CN1179194A - Device for controlling balldozing blade of bulldozer and method thereof - Google Patents
Device for controlling balldozing blade of bulldozer and method thereof Download PDFInfo
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- CN1179194A CN1179194A CN 96192737 CN96192737A CN1179194A CN 1179194 A CN1179194 A CN 1179194A CN 96192737 CN96192737 CN 96192737 CN 96192737 A CN96192737 A CN 96192737A CN 1179194 A CN1179194 A CN 1179194A
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- 238000010586 diagram Methods 0.000 description 7
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Abstract
A control device and a method, by which interference between a bulldozing blade (10) of a bulldozer and a vehicle body can be prevented even when a pitch back angle of the blade (10) is made large and a tilt speed is increased to greatly change a tilt angle. The device comprises right and left detecting means (20a, 20b, 23a, 23b) for detecting an amount of tilt of the blade (10), right and left tilt limiting valves (37, 38) connected to operating units (35a, 35b) of first and second directional control valves (35, 36), and a controller (50) outputting a command to the right and left tilt limiting valves (37, 38) so as to stop a tilting action of the blade (10) when a difference between amounts of tilt detected by the right and left detecting means (20a, 20b, 23a, 23b) reaches a predetermined limit value.
Description
The present invention relates to a kind of volitional check bulldozer scraper bowl inclination attitude operating angle and prevent control device that conflicts and control method thereof between scraper bowl and the car body.
In the past, shown in Fig. 6 and Fig. 7 A, 7B, 7C, the scraper bowl 10 of bulldozer can be at the beam 15A about the fore-and-aft direction freedom joltily is installed in, the front end of 15B.About the end of lifting hydraulic cylinder 21A, 21B be installed in the back side of scraper bowl 10, the other end is installed on the car body 20x.By about lifting hydraulic cylinder 21A, the telescopic drive of 21B, make scraper bowl 10 carry out descending operation.
And, about the end of pitching hydraulic cylinder 20A, 20B be installed in the back side of scraper bowl 10, the other end is installed on 15A, the 15B.If drive left and right sides pitching hydraulic cylinder 20A, 20B to prolonging direction simultaneously, then scraper bowl 10 becomes the forward lean that unloads sandy soil.If pitching hydraulic cylinder 20A, the 20B of while about shrinkage direction drives, then scraper bowl 10 becomes the hypsokinesis posture of fortune sandy soil.When the blade tip angle of scraper bowl 10 α was 55 °, scraper bowl 10 was controlled so as to the driving posture of driving sandy soil.
And if pitching hydraulic cylinder 20B supply pressure oil not to the right and make it become halted state, pitching hydraulic cylinder 20A supply pressure oil and make its elongation left only, then scraper bowl 10 carries out right bank and moves work (right-hand member of scraper bowl 10 tilts mobile downwards).On the contrary, if shrink left pitching hydraulic cylinder 20A, then scraper bowl 10 carries out left bank and moves work (left end of scraper bowl 10 tilts mobile downwards).
But, when the operation of stripping table soil such as excavating in the open, because bulldozer muck haulage at a distance, so wish the back rake angle of increasing scraper bowl 10 and increase the sandy soil amount.Therefore the maximum back rake angle with scraper bowl 10 is made as about 45 °, but the scraper bowl 10 when being in maximum back rake angle is near car body 20x.
If begin scraper bowl 10 operation of tilting from the state that is in maximum back rake angle, then as shown in Figure 8, scraper bowl 10 more approaches car body 20x, clashes with the radiator guard shield that is positioned at its front etc.Because scraper bowl 10 surpasses the angle of slope limits value when operating the angle of slope fast, therefore be easy to produce this conflict.On the other hand, if slowly operate pitch velocity, then scraper bowl 10 just stops before the angle of slope that arrives operator's expectation, so can not get the angle of slope of operator's expectation.
As mentioned above, even for experienced operators, also difficulty tilts operation and pitch velocity and angle of slope is controlled to be optimum state scraper bowl 10 fast.That is,, therefore,, also have little time, cause scraper bowl 10 conflict radiator guard shields etc. even the operator handles the supply of control lever with the pressure oil that stops left and right sides pitching hydraulic cylinder 20A, 20B because the inertia of scraper bowl 10 is bigger.This is to need about 0.5 second hydraulic response time to produce because of existing hydraulic press.
For addressing these problems, as illustrated in fig. 10, if lengthening beam 15A, 15B then can avoid a conflict with the distance between the car body 20x that strengthens scraper bowl 10 and bulldozer 20.
But, be that center of gravity to the distance of the blade tip of scraper bowl 10 of Lw, driving wheel 20y is Lf if establish center to the distance of position of centre of gravity G of weight W, the driving wheel 20y of bulldozer 20, then by following formula
F=(Lw/Lf) W as can be known, if strengthen the distance of the center of driving wheel 20y to the blade tip of scraper bowl 10, the blade tip F that then can produce scraper bowl 10 diminishes and reduces the problem of work capacity.And, be that the center length L 1 of rotating is elongated owing to make scraper bowl 10 with bolt 15a, the 15b of beam 15A, 15B, therefore the amount of movement sensitivity of the scraper bowl 10 corresponding with operator's controlled quentity controlled variable improves, thereby is difficult to operation.
Therefore, for guaranteeing the blade tip power F of scraper bowl 10, shown in Figure 10 A, be necessary scraper bowl 10 is located at the position that is close with car body 20x.The applicant proposed the aforesaid control device that bulldozer 20 is carried out inclination, the pitching operation of scraper bowl 10 in Japanese kokai publication hei 2-204536 number.
But the soil-shifting capacity for the scraper bowl 10 that increases bulldozer 20 must increase back rake angle and accelerate pitch velocity.And in than wide-angle, the operation that must stop to tilt is not so that scraper bowl 10 exceeds the angle of slope limits value at angle of slope that the operator operates scraper bowl 10.At this moment, the judgement of the operation that when stops to tilt becomes important, but because this angle of slope limits value changes with the back rake angle of scraper bowl 10, so operator self is difficult to judge.So, for stopping scraper bowl 10 not clashing, operator's operation of can only repeatedly tilting.
And, then can surpass the angle of slope limits value if improve the pitch velocity of scraper bowl 10, if reduce the pitch velocity of scraper bowl 10, the angle of slope that then will reach operator's expectation needs the time and is difficult to driving.For this reason, the machine that needs high price such as proportional control valve.
The present invention proposes for addressing these problems, its purpose is to provide a kind of control device and control method thereof, even strengthen bulldozer etc. scraper bowl back rake angle and operate the angle of slope significantly with pitch velocity faster, also can when arriving predetermined inclination limits value, control automatically, and can prevent conflicting between scraper bowl and the car body so that the inclination operation of scraper bowl stops exactly.
The scraper bowl control device of bulldozer of the present invention comprises: at front end free scraper bowl of joltily installing on fore-and-aft direction of the beam of car body both sides; One end is installed on the scraper bowl and the other end is installed on the car body and the left and right sides lifting hydraulic cylinder that scraper bowl is carried out lifting control; One end is installed on the scraper bowl and the other end is installed on the beam, scraper bowl is leaned forward and hypsokinesis control and make tilt to the left and right pitching hydraulic cylinder about control of scraper bowl by in first, second directional control valve any by first, second directional control valve; Also comprise: the left and right sides detector that detects the tilt quantity of described scraper bowl; Be connected the limiting valve that tilts on the operating portion of first, second directional control valve; When the difference by the detected tilt quantity of described left and right sides detector reaches the predetermined restricted value to this controller of limiting valve output order that tilt with the tilting action that stops scraper bowl.
Be provided with delay circuit in this controller, be used for a certain fixed time before the difference of the amount of tilting reaches the predetermined restricted value, calculate the correction value that this tilting action of sening as an envoy to stops.
The detector that detects described bucket tilt amount comprises the yoke angle transducer of the rotational angle that detects the yoke of supporting left and right sides lifting hydraulic cylinder respectively and detects the stroke sensor of the impulse stroke of left and right sides pitching hydraulic cylinder respectively.
The scraper bowl control method of bulldozer of the present invention, carry out the lifting that telescopic drive is controlled scraper bowl by left and right sides lifting hydraulic cylinder to car body, and by first, the second direction control valve is pitching hydraulic cylinder supply pressure oil and carry out telescopic drive simultaneously to the left and right, thus scraper bowl is leaned forward and hypsokinesis control, also by first, in the second direction control valve any be any supply pressure oil in the pitching hydraulic cylinder and carry out telescopic drive to the left and right, controlling scraper bowl thus tilts to the left and right, and, when described scraper bowl "Left"-deviationist or Right deviation, by each tilt quantity about the detector detection, if the difference of each tilt quantity about this is the predetermined restricted value, then stop the inclination operation of scraper bowl according to the instruction of controller.
Stop the instruction of bucket tilt operation, be about the difference of each tilt quantity a certain fixed time slave controller output before reaching the predetermined restricted value.
Detect the rotational angle of the yoke of supporting left and right sides lifting hydraulic cylinder respectively as each operational ton about described, and calculate yoke differential seat angle limits value by its average yoke goniometer, if left and right sides yoke differential seat angle reaches the predetermined restricted value, then automatically the limiting valve that tilts on the operating portion that is connected in first, second directional control valve is opened operation, and stop the inclination operation of scraper bowl.Perhaps, detect the impulse stroke of left and right sides pitching hydraulic cylinder respectively, and calculate the progressive error limits value,, then automatically the limiting valve that tilts is opened operation, and stop the inclination operation of scraper bowl if left and right sides progressive error reaches the predetermined restricted value by its average stroke.
According to such structure, from by detect the bucket tilt amount about the amount of tilting that detects of detector obtain the average tilt amount, and from this average tilt amount coefficient calculations according to the rules quantitative limitation value that goes out to tilt.Whether the difference of the tilt quantity about judging then is less than limits value.When the difference of the amount of tilting during greater than limits value, the slave controller output instruction signal is so that automatically open operation to any solenoid in the limiting valve that tilts.Perhaps, when the difference of the amount of tilting during less than limits value, the slave controller output instruction signal is so that automatically turn-off operation to any solenoid in the limiting valve that tilts.
As mentioned above, even strengthen bulldozer etc. scraper bowl back rake angle and operate the angle of slope significantly with pitch velocity faster, then control automatically so that the inclination operation of scraper bowl stops if reaching predetermined inclination limits value, therefore, can prevent conflicting of scraper bowl and car body, the operator can operate scraper bowl safely.
And, owing in controller, consider the response of hydraulic press, and be provided with delay circuit, about the operation that stops to tilt of the difference of the tilt quantity a certain fixed time before reaching the predetermined restricted value, therefore can correctly stop the inclination operation of scraper bowl.
Here, the tilt quantity of scraper bowl is to be detected by the yoke angle transducer that respectively rotational angle of the yoke of supporting left and right sides lifting hydraulic cylinder is detected, and is perhaps detected by the stroke sensor that respectively impulse stroke of left and right sides pitching hydraulic cylinder is detected.
Brief description of drawings:
Figure 1A is the side view of the bulldozer that relates to of the first embodiment of the present invention;
Figure 1B is the key diagram of the yoke angle transducer of Figure 1A;
Fig. 2 is the control loop figure of the scraper bowl that relates to of first embodiment;
Fig. 3 is the block diagram of the control device that relates to of first embodiment;
Fig. 4 represents yoke differential seat angle limits value that first embodiment relates to and the chart that concerns between the time;
Fig. 5 is the flow chart of the scraper bowl control that relates to of first embodiment;
Fig. 6 is the key diagram of driving posture, forward lean and the hypsokinesis posture of expression scraper bowl;
Fig. 7 A, Fig. 7 B, Fig. 7 C are the job state key diagrams of the bulldozer in each posture of Fig. 6;
Fig. 8 is the scraper bowl of bulldozer and the conflict situation key diagram between the radiator guard shield;
Fig. 9 A is the side view of the bulldozer that relates to of the second embodiment of the present invention;
Fig. 9 B is the part figure of the scraper bowl control loop that relates to of second embodiment;
Figure 10 A is the blade tip power key diagram of existing bulldozer;
Figure 10 B is existing other the blade tip power key diagram of bulldozer.
Below, describe the scraper bowl control device of the bulldozer that the present invention relates to and first embodiment of control method thereof in detail in conjunction with Figure 1A to Fig. 5.
Shown in Figure 1A, at rotatable each yoke 22A, the 22B of being equipped with freely of the left and right sides of the car body 20x of bulldozer 20.Fixing the end of each hydraulic cylinder 21A, 21B on each yoke 22A, 22B, and its other end is fixed on respectively on the scraper bowl 10.Each yoke angle transducer 23a, the 23b that detects the rotational angle of each yoke 22A, 22B be installed in car body 20x about.Shown in Figure 1B, each yoke angle transducer 23a, 23b can detect corresponding to the yoke angle θ of horizontal plane be mounted.
As the control loop of scraper bowl 10, in Fig. 2, represented inclination, leaned forward and the operation circuit of hypsokinesis.And, because therefore the operation circuit of lifting and identical omit in the past.The discharge line of hydraulic pump 40A links to each other with the second hydraulic cylinder 20A by second direction control valve 35.The discharge line of hydraulic pump 41A links to each other with the second hydraulic cylinder 20B by second direction control valve 36.Each hydraulic pump 40A, 41A are the fixed capacity types, and auxiliary discharge loop with hydraulic pump 40B is connected on the discharge loop of hydraulic pump 40A with electromagnetic valve 33 by auxiliary.Auxiliary discharge loop with hydraulic pump 41B is connected on the discharge loop of hydraulic pump 41A with electromagnetic valve 34 by auxiliary.
About yoke angle transducer 23a, 23b be connected on the controller 50.And, from about yoke angle transducer 23a, the signal of 23b be input to controller 50, come the output signal of self-controller 50 to be output according to this signal to left bank limiting valve 37 or right bank limiting valve 38.
Lean forward change-over switch 27 and the hypsokinesis change-over switch 26 that are attached on the action bars 25 are connected on the controller 50.The output signal of controller 50 is inputed to respectively, and each is auxiliary with electromagnetic valve 33,34, lean forward control valve 30 and hypsokinesis control valve 31, pitch tilt switching control valve 32.Action bars 25 is operated to the left, and then scraper bowl 10 is tilted to the left, operation to the right, and then scraper bowl 10 is tilted to the right.
Below, describe controller 50 in detail according to Fig. 3.Be input to adder 51 in the controller 50 from the output voltage φ L of left yoke angle transducer 23a with from each signal of the output voltage φ R of right yoke angle transducer 23b.Adder 51 is to first calculating part, 52 output average yoke angle θ y signals.The coefficient of first calculating part 52 during by predetermined angle of slope limits value calculates yoke differential seat angle limits value θ 0 according to average yoke angle θ y, and exports its signal.Wherein, the coefficient of first calculating part 52 that is set makes the yoke differential seat angle limits value θ 0 of the longitudinal axis diminish when the average yoke angle θ of transverse axis y becomes big, on the contrary, makes the yoke differential seat angle limits value θ 0 of the longitudinal axis become big when average yoke angle θ y diminishes.That is, the back rake angle (corresponding to average yoke angle θ y) according to scraper bowl 10 changes angle of slope limits value (corresponding to yoke differential seat angle limits value θ 0).
On the other hand, be input to first comparator 53 in the controller 50 from the output voltage φ L of left yoke angle transducer 23a with from each signal of the output voltage φ R of right yoke angle transducer 23b.First comparator 53 is directly inputted into second calculating part 58 and second comparator 55 with yoke differential seat angle θ d signal, also inputs to second comparator 55 by delay circuit 54 simultaneously.Second comparator 55 is to the 3rd comparator 56 input yoke differential seat angle correction value Δ d signals, and first calculating part 52 is also to the 3rd comparator 56 input yoke differential seat angle limits value θ 0 signal.The 3rd comparator 56 is to poor (the θ 0-Δ d) of second calculating part, 58 output yoke differential seat angle limits value θ 0 signals and yoke differential seat angle correction value Δ d signal.
Second calculating part 58 calculates from the yoke differential seat angle θ d signal of first comparator 53 and difference θ d-(θ 0-Δ d) from the signal (θ 0-Δ d) of the 3rd comparator 56, when
During θ d＞(θ 0-Δ d), the solenoidal instruction that the limiting valve 37,38 that tilts is opened in output stops the inclination operation of scraper bowl 10.Then, the signal when second calculating part 58 will be exported this instruction (θ 0-Δ d) is as θ 1, and this signal is stored in the memory 57.
Second calculating part 58 calculates the yoke differential seat angle θ d signal and signal θ 1 that is read by memory 57 and the difference θ d-(θ 1-θ H) of correction value θ H (being equivalent to magnetic hysteresis loss) thereof from first comparator 53, when
During θ d＜(θ 1-θ H), the solenoidal instruction of the inclination limiting valve 37,38 about output is turn-offed makes scraper bowl 10 operation of tilting.
At this moment, as shown in Figure 4, the solenoid of the inclination limiting valve 37,38 about controlled begins the work of opening at the B1 point, and in the inclination operation that stops scraper bowl 10 from this moment through the A1 point of t1 after the time.That is, scraper bowl 10 stops with precision preferably in yoke differential seat angle limits value θ 0.In the present embodiment, the response of the inclination limiting valve 37,38 about considering, and will be set at about 0.5 second this time delay.
Below, illustrate scraper bowl 10 that this aspect relates to about the inclination operation.
If action bars 25 is operated left, then the controlled pressure oil from control pump 29 flow in the control valve 30 that leans forward as illustrated in fig. 2.At this moment, lean forward change-over switch 27 and the hypsokinesis change-over switch 26 of action bars 25 are off state all, and the control valve 30 that leans forward is in the A position, and pitch tilt is switched and also is in the A position with electromagnetic valve 32.Thereby controlled pressure oil acts on the operating portion 35a of first direction control valve 35 by the A position of left bank limiting valve 37, and first direction control valve 35 switches to the B position from neutral condition.
Therefore, the pressure oil of discharging from hydraulic pump 40A flow into the cup of the first pitching hydraulic cylinder 20A, and the first hydraulic cylinder 20A is shunk.At this moment, second direction control valve 36 is in neutral condition, is not provided for the second pitching hydraulic cylinder 20B from the pressure oil of hydraulic pump 41A, and the second pitching hydraulic cylinder 20B is in halted state.Therefore, if the first hydraulic cylinder 20A shrinks, then scraper bowl 10 is tilted to the left.
In the operation that scraper bowl is tilted to the left, from about yoke angle transducer 23a, the signal of 23b be input to controller 50.Controller 50 is based on these signals, calculates yoke differential seat angle limits value θ 0 by predetermined coefficients, and in about 0.5 second moment before reaching this value, the control valve 37 that is tilted to the left sends opens operation signal.In view of the above, left bank control valve 37 switches to the B position from the A position, and controlled pressure oil is cut off, so first direction control valve 35 turns back to neutral condition from the B position.Thereby, stopping supply to the pressure oil of the first pitching hydraulic cylinder 20A, scraper bowl 10 stops the operation of tilting.
If action bars 25 is operated to the right, then the controlled pressure oil from control pump 29 flow in the hypsokinesis control valve 31.At this moment, lean forward change-over switch 27 and the hypsokinesis change-over switch 26 of action bars 25 all are off state, and hypsokinesis control valve 31 is in the A position, and pitch tilt is switched and also is in the A position with electromagnetic valve 32.Thereby controlled pressure oil acts on the operating portion 35b of first direction control valve 35 by the A position of right bank limiting valve 38, and first direction control valve 35 switches to the A position from neutral condition.
Therefore, the pressure oil of discharging from hydraulic pump 40A flow into the back chamber of the first pitching hydraulic cylinder 20A, makes first hydraulic cylinder 20A elongation.At this moment, second direction control valve 36 is in neutral condition, is not provided for the second pitching hydraulic cylinder 20B from the pressure oil of hydraulic pump 41A, and the second pitching hydraulic cylinder 20B is in halted state.Therefore, if first hydraulic cylinder 20A elongation, then scraper bowl 10 is tilted to the right.
In the operation that scraper bowl is tilted to the right, from about yoke angle transducer 23a, the signal of 23b be input to controller 50.Controller 50 is based on these signals, calculates yoke differential seat angle limits value θ 0 by predetermined coefficients, and in about 0.5 second moment before reaching this value, the control valve 38 that is tilted to the right sends opens operation signal.In view of the above, right bank control valve 38 switches to the B position, and controlled pressure oil is cut off, so first direction control valve 35 turns back to neutral condition from the A position.Thereby, stopping supply to the pressure oil of the first pitching hydraulic cylinder 20A, scraper bowl 10 stops the operation of tilting.
Below, the hypsokinesis of the scraper bowl 10 that present embodiment relates to and the operation of leaning forward are described.
In the hypsokinesis and the operation of leaning forward, the limiting valve 37,38 that tilts is not transfused to the command signal of coming self-controller 50, all is in A position (open position).
If place the hypsokinesis switch 26 of action bars 25 open-minded, then the switching of hypsokinesis control valve 31 and pitch tilt switches to the B position from the A position respectively with electromagnetic valve 32, the command signal of self-controller 50 is input to each auxiliary using in the electromagnetic valve 33,34 simultaneously, and each pilot solenoid valve 33,34 also switches to the B position from the A position.Therefore, collaborate the discharge line of each hydraulic pump 40A, 41A from each auxiliary flow of discharging with hydraulic pump 40B, 41B.
At this moment, from the controlled pressure oil of control pump 29,, switch the operating portion 36b that is added to second direction control valve 36 with electromagnetic valve 32 through pitch tilt from the B position of hypsokinesis control valve 31, simultaneously, be added to the operating portion 35b of first direction control valve 35 from the B position of hypsokinesis control valve 31.Therefore, first direction control valve 35 and second direction control valve 36 switch to the A position from neutral condition, the pressure oil of discharging from hydraulic pump 40A flows into the back chamber of the first hydraulic cylinder 20A by first direction control valve 35, and the pressure oil of discharging from hydraulic pump 41A flows into the back chamber of the second hydraulic cylinder 20B by second direction control valve 36.Thereby the first hydraulic cylinder 20A and the second hydraulic cylinder 20B extend simultaneously, and scraper bowl 10 leans forward rapidly.
If place the switch 27 that leans forward of action bars 25 open-minded, control valve 30 and the pitch tilt of then leaning forward inclination switching switches to the B position from the A position respectively with electromagnetic valve 32, be input to each auxiliary using in the electromagnetic valve 33,34 from its command signal of 50 of control simultaneously, each pilot solenoid valve 33,34 also switches to the B position from the A position.Therefore, collaborate the discharge line of each hydraulic pump 40A, 41A from each auxiliary flow of discharging with hydraulic pump 40B, 41B.
At this moment, from the controlled pressure oil of control pump 29,, switch the operating portion 36a that is added to second direction control valve 36 with electromagnetic valve 32 through pitch tilt from the B position of hypsokinesis control valve 30, simultaneously, be added to the operating portion 35a of first direction control valve 35 from the B position of hypsokinesis control valve 30.Therefore, first direction control valve 35 and second direction control valve 36 switch to the B position from neutral condition, the pressure oil of discharging from hydraulic pump 40A flows into the cup of the first hydraulic cylinder 20A by first direction control valve 35, and the pressure oil of discharging from hydraulic pump 41A flows into the cup of the second hydraulic cylinder 20B by second direction control valve 36.Thereby the first hydraulic cylinder 20A and the second hydraulic cylinder 20B shrink simultaneously, and scraper bowl 10 carries out hypsokinesis rapidly.
Below, in conjunction with the scraper bowl control method of the flowchart text present embodiment of Fig. 5.
At first, in step S1, read in by about yoke angle transducer 23a, 23b detect about yoke angle θ.Average yoke angle θ y about in step S2, calculating.
In step S3, coefficient is in accordance with regulations calculated yoke differential seat angle limits value θ 0 by average yoke angle θ y.In step S4, calculate yoke differential seat angle correction value (or rate of change) Δ d.In step S5, will about the solenoid of inclination limiting valve 37,38 when being opened yoke differential seat angle limits value θ 0 and poor (the θ 0-Δ d) of yoke differential seat angle correction value Δ d as θ 1, and with this signal storage in memory 57.
In step S6, judge that whether yoke differential seat angle θ d is less than limits value.As yoke differential seat angle θ d during, enter step S7 and judge whether to be "Left"-deviationist greater than limits value.If "Left"-deviationist here then enters step S8, slave controller 50 output instruction signals are to open the solenoidal operation of left bank limiting valve 37.If not "Left"-deviationist then enters step S9, slave controller 50 output instruction signals are to open the solenoidal operation of right bank limiting valve 38.Turn back to step S1 then.
As mentioned above, by about yoke angle θ obtain average yoke angle θ y, coefficient is in accordance with regulations calculated yoke differential seat angle limits value θ 0, the solenoid of the inclination limiting valve 35,36 about yoke differential seat angle θ d automatically opens during greater than limits value, and stop the inclination operation of scraper bowl 100 exactly, thereby scraper bowl is not conflicted to car body 20x etc.
Though above explanation be the inclination operation of scraper bowl 10 time situation, unquestionable, present embodiment is also applicable to the descending operation of scraper bowl 10.
Below, second embodiment that explanation the present invention relates to reference to Fig. 9 A, Fig. 9 B.In the present embodiment, each stroke sensor 20a, 20b of testing stroke have been installed, to replace each yoke angle transducer 23a, 23b greater than the left and right sides that is installed on car body 20x among the embodiment on pitching hydraulic cylinder 20A, the 20B of operation that scraper bowl 10 is tilted.Because other structure is identical with first embodiment, therefore on figure, has annotated label and omitted explanation.
Pitching hydraulic cylinder 20A about detecting by each stroke sensor 20a, 20b, the impulse stroke of 20B, and with its signal to controller 50 inputs.Controller 50 is obtained stroke average by its signal, and calculates the progressive error limits value.Then, when impulse stroke difference during greater than this limits value, the solenoid of the inclination limiting valve 37,38 about automatically opening stops the inclination operation of scraper bowl 10 exactly, thereby scraper bowl 10 can not conflicted to car body 20x etc.
According to first, second embodiment, scraper bowl 10 can not conflict and go up and the generation breakage to car body 20x.And, because the operator can operate scraper bowl 10 safely, therefore reduce sense of fatigue, improve operation.
Scraper bowl control device of the present invention and control method thereof, even strengthen bulldozer etc. scraper bowl back rake angle and operate the angle of slope significantly with pitch velocity faster, also can when arriving predetermined inclination limits value, control automatically so that the inclination operation of scraper bowl stops exactly, and can prevent conflicting between scraper bowl and the car body, therefore with practical value.
Claims (8)
1. the scraper bowl control device of a bulldozer comprises: the scraper bowl of joltily installing in the fore-and-aft direction freedom on the front end of the beam (15A, 15B) of car body both sides (10); One end is installed in that scraper bowl (10) is gone up and the other end is installed on the car body and the left and right sides lifting hydraulic cylinder (21A, 21B) that scraper bowl (10) is carried out lifting control; One end is installed in that scraper bowl (10) is gone up and the other end is installed in beam (15A, 15B) and goes up, scraper bowl (10) is leaned forward and hypsokinesis is controlled and make tilt the to the left and right left and right sides pitching hydraulic cylinder (20A, 20B) of control of scraper bowl (10) by in first, second directional control valve (35,36) any by first, second directional control valve (35,36), it is characterized in that, also comprise: the left and right sides detector that detects the tilt quantity of described scraper bowl (10); Be connected the limiting valve that tilts (37,38) on the operating portion (35a, 35b) of first, second directional control valve (35,36); When the difference by the detected tilt quantity of described left and right sides detector reaches the predetermined restricted value, to the controller (50) of the described limiting valve that tilts (37,38) output order with the inclination operation that stops scraper bowl (10).
2. the scraper bowl control device of bulldozer as claimed in claim 1 is characterized in that, is provided with delay circuit in described controller (50), be used for about the difference of each tilt quantity a certain fixed time (t before reaching the predetermined restricted value
1), calculate the correction value that the tilting action of sening as an envoy to stops.
3. as the scraper bowl control device of claim 1,2 described bulldozers, it is characterized in that the detector that detects described scraper bowl (10) tilt quantity is the yoke angle transducer (23a, 23b) that detects the rotational angle of the yoke of supporting described left and right sides lifting hydraulic cylinder (21A, 21B) respectively.
4. as the scraper bowl control device of claim 1,2 described bulldozers, it is characterized in that the detector that detects described scraper bowl (10) tilt quantity is the stroke sensor (20a, 20b) that detects the impulse stroke of described left and right sides pitching hydraulic cylinder (20A, 20B) respectively.
5. the scraper bowl control method of a bulldozer, by left and right sides lifting hydraulic cylinder (21A to car body, 21B) carry out telescopic drive and control the lifting of scraper bowl (10), and by first, second direction control valve (35,36) pitching hydraulic cylinder (20A to the left and right, 20B) supply pressure oil and carry out telescopic drive simultaneously, thus scraper bowl (10) is leaned forward and hypsokinesis control, also by first, second direction control valve (35,36) the pitching hydraulic cylinder (20A to the left and right of any in, any supply pressure oil 20B) and carry out telescopic drive, controlling scraper bowl (10) thus tilts to the left and right, it is characterized in that, when (10) "Left"-deviationist of described scraper bowl or Right deviation, by each tilt quantity about the detector detection, if the difference of each tilt quantity about described is the predetermined restricted value, then stop the inclination operation of scraper bowl (10) according to the instruction of controller (50).
6. the scraper bowl control method of bulldozer as claimed in claim 5 is characterized in that, stops the instruction of the inclination operation of scraper bowl (10), be about the difference of each tilt quantity a certain fixed time (t before reaching the predetermined restricted value
1) slave controller output.
7. as the scraper bowl control method of claim 5,6 described bulldozers, it is characterized in that, detect as each tilt quantity about described and respectively the rotational angle of the yoke of supporting the lifting hydraulic cylinder (21A, 21B) about described, and calculate yoke differential seat angle limits value by these average yoke goniometers, if about the yoke differential seat angle reach the predetermined restricted value, then automatically the limiting valve that tilts (37,38) on the operating portion (35a, 36b) that is connected in first, second directional control valve (35,36) is opened operation, and stop the inclination operation of scraper bowl.
8. as the scraper bowl control method of claim 5,6 described bulldozers, it is characterized in that, detect the impulse stroke of left and right sides pitching hydraulic cylinder (20A, 20B) respectively, and calculate the progressive error limits value by these average stroke, if about progressive error reach the predetermined restricted value, then automatically the limiting valve that tilts (37,38) on the operating portion (35a, 36b) that is connected in first, second directional control valve (35,36) is opened operation, and stop the inclination operation of scraper bowl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 96192737 CN1179194A (en) | 1995-03-23 | 1996-03-22 | Device for controlling balldozing blade of bulldozer and method thereof |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP88627/95 | 1995-03-23 | ||
| CN 96192737 CN1179194A (en) | 1995-03-23 | 1996-03-22 | Device for controlling balldozing blade of bulldozer and method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1179194A true CN1179194A (en) | 1998-04-15 |
Family
ID=5128437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 96192737 Pending CN1179194A (en) | 1995-03-23 | 1996-03-22 | Device for controlling balldozing blade of bulldozer and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1179194A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1306122C (en) * | 2002-07-15 | 2007-03-21 | 株式会社小松制作所 | Controller for oscillating hydraulic bucket shovelling machine |
| CN102220771A (en) * | 2010-04-16 | 2011-10-19 | 天津建筑机械厂 | Safe startup device for hydraulic bulldozer |
| CN102808731A (en) * | 2012-08-23 | 2012-12-05 | 上海汇益控制系统股份有限公司 | Wind power generation double-hydraulic control variable pitch system |
| CN103732832A (en) * | 2012-08-06 | 2014-04-16 | 株式会社小松制作所 | Work machines and automatic control method for work machine blades |
| CN105090147B (en) * | 2014-05-19 | 2018-11-06 | 卡特彼勒公司 | Power tool pitch control system for machine |
| CN111501868A (en) * | 2020-05-14 | 2020-08-07 | 三一重机有限公司 | Control method and system for working device of two-section arm wheel type excavator |
| CN111989439A (en) * | 2018-05-31 | 2020-11-24 | 株式会社小松制作所 | Blade control device and blade control method |
-
1996
- 1996-03-22 CN CN 96192737 patent/CN1179194A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1306122C (en) * | 2002-07-15 | 2007-03-21 | 株式会社小松制作所 | Controller for oscillating hydraulic bucket shovelling machine |
| CN102220771A (en) * | 2010-04-16 | 2011-10-19 | 天津建筑机械厂 | Safe startup device for hydraulic bulldozer |
| CN102220771B (en) * | 2010-04-16 | 2013-04-24 | 天津建筑机械厂 | Safe startup device for hydraulic bulldozer |
| CN103732832A (en) * | 2012-08-06 | 2014-04-16 | 株式会社小松制作所 | Work machines and automatic control method for work machine blades |
| CN103732832B (en) * | 2012-08-06 | 2015-06-03 | 株式会社小松制作所 | Work machines and automatic control method for work machine blades |
| CN102808731A (en) * | 2012-08-23 | 2012-12-05 | 上海汇益控制系统股份有限公司 | Wind power generation double-hydraulic control variable pitch system |
| CN105090147B (en) * | 2014-05-19 | 2018-11-06 | 卡特彼勒公司 | Power tool pitch control system for machine |
| CN111989439A (en) * | 2018-05-31 | 2020-11-24 | 株式会社小松制作所 | Blade control device and blade control method |
| CN111989439B (en) * | 2018-05-31 | 2022-07-08 | 株式会社小松制作所 | Blade control device and blade control method |
| US12031291B2 (en) | 2018-05-31 | 2024-07-09 | Komatsu Ltd. | Blade control device and blade control method |
| CN111501868A (en) * | 2020-05-14 | 2020-08-07 | 三一重机有限公司 | Control method and system for working device of two-section arm wheel type excavator |
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