An automatic control system for a crawler bulldozer

Abstract

The application relates to an automatic control system for a crawler bulldozer, which comprises a running control device, a blade control device, a pair of GNSS antennas and an ultrasonic sensor, the running control device is suitable for controlling a left-track control lever, a right-track control lever and a gear shifting lever, the blade control device is suitable for controlling a blade control lever, the running control device and the blade control device are electrically connected with a controller, the pair of GNSS antennas are symmetrically arranged on the left and right sides of a blade, and the ultrasonic sensor is arranged above the blade to detect the earthwork in the blade; the crawler bulldozer using the automatic control system can perform automatic land leveling work.

Description

Technical Field

[0001] This invention relates to the field of tracked bulldozer technology, and more specifically to an automatic control system for tracked bulldozers. Background Technology

[0002] Most existing tracked bulldozers use a purely mechanical hydraulic control system. The driver needs to manually operate the left track control lever, right track control lever, and gear shift lever to control the movement of the tracked bulldozer, and manually operate the blade control lever to control the blade movement. When the driver manually operates the tracked bulldozer to perform leveling work, it will consume a lot of physical strength and energy. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic control system for tracked bulldozers, which enables tracked bulldozers to perform automatic leveling work.

[0004] To solve the above-mentioned technical problems, the present invention provides an automatic control system for a tracked bulldozer, including a travel control device, a blade control device, a pair of GNSS antennas and an ultrasonic sensor. The travel control device is adapted to operate the left track control lever, the right track control lever and the gear shift lever. The blade control device is adapted to operate the blade control lever. The travel control device and the blade control device are electrically connected to a controller. The pair of GNSS antennas are adapted to be symmetrically installed on the left and right sides of the blade. The ultrasonic sensor is adapted to be installed above the blade to detect the amount of soil in the blade.

[0005] In a further preferred embodiment, the controller is a PLC, a microcontroller, or a microcomputer. The controller is electrically connected to the touch screen, and the operator can input commands through the touch screen. The controller uses either G signals or fixed base stations for satellite positioning.

[0006] In a further preferred embodiment, the driving control device includes a base plate adapted to be mounted on the top surface of a driving console. The base plate has through holes allowing the left track control lever, right track control lever, and shift lever to pass through. A pair of first electric actuators arranged side-by-side are movably connected above the base plate. The front end of each first electric actuator has a first collar, which is adapted to be fitted onto the left track control lever and right track control lever, respectively. A rotating seat is provided above the base plate, on which a second electric actuator located between the pair of first electric actuators is movably connected. The front end of the second electric actuator has a second collar adapted to be fitted onto the shift lever. A servo motor located in front of the second electric actuator is provided on the top surface of the base plate. The output end of the servo motor has a swing arm with a groove at its outer end. The first electric actuators, second electric actuators, and servo motor are electrically connected to the controller. When the shift lever is engaged in the groove, the servo motor drives the shift lever to swing via the swing arm.

[0007] A pair of first electric actuators are used to push and pull the left track control lever and the right track control lever, respectively. By pushing and pulling the left track control lever and the right track control lever, the running speed of the left and right tracks of the tracked bulldozer is controlled, thereby controlling the tracked bulldozer to travel in a straight line or turn. In the initial state, the shift lever is in the forward gear position. The second electric actuator controls the forward gear shift of the tracked bulldozer by pushing and pulling the shift lever. When the shift lever needs to be switched to the reverse gear position, the second electric actuator first pushes the shift lever forward to neutral and engages it in the groove of the swing arm. Then, the servo motor drives the shift lever to swing to the reverse gear position through the swing arm. The second electric actuator controls the reverse gear shift of the tracked bulldozer by pushing and pulling the shift lever.

[0008] In a further preferred embodiment, the first electric actuator, the second electric actuator, and the servo are each equipped with an encoder, which is electrically connected to the controller; the first electric actuator, the second electric actuator, and the servo transmit rotation angle signals or movement distance signals to the controller through the encoder, so that the controller can accurately control the actions of the first electric actuator, the second electric actuator, and the servo.

[0009] In a further preferred embodiment, the blade control device includes a side plate adapted to be installed on the inner side of the blade control console. A drive motor is provided on the outer side of the side plate, and a swing arm is provided at the output end of the drive motor. A cover is provided at the end of the swing arm away from the drive motor. A traction motor is provided inside the cover. The output shaft of the traction motor passes through the side wall of the cover. A rotating shaft located to the right of the traction motor passes through the side wall of the cover. The outer end of the output shaft of the traction motor and the rotating shaft are connected by a flexible element. A sliding plate extending out of the cover is horizontally arranged inside the cover. The outer end of the sliding plate is connected to one side of the flexible element. A through hole is provided at the inner end of the sliding plate to allow the blade control lever to pass through. An elongated hole is provided at the top of the cover to slide with the blade control lever.

[0010] During operation, the drive motor swings the drive housing, causing the blade control lever to swing back and forth. The traction motor slides the drive sliding plate, causing the blade control lever to swing left and right along the length of the elongated hole, thereby achieving attitude control of the lifting, lowering, and tilting of the tracked bulldozer blade.

[0011] In a further preferred embodiment, the drive motor and the traction motor are each equipped with an encoder, which is electrically connected to the controller; the drive motor and the traction motor respectively transmit rotation angle signals to the controller through the encoder, so that the controller can accurately control the operation of the drive motor and the traction motor.

[0012] The beneficial effects of this invention are as follows: During operation, the ultrasonic sensor transmits the soil volume signal in the blade to the controller. When the soil volume in the blade exceeds the limit, the controller automatically controls the tracked bulldozer to perform a temporary lifting action to prevent the tracked bulldozer from slipping on the spot due to insufficient thrust. A pair of GNSS antennas transmit satellite positioning signals to the controller, which automatically calculates the height and tilt angle of the blade. Since the positions of the tracked bulldozer's blade and vehicle body on the ground projection are relatively fixed, the controller can also calculate the current position and heading of the tracked bulldozer. The controller automatically controls the operation of the travel control device and the blade control device. The travel control device operates the left track lever, the right track lever, and the gear shift lever to control the movement of the tracked bulldozer. The blade control device operates the blade lever to control the blade movement of the tracked bulldozer. Therefore, the tracked bulldozer using the automatic control system of this invention can perform automatic leveling work. Attached Figure Description

[0013] To clearly illustrate the innovative principles of the invention and its advantages over existing automatic control systems, possible embodiments are described below with the aid of accompanying drawings through non-limiting examples applying the principles. In the drawings: Figure 1 This is a perspective view of the automatic control system of the present invention; Figure 2 A perspective view of a tracked bulldozer using the aforementioned automatic control system; Figure 3 This is a perspective view of the driving control device; Figure 4 for Figure 1 A 3D view of the driving control device installed on the driving console; Figure 5 This is a schematic diagram showing the gear shift lever in the forward gear position. Figure 6 This is a schematic diagram showing the gear shift lever in reverse gear. Figure 7 This is a perspective view of the shovel control device; Figure 8 This is a perspective view of the shovel control device; Figure 9 This is a perspective view of the shovel control device installed on the shovel control console. Detailed Implementation

[0014] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0015] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0016] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0017] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Example

[0018] like Figure 1-9An automatic control system for a tracked bulldozer includes a travel control device 1, a blade control device 2, a pair of GNSS antennas 3, and an ultrasonic sensor 4. The travel control device 1 is adapted to operate a left track control lever 5, a right track control lever 6, and a shift lever 7. The blade control device 2 is adapted to operate a blade control lever 8. The travel control device 1 and the blade control device 2 are electrically connected to a controller 10. The pair of GNSS antennas 3 are adapted to be symmetrically installed on the left and right sides of the blade 9. The ultrasonic sensor 4 is adapted to be installed above the blade 9 to detect the amount of soil in the blade.

[0019] Preferably, the controller 10 is a PLC, a microcontroller, or a microcomputer. The controller 10 is electrically connected to the touch screen, and the operator can input commands through the touch screen. The controller 10 uses either 4G signals or fixed base stations for satellite positioning.

[0020] Preferred, such as Figure 3-4 The driving control device 1 includes a base plate 11, which is adapted to be mounted on the top surface of the driving control console. The base plate 11 has through holes allowing the left track control lever 5, the right track control lever 6, and the shift lever 7 to pass through. A pair of first electric push rods 12 arranged side-by-side are movably connected above the base plate 11. The front end of each first electric push rod 12 has a first collar 13, which is adapted to be fitted onto the left track control lever 5 and the right track control lever 6, respectively. A rotating seat 14 is provided above the base plate 11, on which a rotating seat 14 is movably connected... A second electric actuator 15 is located between a pair of first electric actuators 12. The front end of the second electric actuator 15 is provided with a second collar 16 suitable for being fitted onto the shift lever 7. A servo motor 17 is provided on the top surface of the base plate 11 in front of the second electric actuator 15. The output end of the servo motor 17 is provided with a swing arm 18. The outer end of the swing arm 18 is provided with a groove 19. The first electric actuators 12, the second electric actuator 15, and the servo motor 17 are electrically connected to the controller 10. When the shift lever 7 is fitted into the groove 19, the servo motor 17 drives the shift lever 7 to swing through the swing arm 18.

[0021] During operation, a pair of first electric actuators 12 are used to push and pull the left track control lever 5 and the right track control lever 6 respectively. By pushing and pulling the left track control lever 5 and the right track control lever 6, the running speed of the left and right tracks of the tracked bulldozer is controlled, thereby controlling the tracked bulldozer to travel in a straight line or turn. Figure 5 In the initial state, the shift lever 7 is in the forward gear position. The second electric actuator 15 controls the forward gear shifting of the tracked bulldozer by pushing and pulling the shift lever 7. When the shift lever 7 needs to be switched to the reverse gear position, the second electric actuator 15 first pushes the shift lever 7 forward to neutral and engages it in the groove 19 of the swing arm 18. Figure 6Then, the servo motor 17 drives the shift lever 7 to swing to the reverse gear position via the swing arm 18, and the second electric actuator 15 controls the reverse gear shift of the tracked bulldozer by pushing and pulling the shift lever 7.

[0022] Preferably, the first electric actuator 12, the second electric actuator 15, and the servo motor 17 are each equipped with an encoder, which is electrically connected to the controller 10; the first electric actuator 12, the second electric actuator 15, and the servo motor 17 transmit rotation angle signals or movement distance signals to the controller through the encoder, so that the controller can accurately control the actions of the first electric actuator 12, the second electric actuator 15, and the servo motor 17.

[0023] Preferred, such as Figure 7-9 The shovel control device 2 includes a side plate 20, which is adapted to be installed on the inner side of the shovel control console. A drive motor 21 is provided on the outer side of the side plate 20. A swing arm 22 is provided at the output end of the drive motor 21. A cover 23 is provided at the end of the swing arm 22 away from the drive motor 21. A traction motor 24 is provided inside the cover 23. The output shaft of the traction motor 24 passes through the side wall of the cover 23. A rotating shaft 25 located to the right of the traction motor 24 passes through the side wall of the cover 23. The outer end of the output shaft of the traction motor 24 and the rotating shaft 25 are connected by a flexible member 26. A sliding plate 27 is horizontally arranged inside the cover 23, with one end extending out of the cover 23. The outer end of the sliding plate 27 is connected to one side of the flexible member 26. A through hole is provided at the inner end of the sliding plate 27 to allow the shovel control lever 8 to pass through. An elongated hole 28 is provided at the top of the cover 23 to slide with the shovel control lever 8.

[0024] During operation, the drive motor 21 swings through the drive housing 23, causing the blade control lever 8 to swing back and forth. The traction motor 24 slides through the drive sliding plate 27, causing the blade control lever 8 to swing left and right along the length of the elongated hole 28, thereby realizing the lifting and tilting attitude control of the blade 9 of the tracked bulldozer.

[0025] Preferably, the drive motor 21 and the traction motor 24 are each equipped with an encoder, which is electrically connected to the controller 10; the drive motor 21 and the traction motor 24 transmit rotation angle signals to the controller through the encoder, so that the controller can accurately control the operation of the drive motor 21 and the traction motor 24.

[0026] During operation, the ultrasonic sensor 4 transmits the soil volume signal in the blade 9 to the controller 10. When the soil volume in the blade 9 exceeds the limit, the controller 10 automatically controls the tracked bulldozer to perform a temporary lifting action to prevent the tracked bulldozer from slipping on the spot due to insufficient thrust. A pair of GNSS antennas 3 transmit satellite positioning signals to the controller 10, and the controller automatically calculates the height and tilt angle of the blade 9. Since the position of the blade 9 and the vehicle body on the ground projection of the tracked bulldozer is relatively fixed, the controller 10 can also calculate the current position and heading of the tracked bulldozer. The controller 10 automatically controls the operation of the driving control device 1 and the blade control device 2. The driving control device 1 operates the left track control lever 5, the right track control lever 6, and the gear shift lever 7 to control the movement of the tracked bulldozer, and the blade control device 2 operates the blade control lever 8 to control the blade movement of the tracked bulldozer. Therefore, the tracked bulldozer using the automatic control system of this embodiment can perform automatic leveling work.

[0027] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic control system for a tracked bulldozer, characterized in that: The device includes a driving control device (1), a blade control device (2), a pair of GNSS antennas (3) and an ultrasonic sensor (4). The driving control device (1) is adapted to operate the left track control lever (5), the right track control lever (6) and the gear shift lever (7). The blade control device (2) is adapted to operate the blade control lever (8). The driving control device (1) and the blade control device (2) are electrically connected to the controller (10) respectively. The pair of GNSS antennas (3) are adapted to be symmetrically installed on the left and right sides of the blade (9) respectively. The ultrasonic sensor (4) is adapted to be installed above the blade (9) to detect the amount of soil in the blade. The driving control device (1) includes a base plate (11). The base plate (11) has through holes that allow the left track control lever (5), the right track control lever (6), and the shift lever (7) to pass through. A pair of first electric push rods (12) arranged side by side are movably connected above the base plate (11). The front end of the first electric push rod (12) is provided with a first collar (13). The pair of first collars (13) are respectively adapted to be fitted onto the left track control lever (5) and the right track control lever (6). A rotating seat (14) is provided above the base plate (11). The rotating seat (14) is movably connected to a pair of first electric push rods (12). The second electric actuator (15) has a second collar (16) at its front end that is suitable for being fitted onto the shift lever (7). The top surface of the base plate (11) has a servo motor (17) located in front of the second electric actuator (15). The output end of the servo motor (17) has a swing arm (18). The outer end of the swing arm (18) has a groove (19). The first electric actuator (12), the second electric actuator (15), and the servo motor (17) are electrically connected to the controller (10). When the shift lever (7) is fitted into the groove (19), the servo motor (17) drives the shift lever (7) to swing through the swing arm (18).

2. The automatic control system according to claim 1, characterized in that: The first electric actuator (12), the second electric actuator (15), and the servo motor (17) are each equipped with an encoder, which is electrically connected to the controller (10).

3. An automatic control system for a tracked bulldozer, characterized in that: The device includes a driving control device (1), a blade control device (2), a pair of GNSS antennas (3) and an ultrasonic sensor (4). The driving control device (1) is adapted to operate the left track control lever (5), the right track control lever (6) and the gear shift lever (7). The blade control device (2) is adapted to operate the blade control lever (8). The driving control device (1) and the blade control device (2) are electrically connected to the controller (10) respectively. The pair of GNSS antennas (3) are adapted to be symmetrically installed on the left and right sides of the blade (9) respectively. The ultrasonic sensor (4) is adapted to be installed above the blade (9) to detect the amount of soil in the blade. The shovel control device (2) includes a side plate (20). A drive motor (21) is provided on the outer side of the side plate (20). A swing arm (22) is provided at the output end of the drive motor (21). A cover (23) is provided at the end of the swing arm (22) away from the drive motor (21). A traction motor (24) is provided inside the cover (23). The output shaft of the traction motor (24) passes through the side wall of the cover (23). A rotating shaft located to the right of the traction motor (24) passes through the side wall of the cover (23). (25) The outer end of the output shaft of the traction motor (24) is connected to the rotating shaft (25) through a flexible member (26). A sliding plate (27) with one end extending out of the cover (23) is horizontally arranged inside the cover (23). The outer end of the sliding plate (27) is connected to one side of the flexible member (26). The inner end of the sliding plate (27) is provided with a through hole that allows the shovel operating rod (8) to pass through. The top of the cover (23) is provided with an elongated hole (28) that slides with the shovel operating rod (8).

4. The automatic control system according to claim 3, characterized in that: The drive motor (21) and traction motor (24) are respectively equipped with encoders, which are electrically connected to the controller (10).

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