Control system for preventing interference of excavator and its dozer blade

Abstract

The present application relates to excavator control, and is configured to prevent interference between a dozer blade and a rear portion of an upper body of an excavator. In the control system, a controller determines whether the dozer blade and the rear portion of the upper body have entered an interference region based on relevant angle detection values. When the rear portion of the upper body enters the interference region after the dozer blade has entered the interference region, the controller stops outputting a control signal for lifting the dozer blade upward. When the dozer blade enters the interference region after the rear portion of the upper body has entered the interference region, the controller stops outputting a control signal for turning the rear portion of the upper body forward. In the present application, when either the dozer blade or the rear portion of the upper body enters an interference region, the other is stopped from entering the interference region to prevent interference and collision.

Description

Technical Field

[0001] This invention relates to an excavator control system, and more specifically, to an excavator and its bulldozer blade anti-interference control system. Background Technology

[0002] Tracked excavators are typically equipped with a bulldozer blade for bulldozing and auxiliary support. The bulldozer blade is mounted at the front of the lower chassis and swings up and down under the action of its hydraulic cylinders. When the upward swing angle of the bulldozer blade exceeds a certain value, it usually enters the turning space of the upper chassis. In the excavator's upper chassis, the front section has a small turning radius, while the rear section has a large turning radius. If, during the process of swinging the bulldozer blade upward into the upper chassis's turning space and then rotating the upper chassis back to the front, or if, after rotating the upper chassis back to the front, the bulldozer blade swings upward at an angle exceeding a certain value, interference and collision can occur between the bulldozer blade and the rear section of the upper chassis, leading to damage to related components. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that existing excavators may be damaged due to the collision between the bulldozer blade and the rear of the upper body during operation. The present invention provides an anti-interference control system for the excavator and its bulldozer blade to avoid interference and collision between the bulldozer blade and the rear of the upper body.

[0004] The technical solution of this invention to achieve its objective is as follows: A control system for preventing interference with a bulldozer blade is disclosed, comprising a controller, a bulldozer blade electric control handle electrically connected to the controller, a swing electric control handle, a swing electro-proportional valve for controlling the swing control main valve, and a bulldozer blade electro-proportional valve for controlling the bulldozer blade control main valve; characterized in that the control system further comprises a bulldozer blade angle detection device connected to the controller for detecting the swing angle of the bulldozer blade in the vertical direction and a swing angle detection device for detecting the relative angle between the upper body and the chassis; the controller, based on the detection values ​​of the bulldozer blade angle detection device and the swing angle detection device, estimates whether the bulldozer blade and the rear of the upper body have entered the upper body interference area and the bulldozer blade interference area where interference would occur;

[0005] The controller outputs a control signal to the bulldozer blade proportional valve based on the electrical signal from the bulldozer blade's electric control handle. When the rear of the upper vehicle body enters the bulldozer blade's interference zone and the bulldozer blade re-enters the upper vehicle body's interference zone, the controller stops outputting a control signal to the bulldozer blade proportional valve to raise the bulldozer blade. Similarly, the controller outputs a control signal to the slewing proportional valve based on the electrical signal from the slewing electric control handle. When the rear of the upper vehicle body enters the bulldozer blade's interference zone and the bulldozer blade re-enters the upper vehicle body's interference zone, the controller stops outputting a control signal to the slewing proportional valve to rotate the rear of the upper vehicle body forward.

[0006] In this invention, when either the bulldozer blade or the upper body enters an interference zone that would interfere with the other, it can brake and stop its movement when the other enters the same interference zone, thereby avoiding interference collision between the bulldozer blade and the upper body that could damage the machine.

[0007] The aforementioned bulldozer blade anti-interference control system also includes an alarm device connected to the controller. The alarm device is used to issue an interference alarm message when both the bulldozer blade and the rear of the upper vehicle body enter the interference zone where they would interfere with each other.

[0008] In the aforementioned bulldozer blade anti-interference control system, the slewing angle detection device is either a slewing angle sensor or a slewing angle switch that detects the slewing angle of the upper body. When the relationship between the included angle between the mid-surface of the rear counterweight of the excavator and the mid-surface of the front chassis changes from a set value, the opening and closing state of the slewing angle switch is triggered to change. The bulldozer blade angle detection device is either a bulldozer blade swing angle sensor or a bulldozer blade swing angle switch that detects the upward swing angle of the bulldozer blade. When the relationship between the upward swing angle of the bulldozer blade and a set value changes, the opening and closing state of the bulldozer blade swing angle switch is triggered to change.

[0009] The technical solution of this invention to achieve its objective is as follows: A control system for preventing interference with a bulldozer blade of an excavator is disclosed, comprising a controller, a rotary electric control handle electrically connected to the controller, a rotary proportional valve for controlling the rotary control main valve, and a bulldozer blade pilot valve connected to the pilot hydraulic control end of the bulldozer blade control main valve; characterized in that the control system further includes a bulldozer blade angle detection device electrically connected to the controller for detecting the swing angle of the bulldozer blade in the vertical direction, a rotary angle detection device for detecting the relative angle between the upper body and the chassis, and an electromagnetic switch valve disposed on the bulldozer blade swing pilot control oil circuit between the bulldozer blade pilot valve and the bulldozer blade pilot valve; the controller, based on the detection values ​​of the bulldozer blade angle detection device and the rotary angle detection device, estimates whether the bulldozer blade and the rear of the upper body have entered the upper body interference area and the bulldozer blade interference area where interference would occur.

[0010] The controller outputs a control signal to the slewing proportional valve based on the electrical signal from the slewing electric control handle. When the rear of the upper vehicle body enters the interference zone of the upper vehicle body after the bulldozer blade enters the interference zone of the bulldozer blade, the controller stops outputting a control signal to the slewing proportional valve to make the rear of the upper vehicle body rotate forward. When the rear of the upper vehicle body enters the interference zone of the bulldozer blade and the bulldozer blade enters the interference zone of the upper vehicle body again, the controller outputs a control signal to close the electromagnetic switch valve.

[0011] The technical solution of this invention to achieve its objective is: to disclose a control system for preventing interference with the bulldozer blade of an excavator.

[0012] The system includes a controller, a rotary electric control handle electrically connected to the controller, a rotary proportional valve for controlling the rotary control main valve, and a bulldozer blade hand pilot valve connected to the pilot hydraulic control end of the bulldozer blade control main valve; the system is characterized by further including an electromagnetic switch valve, a bulldozer blade swing angle switch, and a rotary angle switch disposed on the bulldozer blade swing pilot control oil circuit between the bulldozer blade hand pilot valve and the bulldozer blade control main valve;

[0013] When the upward swing angle of the bulldozer blade changes from less than the set value to greater than the set value, the bulldozer blade swing angle switch changes from open to closed.

[0014] The slewing angle switch is used to detect the relative angle between the rear of the upper body and the chassis when the upper body rotates clockwise or counterclockwise relative to the excavator chassis. When the angle between the mid-surface of the counterweight at the rear of the excavator and the mid-surface of the front of the chassis changes from greater than a set value to less than a set value, the slewing angle switch changes from open to closed.

[0015] The bulldozer blade swing angle switch and the rotation angle switch are connected in series to form a series switch group. The first end of the series switch group is electrically connected to the positive terminal of the DC power supply, and the second end of the series switch group is electrically connected to the negative terminal of the DC power supply through the electromagnetic coil of the electromagnetic switch valve. The second end of the series switch group is electrically connected to the controller.

[0016] The controller outputs a control signal to the rotary proportional valve based on the electrical signal from the rotary electric control handle, and stops outputting a control signal to the rotary proportional valve to make the upper rear of the vehicle body rotate forward when there is a high electrical signal output at the second end of the series switch group.

[0017] The technical solution of this invention to achieve its purpose is: to disclose an excavator, characterized by having the aforementioned anti-interference control system for the excavator bulldozer blade.

[0018] Compared with the prior art, the present invention can stop the movement of either the bulldozer blade or the upper vehicle body when the other enters the interference zone that would interfere with the other, thus avoiding interference and collision between the two. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the interference area between the upper body of the excavator and the bulldozer blade of the present invention.

[0020] Figure 2 This is a schematic diagram of the interference area between the excavator bulldozer blade and the upper body of the excavator according to the present invention.

[0021] Figure 3 This is a schematic diagram of the anti-interference control system for bulldozer blades in Embodiment 1 of the present invention.

[0022] Figure 4 This is the control logic diagram of the anti-interference control system for bulldozer blades in Embodiment 1 of the present invention.

[0023] Figure 5 This is a schematic diagram of the control system for preventing interference with the bulldozer blade in Embodiment 2 of the present invention.

[0024] Figure 6 This is the control logic diagram of the anti-interference control system for bulldozer blades in Embodiment 2 of the present invention.

[0025] Figure 7 This is a schematic diagram of the control system for preventing interference with the bulldozer blade in Embodiment 3 of the present invention.

[0026] Component names and serial numbers in the diagram:

[0027] 11. Rotary electric control handle, 12. Rotary proportional valve, 13. Rotary control main valve, 14. Rotary motor, 15. Rotary angle sensor, 16. Rotary angle switch, 17. DC power supply.

[0028] 20. Bulldozer blade, 21. Bulldozer blade electric control handle, 22. Bulldozer blade electro-proportional valve, 23. Bulldozer blade control main valve, 24. Bulldozer blade cylinder, 25. Bulldozer blade swing angle sensor, 26. Bulldozer blade hand pilot valve, 261. Bulldozer blade downward swing pilot control oil circuit, 262. Bulldozer blade upward swing pilot control oil circuit, 27. Solenoid switch valve, 28. Bulldozer blade swing angle switch.

[0029] Controller 30, alarm device 31.

[0030] 41. Slewing platform, 42. Rear counterweight, 43. Counterweight center surface, 44. Chassis, 45. Front center surface of chassis, 46. Slewing center joint.

[0031] 51. Rotation range of the slewing platform; 52. Interference area of ​​the bulldozer blade; 53. Vertical swing range of the bulldozer blade; 54. Interference area of ​​the upper vehicle body. Detailed Implementation

[0032] The specific implementation plan is described below with reference to the attached diagram.

[0033] Example 1.

[0034] Figures 1 to 4 The control system for preventing interference with the bulldozer blade in Embodiment 1 of the present invention is shown.

[0035] like Figure 1 Figure 2As shown, the excavator consists of an upper body and a lower body. The lower body includes a chassis 44, on which tracked walking devices are installed on both sides. A bulldozer blade 20 is usually installed at the front of the chassis 44, and the rear end of the bulldozer blade 20 is hinged to the chassis 44. A bulldozer blade cylinder 24 is installed between the bulldozer blade 20 and the chassis 44. The extension and retraction of the bulldozer blade cylinder 24 drives the bulldozer blade 20 to swing up and down, adjusting the height of the front blade of the bulldozer blade 20 to achieve bulldozing operation and auxiliary support functions.

[0036] The upper body includes a slewing platform 41 and a rear counterweight 42. The rear counterweight 42 is mounted at the rear of the slewing platform 41, with its bottom approximately flush with the platform. The upper body is mounted on the chassis 44 via a slewing support. The upper body is connected to the hydraulic and electrical systems located below via a slewing center joint 46, allowing it to rotate freely relative to the chassis 44 under the drive of the slewing motor. The slewing radius of the rear of the upper body is greater than that of the front, ensuring that after a 180-degree rotation, the rear of the upper body is directly above the bulldozer blade 20.

[0037] When the upper part of the vehicle body rotates clockwise or counterclockwise from rear to front, after rotating to a set angle, the bulldozer blade is then lifted upwards. When the bulldozer blade 20 is raised to a certain height, the rear of the upper part of the vehicle body will interfere with and collide with the bulldozer blade 20. Figure 1As shown, within the turning range 51 of the upper vehicle body's rear section, the area where the rear of the upper vehicle body might interfere with the bulldozer blade 20 is designated as the bulldozer blade interference area 52. The upper vehicle body's rear section refers to the tail of the turning platform and the rear counterweight. In this embodiment, the relative angle between the counterweight mid-surface 43 of the rear counterweight 42 and the front mid-surface 45 of the chassis is used to measure the relative angle between the upper vehicle body and the lower vehicle body. The area where the counterweight mid-surface 43 might interfere with the bulldozer blade is defined as the bulldozer blade interference area 52 of the upper vehicle body's rear section. When the orientation of the upper vehicle body's rear section is the same as the orientation of the chassis's rear section, the counterweight mid-surface 43 and the front mid-surface 45 of the chassis are coplanar, and the angle between them is 180 degrees. When the upper vehicle body's rear section rotates clockwise or counterclockwise relative to the chassis, the angle between the counterweight mid-surface 43 and the front mid-surface 45 of the chassis gradually decreases. When the angle between the counterweight mid-surface 43 and the front mid-surface 45 of the chassis decreases below a set value, the rear of the upper vehicle enters the bulldozer blade interference zone 52 (i.e., the rear counterweight mid-surface 43 rotates to the bulldozer blade interference zone 52). When the rear of the upper vehicle is in the bulldozer blade interference zone 52 relative to the chassis 44, the rear of the upper vehicle may interfere with and collide with the bulldozer blade 20. The angle between the counterweight mid-surface 43 and the front mid-surface 45 of the chassis can be measured by a rotation angle detection device. The rotation angle detection device can be an angle sensor, which is usually installed on the rotation center joint. The rotation angle detection device can also be a switching device that can generate on / off switching signals. When the rear of the upper vehicle body is within the bulldozer blade interference area 52 and outside the bulldozer blade interference area 52, the switching device is in two states: open and closed. The on / off state of the switching device determines whether the angle between the counterweight mid-surface 43 and the front mid-surface 45 of the chassis is less than a set value, and thus determines whether the rear of the upper vehicle body is within the bulldozer blade interference area 52.

[0038] like Figure 2As shown, the bulldozer blade 20 swings vertically under the drive of the bulldozer cylinder 24. The angle range between its lowest and highest swing positions is the vertical swing range 53 of the bulldozer blade. When the upward swing angle of the bulldozer blade 20 relative to the chassis 44 exceeds a set value, the bulldozer blade 20 enters the upper vehicle body interference area 54. At this time, the bulldozer blade 20 enters the turning space range of the rear of the upper vehicle body, and may interfere with the rear of the upper vehicle body and collide. The bulldozer blade 20, the bulldozer cylinder 24, and the chassis 44 form a three-bar linkage mechanism. The vertical angle of the bulldozer blade 20 relative to the chassis 44 can be measured by the angle between the bulldozer blade 20 and the chassis 44, or by the angle between the bulldozer cylinder 24 and the chassis 44. The bulldozer blade angle detection device for detecting the vertical swing angle of the bulldozer blade 20 relative to the chassis 44 can be an angle sensor. This angle sensor can be installed at the hinge position between the bulldozer blade 20 and the chassis 44, or at the hinge position between the bulldozer blade cylinder 24 and the chassis 44. Alternatively, the bulldozer blade angle detection device can be a switching device capable of generating an on / off switch signal, which determines whether the upward swing angle of the bulldozer blade exceeds a set value.

[0039] The anti-interference control system for the excavator bulldozer blade in this embodiment is used to prevent the bulldozer blade 20 from interfering with or colliding with the rear of the upper part of the vehicle body. For example... Figure 3 Figure 4As shown, the anti-interference control system for the excavator bulldozer blade includes a controller 30, a bulldozer blade electric control handle 21 electrically connected to the controller 30, a swing electric control handle 11, a swing electro-proportional valve 12 for controlling the swing control main valve 13, a bulldozer blade electro-proportional valve 22 for controlling the bulldozer blade control main valve 23, a bulldozer blade angle detection device for detecting the swing angle of the bulldozer blade 20 in the vertical direction, a swing angle detection device for detecting the relative angle between the upper body and the chassis, and an alarm device 31, all connected to the controller 30. The controller 30 determines whether the bulldozer blade 20 and the rear of the upper body have entered an area that would interfere with each other based on the detection values ​​of the bulldozer blade angle detection device and the swing angle detection device. The interference occurs in the upper vehicle body interference zone 54 and the bulldozer blade interference zone 52. The controller 30 outputs a control signal to the bulldozer blade proportional valve 22 based on the electrical signal from the bulldozer blade electric control handle 21. When the rear of the upper vehicle body enters the bulldozer blade interference zone 52 and then the bulldozer blade 20 re-enters the upper vehicle body interference zone 54, the controller stops outputting a control signal to the bulldozer blade proportional valve 22 to raise the bulldozer blade. Similarly, the controller outputs a control signal to the rotary proportional valve 12 based on the electrical signal from the rotary electric control handle 11. When the rear of the upper vehicle body enters the bulldozer blade interference zone 54 and then re-enters the bulldozer blade interference zone 52, the controller stops outputting a control signal to the rotary proportional valve 12 to rotate the rear of the upper vehicle body forward. The alarm device 31 is used to issue an interference alarm and provide handling measures when both the bulldozer blade 20 and the rear of the upper vehicle body enter the interference zone where interference occurs.

[0040] In this embodiment, the excavator is a fully electronically controlled system. The rotation of the upper body and the up-and-down swing of the bulldozer blade are achieved by operating the bulldozer blade electronic control handle 21 and the rotation electronic control handle 11, respectively. When the bulldozer blade electronic control handle 21 and the rotation electronic control handle 11 are swung, they send operation signals to the controller 30. The controller 30 outputs control current based on the operation signals from the electronic control handles to control the rotation proportional valve 12 and the bulldozer blade electronic proportional valve 22. This causes the corresponding pilot control ports of the rotation proportional valve 12 and the bulldozer blade electronic proportional valve 22 to output corresponding pilot pressure oil, which acts on the pilot hydraulic control terminals of the rotation control main valve 13 and the bulldozer blade control main valve 23. The bulldozer blade control main valve 23 then reverses under the pressure control of its pilot hydraulic control terminal, delivering the working pressure oil output from the hydraulic pump 40 through pipelines and the rotation center joint 46 to the bulldozer blade cylinder 24 located in the lower body. The bulldozer blade cylinder 24 drives the bulldozer blade 20 to swing up or down. The main control valve 13 controls the flow of working pressure oil to the rotary motor 14, driving the upper body to rotate clockwise or counterclockwise.

[0041] The bulldozer blade electro-proportional valve 22 is connected to the pilot hydraulic control terminal of the bulldozer blade control main valve 23 via the bulldozer blade downward swing pilot control oil circuit 261 and the bulldozer blade upward swing pilot control oil circuit 262. When the bulldozer blade electric control handle 21 swings forward, the controller 30 outputs a control signal to the bulldozer blade electro-proportional valve 22 to swing the bulldozer blade downward. The bulldozer blade electro-proportional valve 22 outputs pilot control pressure oil through the bulldozer blade downward swing pilot control oil circuit 261. The bulldozer blade control main valve 23 controls the bulldozer blade cylinder 24 to extend, and the bulldozer blade 20 swings downward. When the bulldozer blade electric control handle 21 swings backward, the controller 30 outputs a control signal to the bulldozer blade electro-proportional valve 22 to swing the bulldozer blade upward. The bulldozer blade electro-proportional valve 22 outputs pilot control pressure oil through the bulldozer blade upward swing pilot control oil circuit 261. The bulldozer blade control main valve 23 controls the bulldozer blade cylinder 24 to retract, and the bulldozer blade 20 swings upward.

[0042] The slewing proportional valve 12 is connected to the slewing control main valve 13 via clockwise and counterclockwise slewing pilot control oil circuits. When the slewing electric control handle 11 swings to the left, the controller 30 outputs a counterclockwise slewing control signal to the slewing proportional valve 12. The slewing proportional valve 12 outputs pilot control pressure oil through the counterclockwise slewing pilot control oil circuit, and the slewing control main valve 13 controls the slewing motor 14 to reverse, causing the upper body to rotate counterclockwise. When the slewing electric control handle 11 swings to the right, the controller 30 outputs a clockwise slewing control signal to the slewing proportional valve 12. The slewing proportional valve 12 outputs pilot control pressure oil through the clockwise slewing pilot control oil circuit, and the slewing control main valve 13 controls the slewing motor 14 to rotate forward, causing the upper body to rotate clockwise. Both clockwise and counterclockwise slewing of the upper body can achieve forward rotation of the rear of the slewing platform.

[0043] In this embodiment, the slewing angle detection device is a slewing angle sensor 15, which is installed on the slewing center joint 46 and is used to detect the angle between the rear counterweight mid-surface 43 and the front mid-surface 45 of the chassis. The bulldozer blade angle detection device is a bulldozer blade swing angle sensor 25, which is installed at the hinge between the bulldozer blade cylinder 24 and the chassis 44.

[0044] In this embodiment, the control method used to prevent the bulldozer blade from interfering with and colliding with the upper part of the vehicle is as follows:

[0045] The controller 30 determines whether the bulldozer blade 20 swings upward and enters the upper vehicle body interference area 54 based on the detection value of the bulldozer blade swing angle sensor 25, and determines whether the rear of the upper vehicle body enters the bulldozer blade interference area 52 based on the detection value of the rotation angle sensor 15.

[0046] The controller 30 outputs a control signal to the electric proportional valve 22 of the bulldozer blade based on the electrical signal of the electric control handle 21. That is, when the electric control handle 21 of the bulldozer blade swings forward, the controller 30 outputs a control signal to the electric proportional valve 22 of the bulldozer blade to swing downward. The electric proportional valve 22 of the bulldozer blade outputs pilot pressure oil to the main control valve 23 of the bulldozer blade through the pilot control oil circuit 261 of the downward swing of the bulldozer blade, so that the main control valve 23 of the bulldozer blade switches and controls the extension of the cylinder 24 of the bulldozer blade, so as to realize the descent of the bulldozer blade 20.

[0047] When the electric control handle 21 of the bulldozer blade swings backward, the controller 30 outputs a control signal to the electric proportional valve 22 of the bulldozer blade to swing upward. The electric proportional valve 22 of the bulldozer blade outputs pilot pressure oil to the main control valve 23 of the bulldozer blade through the pilot control oil circuit 262 of the bulldozer blade swing, so that the main control valve 23 of the bulldozer blade switches and controls the cylinder 24 of the bulldozer blade to retract, so as to realize the upward swing of the bulldozer blade 20.

[0048] During the upward swing of the bulldozer blade 20, the controller 30 continuously monitors and judges the status of the rear of the upper vehicle body and the bulldozer blade 20. If the controller 30 determines that the rear of the upper vehicle body has entered the bulldozer blade interference zone 52 and the bulldozer blade 20 swings upward into the upper vehicle body interference zone 54, the controller 30 stops outputting the control signal for the upward swing of the bulldozer blade to the bulldozer blade electro-proportional valve 22. The bulldozer blade 20 thus stops swinging upward, preventing interference and collision between the bulldozer blade 20 and the rear of the upper vehicle body that has entered the bulldozer blade interference zone 52. Simultaneously, the controller 30 issues an alarm message through the alarm device 31, which includes a display and an audible and visual alarm, to inform the operator of the current status and appropriate action. At this time, the operator can swing the electric control handle 21 of the bulldozer blade forward to lower the bulldozer blade 20, or swing the rotary electric control handle 11 to make the upper vehicle body rotate. After the rear of the upper vehicle body is out of the bulldozer blade interference area 52, the operator can continue to swing the electric control handle 21 of the bulldozer blade backward to raise the bulldozer blade 20.

[0049] The controller 30 outputs a control signal to the rotary proportional valve 12 based on the electrical signal from the rotary electric control handle 11. Specifically, when the rotary electric control handle 11 swings to the left, the controller 30 outputs a counter-clockwise rotation operation signal to the rotary proportional valve 12. The rotary proportional valve 12 then outputs pilot control pressure oil through the counter-clockwise rotation pilot control oil circuit to control the rotary control main valve 13. The rotary control main valve 13 controls the rotary motor 14 to reverse, causing the upper body to rotate counter-clockwise. When the rotary electric control handle 11 swings to the right, the controller 30 outputs a clockwise rotation operation signal to the rotary proportional valve 12. The rotary proportional valve 12 then outputs pilot control pressure oil through the clockwise rotation pilot control oil circuit to control the rotary control main valve 13. The rotary control main valve 13 controls the rotary motor 14 to rotate forward, causing the upper body to rotate clockwise.

[0050] During the rotation of the upper vehicle body, the controller 30 monitors the status of the rear of the upper vehicle body and the bulldozer blade. If the controller 30 determines that the bulldozer blade 20 has entered the upper vehicle body interference zone 54 and then the rear of the upper vehicle body has entered the bulldozer blade interference zone 52, the controller 30 stops outputting the upper vehicle body rotation control signal to the rotation proportional valve 12. The upper vehicle body thus stops rotating, preventing interference and collision between the rear of the upper vehicle body and the bulldozer blade 20. Simultaneously, the controller 30 issues an alarm message through the alarm device 31, alerting the operator to the current status and appropriate action measures. At this time, the operator can swing the electric control handle 21 of the bulldozer blade forward to lower the bulldozer blade; or swing the slewing electric control handle 11 to make the upper vehicle body perform a slewing operation in the opposite direction to the slewing direction before the slewing stopped. For example, if the slewing operation was clockwise before the slewing stopped, the operator can swing the slewing electric control handle 11 to the left to perform a counterclockwise slewing operation, so that the upper vehicle body rotates counterclockwise and the rear of the upper vehicle body exits the bulldozer blade interference area 52; if the slewing operation was counterclockwise before the slewing stopped, the operator can swing the slewing electric control handle 11 to the right to perform a clockwise slewing operation, so that the upper vehicle body rotates clockwise and the rear of the upper vehicle body exits the bulldozer blade interference area 52.

[0051] Example 2.

[0052] Figure 5 Figure 6 The control system for preventing interference with the bulldozer blade in Embodiment 2 of the present invention is shown.

[0053] Compared to Embodiment 1, this embodiment uses electronic control for the slewing of the upper body, the same as the slewing control method in Embodiment 1, the difference being the control method for the bulldozer blade. For example... Figure 5 Figure 6As shown, in this embodiment, the two pilot hydraulic control terminals of the bulldozer blade control main valve 23 are connected to the bulldozer blade hand pilot valve 26 via the bulldozer blade downward swing pilot control oil circuit 261 and the bulldozer blade upward swing pilot control oil circuit 262, respectively. The bulldozer blade hand pilot valve 26 is directly controlled by the bulldozer blade operating handle. When the bulldozer blade swings up and down, the bulldozer blade operating handle directly drives the valve stem of the bulldozer blade hand pilot valve 26. The bulldozer blade hand pilot valve 26 outputs pilot pressure oil through the bulldozer blade downward swing pilot control oil circuit 261 or the bulldozer blade upward swing pilot control oil circuit 262, which acts on the bulldozer blade control main valve 23. The bulldozer blade control main valve 23 controls the extension or retraction of the bulldozer blade cylinder 24 to realize the up and down swing of the bulldozer blade.

[0054] In this embodiment, to prevent interference between the bulldozer blade and the rear of the upper vehicle body, an electromagnetic switch valve 27 is installed on the bulldozer blade swing pilot control oil circuit 262 between the bulldozer blade hand pilot valve 26 and the bulldozer blade control main valve 23. The electromagnetic switch valve 27 is electrically connected to the controller 30 and is controlled by the controller 30. When the electromagnetic switch valve 27 is de-energized, it is in the conducting state, and the bulldozer blade swing pilot control oil circuit 262 is open; when the electromagnetic switch valve 27 is energized, it is in the closed state, the bulldozer blade swing pilot control oil circuit 262 is closed, and the bulldozer blade swing operation performed by the bulldozer blade operating handle is disabled.

[0055] In this embodiment, the control method used to prevent the bulldozer blade from interfering with and colliding with the upper part of the vehicle is as follows:

[0056] The controller 30 determines whether the bulldozer blade 20 swings upward and enters the upper vehicle body interference area 54 based on the detection value of the bulldozer blade swing angle sensor 25, and determines whether the rear of the upper vehicle body enters the bulldozer blade interference area 52 based on the detection value of the rotation angle sensor 15.

[0057] When the bulldozer blade operating handle is swung, the bulldozer blade pilot valve 26 outputs pilot pressure oil through the bulldozer blade downward swing pilot control oil circuit 261 or the bulldozer blade upward swing pilot control oil circuit 262, which acts on the bulldozer blade control main valve 23. The bulldozer blade control main valve 23 controls the bulldozer blade cylinder 24 to extend or retract, thereby realizing the up and down swing of the bulldozer blade 20.

[0058] The controller 30 outputs a control signal to the rotary proportional valve 12 based on the electrical signal from the rotary electric control handle 11. Specifically, when the rotary electric control handle 11 swings to the left, the controller 30 outputs a counter-clockwise rotation operation signal to the rotary proportional valve 12. The rotary proportional valve 12 then outputs pilot control pressure oil through the counter-clockwise rotation pilot control oil circuit to control the rotary control main valve 13. The rotary control main valve 13 controls the rotary motor 14 to reverse, causing the upper body to rotate counter-clockwise. When the rotary electric control handle 11 swings to the right, the controller 30 outputs a clockwise rotation operation signal to the rotary proportional valve 12. The rotary proportional valve 12 then outputs pilot control pressure oil through the clockwise rotation pilot control oil circuit to control the rotary control main valve 13. The rotary control main valve 13 controls the rotary motor to rotate forward, causing the upper body to rotate clockwise.

[0059] The controller monitors the status of the rear of the upper vehicle body and the bulldozer blade 20. If the controller determines that the rear of the upper vehicle body has entered the bulldozer blade interference zone 52 and the bulldozer blade 20 swings upward into the upper vehicle body interference zone 54, the controller 30 outputs a control signal to the solenoid valve 27. The solenoid valve 27 is energized, causing the bulldozer blade swing pilot control oil circuit 262 to be cut off, interrupting the upward swinging action of the bulldozer blade 20 and preventing interference and collision between the bulldozer blade 20 and the rear of the upper vehicle body. The controller simultaneously issues an alarm message through the alarm device to inform the operator of the current status and the corresponding handling measures. At this time, the operator can lower the bulldozer blade by swinging the bulldozer blade control handle forward, or rotate the upper vehicle body by swinging the rotary control handle 11. After the rear of the upper vehicle body has exited the bulldozer blade interference zone 52, the operator can continue to swing the bulldozer blade control handle backward to raise the bulldozer blade.

[0060] If the controller 30 determines that the bulldozer blade 20 has entered the upper vehicle body interference zone 54 and then the rear of the upper vehicle body has entered the bulldozer blade interference zone 52, the controller 30 will stop outputting the upper vehicle body rotation control signal to the slewing proportional valve 12, and the upper vehicle body will stop rotating, thereby avoiding interference and collision between the rear of the upper vehicle body and the bulldozer blade 20. The controller 30 will issue an alarm message through the alarm device 31 to inform the operator of the current status and the handling measures. At this time, the operator can lower the bulldozer blade by swinging the bulldozer blade control handle forward; or by swinging the slewing control handle, the upper vehicle body will rotate in the opposite direction to the rotation direction before stopping, so that the rear of the upper vehicle body exits the bulldozer blade interference zone.

[0061] Example 3.

[0062] Figure 7 The control system for preventing interference with the bulldozer blade in Embodiment 3 of the present invention is shown.

[0063] The difference between this embodiment and embodiment two lies in the control of the electromagnetic switch valve 27.

[0064] like Figure 7 As shown, in this embodiment, the bulldozer blade angle detection device is a bulldozer blade swing angle switch 28, and the rotation angle detection device is a rotation angle switch 16. The bulldozer blade swing angle switch 28 and the rotation angle switch 16 are connected in series to form a series switch group. The first end of the series switch group is electrically connected to the positive terminal of the DC power supply 17, and the second end of the series switch group is electrically connected to the negative terminal of the DC power supply 17 through the electromagnetic coil of the electromagnetic switch valve 27, forming a control circuit. The second end of the series switch group is electrically connected to the controller 30. When both the bulldozer blade swing angle switch 28 and the rotation angle switch 16 are closed, the controller 30 can receive a high-potential signal through the series switch group. At the same time, the electromagnetic coil of the electromagnetic switch valve 27 is energized, and the swing pilot control oil circuit 262 on the bulldozer blade is in the off state.

[0065] In this embodiment, the control method for preventing the bulldozer blade 20 from interfering with and colliding with the rear of the upper vehicle body is as follows:

[0066] When the bulldozer blade operating handle is swung, the bulldozer blade pilot valve 26 outputs pilot pressure oil through the bulldozer blade downward swing pilot control oil circuit 261 or the bulldozer blade upward swing pilot control oil circuit 262, which acts on the bulldozer blade control main valve 23. The bulldozer blade control main valve 23 controls the bulldozer blade cylinder 24 to extend or retract, thereby realizing the up and down swing of the bulldozer blade 20.

[0067] The controller 30 outputs a control signal to the rotary proportional valve 12 based on the electrical signal from the rotary electric control handle 11, and realizes the clockwise or counterclockwise rotation of the upper body by controlling the rotary control main valve 13.

[0068] The controller 30 determines whether the bulldozer blade 20 and the rear of the upper vehicle body have both entered the upper vehicle body interference zone 54 and the bulldozer blade interference zone 52, respectively, which would cause interference between them, based on the potential signal at the second terminal of the series switch group. If the bulldozer blade 20 enters the upper vehicle body interference zone 54 and the rear of the upper vehicle body enters the bulldozer blade interference zone 52, both switches in the series switch group are closed and conducting, and the potential signal at the second terminal of the series switch group is a high potential signal. Because the series switch group is conducting, the electromagnetic coil of the electromagnetic switch valve 27 is energized, and the swing pilot control oil circuit 262 on the bulldozer blade is in the cut-off state, so the upward swing action of the bulldozer blade 20 cannot be realized; at the same time, the controller 30 receives the high potential signal at the second terminal of the series switch group and also stops outputting the control signal to the slewing proportional valve 12 to make the rear of the slewing platform rotate forward. The upper vehicle body stops rotating, thereby avoiding interference and collision between the rear of the upper vehicle body and the bulldozer blade. The controller 30 issues an alarm message through the alarm device 31 to inform the operator of the current status and the possible handling measures. At this time, the operator can swing the bulldozer blade handle forward to lower the bulldozer blade. After the bulldozer blade exits the upper vehicle body interference area 54, the bulldozer blade swing angle switch 28 changes from closed to open, the electromagnetic coil of the electromagnetic switch valve is de-energized, the bulldozer blade swing pilot control oil circuit 262 is in the conducting state, the series switch group is in the open state, the controller receives the low potential signal at the second end of the series switch group, and the controller outputs a control signal to the slewing proportional valve according to the electrical signal of the slewing electric control handle to control the upper vehicle body to rotate clockwise or counterclockwise.

[0069] Example 4.

[0070] This embodiment provides an excavator that has an anti-interference control system for the excavator bulldozer blade as described in Embodiment 1, Embodiment 2, or Embodiment 3.

Claims

1. A control system for preventing interference with a bulldozer blade, comprising a controller, a bulldozer blade electric control handle electrically connected to the controller, a swing electric control handle, a swing electro-proportional valve for controlling the swing control main valve, and a bulldozer blade electro-proportional valve for controlling the bulldozer blade control main valve; characterized in that... The control system also includes a bulldozer blade angle detection device connected to the controller for detecting the swing angle of the bulldozer blade in the vertical direction and a slewing angle detection device for detecting the relative angle between the upper body and the chassis. The controller estimates whether the bulldozer blade and the rear of the upper vehicle body have entered the upper vehicle body interference zone and the bulldozer blade interference zone that would interfere with each other, based on the detection values ​​of the bulldozer blade angle detection device and the slewing angle detection device. The controller outputs a control signal to the bulldozer blade proportional valve based on the electrical signal from the bulldozer blade's electric control handle. When the rear of the upper vehicle body enters the bulldozer blade's interference zone and the bulldozer blade re-enters the upper vehicle body's interference zone, the controller stops outputting a control signal to the bulldozer blade proportional valve to raise the bulldozer blade. Similarly, the controller outputs a control signal to the slewing proportional valve based on the electrical signal from the slewing electric control handle. When the rear of the upper vehicle body enters the bulldozer blade's interference zone and the bulldozer blade re-enters the upper vehicle body's interference zone, the controller stops outputting a control signal to the slewing proportional valve to rotate the rear of the upper vehicle body forward.

2. The control system for preventing interference with the excavator bulldozer blade according to claim 1, characterized in that... The control system also includes an alarm device connected to the controller, which is used to issue an interference alarm when both the bulldozer blade and the rear of the upper vehicle body enter an interference zone that would interfere with each other.

3. The control system for preventing interference with the excavator bulldozer blade according to claim 1 or 2, characterized in that... The slewing angle detection device is a slewing angle sensor or a slewing angle switch that detects the slewing angle of the upper body. When the relationship between the included angle between the mid-surface of the rear counterweight of the excavator and the mid-surface of the front chassis changes from the set value, the opening and closing state of the slewing angle switch is triggered to change. The bulldozer blade angle detection device is a bulldozer blade swing angle sensor or a bulldozer blade swing angle switch that detects the upward swing angle of the bulldozer blade. When the relationship between the upward swing angle of the bulldozer blade and the set value changes, the opening and closing state of the bulldozer blade swing angle switch is triggered to change.

4. A control system for preventing interference with a bulldozer blade, comprising a controller, a rotary electric control handle electrically connected to the controller, a rotary electric proportional valve for controlling the rotary control main valve, and a bulldozer blade pilot valve connected to the pilot hydraulic control end of the bulldozer blade control main valve; characterized in that... The control system also includes a bulldozer blade angle detection device electrically connected to the controller for detecting the swing angle of the bulldozer blade in the vertical direction, a slewing angle detection device for detecting the relative angle between the upper body and the chassis, and an electromagnetic switch valve on the bulldozer blade swing pilot control oil circuit located between the bulldozer blade hand pilot valve and the bulldozer blade hand pilot valve; the controller estimates whether the bulldozer blade and the rear of the upper body have entered the upper body interference area and the bulldozer blade interference area that would interfere with each other based on the detection values ​​of the bulldozer blade angle detection device and the slewing angle detection device. The controller outputs a control signal to the slewing proportional valve based on the electrical signal from the slewing electric control handle. When the rear of the upper vehicle body enters the interference zone of the upper vehicle body after the bulldozer blade enters the interference zone of the bulldozer blade, the controller stops outputting a control signal to the slewing proportional valve to make the rear of the upper vehicle body rotate forward. When the rear of the upper vehicle body enters the interference zone of the bulldozer blade and the bulldozer blade enters the interference zone of the upper vehicle body again, the controller outputs a control signal to close the electromagnetic switch valve.

5. The control system for preventing interference with the excavator bulldozer blade according to claim 4, characterized in that... The control system also includes an alarm device connected to the controller, which is used to issue an interference alarm when both the bulldozer blade and the rear of the upper vehicle body enter an interference zone that would interfere with each other.

6. The control system for preventing interference with the excavator bulldozer blade according to claim 4 or 5, characterized in that... The slewing angle detection device is a slewing angle sensor or a slewing angle switch that detects the slewing angle of the upper body. When the relationship between the included angle between the mid-surface of the rear counterweight of the excavator and the mid-surface of the front chassis changes from the set value, the opening and closing state of the slewing angle switch is triggered to change. The bulldozer blade angle detection device is a bulldozer blade swing angle sensor or a bulldozer blade swing angle switch that detects the upward swing angle of the bulldozer blade. When the relationship between the upward swing angle of the bulldozer blade and the set value changes, the opening and closing state of the bulldozer blade swing angle switch is triggered to change.

7. A control system for preventing interference with a bulldozer blade, comprising a controller, a rotary electric control handle electrically connected to the controller, a rotary proportional valve for controlling the rotary control main valve, and a bulldozer blade pilot valve connected to the pilot hydraulic control end of the bulldozer blade control main valve; characterized in that... The control system also includes an electromagnetic switch valve, a bulldozer swing angle switch, and a rotation angle switch located on the bulldozer swing pilot control oil circuit between the bulldozer blade pilot valve and the bulldozer blade control main valve. When the upward swing angle of the bulldozer blade changes from less than the set value to greater than the set value, the bulldozer blade swing angle switch changes from open to closed. The slewing angle switch is used to detect the relative angle between the rear of the upper body and the chassis when the rear of the upper body rotates clockwise or counterclockwise relative to the excavator chassis. When the angle between the mid-surface of the counterweight at the rear of the excavator and the mid-surface of the front of the chassis changes from greater than a set value to less than a set value, the slewing angle switch changes from open to closed. The bulldozer blade swing angle switch and the rotation angle switch are connected in series to form a series switch group. The first end of the series switch group is electrically connected to the positive terminal of the DC power supply, and the second end of the series switch group is electrically connected to the negative terminal of the DC power supply through the electromagnetic coil of the electromagnetic switch valve. The second end of the series switch group is electrically connected to the controller. The controller outputs a control signal to the rotary proportional valve based on the electrical signal from the rotary electric control handle, and stops outputting a control signal to the rotary proportional valve to make the upper rear of the vehicle body rotate forward when there is a high electrical signal output at the second end of the series switch group.

8. The control system for preventing interference with the excavator bulldozer blade according to claim 7, characterized in that... The control system also includes an alarm device connected to the controller, which is used to issue an interference alarm when both the bulldozer blade and the rear of the upper vehicle body enter an interference zone that would interfere with each other.

9. An excavator, characterized in that... A control system for preventing interference with the excavator bulldozer blade as described in any one of claims 1 to 8.

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