• 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:
    In a civil machine comprising a working tool provided on a vehicle with a travelling mechanism and a drive therefor, an automatic control system comprises a stroke detector for detecting the amount of stroke of a lifting cylinder operating to move the working tool up and down, an inclination angle detector for detecting the inclination angle of the vehicle, an arithmetic unit for obtaining data representative of the height of the working tool from the detection signals of the two detectors, and a control for operating the lifting cylinder by using the data to control the position of the working tool with high accuracy.
    公开号:SU940651A3
    申请号:SU772519806
    申请日:1977-08-31
    公开日:1982-06-30
    发明作者:Суганами Такаси；Манзеки Теруо；Такеда Тасиро；Накаяма Тецуя；Симизу Кох；Курихара Кейсиро；Фукумура Тору；Хатогаи Наоми
    申请人:Кабусики Кайся Комацу Сейсакусе (Фирма)；
    IPC主号:
    专利说明:

    3 and engine speeds, two (second and third) arithmetic units and a comparator, with the sensors for the degree of opening of the throttle valve and the speed of the machine’s diving bodies connected to the inputs of the second arithmetic unit, the output of which is through the comparator connected to one of the third inputs the arithmetic unit, to the two other input and output terminals of which are connected the outputs of the first arithmetic unit and the setter of the position of the working body, and the output of the third arithmetic unit is connected to the input of the lowering control unit ochego body. The system is also equipped with a logical unit, made in the form of a serially connected timer, delay element and pulse generator connected to the control electric hammer, while the timer is connected to the mechanism for switching the direction of movement, and the delay element is connected to the control unit for raising the working element. FIG. Figure 1 shows a scheme for obtaining the required height of the blade of the bulldozer; in fig. 2 is a block diagram of the system; in fig. 3 time diagrams. FIG. 1 indicated: BU case bulldozer; current blade BL position; blade BL position in the case when the frame is parallel to the longitudinal axis of the bulldozer body; the position P of one end of the lifting cylinder fixedly attached to the body; the position Pn or RD of the other t. 4 ends of the lifting cylinder, fixed to the frame; the position of the PJ rotating shaft of the C-shaped frame; horizontal support surface H (entrance from the side); the distance i between points P (or P, -) and Pj; distance P5 between points P and Pi. The values of E and EO are constant for this bulldozer. When the blade of the bulldozer is in the BL position, the frame forms an angle b with a straight line connecting the points P and Pa, the length of which is equal. Accordingly, the value bd is also the constant value of the bulldozer body. The distance x between the points P and P is the stroke of the lifting cylinder. When the bulldozer blade is in the BL position, frame 14 makes an angle of 9 with a straight line connecting the points P and P. On the basis of FIG. 1, the equation J + eJ-26 can be obtained. CosP, which can be rewritten in the form and x- 1-4t; t Accordingly, angle 9 can be represented in the form — the angle formed by the frame at the moments when the blade is in polo ) I get married with BL and BL. From FIG. 1 it is visible that,: -fkh. cos-- h 2; e оE is the angle of inclination formed by the longitudinal axis of the bulldozer body with respect to the horizontal supporting plane N. Suppose that 6g is the angle of inclination of the frame relative to the horizontal supporting plane H, then from FIG. 1 9g 9f + ot. If we substitute the expression for 9 into this equation, then pi.gi «a-l M. (I) s -cos i D o Thus, the angle of the frame inclination corresponds to the height of the blade BL, measured from the horizontal reference plane N. In Equations (1) 6, i and in constant values. Therefore, if the stroke X of the lift cylinder and the angle ct of inclination of the bulldozer body are detected, data are obtained corresponding to the blade height BL of the bulldozer BL from the horizontal support plane N. The automatic control system of the working body includes the blade 1, which is attached to one end of the frame, the other end portion supported by the body of the bulldozer 2. The blade of the bulldozer 1 is moved up and down by a pair of lifting cylinders 3 mounted between the body and the frame. Directional switching valve C is intended for selective installation of lift cylinders 3 in stretchable CtB), shortened CiA), supporting (C) and unloaded Ctfl) positions, i.e. valve 4 has four switching positions () to set the cylinders 3 to these four positions, respectively. The valve k is connected through section 5 of the control (operating) cylinder 6, and the piston rod 6c of the working cylinder 6 with the lever 7 of the manual control of the dump lift. The locking mechanism 8 is designed to lock the manual control lever 7 with automatic blade control and is connected to the manual and automatic control switch 9. The system also contains valves 10 and 11 with solenoid control and hydraulic pumps 12-1 and 12-2. Valves 10 and 11 are switched by signals 13-15 of logic circuit 16. Valve 11 is connected directly to tank 17. Sensor 18 of the angle of inclination of the dozer produces signal 19 equal to the value of the angle of inclination that is fed to the first arithmetic unit 20. Sensor 21 of the cylinder stroke outputs The signal 22, which is fed to the first arithmetic unit 20. The output signal 23 of the latter corresponds to the height of the blade 1. The blade height adjuster 2 produces a signal 25 to the second arithmetic unit 26, the output signal 27 of which is supplied to control the lift cylinder. The throttle opening degree sensor 28 outputs the signal 29 to the arithmetic unit 30. The engine speed sensor 31 outputs the signal 32 to the arithmetic unit 30, the signal 33 of which is fed to comparator Z. The load setpoint 35 is connected to output comparator 3, the output 37 of which connected to the arithmetic unit 2b. The latter is connected to a control unit 38, the output signal 39 of which is proportional to the magnitude of the signal 27. The spool position sensor 0 outputs signal 1, which is fed to the comparator k2. A signal is applied to the latter {3 from block 4 of the setpoint of an inactive quantity. Outputs iS and D6 of the k2 comparator are connected to logic circuit 16. The system also includes two switches 7 and k8, a lifting (unloading) setting unit, a switch 50 for moving back and forth, a signal 51 of unit 9 is fed to a comparator k2, and a signal 52 of unit 50 - to the timer 33 of the circuit 16, which is connected to the delay element 5, the outputs of which are connected to the pulse generator 55. The system works as follows. Switch 9 is turned on or closed when the manual control lever 7 is locked and turned off or open when the manual control lever 7 is unlocked. The solenoid-controlled valves 10 and 11 serve to control the working cylinder 6, are connected to hydraulic lines passing between the working cylinder 6 and the hydraulic pump 12-1, and switch, reacting to the output signals 13-15 of the logic circuit 16. In the process of manual controlling the blade of the bulldozer, the valves 10 and 11 are switched to the closed positions 10C and 11A, respectively, so that the working cylinder 6 is hydraulically closed (therefore, the manual control lever 7 and the pull 5 are fixed). Thus, the operator can manually set the direction of the switching valve to the desired switching position by using the manual control lever 7. In the process of automatic control, the manual control lever 7 is locked by the locking mechanism 8. In this case, the first solenoid controlled valve 10 is activated, which forces section 6 of the working cylinder 6 to move back and forth with respect to the plunger rod 6 о according to the switching positions 1OA and 10B, setting the direction of the switching valve 4 to the desired position the key. The solenoid controlled valve 11 is designed to bring the valve to its original position by means of an elastic spring force. When the valve 11 is switched to position 11B, its upper and lower chambers are connected directly to the tank 17, with the result that the working cylinder 6 moves freely. The sensor 18 of the angle of inclination of the body of the bulldozer is designed to detect the angle of inclination of the body of the bulldozer with respect to the horizontal reference plane, is installed in the center of the body of the body of the bulldozer,
    pa 2 and generates a tilt angle detection signal 19, which corresponds to the tilt angle of the body, is fed to the first arithmetic unit 20. Since the tilt angle sensor 18 of the bulldozer body is installed in the center of the body weight, the body angle is determined accurately, and it is not affected by the torque due to the inclination of the body in its longitudinal direction.
    The cylinder stroke sensor 21 is located adjacent to the lift cylinder 3 of the blade and forms the cylinder stroke signal 22, which is supplied to the first arithmetic unit 20. The arithmetic unit 20 is a circuit for performing an operation according to equation (1). Its output signal 23 corresponds to the height of the blade 1 from the horizontal plane H (the angle of inclination of the frame b in).
    The blade height setting device 2 is intended to set the blade height in advance from the horizontal reference plane N. The signal 25 from the dial 2k is fed to the second arithmetic unit 26.
    The arithmetic unit 2b generates a mismatch signal 27 between the height setting driver 25 and the feedback signal 23. According to the error signal, the working cylinder 6 is activated, the valve 4 is switched and the lifting cylinder 3 is controlled. Thus, automatic control is carried out in which the current height of the blade 1 coincides with the set one (i.e. the error is zero)
    A throttle opening degree sensor 28 outputs a throttle opening degree value of a throttle valve (not shown) controlling the engine speed (not shown) that drives the bulldozer 2. Throttle opening degree signal 29 is fed to the arithmetic unit 30.
    The engine speed sensor 3 detects the engine speed for driving the dozer 2. The signal 32 from the sensor 31 is also fed to the arithmetic unit 30
    The arithmetic unit 30 serves to regulate the load pressure (corresponding to wheel slip), generates a load (slip) signal 33 of the blade corresponding to the load pressure (slip). Seal 33 is fed to comparator 3.
    A load setter 35 sets the maximum load pressure that can be applied to the blade 1 of the bulldozer according to the operating conditions. Signal 36 from setpoint 35 is fed to comparator 3.
    0 In the comparator 3, the dump load signal 33 is compared with the load setting signal B. When signal 33 exceeds signal 36, i.e. The blade 1 is overloaded, the comparator 3 generates an overload signal 37, which corresponds to the overload and is fed to the arithmetic unit 2b.
    Under normal conditions, the arithmetic unit 2b generates a mismatch signal 27 between the blade height setting signal 25 and the signal 23. However, after the overload signal 37 is given when the bulldozer blade overloads, the arithmetic unit 26 supplies the control unit 38 with a signal to release the blade feedback control and issue a move command dozer blade up until signal ceases
    37 overload.
    The control unit 38 forms a pulse signal 39, the pulse duration of which is proportional to the magnitude of the deviation signal 27 produced by the arithmetic unit 2b.
    Timing diagrams (Fig. 3 ad) give an indication of examples of the signals of the height of the blade c, the current height of the blade Z, the error signal 27 between them and the pulse signal | - 39- In the case where the sign of the error signal EJ is positive, a pulse signal is given EG to move the bulldozer blade in an upward direction. In contrast, in the case where the sign of the deflection signal E is negative, a pulsed signal EO is applied to move the bulldozer blade downwards.
    权利要求:
    Claims (3)
    [1]
    1. USSR author's certificate No. 268283, cl. E 02 F 9/20, 1968.
    [2]
    2. Automatic, regulation of the process of digging the soil with bulldozers and scrapers. Kharkiv, 19bZ, p. ,
    [3]
    3.US Patent ff 2902979,
    cl. 172-.5, published, 1959 (prototype),
    ,
    28
    /
    22 21
     ifb
    / vy
    4i f g
    12-2
    t
    X
    rOSa.
    124
    Phage.2
    W
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    If) f 0
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    Tf / if
    FIG. five
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    同族专利:
    公开号 | 公开日
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    JPS5644211B2|1981-10-17|
    DE2738771C2|1983-11-17|
    JPS5330102A|1978-03-22|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP10454476A|JPS5644211B2|1976-08-31|1976-08-31|
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