Grader blade control system, control method and grader

Abstract

The application discloses a grader blade control system and method and a grader, and belongs to the field of electromechanical control of engineering machinery. The controller of the electrical control system receives the follow-up control switch signal, the slope calibration knob signal and the left and right fork stop cylinder travel switch signal, reads the left and right lifting cylinder displacement sensor signal, and then sends corresponding signals to the blade left and right lifting cylinders and the blade swing cylinder floating balance valve, the left and right fork stop reversing valve and the blade left and right lifting cylinder reversing valve which affect the posture of the structure main body, adjusts the posture of the structure main body, completes blade slope calibration, and enters the blade action follow-up mode. In the follow-up mode, the action of one blade lifting cylinder is adjusted, and the action of the other blade lifting cylinder is adjusted in follow-up, but the blade slope remains unchanged. The application simplifies the blade leveling and blade slope control difficulty, is convenient and simple to operate, and improves the work efficiency.

Description

Technical Field

[0001] This invention belongs to the field of electromechanical control technology of engineering machinery, and more specifically, relates to a grader blade control system, control method and grader. Background Technology

[0002] Due to the complexity of grader operation and the increasingly stringent requirements for road surface smoothness from construction companies, there is a shortage of grader operators in the market. To address this shortage, some graders have begun to be equipped with 2D laser leveling systems or 3D GPS leveling systems, but both of these systems incur significant costs. Therefore, this invention proposes a blade movement following mode. This mode simplifies blade leveling and slope control, making grader operation convenient and simple, fundamentally improving work efficiency, and offering a certain degree of cost-effectiveness. Summary of the Invention

[0003] The purpose of this invention is to address the above-mentioned shortcomings by providing a grader blade control system, control method, and grader, proposing a blade movement following mode to simplify blade leveling and blade slope control, making grader operation convenient and simple, and fundamentally improving work efficiency.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0005] In a first aspect, the present invention provides a grader blade control system, including a hydraulic control module and an electrical control module.

[0006] The hydraulic control module includes a pump, an oil tank, and four parallel hydraulic circuits, which include a left blade lifting circuit, a right blade lifting circuit, a blade swing circuit, and a fork stop circuit.

[0007] The left lifting circuit of the shovel includes a left lifting cylinder, a floating balance valve I, and a reversing valve I; the right lifting circuit of the shovel includes a right lifting cylinder, a floating balance valve II, and a reversing valve II; the shovel swing circuit includes a shovel swing cylinder, a floating balance valve III, and a reversing valve III; and the fork stop circuit includes a left fork stop cylinder, a right fork stop cylinder, and a reversing valve IV.

[0008] The electrical control module includes a control handle, a follow control switch, a slope calibration knob, and a controller. The input end of the controller is connected to the control handle, the follow control switch, the slope calibration knob, the displacement sensor of the left lifting cylinder of the shovel, the displacement sensor of the right lifting cylinder of the shovel, the limit switch of the left fork stop cylinder, and the limit switch of the right fork stop cylinder. The output end of the controller is connected to the reversing valve and the floating balance valve in the hydraulic control module, controlling the oil circuit of the above-mentioned cylinders to achieve control of the main structure of the shovel.

[0009] Furthermore, the P ports of the reversing valves I, II, III, and IV are connected and simultaneously connected to one end of the pump; the T ports of the reversing valves I, II, III, and IV are connected and simultaneously connected to the oil tank; and the other end of the pump is connected to the oil tank.

[0010] Furthermore, in the left lifting circuit of the shovel, ports 1 and 2 of the floating balance valve I are connected to the rod chamber and rodless chamber of the left lifting cylinder of the shovel, respectively, and ports 3 and 4 of the floating balance valve I are connected to ports A and B of the reversing valve I, respectively.

[0011] Furthermore, in the right lifting circuit of the shovel, ports 1 and 2 of the floating balance valve II are connected to the rod chamber and rodless chamber of the right lifting cylinder of the shovel, respectively, and ports 3 and 4 of the floating balance valve II are connected to ports A and B of the reversing valve II, respectively.

[0012] Furthermore, in the blade swing circuit, ports 1 and 2 of the floating balance valve III are connected to the rod-side chamber and rodless chamber of the blade swing cylinder, respectively, and ports 3 and 4 of the floating balance valve III are connected to ports A and B of the reversing valve III, respectively.

[0013] Furthermore, in the fork stop circuit, the rodless chambers of the left fork stop cylinder and the right fork stop cylinder are connected and connected to port A of the directional valve IV; the rod chambers of the left fork stop cylinder and the right fork stop cylinder are connected and connected to port B of the directional valve IV.

[0014] In a second aspect, the present invention also provides a control method for the grader blade control system described in the first aspect, comprising:

[0015] The controller receives the follow control switch signal, the slope calibration knob signal, and the cylinder travel switch signal. After reading the signals from the displacement sensors of the left and right lifting cylinders of the shovel, it sends the corresponding control signals to the floating balance valves in the left and right lifting circuits of the shovel, the reversing valves in the fork stop circuit, and the reversing valves in the left and right lifting circuits of the shovel. This enables the attitude adjustment control of the shovel's main structure, the slope calibration control, and the follow control of the shovel's movement.

[0016] Furthermore, the attitude adjustment control of the main body of the shovel includes:

[0017] The controller receives the follow control switch signal and sends the corresponding control signal to the floating balance valves of the left lifting circuit, right lifting circuit, and swing circuit of the blade, so that the blade can perform the corresponding actions.

[0018] After the controller detects that the signals from the displacement sensors of the left lifting cylinder and the right lifting cylinder of the shovel no longer change, it sends the corresponding control signals to the reversing valve of the fork stop circuit to fix the left and right forks respectively, and at the same time triggers the limit switches of the left and right fork stop cylinders.

[0019] After receiving the signals from the limit switches of the left fork stop cylinder and the right fork stop cylinder, the controller cancels the sending of the corresponding signals to the balance valves of the left and right lifting circuits of the blade, thus completing the attitude adjustment of the blade's main structure.

[0020] Furthermore, the blade slope calibration control includes:

[0021] When the slope calibration knob is in the middle position, the controller sends the corresponding signal to the reversing valves of the left and right lifting circuits of the shovel, so that the piston rods of the left and right lifting cylinders of the shovel extend in the same way, and the shovel is in the leveling state.

[0022] When the slope calibration knob is in the middle position to the leftmost position, the controller sends a corresponding signal to the reversing valve of the right lifting circuit of the shovel, so that the piston rod extension of the right lifting cylinder of the shovel is less than the piston rod extension of the left lifting cylinder of the shovel. The shovel is in a slope state with the left side lower and the right side higher. The rotation angle of the slope calibration knob is proportional to the slope of the shovel. That is, as the slope calibration knob rotates from the middle position to the leftmost position, the shovel is lower on the left and higher on the right, and the slope becomes larger and larger.

[0023] When the slope calibration knob is in the middle position to the rightmost position, the controller sends a corresponding signal to the reversing valve of the left lifting circuit of the shovel, so that the piston rod extension of the left lifting cylinder of the shovel is less than the piston rod extension of the right lifting cylinder of the shovel. The shovel is in a slope state with the right lower and the left higher. The rotation angle of the slope calibration knob is proportional to the slope of the shovel. That is, as the slope calibration knob rotates from the middle position to the rightmost position, the shovel is lower on the right and higher on the left, and the slope becomes larger and larger.

[0024] Furthermore, the shovel motion tracking control includes:

[0025] When the controller receives a signal from the control handle to lift one side of the blade, it simultaneously sends a corresponding control signal to the reversing valves in the left and right blade lifting circuits. The oil output by the pump enters the rod chamber of the left and right blade lifting cylinders through the reversing valves and the floating balance valve, ensuring that the blade slope remains unchanged.

[0026] When the controller does not receive the follow control switch signal, it cancels sending the corresponding signal to the reversing valves in the blade swing circuit and the fork stop circuit. At this time, the oil in the rod chamber and rodless chamber of the blade swing cylinder no longer flows, and the oil output by the pump enters the rod chamber of the left fork stop cylinder and the rod chamber of the right fork stop cylinder. The piston rods of the left fork stop cylinder and the right fork stop cylinder retract, and the left and right forks rotate freely. The blade action follow mode is canceled.

[0027] Thirdly, the present invention also provides a grader, including a main body structure of a blade and the grader blade control system described in the first aspect. The main body structure of the blade includes a frame, a swing frame, a left fork, a right fork, a right blade lifting cylinder, a left blade lifting cylinder, a blade swing cylinder, a towing frame assembly, and the blade, the connection relationships of which can be referenced from existing technology. Alternatively, any main body structure from existing technology can be used; the structure itself is prior art, and the present invention will not elaborate on it.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] The grader blade control system and control method provided by this invention, by combining an electrical control module and a hydraulic control module, simplifies the difficulty of blade leveling and blade slope control, making the grader easy and simple to operate, and fundamentally improving work efficiency.

[0030] This invention adjusts the posture of the main structure by operating the follow control switch and slope calibration knob in the cab, completing the blade slope calibration and entering the blade action follow mode. Depending on the position of the slope calibration knob, the blade can achieve three states: leveling calibration, left-low-right-high calibration, and right-low-left-high calibration. Furthermore, the blade slope calibration magnitude is proportionally controlled by the slope calibration knob.

[0031] When the blade movement following mode described in this invention is activated, manipulating one blade lifting cylinder causes the other blade lifting cylinder to adjust accordingly, while the blade slope remains unchanged. In actual operation, the operator can select the blade slope calibration state based on the actual road conditions and their own operating habits. This process simplifies blade leveling and slope control, making the grader easy to operate and fundamentally improving work efficiency. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the hydraulic principle of the hydraulic control module in the grader blade control system provided in Embodiment 1 of the present invention;

[0033] Figure 2 This is a schematic diagram of the control relationship of the electrical control module in the grader blade control system provided in Embodiment 1 of the present invention;

[0034] Figure 3 This is a schematic diagram of the control logic of the control method for the grader blade control system provided in Embodiment 2 of the present invention;

[0035] Figure 4 This is a schematic diagram of the main body of the blade of the grader provided in Embodiment 3 of the present invention.

[0036] In the diagram: 1-Frame; 2-Swing frame; 3-Left fork; 4-Right fork; 5-Right blade lifting cylinder; 6-Left blade lifting cylinder; 7-Control blade swing cylinder; 8-Tethering frame assembly; 9-Blade; 10-Oil tank; 11-Pump; 12-Directional control valve I; 13-Floating balance valve I; 14-Directional control valve II; 15-Floating balance valve II; 16-Directional control valve III; 17-Floating balance valve III; 18-Left fork stop cylinder; 19-Right fork stop cylinder; 20-Directional control valve IV; 21-Operating handle; 22-Follow control switch; 23-Slope calibration knob; 24-Controller; 25-Left blade lifting cylinder displacement sensor; 26-Right blade lifting cylinder displacement sensor; 27-Left fork stop cylinder limit switch; 28-Right fork stop cylinder limit switch. Detailed Implementation

[0037] Preferred embodiments of the present invention will now be described in more detail with reference to the accompanying drawings and specific examples.

[0038] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] Example 1

[0041] This embodiment provides a grader blade control system, including a hydraulic control module and an electrical control module, such as... Figure 1 and Figure 2 As shown. The main structure of the controlled blade can adopt any existing structural body, and its structure itself is existing technology. The structural body used in this embodiment is as follows. Figure 4 As shown, it includes a frame 1, a swing frame 2, a left fork 3, a right fork 4, a right lifting cylinder for the blade 5, a left lifting cylinder for the blade 6, a blade swing control cylinder 7, a towing frame assembly 8, and a blade 9.

[0042] like Figure 1As shown, the hydraulic system includes a pump 11, an oil tank 10, and four parallel hydraulic circuits, which share the same pump 11 and oil tank 10. The left lifting circuit of the shovel includes a left lifting cylinder 6, a floating balance valve I13, and a reversing valve I12. Ports 1 and 2 of the floating balance valve I13 are connected to the rod-side and rodless-side chambers of the left lifting cylinder 6, respectively, and ports 3 and 4 of the floating balance valve I13 are connected to ports A and B of the reversing valve I12, respectively. The right lifting circuit of the shovel includes a right lifting cylinder 5, a floating balance valve II 15, and a reversing valve II 14. Ports 1 and 2 of the floating balance valve II 15 are connected to the rod-side and rodless-side chambers of the right lifting cylinder 5, respectively, and ports 3 and 4 of the floating balance valve II 15 are connected to ports A and B of the reversing valve II 14, respectively. The shovel swing circuit includes a shovel swing cylinder 7, a floating balance valve III 17, and a reversing valve III 16. Ports 1 and 2 of the floating balance valve III 17 are connected to the rod-side and rodless-side chambers of the shovel swing cylinder 7, respectively, and ports 3 and 4 of the floating balance valve III 17 are connected to ports A and B of the reversing valve I12, respectively. Ports 3 and 4 of 17 are connected to ports A and B of directional valve III 16, respectively. The fork stop circuit includes a left fork stop cylinder 18, a right fork stop cylinder 19, and a directional valve IV 20. The rodless chambers of the left fork stop cylinder 18 and the right fork stop cylinder 19 are connected and connected to port A of directional valve IV 20. The rod chambers of the left fork stop cylinder 18 and the right fork stop cylinder 19 are connected and connected to port B of directional valve IV 20. The P ports of directional valve I12, directional valve II 14, directional valve III 16, and directional valve IV 20 are connected and connected to one end of pump 11. The T ports of directional valve I12, directional valve II 14, directional valve III 16, and directional valve IV 20 are connected and connected to oil tank 10. The other end of pump 11 is connected to oil tank 10. The left fork stop cylinder 18 and the right fork stop cylinder 19 are mechanically connected to the swing frame 2 in the main structure.

[0043] like Figure 2 As shown, the electrical control module includes a control handle 21, a follow control switch 22, a slope calibration knob 23, a controller 24, a displacement sensor 25 for the left lifting cylinder of the shovel, a displacement sensor 26 for the right lifting cylinder of the shovel, a limit switch 27 for the left fork stop cylinder, and a limit switch 28 for the right fork stop cylinder. The controller 24 serves as the logic and data processing center. Its input terminals are connected to the control handle 21, the follow control switch 22, the slope calibration knob 23, the displacement sensors 25 and 26 for the left and right lifting cylinders of the shovel, the limit switches 27 and 28 for the left and right fork stop cylinders, and its output terminals are connected to reversing valves I12, II14, III16, IV20, I13, II15, and III17.

[0044] Example 2

[0045] This embodiment provides a control method for the grader blade control system described in Embodiment 1, including:

[0046] The controller 24 in the electrical control system receives signals from the follow control switch 22, the slope calibration knob 23, the left fork stop cylinder travel switch 27, and the right fork stop cylinder travel switch 28. After reading the signals from the left lifting cylinder displacement sensor 26 and the right lifting cylinder displacement sensor 27, it sends the corresponding signals to the floating balance valves I13, II15, III17, IV20, I12, and II14 that affect the attitude of the main structure, thereby adjusting the attitude of the main structure, completing the blade slope calibration, and realizing blade movement following.

[0047] The slope calibration knob 23 has three operating methods. When the knob 23 is in the middle position, the controller 24 sends a corresponding signal to the reversing valve I12 or the reversing valve II14, making the piston rods of the left lifting cylinder 6 and the right lifting cylinder 5 of the shovel extend at the same distance, and the shovel 9 is in the leveling state. When the knob 23 is in the middle to the leftmost position, the controller 24 sends a corresponding signal to the reversing valve II14. 14. When the piston rod of the right lifting cylinder 5 of the shovel extends less than the piston rod of the left lifting cylinder 6 of the shovel, the shovel 9 is in a slope state with the left side lower and the right side higher. The rotation angle of the slope calibration knob 23 is proportional to the slope of the shovel 9. That is, as the slope calibration knob 23 rotates from the middle position to the leftmost position, the shovel 9 becomes lower on the left and higher on the right, and the slope becomes larger and larger. Conversely, when the knob 23 is in the middle position to the rightmost position, the controller 24 sends a corresponding signal to the reversing valve I12, so that the piston rod of the left lifting cylinder 6 of the shovel extends less than the piston rod of the right lifting cylinder 5 of the shovel, the shovel 9 is in a slope state with the right side lower and the left side higher. The rotation angle of the slope calibration knob 23 is proportional to the slope of the shovel 9. That is, as the slope calibration knob 23 rotates from the middle position to the rightmost position, the shovel 9 becomes lower on the right and higher on the left, and the slope becomes larger and larger.

[0048] The control logic of the control method for the grader blade control system described in this embodiment is as follows: Figure 3 As shown, the specific work process and operation steps include:

[0049] The main structure's posture is adjusted. When the controller 24 receives the signal from the follow control switch 22, the controller 24 first sends the corresponding signals to the solenoids Y8 and Y9 of the floating balance valve I13, the solenoids Y10 and Y11 of the floating balance valve II 15, and the solenoids Y12 and Y13 of the floating balance valve III 17. At this time, the oil in the rod chamber and rodless chamber of the left lifting cylinder 6 in the left lifting circuit of the shovel is connected to the oil tank 10 through the floating balance valve I13 and the reversing valve I12. The oil in the rod chamber and rodless chamber of the right lifting cylinder 5 in the right lifting circuit of the shovel is connected to the oil tank 10 through the floating balance valve II 15 and the reversing valve II 14. The oil in the rod chamber and rodless chamber of the swing cylinder 7 in the swing circuit of the shovel is connected to the oil tank 10 through the floating balance valve III 17 and the reversing valve III 14. 16 is connected to the oil tank 10. Under the influence of the weight of the towing frame assembly 8 and the blade 9, the blade 9 falls to the ground, and at the same time, the towing frame assembly 8 returns to the center. When the controller 24 detects that the signals of the blade left lifting cylinder displacement sensor 25 and the blade right lifting cylinder displacement sensor 26 are no longer changing, it sends the corresponding signals to the electromagnet Y7 of the reversing valve IV 20. At this time, the oil output by the pump 11 enters the rodless chamber of the left fork stop cylinder 18 and the rodless chamber of the right fork stop cylinder 19 through the A port of the reversing valve IV. The piston rods of the left fork stop cylinder 18 and the right fork stop cylinder 19 extend, fixing the left fork 3 and the right fork 4 respectively, and triggering the left fork stop cylinder limit switch 27 and the right fork stop cylinder limit switch 28. After the controller 24 receives the signals from the left fork stop cylinder limit switch 27 and the right fork stop cylinder limit switch 28, the controller 24 cancels the sending of the corresponding signals to the electromagnets Y8 and Y9 of the floating balance valve I13 and the electromagnets Y10 and Y11 of the floating balance valve II 15. This completes the attitude adjustment of the main structure.

[0050] Shovel slope calibration: When the controller 24 receives the signal from the slope calibration knob 23 (middle position), the controller 24 reads the signal from the displacement sensor 25 of the left lifting cylinder and the signal from the displacement sensor 26 of the right lifting cylinder. According to the principle of choosing the higher value, if the signal from the displacement sensor 25 of the left lifting cylinder is greater than the signal from the displacement sensor 26 of the right lifting cylinder, the controller 24 sends the corresponding signal to the solenoid Y3 of the reversing valve II 14, so that the extension amount of the piston rod of the right lifting cylinder 5 is consistent with the extension amount of the piston rod of the left lifting cylinder 6, and the shovel 9 is in the leveling state. When the controller 24 receives the slope calibration knob 23 (left of the middle position), the controller 24 sends a corresponding signal to the electromagnet Y3 of the reversing valve II 14, so that the extension of the piston rod of the right lifting cylinder 5 of the shovel is less than the extension of the piston rod of the left lifting cylinder 6 of the shovel. The shovel 9 is in a slope state with the left side lower and the right side higher. The rotation angle of the slope calibration knob 23 is proportional to the slope of the shovel 9. That is, as the slope calibration knob 23 rotates from the middle position to the leftmost position, the shovel 9 becomes lower on the left and higher on the right, and the slope becomes larger and larger. Conversely, when controller 24 receives the signal from slope calibration knob 23 (center position slightly to the right), controller 24 sends a corresponding signal to electromagnet Y1 of reversing valve I 12, causing the piston rod extension of the left lifting cylinder 6 of the shovel to be less than the extension of the piston rod of the right lifting cylinder 5 of the shovel. The shovel 9 is in a right-low, left-high slope state. The rotation angle of slope calibration knob 23 is proportional to the slope of shovel 9; that is, as slope calibration knob 23 rotates from the center position to the rightmost position, shovel 9 becomes increasingly steep, with the slope gradually increasing. This completes the shovel slope calibration.

[0051] The blade motion follow mode is activated. When activated, manipulating one blade lifting cylinder causes the other blade lifting cylinder to adjust accordingly, but the blade slope remains unchanged. For example, when controller 24 receives a signal from handle 21 to lift the left side of the blade, controller 24 simultaneously sends a corresponding signal to solenoid Y1 of directional valve I12 and a corresponding signal to solenoid Y3 of directional valve II 14. The oil output from pump 11 enters the rod chamber of the left blade lifting cylinder 6 through directional valve I12 and floating balance valve I13, and also enters the rod chamber of the right blade lifting cylinder 5 through directional valve II 14 and floating balance valve II 15, thus ensuring the blade slope remains constant. In actual operation, the operator can select the blade slope calibration state according to the actual road conditions and their own operating habits.

[0052] The blade movement follow mode is canceled. When the controller 24 does not receive the follow control switch 22 signal, the controller 24 cancels sending the corresponding signal to the electromagnets Y12 and Y13 of the floating balance valve III 17, and cancels sending the corresponding signal to the electromagnet Y7 of the reversing valve IV 20. At this time, the oil in the rod chamber and rodless chamber of the blade swing cylinder no longer flows. The oil output by the pump 11 enters the rod chamber of the left fork stop cylinder 18 and the rod chamber of the right fork stop cylinder 19 through the B port of the reversing valve IV 20. The piston rods of the left fork stop cylinder 18 and the right fork stop cylinder 19 retract, and the left fork 3 and the right fork 4 rotate freely. The blade movement follow mode is canceled.

[0053] Example 3

[0054] This embodiment provides a grader, including a main body structure for a blade and a grader blade control system as described in Embodiment 1. The main body structure for the blade in this embodiment can be any type of structure in the prior art, or it can be... Figure 4 The main structure shown includes a frame 1, a swing frame 2, a left fork 3, a right fork 4, a right lifting cylinder for the blade 5, a left lifting cylinder for the blade 6, a blade swing control cylinder 7, a towing frame assembly 8, and a blade 9. Their connection relationships can be referenced from existing technology settings.

[0055] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and principles of the described embodiments, and these modifications and variations should also be considered within the scope of protection of the present invention.

Claims

1. A control method of a grader blade control system, characterized by, Based on the grader blade control system implementation, The grader blade control system includes a hydraulic control module and an electrical control module, The hydraulic control module includes a pump, an oil tank and four parallel hydraulic circuits, including a blade left lifting circuit, a blade right lifting circuit, a blade swing circuit and a fork stop circuit; The blade left lifting circuit includes a blade left lifting cylinder, a floating balance valve I and a reversing valve I, the blade right lifting circuit includes a blade right lifting cylinder, a floating balance valve II and a reversing valve II, the blade swing circuit includes a blade swing cylinder, a floating balance valve III and a reversing valve III, and the fork stop circuit includes a left fork stop cylinder, a right fork stop cylinder and a reversing valve IV; The electrical control module includes a control handle, a follow-up control switch, a slope calibration knob and a controller, the input end of the controller is connected with the control handle, the follow-up control switch, the slope calibration knob, the blade left lifting cylinder displacement sensor, the blade right lifting cylinder displacement sensor, the left fork stop cylinder travel switch and the right fork stop cylinder travel switch, and the output end of the controller is connected with the reversing valves and the floating balance valves in the hydraulic control module, and the oil path on-off of the above-mentioned cylinders is controlled to realize the control of the structure main body of the blade. The control method comprises: The controller receives the follow-up control switch signal, the slope calibration knob signal and the cylinder travel switch signal, reads the signals of the blade left lifting cylinder displacement sensor and the blade right lifting cylinder displacement sensor, and then sends corresponding control signals to the floating balance valves in the blade left lifting circuit, the blade right lifting circuit and the blade swing circuit, the reversing valve in the fork stop circuit, and the reversing valves in the blade left lifting circuit and the blade right lifting circuit, to realize the attitude adjustment control, the blade slope calibration control and the blade action follow-up control of the structure main body of the blade. The blade action follow-up control comprises: When the controller receives the signal of lifting one side of the blade by the control handle, corresponding control signals are sent to the reversing valves in the blade left lifting circuit and the blade right lifting circuit, and the oil output by the pump enters the rod cavity of the blade left lifting cylinder and the blade right lifting cylinder through the reversing valves and the floating balance valves, to ensure that the blade slope does not change; When the controller does not receive the follow-up control switch signal, the controller cancels sending corresponding signals to the reversing valves in the blade swing circuit and the fork stop circuit, at this time, the oil in the rod cavity and the rodless cavity of the blade swing cylinder no longer flows, the oil output by the pump enters the rod cavity of the left fork stop cylinder and the rod cavity of the right fork stop cylinder, the piston rod of the left fork stop cylinder and the piston rod of the right fork stop cylinder retract, the left fork and the right fork are free to rotate, and the blade action follow-up mode is cancelled.

2. The control method of the grader blade control system according to claim 1, characterized by, The P ports of the reversing valve I, the reversing valve II, the reversing valve III and the reversing valve IV are connected and communicated, and are connected with one end of the pump; the T ports of the reversing valve I, the reversing valve II, the reversing valve III and the reversing valve IV are connected and communicated, and are connected with the oil tank, and the other end of the pump is connected with the oil tank.

3. The control method of the grader blade control system according to claim 1, characterized by, In the left shovel lifting circuit, the 1st and 2nd ports of the floating balance valve I are connected with the rod cavity and the rodless cavity of the left shovel lifting cylinder respectively, and the 3rd and 4th ports of the floating balance valve I are connected with the A and B ports of the reversing valve I respectively.

4. The control method of the grader blade control system according to claim 1, characterized by, In the right shovel lifting circuit, the 1st and 2nd ports of the floating balance valve II are connected with the rod cavity and the rodless cavity of the right shovel lifting cylinder respectively, and the 3rd and 4th ports of the floating balance valve II are connected with the A and B ports of the reversing valve II respectively.

5. The control method of the grader blade control system according to claim 1, characterized by, In the shovel swing circuit, the 1st and 2nd ports of the floating balance valve III are connected with the rod cavity and the rodless cavity of the shovel swing cylinder respectively, and the 3rd and 4th ports of the floating balance valve III are connected with the A and B ports of the reversing valve III respectively.

6. The control method of the grader blade control system according to claim 1, characterized by, In the fork stop circuit, the rodless cavities of the left fork stop cylinder and the right fork stop cylinder are connected, and are connected with the A port of the reversing valve IV; the rod cavities of the left fork stop cylinder and the right fork stop cylinder are connected, and are connected with the B port of the reversing valve IV.

7. The control method of the grader blade control system according to claim 1, characterized by, The posture adjustment control of the structural body of the shovel comprises: The controller receives the follow-up control switch signal, and sends corresponding control signals to the floating balance valves of the left shovel lifting circuit, the right shovel lifting circuit and the shovel swing circuit, so that the shovel makes corresponding actions; After the controller monitors that the signals of the left shovel lifting cylinder displacement sensor and the right shovel lifting cylinder displacement sensor no longer change, the controller sends corresponding control signals to the reversing valve of the fork stop circuit, respectively fixes the left fork and the right fork, and triggers the left fork stop cylinder travel switch and the right fork stop cylinder travel switch; After the controller receives the signals of the left fork stop cylinder travel switch and the right fork stop cylinder travel switch, the controller cancels sending corresponding signals to the balance valves of the left shovel lifting circuit and the right shovel lifting circuit, and completes the posture adjustment of the structural body of the shovel.

8. The control method of the grader blade control system according to claim 1, characterized by, The slope calibration control of the shovel comprises: When the slope calibration knob is in the middle position, the controller sends corresponding control signals to the reversing valves of the left shovel lifting circuit and the right shovel lifting circuit, so that the piston rod extension amounts of the left shovel lifting cylinder and the right shovel lifting cylinder are consistent, and the shovel is in the leveling state; When the slope calibration knob is in the middle position to the leftmost position, the controller sends corresponding control signals to the reversing valve of the right shovel lifting circuit, so that the piston rod extension amount of the right shovel lifting cylinder is less than that of the left shovel lifting cylinder, the shovel is in the left-low right-high slope state, and the rotation angle of the slope calibration knob is in proportional relationship with the slope of the shovel; When the slope calibration knob is in the middle position to the rightmost position, the controller sends corresponding control signals to the reversing valve of the left shovel lifting circuit, so that the piston rod extension amount of the left shovel lifting cylinder is less than that of the right shovel lifting cylinder, the shovel is in the right-low left-high slope state, and the rotation angle of the slope calibration knob is in proportional relationship with the slope of the shovel.

9. A grader characterized by The control method of the control system of the grading machine shovel control system comprises the structural body of the shovel, and the control system in the control method of the control system of the grading machine shovel control system in any one of claims 1 to 6, and adopts the control method of the control system of the grading machine shovel control system in any one of claims 1 to 8.

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