Motor grader working device, its control method, and motor grader

Abstract

The present disclosure relates to a grader working device, a control method thereof, and a grader. The grader working device includes a blade mechanism (2) including a blade (21); a soil loosening mechanism (1) including a mounting member, a connecting member, and a soil loosening working member. The mounting member is mounted on the blade mechanism (2). The connecting member is swingably connected to the mounting member in a vertical plane in the front-rear direction of the grader. The soil loosening working member is arranged in the same direction as the extending direction of the blade (21) and is rotatably arranged about its own axis on the connecting member. The connecting member is configured to swing to a first position or a second position selectively according to the working condition of the blade (21). When in the first position, the soil loosening working member is located in front of the blade (21); when in the second position, the soil loosening working member is located behind the blade (21).

Description

Technical Field

[0001] The present disclosure relates to the technical field of motor graders, and in particular, to a working device of a motor grader, a control method thereof, and a motor grader. Background Art

[0002] A motor grader is one of the important devices in national defense, transportation, agriculture, and water conservancy infrastructure construction, and is mainly used for soil leveling operations and construction operations such as slope scraping, trench digging, earth pushing, soil loosening, and snow removal on the road surface.

[0003] When the soil is relatively hard, it is necessary to loosen the hard soil in advance to reduce the resistance suffered by the scraper blade during operation. As Figure 1 shown, the motor grader in the related art uses a middle loosening mechanism 2A or a rear loosening mechanism 3A for soil loosening. Among them, the middle loosening mechanism 2A is located in the middle position of the traction frame and in front of the scraper blade 2A, which occupies a large space and affects the adjustment of the side-standing posture of the scraper blade; the rear loosening mechanism 3A cannot meet the seamless connection between the soil loosening and leveling operations. After the soil loosening operation, it is necessary to turn back for the leveling operation, resulting in low efficiency. Summary of the Invention

[0004] Embodiments of the present disclosure provide a working device of a motor grader, a control method thereof, and a motor grader, which can achieve seamless connection between the soil loosening and leveling operation conditions without affecting the adjustment of the scraper blade posture.

[0005] The first aspect of the present disclosure provides a working device of a motor grader, including:

[0006] A scraper blade mechanism, including a scraper blade;

[0007] A soil loosening mechanism, including a mounting component, a connecting component, and a soil loosening working component. The mounting component is mounted on the scraper blade mechanism. The connecting component is swingably connected to the mounting component in a vertical plane in the front-rear direction of the motor grader. The soil loosening working component is arranged in the same direction as the extension direction of the scraper blade and is rotatably arranged on the connecting component around its own axis;

[0008] Wherein, the connecting component is configured to swing to a first position or a second position selectively according to the working condition of the scraper blade. When in the first position, the soil loosening working component is located in front of the scraper blade; when in the second position, the soil loosening working component is located behind the scraper blade.

[0009] In some embodiments, when the resistance suffered by the scraper blade during the leveling operation is greater than a preset resistance, the connecting component is in the first position;

[0010] When the resistance suffered by the scraper blade during the leveling operation is not greater than the preset resistance, the connecting component is in the second position; and / or

[0011] When the blade performs slope scraping operation, the connecting component is configured to be in the first position first, and then switch to the second position after the blade is adjusted to the slope scraping posture.

[0012] In some embodiments, the blade mechanism further includes:

[0013] an upper guide rail component and a lower guide rail component, which are arranged at intervals in the up-down direction on the rear side of the blade;

[0014] wherein, the mounting component is fixed to the lower guide rail component.

[0015] In some embodiments, the soil loosening mechanism further includes:

[0016] a first driving component, arranged on the mounting component, and configured to provide a driving force for the swinging of the connecting component; and / or

[0017] a second driving component, arranged on the connecting component, and configured to provide a driving force for the rotation of the soil loosening working component.

[0018] In some embodiments, the connecting component includes:

[0019] a rotating shaft, which is consistent with the extending direction of the blade and is rotatably connected to the mounting component; and

[0020] two connecting rod components, which are respectively located on both sides of the blade in the left-right direction. The first ends of the two connecting rod components are respectively fixedly connected to the two ends of the rotating shaft, and the second ends of the two connecting rod components are respectively rotatably connected to the two ends of the soil loosening working component.

[0021] In some embodiments, the mounting component includes:

[0022] a base plate, fixed to the blade mechanism; and

[0023] at least two support seats, both fixed to the base plate and distributed on both sides of the center position of the rotating shaft along its axial direction. Through holes are provided on the support seats;

[0024] wherein, the rotating shaft sequentially passes through the through holes of the at least two support seats and is rotatably arranged relative to the at least two support seats.

[0025] In some embodiments, the soil loosening working component includes:

[0026] a roller shaft, the two ends of which are respectively rotatably connected to the second ends of the two connecting rod components; and

[0027] a plurality of cutter tooth groups, which are sequentially arranged along the axial direction of the roller shaft, and each cutter tooth group includes a plurality of cutter teeth arranged circumferentially along the roller shaft.

[0028] In some embodiments, the cutter teeth include:

[0029] The tooth base is installed on the side wall of the roller shaft, and an installation groove is provided on the tooth base; and

[0030] The tooth tip is detachably arranged in the installation groove.

[0031] In some embodiments, the connecting rod component is telescopically arranged.

[0032] In some embodiments, the connecting rod component includes:

[0033] The connecting rod body is provided with a slideway cavity along its own length direction. The slideway cavity has an opening at the second end of the connecting rod body, and the first end of the connecting rod body is fixed to the end of the rotating shaft;

[0034] The sliding rod, the first end of the sliding rod is movably arranged in the slideway cavity and closes the opening, and the second end of the sliding rod is rotatably connected to the end of the soil loosening working component; and

[0035] The third driving component is configured to provide driving force for the movement of the sliding rod. The third driving component is arranged in the slideway cavity. The first end of the third driving component is rotatably connected to the rotating shaft, and the second end of the third driving component is connected to the first end of the sliding rod through a ball joint.

[0036] In some embodiments, the soil loosening mechanism further includes:

[0037] The second driving component is configured to provide driving force for the rotation of the soil loosening working component;

[0038] Wherein, the second end of the sliding rod is provided with an installation hole, and the second driving component is embedded in the installation hole.

[0039] In some embodiments, the soil loosening mechanism further includes:

[0040] The first driving component is configured to provide driving force for the swing of the connecting component;

[0041] The third driving component is configured to provide driving force for the telescopic movement of the connecting rod component;

[0042] The angle sensor is configured to detect the rotation angle of the rotating shaft;

[0043] The displacement sensor is configured to detect the telescopic displacement of the connecting rod component; and

[0044] The control component is electrically connected to the angle sensor and the displacement sensor, and is configured to control the action amount of the first driving component and the third driving component according to the preset penetration depth, the rotation angle of the rotating shaft and the telescopic displacement of the connecting rod component, so as to adjust the penetration depth of the soil loosening working component.

[0045] The second aspect of the present disclosure provides a grader, including the grader working device of the above embodiment.

[0046] The third aspect of the present disclosure provides a control method for a grader working device based on the above embodiments, including:

[0047] Determine the working condition of the scraper blade;

[0048] According to the working condition of the scraper blade, the connecting component is selectively swung to the first position or the second position.

[0049] In some embodiments, selectively swinging the connecting component to the first position or the second position according to the working condition of the scraper blade includes:

[0050] When the resistance received by the scraper blade during leveling operation is greater than the preset resistance, the connecting component is in the first position;

[0051] When the resistance received by the scraper blade during leveling operation is not greater than the preset resistance, the connecting component is in the second position; and / or

[0052] When the scraper blade performs a slope scraping operation, the connecting component is first in the first position, and then switched to the second position after the scraper blade is adjusted to the slope scraping posture.

[0053] In some embodiments, the control method further includes:

[0054] Adjust the penetration depth of the soil loosening working component to the preset penetration depth.

[0055] In some embodiments, the connecting component includes: a rotating shaft, which is consistent with the extending direction of the scraper blade and is rotatably connected to the mounting component; and two telescopic link components, which are respectively located on both sides of the scraper blade in the left-right direction. The first ends of the two link components are respectively fixedly connected to the two ends of the rotating shaft, and the second ends of the two link components are respectively rotatably connected to the two ends of the soil loosening working component; adjusting the penetration depth of the soil loosening working component includes:

[0056] Obtain the preset penetration depth;

[0057] Detect the rotation angle of the rotating shaft through an angle sensor;

[0058] Detect the telescopic displacement of the link component through a displacement sensor;

[0059] According to the preset penetration depth, the rotation angle of the rotating shaft and the telescopic displacement of the link component, adjust the action amount of the first driving component and the third driving component to adjust the penetration depth of the soil loosening working component.

[0060] Based on the above technical solution, in the grader working device of the present disclosure, the soil loosening mechanism is arranged on the blade mechanism. When the blade performs leveling operations, if soil loosening is required, the soil loosening working components can be swung to the front of the blade so that the soil loosening operation and the leveling operation conditions are seamlessly connected, improving the working efficiency; when soil loosening is not required, the soil loosening working components can be swung to the rear of the blade, which does not affect the blade operation at all, and the switching between different working conditions can be made more flexible. Moreover, when the attitude of the blade mechanism needs to be adjusted, the soil loosening mechanism moves together with the blade mechanism and will not interfere with the blade mechanism, so the influence on the adjustment of the blade attitude can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation to the present disclosure. In the drawings:

[0062] Figure 1 is a schematic structural diagram of a prior art soil loosening mechanism arranged on a grader;

[0063] Figure 2 is an installation schematic diagram of some embodiments of the grader working device of the present disclosure;

[0064] Figure 3 is a schematic structural diagram of some embodiments of the grader working device of the present disclosure;

[0065] Figure 4 is a main schematic diagram of some embodiments of the grader working device of the present disclosure;

[0066] Figure 5 is a schematic structural diagram of the soil loosening mechanism in the grader working device of the present disclosure in the first position;

[0067] Figure 6 is a schematic structural diagram of the soil loosening mechanism in the grader working device of the present disclosure in the second position;

[0068] Figure 7 is a schematic structural diagram of some embodiments of the cutting teeth in the soil loosening mechanism;

[0069] Figure 8 is a schematic diagram of the positional relationship of each part in the soil loosening mechanism;

[0070] Figure 9 is a cross-sectional view of some embodiments of the soil loosening structure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0071] The present disclosure will be described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Each aspect so defined can be combined with any other one or more aspects, unless explicitly stated that they cannot be combined. In particular, any feature considered to be preferred or advantageous can be combined with one or more other features considered to be preferred or advantageous.

[0072] The terms "first", "second", etc. that appear in the present disclosure are only for convenience of description to distinguish different components with the same name, and do not indicate a sequence or primary-secondary relationship.

[0073] In the description of the present disclosure, the orientation or positional relationships indicated by "up", "down", "left", "right", "front", "back", "inside" and "outside" are all defined based on the orientation of the operator sitting in the cab. This is only for the convenience of describing the present disclosure, rather than indicating or implying that the device referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the protection scope of the present disclosure.

[0074] As Figure 2 shown, the grader includes a front frame 3, a traction frame 4, a slewing member 5, a left lifting cylinder 6 and a right lifting cylinder 7. The traction frame 4 is connected to the lower part of the front frame 3 by a ball joint. The traction frame 4 can be in a triangular structure. The front end of the triangular structure is connected to the front end of the front frame 3 by a ball joint. The traction frame 4 can be swung out integrally from the left or right relative to the front frame 3 to perform the slope scraping operation. The left lifting cylinder 6 and the right lifting cylinder 7 are respectively connected to the left and right ends of the rear part of the traction frame 3, so that the left and right or front and rear inclination angles of the traction frame 3 can be changed through coordinated movement.

[0075] The slewing member 5 is below the traction frame 3, and the grader working device 100 is provided below the slewing member 5. For example, the slewing member 5 can be a slewing ring gear, and the slewing ring can be driven by a driving member to rotate, so that the grader working device 100 can rotate in a horizontal plane.

[0076] As Figures 1 to 9 shown, the present disclosure provides a grader working device. In some embodiments, the grader working device includes a blade mechanism 2 and a soil loosening mechanism 1. The blade mechanism 2 includes a blade 21 for performing leveling operations or slope scraping operations.

[0077] The soil loosening mechanism 1 includes a mounting member, a connecting member and a soil loosening working member. The mounting member is mounted on the blade mechanism 2. The connecting member is swingably connected to the mounting member in the vertical plane in the front-rear direction of the grader. The soil loosening working member is arranged in the same direction as the extension direction of the blade 21 and is rotatably arranged on the connecting member about its own axis.

[0078] Wherein, the connecting component is configured to swing to a first position or a second position selectively according to the operating conditions of the blade 21. As Figure 5 shown, when in the first position, the soil loosening working component is located in front of the blade 21; as Figure 6 shown, when in the second position, the soil loosening working component is located behind the blade 21.

[0079] In this embodiment, the soil loosening mechanism 1 is arranged on the blade mechanism 2. When the blade 21 performs a leveling operation, if soil loosening is required, the soil loosening working component can be swung to the front of the blade 21 to seamlessly connect the soil loosening operation and the leveling operation conditions, improving the operation efficiency; when soil loosening is not required, the soil loosening working component can be swung to the rear of the blade 21, which does not affect the operation of the blade 21 at all, and can make the switching of different operation conditions more flexible. Moreover, when the attitude of the blade mechanism 2 needs to be adjusted, the soil loosening mechanism 1 moves together with the blade mechanism 2 and will not interfere with the front frame 3, so the influence on the blade attitude adjustment can be avoided.

[0080] In some embodiments, when the resistance received by the blade 21 during the leveling operation is greater than the preset resistance, that is, the working medium is hard soil, the connecting component is in the first position to loosen the soil first and then level the ground, so that the soil loosening and leveling operations are carried out continuously, without the need for the grader to turn back, which can improve the operation efficiency.

[0081] When the resistance received by the blade 21 during the leveling operation is not greater than the preset resistance, that is, the working medium is loose soil or other working media that are easy to level, the connecting component is in the second position. At this time, soil loosening is not required, and the soil loosening working component is swung to the rear of the blade 21, which does not affect the operation of the blade 21 at all, and can make the switching of different operation conditions more flexible.

[0082] When the blade 21 performs a slope scraping operation, the connecting component is configured to be in the first position first, and then switched to the second position after the blade 21 is adjusted to the slope scraping attitude. When a slope scraping operation needs to be performed, the blade 21 is first moved out of the vehicle body in the left - right direction, and then the blade 21 is made to be in an inclined attitude through the cooperation of the left lifting cylinder 6, the right lifting cylinder 7 or other driving components. Before adjusting the attitude of the blade 21, the connecting component being in the first position can reduce the size of the grader working device 100 in the front - rear direction, which is beneficial to adjusting the attitude of the blade 21, making the adjustment process more stable and not easy to shake. After the attitude of the blade 21 is adjusted, the soil loosening mechanism 1 does not need to act during the slope scraping operation, so the connecting component is switched to the second position to avoid affecting the slope scraping operation.

[0083] In some embodiments, as Figure 2 and Figure 3As shown, the blade mechanism 2 further includes an upper guide rail member 22 and a lower guide rail member 23. Among them, the upper guide rail member 22 and the lower guide rail member 23 are arranged at intervals in the up-down direction on the rear side of the blade 21. Among them, the mounting member is fixed to the lower guide rail member 23, so that when the blade 21 moves left and right, the soil loosening mechanism 1 will also move left and right synchronously with the blade 21. Moreover, installing the soil loosening mechanism 1 on the lower guide rail member 23 is not likely to interfere with the components above the blade 21 and is easy to install.

[0084] In some embodiments, as Figure 3 shown, the soil loosening mechanism 1 further includes a first driving member 12, which is arranged on the mounting member and is configured to provide a driving force for the swinging of the connecting member so that the connecting member switches between a first position and a second position; and / or a second driving member 16, which is arranged on the connecting member and is configured to provide a driving force for the rotation of the soil loosening working member to perform soil loosening operations. The power of the second driving member 16 is determined by the torque applied to the soil loosening and the rotational speed of the roller 17. For example, the first driving member 12 and the second driving member 16 can be motors or motors, etc.

[0085] This embodiment can automatically switch the position of the soil loosening mechanism 1 and start and stop the soil loosening operation, which can improve the automation degree and flexibility of the switching of various operating conditions of the grader and improve the operating efficiency. By setting the second driving member 16, the soil loosening working member relies on the forward movement of the grader and the power provided by the second driving member 16 to loosen the soil at the same time, so that a greater driving force can be obtained when performing the soil loosening operation to improve the soil loosening efficiency and be suitable for different ranges of soil quality.

[0086] In some embodiments, the connecting member includes a rotating shaft 14 and two link members 15. Among them, the rotating shaft 14 is consistent with the extending direction of the blade 21 and is rotatably connected to the mounting member. The two link members 15 are respectively located on both sides of the blade 21 in the left-right direction. The first ends of the two link members 15 are respectively fixedly connected to the two ends of the rotating shaft 14, and the second ends of the two link members 15 are respectively rotatably connected to the two ends of the soil loosening working member. Without considering the arrangement form of the cutter teeth 18, the working device 100 of the grader forms a left-right symmetric structure.

[0087] This embodiment can make the soil loosening mechanism 1 more stably connected to the blade mechanism 2, and make the movement of the soil loosening working member more stable when the connecting mechanism switches between the first position and the second position, thereby improving the system stability.

[0088] In some embodiments, as Figure 3As shown, the mounting component includes: a substrate 11 and at least two support seats 13. Among them, the substrate 11 is fixed to the blade mechanism 2. For example, the substrate 11 is fixed to the lower guide rail component 23. At least two support seats 13 are both fixed to the substrate 11 and are distributed on both sides of the center position of the rotating shaft 14 along its own axial direction. Through holes are provided on the support seats 13. The rotating shaft 14 sequentially passes through the through holes of at least two support seats 13 and is rotatably arranged relative to at least two support seats 13. The substrate 11 can adopt an integral plate-like structure, or can also be set as multiple independent substrates 11, and one support seat 13 is fixed on each substrate 11. Figure 3 There are three substrates 11, and one of the substrates 11 is located at the middle position in the left-right direction and is used to mount the first driving component 12. The first driving component 12 can be a double-shaft motor to provide balanced driving power for the rotating shafts 14 on both sides. The double-shaft motor is detachably arranged, and a suitable motor model can be selected according to theoretical calculations. The selected motor power is sufficient to meet the requirements of the front and rear position rotation and positioning of the soil loosening mechanism 1; the other two substrates 11 are located on the left and right sides of the middle substrate 11, and one support seat 13 is installed on each of them.

[0089] This embodiment can realize that the connecting rod component is rotatably arranged relative to the mounting component, so that the connecting rod component swings between the first position and the second position. And through the supporting and limiting function of the support seat 13, the swing of the connecting rod component can be made more stable, so as to enhance the stability of the soil loosening mechanism 1.

[0090] In some embodiments, as Figure 3 and Figure 4 shown, the soil loosening operation component includes: a roller shaft 17, the two ends of which are respectively rotatably connected to the second ends of two connecting rod components 15; and a plurality of cutter tooth groups, which are sequentially arranged along the axial direction of the roller shaft 17. Each cutter tooth group includes a plurality of cutter teeth 18 arranged along the circumferential direction of the roller shaft 17.

[0091] In some embodiments, as Figure 7 shown, the cutter tooth 18 includes: a tooth seat 181, which is installed on the side wall of the roller shaft 17, and an installation groove 183 is provided on the tooth seat 181; and a tooth tip part 182, which is detachably arranged in the installation groove 183. For example, the tooth tip part 182 is fixed in the installation groove 183 through a fastener 184 such as a screw.

[0092] Since the cutter tooth 18 needs to loosen the relatively hard ground, the wear degree of the cutter tooth 18 is relatively large. By setting the detachable tooth tip part 182, the replacement of the cutter tooth 18 can be made more convenient.

[0093] In some embodiments, the connecting rod component 15 is telescopically arranged. This embodiment can conveniently adjust the penetration depth of the soil loosening operation component to meet different requirements of the soil loosening operation.

[0094] In some embodiments, asFigure 9 As shown in Figure 9 , the connecting rod component 15 includes: a connecting rod body 151, a sliding rod 153, and a third driving component 152.

[0095] Among them, the connecting rod body 151 can be in the shape of a long rod, and a slideway cavity 1511 is provided along its own length direction. The slideway cavity 1511 has an opening at the second end of the connecting rod body 151. The first end of the connecting rod body 151 is fixed to the end of the rotating shaft 14, for example, by welding. The first end of the sliding rod 153 is movably arranged in the slideway cavity 1511 and closes the opening. The second end of the sliding rod 153 is rotatably connected to the end of the soil loosening operation component, specifically, it can be rotatably connected to the roller shaft 17. The third driving component 152 is configured to provide a driving force for the movement of the sliding rod 153. The third driving component 152 is arranged in the slideway cavity 1511. The first end of the third driving component 152 is rotatably connected to the rotating shaft 14, and the second end of the third driving component 152 is connected to the first end of the sliding rod 153 through a ball joint to realize the telescoping of the connecting rod component 15. Specifically, the sliding rod 152 can include a rod body and a hinge seat connected to the rod body. The soil loosening operation component is installed on the rod body. A spherical groove is provided on the hinge seat, and the ball head at the second end of the third driving component 152 cooperates with the spherical groove.

[0096] For example, the third driving component 152 can adopt an electric push rod or a hydraulic cylinder, etc. Figure 9 In Figure 9 , the third driving component is a hydraulic cylinder, including a cylinder barrel 1521, a cylinder head 1522, and a piston rod 1523. The piston rod 1523 is movably arranged in the cylinder barrel 1521, and the end of the piston rod 1523 located outside the cylinder barrel 1521 is connected to the sliding rod 152.

[0097] In this embodiment, the third driving component 152 is arranged inside the connecting rod body 151, which can reduce the occupied space. And because the soil loosening and shoveling operation conditions of the grader are relatively harsh, this structure can prevent the third driving component 152 from being exposed outside and damaged.

[0098] In some embodiments, the soil loosening mechanism 1 further includes: a second driving component 16, which is configured to provide a driving force for the rotation of the soil loosening operation component; among them, an installation hole 1531 is provided at the second end of the sliding rod 153, and the second driving component 16 is embedded in the installation hole 1531. This embodiment can integrally arrange the second driving component 16 inside the sliding rod 153, without occupying extra space, and can also protect the second driving component 16.

[0099] In some embodiments, the soil loosening mechanism 1 further includes: a first driving component 12 configured to provide a driving force for the swinging of the connecting component; a third driving component 152 configured to provide a driving force for the telescoping of the link component 15; an angle sensor configured to detect the rotation angle of the rotating shaft 14; a displacement sensor configured to detect the telescoping displacement of the link component 15; and a control component electrically connected to the angle sensor and the displacement sensor and configured to control the action amounts of the first driving component 12 and the third driving component 152 according to a preset penetration depth, the rotation angle of the rotating shaft 14, and the telescoping displacement of the link component 15 so as to adjust the penetration depth of the soil loosening operation component.

[0100] In this embodiment, the angle sensor and the displacement sensor are connected to the current detection port of the control component; the electro-hydraulic proportional valve is connected to the PWM port of the control component. When the third driving component 152 is a hydraulic cylinder, the electro-hydraulic proportional valve can be used to control the telescoping of the hydraulic cylinder; the human-machine interaction display is connected to the control component through the CAN bus.

[0101] By detecting the rotation angle of the rotating shaft 14 and the third driving component 152 in this embodiment, the actual penetration depth can be obtained, so as to compare the actual penetration depth with the preset penetration depth, thereby accurately controlling the action amounts of the first driving component 12 and the third driving component 152 to achieve automatic and precise adjustment of the penetration depth and ensure the soil loosening effect.

[0102] Among them, the preset penetration depth can be stored in the control component; or it can also be set through the human-machine interaction interface. This method enables the operator to achieve one-key control of the penetration depth of the cutter teeth by setting the preset penetration depth, which can reduce the operation intensity and greatly improve the operation efficiency and the service life of the shovel blade.

[0103] In the control method for realizing the penetration depth, it is necessary to establish a functional relationship between the penetration depth and the telescoping displacement L of the link component 15 (i.e., the displacement of the third driving component 152) and the rotation angle θ of the rotating shaft 14 (i.e., the rotation angle of the first driving component 12). As Figure 8 shown, the distance from the tooth tip to the center of the roller shaft 17 is a fixed value R, the distance from the center of the rotating shaft 14 to the bottom surface of the shovel 21 is H, L and θ change with the rotation of the first driving component 12 and the linear movement of the third driving component 152. The numerical information is collected by the angle sensor and the displacement sensor. The relationship between the penetration depth ΔH of the soil loosening mechanism 1, the telescoping displacement L of the link component 15, and the rotation angle θ of the rotating shaft 14 is as follows:

[0104] ΔH = R + L * sinθ - H

[0105] Write the above functional relationship into the control unit. The operator only needs to input the preset penetration depth on the human-machine interaction display screen, and the CAN bus sends the target value to the control unit. After receiving the control signal, the control unit controls the electro-hydraulic proportional valve through the PWM port to realize the actions of the hydraulic cylinder and the dual-axis motor in the connecting rod component of the soil loosening mechanism 1, so as to realize one-key control of the penetration depth of the soil loosening mechanism 1.

[0106] Secondly, the present disclosure provides a motor grader, including the motor grader working device of the above embodiment. Such a motor grader has at least one of the following effects:

[0107] 1. It can realize seamless connection between the soil loosening and leveling operation conditions. The soil loosening mechanism can be adjusted to the front and rear positions of the blade according to the operation conditions. After the soil loosening operation, the leveling operation is carried out immediately. The motor grader does not need to turn back, which greatly improves the operation efficiency and the service life of the blade.

[0108] 2. The soil loosening mechanism is installed on the blade structure, occupying a small space and eliminating the influence of the original middle soil loosening mechanism on the blade attitude adjustment.

[0109] 3. Based on the soil loosening mechanism, a penetration depth control system is proposed to realize one-key control of the penetration depth of the cutter teeth, reduce the operator's operation intensity, reduce the attitude adjustment time, and improve the operation efficiency.

[0110] Thirdly, the present disclosure provides a control method for the motor grader working device based on the above embodiment. In some embodiments, it includes:

[0111] Step 101, determine the operation condition of the blade 21;

[0112] Step 102, selectively swing the connecting component to the first position or the second position according to the operation condition of the blade 21.

[0113] In this embodiment, the soil loosening mechanism 1 is arranged on the blade mechanism 2. When the blade 21 performs the leveling operation, if soil loosening is required, the soil loosening operation component can be swung to the front of the blade 21 to make the soil loosening operation and the leveling operation conditions seamlessly connected, improving the operation efficiency; when soil loosening is not required, the soil loosening operation component can be swung to the rear of the blade 21, which does not affect the operation of the blade 21 at all, and can make the switching of different operation conditions more flexible. Moreover, when the attitude of the blade mechanism 2 needs to be adjusted, the soil loosening mechanism 1 moves together with the blade mechanism 2 and will not interfere with the blade mechanism 2, so the influence on the blade attitude adjustment can be avoided.

[0114] In some embodiments, step 102 selectively swings the connecting component to the first position or the second position according to the operation condition of the blade 21, including:

[0115] When the resistance encountered by the scraper 21 during the leveling operation is greater than the preset resistance, the connecting component is placed in the first position to loosen the soil first and then level the ground, enabling the loosening and leveling operations to be carried out continuously without the grader having to turn back, thus improving the operation efficiency.

[0116] When the resistance encountered by the scraper 21 during the leveling operation is not greater than the preset resistance, the connecting component is placed in the second position. At this time, there is no need to loosen the soil, and the soil loosening operation component swings to the rear of the scraper 21, completely not affecting the operation of the scraper 21, which can make the switching between different operating conditions more flexible.

[0117] When the scraper 21 performs the slope scraping operation, the connecting component is first placed in the first position and then switched to the second position after the scraper 21 is adjusted to the slope scraping posture. Before adjusting the posture of the scraper 21, the connecting component in the first position can reduce the size of the grader working device 100 in the front-rear direction, which is beneficial to adjusting the posture of the scraper 21, making the adjustment process more stable and not prone to shaking. After the posture of the scraper 21 is adjusted, there is no need for the soil loosening mechanism 1 to act during the slope scraping operation, so the connecting component is switched to the second position to avoid affecting the slope scraping operation.

[0118] In some embodiments, the control method of the present disclosure further includes:

[0119] Step 103: Adjust the penetration depth of the soil loosening operation component to a preset penetration depth.

[0120] This embodiment can meet different requirements of the soil loosening operation by adjusting the penetration depth of the soil loosening operation component, and the penetration depth can be determined according to the thickness of the soil layer for the subsequent leveling operation by the scraper.

[0121] In some embodiments, the connecting component includes: a rotating shaft 14, which is consistent with the extending direction of the scraper 21 and is rotatably connected to the mounting component; and two telescopic link components 15, which are respectively located on both sides of the scraper 21 in the left-right direction. The first ends of the two link components 15 are respectively fixedly connected to the two ends of the rotating shaft 14, and the second ends of the two link components 15 are respectively rotatably connected to the two ends of the soil loosening operation component; Step 103 for adjusting the penetration depth of the soil loosening operation component includes:

[0122] Step 103A: Obtain the preset penetration depth, which can be stored in the control component or can also be set through the man-machine interface;

[0123] Step 103B: Detect the rotation angle of the rotating shaft 14 through an angle sensor;

[0124] Step 103C: Detect the telescopic displacement of the link component 15 through a displacement sensor;

[0125] Step 103D: Adjust the action amounts of the first driving component 12 and the third driving component 152 according to the preset penetration depth, the rotation angle of the rotating shaft 14, and the telescopic displacement of the connecting rod component 15, so as to adjust the penetration depth of the soil loosening operation component.

[0126] In this embodiment, by detecting the rotation angle of the rotating shaft 14 and the third driving component 152, the actual penetration depth can be obtained, so as to compare the actual penetration depth with the preset penetration depth, thereby accurately controlling the action amounts of the first driving component 12 and the third driving component 152 to achieve automatic and precise adjustment of the penetration depth and ensure the soil loosening effect.

[0127] The above has introduced the embodiments provided by the present disclosure in detail. Specific embodiments are used herein to elaborate on the principles and implementation manners of the present disclosure. The description of the above embodiments is only used to help understand the method and its core idea of the present disclosure. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present disclosure, several improvements and modifications can be made to the present disclosure, and these improvements and modifications also fall within the protection scope of the claims of the present disclosure.

Claims

1. A grader working device, characterized in that, a scraper blade mechanism (2), including a scraper blade (21); a soil loosening mechanism (1), including a mounting component, a connecting component and a soil loosening working component, the mounting component is mounted on the scraper blade mechanism (2), the connecting component is swingably connected to the mounting component in a vertical plane in the front-back direction of the grader, the soil loosening working component is arranged in the same direction as the extending direction of the scraper blade (21), and is rotatably arranged on the connecting component around its own axis; wherein, the connecting component is configured to swing to a first position or a second position selectively according to the working condition of the scraper blade (21), when in the first position, the soil loosening working component is located in front of the scraper blade (21); when in the second position, the soil loosening working component is located behind the scraper blade (21); wherein, when the resistance received by the scraper blade (21) during the leveling operation is greater than a preset resistance, the connecting component is in the first position; when the resistance received by the scraper blade (21) during the leveling operation is not greater than the preset resistance, the connecting component is in the second position; and / or when the scraper blade (21) performs a slope scraping operation, the connecting component is configured to be in the first position first, and then switch to the second position after the scraper blade (21) is adjusted to the slope scraping posture.

2. The grader working device according to claim 1, characterized in that, the scraper blade mechanism (2) further includes: an upper guide rail component (22) and a lower guide rail component (23), which are arranged at intervals in the up-down direction on the rear side surface of the scraper blade (21); wherein, the mounting component is fixed to the lower guide rail component (23).

3. The grader working device according to claim 1, characterized in that, the soil loosening mechanism (1) further includes: a first driving component (12), arranged on the mounting component, and configured to provide a driving force for the swinging of the connecting component; and / or a second driving component (16), arranged on the connecting component, and configured to provide a driving force for the rotation of the soil loosening working component.

4. The grader working device according to claim 1, characterized in that, the connecting component includes: a rotating shaft (14), which is in the same direction as the extending direction of the scraper blade (21), and is rotatably connected to the mounting component; and two connecting rod components (15), which are respectively located on both sides of the scraper blade (21) in the left-right direction, the first ends of the two connecting rod components (15) are respectively fixedly connected to both ends of the rotating shaft (14), and the second ends of the two connecting rod components (15) are respectively rotatably connected to both ends of the soil loosening working component.

5. The grader working device according to claim 4, characterized in that, the mounting component includes: a base plate (11), fixed to the scraper blade mechanism (2); and at least two support seats (13), both fixed to the base plate (11), and distributed on both sides of the central position of the rotating shaft (14) along its own axial direction, and through holes are provided on the support seats (13). Wherein, the rotating shaft (14) sequentially passes through the through holes of the at least two support seats (13) and is rotatably arranged relative to the at least two support seats (13).

6. The grader working device according to claim 4, characterized in that the soil loosening working component includes: a roller shaft (17) rotatably connected to the second ends of the two link components (15) respectively at both ends; and a plurality of cutter tooth groups arranged sequentially along the axial direction of the roller shaft (17), each cutter tooth group including a plurality of cutter teeth (18) arranged circumferentially along the roller shaft (17).

7. The grader working device according to claim 6, characterized in that the cutter tooth (18) includes: a tooth seat (181) installed on the side wall of the roller shaft (17), and an installation groove (183) is provided on the tooth seat (181); and a tooth tip part (182) detachably arranged in the installation groove (183).

8. The grader working device according to claim 4, characterized in that the link component (15) is telescopically arranged.

9. The grader working device according to claim 8, characterized in that the link component (15) includes: a link body (151) provided with a slideway cavity (1511) along its own length direction, the slideway cavity (1511) has an opening at the second end of the link body (151), and the first end of the link body (151) is fixed to the end of the rotating shaft (14); a sliding rod (153), the first end of the sliding rod (153) is movably arranged in the slideway cavity (1511) and closes the opening, and the second end of the sliding rod (153) is rotatably connected to the end of the soil loosening working component; and a third driving component (152) configured to provide driving force for the movement of the sliding rod (153), the third driving component (152) is arranged in the slideway cavity (1511), the first end of the third driving component (152) is rotatably connected to the rotating shaft (14), and the second end of the third driving component (152) is connected to the first end of the sliding rod (153) through a ball hinge.

10. The grader working device according to claim 9, characterized in that the soil loosening mechanism (1) further includes: a second driving component (16) configured to provide driving force for the rotation of the soil loosening working component; wherein, an installation hole (1531) is provided at the second end of the sliding rod (153), and the second driving component (16) is embedded in the installation hole (1531).

11. The grader working device according to claim 8, characterized in that the soil loosening mechanism (1) further includes: a first driving component (12) configured to provide driving force for the swing of the connecting component; a third driving component (152) configured to provide driving force for the telescopic movement of the link component (15); an angle sensor configured to detect the rotation angle of the rotating shaft (14); a displacement sensor configured to detect the telescopic displacement of the link component (15); and A control component, electrically connected to the angle sensor and the displacement sensor, is configured to control the action amounts of the first driving component (12) and the third driving component (152) according to a preset soil penetration depth, the rotation angle of the rotating shaft (14), and the telescopic displacement of the connecting rod component (15), so as to adjust the soil penetration depth of the soil loosening operation component.

12. A grader, characterized in that it includes the grader working device according to any one of claims 1 to 11.

13. A control method for a grader working device according to any one of claims 1 to 11, characterized in that it includes: determining the working condition of the blade (21); selectively swinging the connecting component to the first position or the second position according to the working condition of the blade (21); wherein, selectively swinging the connecting component to the first position or the second position according to the working condition of the blade (21) includes: when the resistance received by the blade (21) during leveling operation is greater than a preset resistance, making the connecting component in the first position; when the resistance received by the blade (21) during leveling operation is not greater than the preset resistance, making the connecting component in the second position; and / or when the blade (21) performs a slope scraping operation, making the connecting component in the first position first, and then switching to the second position after the blade (21) is adjusted to the slope scraping posture.

14. The control method according to claim 13, characterized in that it further includes: adjusting the soil penetration depth of the soil loosening operation component to a preset soil penetration depth.

15. The control method according to claim 14, characterized in that the connecting component includes: a rotating shaft (14), which is consistent with the extending direction of the blade (21) and is rotatably connected to the mounting component; and two telescopic connecting rod components (15), which are respectively located on both sides of the blade (21) in the left-right direction. The first ends of the two connecting rod components (15) are respectively fixedly connected to both ends of the rotating shaft (14), and the second ends of the two connecting rod components (15) are respectively rotatably connected to both ends of the soil loosening operation component; adjusting the soil penetration depth of the soil loosening operation component includes: obtaining the preset soil penetration depth; detecting the rotation angle of the rotating shaft (14) through an angle sensor; detecting the telescopic displacement of the connecting rod component (15) through a displacement sensor; adjusting the action amounts of the first driving component (12) and the third driving component (152) according to the preset soil penetration depth, the rotation angle of the rotating shaft (14), and the telescopic displacement of the connecting rod component (15), so as to adjust the soil penetration depth of the soil loosening operation component.

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