the windings of the electromagnetic drive, and a safety relay connected between the operating mode switch and the power supply.
    In addition, the system is mechanically interconnected between the control cylinder and the ripper valve, the control cylinder being hydraulically connected to the solenoid actuator of the lift and inclinator ripper, and the control valve with the relief valve.
    The drawing shows a schematic diagram of the automatic control system of the drive.
    The system includes a manual switch 1c for automatic control which is connected to terminal C for automatic control and to grounded contact C for manual control. The switch to the automatic control position is performed after the power switch 2 is closed. However, in order to prevent incorrect operation due to the closing of the power switch 2, after switching the switch 1 to the position for automatic control, a safety relay 3 is provided. When the power switch 2 closes while the switch 1 is closed with contact C, the coil of the relay 3 is energized and the moving contacts of the rear and rear. move in the direction opposite to that shown, and the relay is self-held by means of contacts P & A, From the moment switch 1 is switched to the position for automatic control C, the circuit is interlocked with conductor 4 via contact C and contacts C 3, the signal lamp 5 lights up , indicates that the system is operating automatically.
    The forward and reverse switch 5 is connected to the forward and reverse lever LL. During the forward movement, the contact plate R opens the contacts bd and 6d, while the contact plate F closes contacts 6 and 6. During the reverse stroke, the contact plate P closes the contacts and the contact plate F opens.
    The pressure switch 7 for setting the load is designed to close contact C. when the pressure in the front of the tilt cylinder 8 reaches a certain set level, and to close contact C when the pressure decreases below the set level. The drive-digging-type switch 9 is designed so that the contact D 2 is closed when the cultivator is working in region A and the contact O in region B. The switch 10 for setting the angle of penetration and switch 11 for setting the angle dig are connected in series with contacts O and D the switch 9 and are in the closed state, but open when, respectively, the predetermined penetration and digging angles are reached.
    The lamp 12 is connected in such a way that it comes on when the load on the coulter becomes excessive and the pressure relay 7 closes the contact Ci, turning on the signal light of the coulter overload. The angle control relay 13 is provided for controlling the coulter when the cultivator is operating in the digging mode or in area B, and the penetration angle control relay 14 is provided for controlling the coulter when the cultivator is operating in penetration mode or in area A. The lower mounting limit switch 15 and the upper mounting the limit switch 16 is normally in the closed state, but when the ripper reaches the lower limit position or the upper limit position, the switches 15 and 16 are opened.
    The three-position bypass solenoid valve 17 has three positions H, 1 and J, and solenoid coils 18 and 19. When the voltage is applied to the coil 18 of the solenoid valve 17 moves to the J position, and when the voltage is applied to the coil 19 of the solenoid, it moves to the position N. When the voltage is not applied to any of the coils, the valve is in the neutral position 1.
    The two-way solenoid bypass valve 20 has two positions N and P and a solenoid coil 20 and moves to the N position when the voltage is applied to the solenoid coil 20 and to the P position by means of a spring when the solenoid coil 20 is not applied. The control cylinder 21 of the ripper is designed to act on the control valve 22 of the ripper. Valve 22 is maintained in a neutral position. However, when the piston rod of the cylinder 21 moves to the right, the valve 22 moves to position K, while when the piston rod moves to the left, the valve moves to position M. The lift-tilt valve 23 is controlled by means of a two-position electromagnetic bypass valve 20 such Thus, when valve 20 is in position N, valve 23 moves to position Q, and when valve 20 is in position P, valve 23 moves to position S. The system contains an oil pump 24 for controlling the building earth machine and a transfer pump 25, Channel 22 (the control channel 22 is connected to the outlet (by the discharge side of the pump 24 through pipe 26 and branch 27 of pipe 26 is connected to channel 22 of valve 22 through the check valve 28, the channel 22 "of the valve 22 is connected to the reservoir 29. The channels 22 and 22g are connected to the channels 23d and 23 of the lift-tilt by-pass valve through tubes 30 and 31, respectively. The channels 23j and 23 of the lift-tilt relief valve 21 are connected to the front side and one hundred One of the lifting rods of the lift cylinder 32 is through pipes 33 and 34, respectively. The lift channels 23 and 23 of the lift and tilt overflow valve 23 are connected to the front side and the stem side of the tilt cylinder 8 through pipes 35 and 36, respectively, and the bypass valve 37 is connected to tube 35 The pressure receiving element 38 of this bypass valve 37 is connected to the stem side of the tilt cylinder 8 through the tube 39, while the front part of the tilt cylinder 8 is connected to the receiver channel 5 of the pressure relay 7 to set the load. The outlet (discharge) side of the transfer pump 25 is connected to the channel 20 of the on-off electromagnetic overflow valve 20 via pipe 40, and to the channel 17 of the three-position electromagnetic overflow valve 17 through pipe 41. The channels 2O and 17 of the on-off electromagnetic overflow valve 20 and three-position bypass electromagnetic valve 17 respectively, are connected to the reservoir 42. The channel 20c of the two-way electromagnetic-bypass valve 20 is connected to the channel of the receiver 23 and a lift-tilt overflow clan 23 through the tube 43. The channels 17 and 17 of the three-position electromagnetic overflow valve 17 are connected to the front side and the side of the stem, respectively, of the loosening control cylinder 21 through the tubes 44 and 45, respectively. The handheld switching circuit 46 of the cultivator includes automatically opening switch 47, lift and lower switches 48 and 49 connected to switch 47, automatic switch 50 to open, tilt switches 51 and 52, and reverse switch 53 and 54 to switch 50. One terminal of each of the switches 48, 49, 51, 53, 52 and 54 of the switches of the manual control circuit 46 of the ripper is connected to one terminal of the power supply 55. The movable contact plate 1d of the switch 1 manual-automatic and the movable contact plate of the rear safety relay 3 is also connected to the same terminal of the power supply 55. The contact C, in the automatic position of the switch 1, is manually connected to the moving contact Rear. Safety relay 3, while the contact C in the manual position of the switch 1, the manual automatic switch is connected to terminal 3c of the safety relay 3. The other or positive terminal of the power supply 56 is connected to the terminal 3 of the safety relay 3 and to the terminal 3. connected to the stationary (disconnected) contact A of the safety relay 3 via a signal lamp 5 and a conductor 56. Contact C 2 of the load setting pressure relay 7 is connected to the positive terminal of the power source 55 via the load signal lamp 12 and the conductor 57. The contact 130 of the angle control relay 13 is digging and the contact 14jj of the angle control relay 14 is also connected to the positive terminal of the power source 55 via Conductor 56. One clamp of the coils 18 and 15 of the solenoids of the three-position solenoid bypass valve 17 and one clip of the solenoid coil of the two-position solenoid bypass valve 20 are also connected to the positive 3cm clamp of the power source 55. The second terminal of the coil 20 solenoid of the on-off electromagnetic bypass valve is connected to the other terminals of the switches 52 and 54 of the switching circuit 46 of the manual control, the second terminal of the coil 19 of the solenoid is connected to the contact 14d of the F switch of the angle control relay 14 through the upper setting limit switch and conductor 58. In addition, the second terminal of the coil 18 srenoid is connected to the contact 13j of the switch 21 of the angle control relay 13 through the conductor 59 and the lower setting limit switch 1 five.
    The top contact of this switch is connected to pin 14c2 of you-, Key F of the relay 14 of the control corner
    penetrations to the switch 45 for lowering the switching circuit of the manual ripper 46 and the book contact of the reverse tilt switch 53. The upper terminal of the upper installation limit switch 16 is connected to the lower 3sinzhu of the switch 48 for raising the switching circuit 46 of the manual control of the ripper and to the 13 of the switch E of the relay 13 for the angle control to dig.
    The lower clamp of the switch 50 of the manual control switching circuit 46 is connected to the upper contact 6 of the reverse switch P 53 of the forward-reverse switch 6 and to the switch F, the contacts 14 and 14 of the relay 14 of the angle control and the movable contacts 14 sec.) 14c 2 digging angle control switch switches 13. The bottom contact of the switch 50 is connected to the movable contact 9p of the switch 9 of the shut-off control method 9 and to the movable contact 5 ,. Relay 7 pressure load setting.
    The top coil 20.3 of the solenoid of the on-off electromagnetic bypass valve 20 is connected to the contact 14c of the switch F of the relay for controlling the angle of penetration and to the contact 13, the switch E, the relay for controlling the angle of dig 13
    The movable contact 14 of the switch F of the relay 14 for controlling the angle of penetration is connected to the contact 6 of the reverse contact of the switch 6 back and forth through the diode 60 and to the contact C 1 of the relay 7 of the load setting pressure through the diode 61. The contact 14 of the relay 14 of the control of the angle of penetration is connected to the contact About the switch 9 of the driving-digging control method through the conductor 62 and the driving angle setting switch 10. The contact 130 of the control relay 13 is dug connected to the contact 0 of the switch 9 of the driving-digging control method 9 through the conductor 62 and the corner setting switch 11.
    The movable contact 13 of the F switch of the angle control relay 13 is connected to the contact 6 of the forward contact of the switch 6 forwards and backwards, while the contact 4 of the forward contact
    F is connected to terminal C of the load setting pressure switch 7.
    The upper clamp of the switch 47 of the manual control switching circuit 46 is connected to the pin 3. of the switch A of the safety relay 3, while the lower clamp of the switch 47 is connected to the upper clamp of the switch 50.
    The system works as follows.
    The various switches and contacts are shown under conditions where the power supply is not yet connected, and therefore the solenoid coil of the electromagnetic overflow valves 20 and 17 are de-energized. The drive-digging control switch is shown in the Driving position, i.e. for work in area A. Thus, the feeder rises to the upper limit position and stops at that position.
    The operation of the automatic control of the ripper can be started by turning on the power supply 2 and then by moving the movable contact IQ of the switch 1 manual-automatic to contact C from contact C.
    After closing the power supply switch 2, when the manual-automatic switch is set to Automatic to terminal C, the driving coil of the penetration angle relay 14 is energized and results in a lifting height of the ripper opener for driving area A (case when mode select switch 9 is in position D). Then the current flows through the circuit including the source 55, the coil of the solenoid 18, the switch 15, the contacts 14j; and 14 and switches 50 and 47, while driving the coil 48 of the solenoid lowering the electromagnetic bypass valve 17. As a result, valve 17 is switched to position J, switch to the control valve 22 of the ripper switches to position K by means of the control cylinder 21 of the ripper. In the same way, the current will flow through the circuit including the power supply 55, the solenoid coil 20j3, the switches 50 and | 47 to energize the solenoid coil 20, causing the solenoid valve 20 to switch to the position. As a result, the auxiliary pressure acts on the lift-tilt by-pass valve 23 tube 43 in such a way that valve 23 switches to the position for controlling the tilt cylinder 8, and thus tilts the opener of the ripper (the cylinder is drawn in (operation OP). This tilt back lend until
    Open the installation switch 10 of the penetration angle, i.e. until the optimum penetration angle is reached. The installation angle switch 10 is maintained in the closed state until the cylinder 8 is retracted to set its protruding part against the switch 10. However, the switch 10 is opened when the protruding part passes by it.
    The movable contact 9a of the penetration-digging switch closes the contact O Y until it is pressed by the rod 33 connected to the piston rod of the lifting cylinder 32 and closes the contact D when the switch 9 is not pressed by the rod 33.
    When the installation angle switch 10 is open, the angle control relay coil 14 is de-energized to open the contacts 14 and 14c of switch f so that the coil 20 of the overflow valve solenoid 20 de-energizes, thus moving the electromagnetic relief valve to the P position. Accordingly, the slope lift 23 is switches to the position to control the lift cylinder 32. Since the forward-reverse control lever is in the Forward position, and since the F contact of the forward-reverse switch is closed and its P contact is open, the circuit including the switch 15, contacts 13J and 13 and the Forward contact is set in such a way that the solenoid coil 18 is energized to move the electromagnetic bypass valve 17 to position J. As a result, valve 22 moves to position K and the opener of the ripper begins to descend (operation OR)
    When the switch 9 goes into position 0, the coil of the angle control relay 13 is energized, so that the switches B., E and E go to the opposite positions to those shown. As a result, the connection between pins 13 and 13. is disconnected, de-energizing the solenoid coil. Then, the operation of moving switch E connects pins 13, such that coil 20 (3 coil is energized to move two-way electromagnetic bypass valve 20 to position N, while moving lift-tilt bypass valve 23 to position Q. At the same CciMoe time when moving switch The E pins 13 (.. are connected so that the coil 19 of the solenoid is energized to move the electromagnetic bypass valve 17 to position N. As a result, the ripper control cylinder
    inlet and valve 22 moves to position M. Accordingly, the downward movement of the coulter is stopped and the tilt cylinder is immediately pulled out to tilt the coulter (OP2 operation). This tilting operation continues until the angle adjustment switch 53 is digged at once; the whip.
    When the angle setting switch 11 is opened, the corner control relay 13 is de-energized to move the switches E
    H
    E, and E 3 Moving the switch E.
    13
    leads to the separation of contacts
    at
    and de-energizing the coil 20 of the solenoid of the electromagnetic bypass valve 20, returning it to the P position. Accordingly, the lift-down valve 23 takes the position of S. At the same time, contacts 13 and 13 are combined with the switch E to energize the coil of the solenoid 18. Thus, the electromagnetic bypass valve 17 is moved to position 3 to bring valve 22 through cylinder 21. As a result, lift cylinder 21 is pulled out to lower the opener of the ripper again (OP operation) The opener of the ripper is in the dug ground or rock in the lower position when the load on the ripper opener increases so that the pressure acting on the front wall of the tilting cylinder exceeds the set load pressure of the pressure relay 7, the moving contact of the pressure relay 7 goes to contact C Then a lam11a 12 overload is detected and when the circuit passes through the solenoid coils 19, the switch 16 pins 14 and 14, the diode 61, the pressure switch 7, switches 50 and 47, the contacts switch 1 is manually-automatic installed parallel to the power supply, the coil 19 solenoid is excited by switching the solenoid valve 17 to position N. Consequently, the valve 22 switches to position M. When the position of the solenoid valve 20 and the tilt-lift relief valve 23 does not change, the opener of the ripper rises (OP operation). When the stall rises, the load on it decreases, and then the oil pressure acting on the front of the tilt cylinder 8 becomes lower than the set load pressure of the pressure relay 7. The pressure switch 7 of the 3cuvMKaeT contact C moves the solenoid bypass valve 17, and the opener is lowered. This operation is automatically repeated during the digging operation of the ripper.
    When the coulter of the ripper reaches the optimum digging angle, the installation angle switch 11 digs once we-)
    By de-energizing the coil of the angle control relay 13, digging and switching the electromagnetic bypass valve 20 to position P, and switching the bypass valve 23 of raising and tilting to position S. The electromagnetic bypass valve 17 acts on the loosening control cylinder 21 and the loosening control valve 22, ne .-f switches to position M to control lift cylinder 32, raising the ripper opener (operation OPi).
    When the coulter of the ripper rises to go to the driving operation in area A from the operation, dig from area B, i.e. when switch-digging switch 9 takes position 02, the coil of angle-controlling relay 14 is energized to close the coil 18 of the solenoid coil of the electromagnetic relief valve 17 and coil 20 of the solenoid coil of the electromagnetic relief valve 20, so that the opener of the ripper tilts backward until it opens An installation switch 10 of the penetration angle (OP operation).
    When the penetration angle setting switch 10 is opened, the penetration angle control relay is de-energized to shutdown its switch F, and the opener of the ripper rises again (operation OP).
    When the coulter of the ripper rises and the vertical setting limit switch 16 is opened, the coulter of the ripper stops in that position.
    If it is necessary to manually control the ripper coulter during automatic control, its circuit is automatically opened by switch 47 of the manual control circuit 46 of the cultivator and switch 19 is controlled to open the automatic control circuit, switches 48 and 49 are connected to switch 47, and switches 51, 52.53 and 54 are connected to the switch 50 so that the coulter can be manually operated.
    The above description shows one example of a series of automatic operations used during the forward movement, including tilt back operations of the coulter to the set penetration angle when driving, lowering after this setting, tilting to the set angle% zyt mode, dig, lift the coulter during an overload, lowering the opener to the lower limit position and raising the opener to the upper limit position, which during the return movement are performed in the same way as described above.
    The use of the present invention allows increasing the control level, expanding the functionality of the system and increasing the productivity of the ripper.
    权利要求:
    Claims (4)
    [1]
    Invention Formula
    The automatic control system of the working agent of the ripper, containing the working cylinders of raising and tilting the ripper, associated with an electromagnetic drive of the lifting and inclination of the ripper through the relief valve, power source, sensors of the upper and lower position of the working body, the sensor load on the ripper, sensors for setting the angle of the ripper when penetrating and digging, operation mode and control switches, and the sensors for setting the ripper angle during penetration and digging are connected by an electric circuit to the windings of the electrodes magnetic drive lifting and tilting ripper, characterized in that, in order to increase the reliability of control and expand the functionality of the system, it is equipped with a switching circuit of manual control of the cultivator and safety relay, and the switching circuit of the manual control of the cultivator is connected via sensors of the upper and lower position to the windings an electromagnetic drive and a safety relay is connected between the mode selector switch and the power supply.
    [2]
    2. The system according to claim 1, characterized in that it is provided with mechanically interconnected control cylinder and ripper valve, the control hydraulic cylinder being connected hydraulically with the electromagnetic lift and tilting actuator of the ripper, and the control valve with the bypass valve.
    Sources of information taken into account in the examination
    1. USSR author's certificate No. 139678, cl. E 02 F 9/22, 1969. 2. USSR Copyright Certificate 240309, cl. E 02 F 9/22, 1968.
    [3]
    3. USSR author's certificate number 326316, cl. E 02 F 9/20, 1970.
    [4]
    4. USSR author's certificate No. 218743, cl. E 02 F 9/20, 1967 (prototype).
    P
    L
    39
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP8069875A|JPS5521139B2|1975-06-30|1975-06-30|
    JP8069775A|JPS5524533B2|1975-06-30|1975-06-30|
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