A bulldozer electronic control handle, bulldozer and method

Abstract

This invention provides a bulldozer electronic control handle, a bulldozer, and a method, relating to the field of construction machinery. Addressing the problem of accidental activation caused by independently set floating switches, this invention places a floating button on the handle, employing a floating, non-mechanical locking method. This requires two conditions to be met simultaneously: pressing the floating button and pushing the handle forward to a certain range to trigger the floating mode. This increases operational safety and accuracy, reducing instability and safety hazards caused by misoperation.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery, specifically to an electric control handle for a bulldozer, a bulldozer, and a method thereof. Background Technology

[0002] The hydraulic systems of bulldozers are mostly mechanically operated or hydraulically piloted. The raising and lowering of the blade is controlled by the operating handle, which moves the main valve spool. There are four blade raising / lowering states: raised, stationary, lowered, and floating, corresponding to four control positions on the handle: raised, neutral, lowered, and floating. The floating position often uses a mechanical locking mechanism; this position is locked by a mechanical locking device, and the valve spool moves to a specific position, allowing the blade to float up and down according to changes in the ground. The bulldozer blade tilting has two states: tilt left and tilt right, corresponding to two control positions on the handle: tilt left and tilt right.

[0003] Because the mechanical locking mechanism relies on the precise position of the operating handle, the operator must ensure the handle is in the correct position during operation. Bumps and shaking of the bulldozer can easily cause the handle to shift and mistakenly enter the floating position, canceling the blade's pressure operation and affecting the leveling effect on the ground. Chinese Patent (Publication No.: CN 107558519 B) discloses a grader blade downforce adjustment system, which includes an operating handle, a CAN bus switch panel, and a blade floating switch on the CAN bus switch panel. Pressing the left blade floating switch on the CAN bus switch panel enters the floating mode. In this mode, the two chambers of the blade lifting cylinder are connected to the oil tank through the main valve core, exerting no lifting force on the blade. The forces acting on the blade in the vertical direction are only its own weight and the ground support force. Because the float switch is an independent physical button, it is susceptible to accidental touch or press. In a stressful construction environment, operators may mistakenly press the float switch due to negligence or misjudgment, causing the blade to unexpectedly enter or exit the float mode. Misoperation can lead to instability and potential safety hazards during construction. Furthermore, its operating position is separate from the handle. When both of the operator's hands are occupied by the operating handle, it is difficult to operate the blade float switch on the CAN bus switch panel in a timely manner, affecting operational efficiency. Summary of the Invention

[0004] The purpose of this invention is to address the deficiencies of existing technologies by providing a bulldozer electronic control handle, a bulldozer, and a method. A floating button is mounted on the handle, employing a floating, non-mechanical locking mechanism. The floating mode is triggered only when two conditions are met: pressing the floating button and pushing the handle forward to a certain range. This increases the safety and accuracy of operation and reduces instability and safety hazards caused by misoperation.

[0005] The first objective of this invention is to provide an electronically controlled working handle for a bulldozer, which adopts the following solution:

[0006] include:

[0007] The handle is equipped with separate adjustment buttons and a float button, which are connected to the controller respectively;

[0008] The tilt monitoring component is used to measure the tilt direction and tilt angle of the handle relative to the center position and send the data to the controller.

[0009] Specifically, when the handle is triggered to tilt relative to the center position to a set direction and set angle, and the floating button is triggered, the controller outputs a control signal to put the shovel into a floating state.

[0010] Furthermore, the adjustment button and the floating button are located on opposite sides of the handle.

[0011] Furthermore, the adjustment buttons include an offset button and a mode switching button, which are respectively connected to the controller.

[0012] A second object of the present invention is to provide a bulldozer that utilizes an electronically controlled bulldozer handle as described in the first object.

[0013] A third objective of this invention is to provide a control method for a bulldozer's electronically controlled operating handle as described in the first objective, comprising:

[0014] The tilt monitoring component acquires the tilt direction and tilt angle of the handle relative to the center position and sends it to the controller. The controller adjusts the blade lifting / tilting according to the tilt direction of the handle and adjusts the lifting height / tilting angle of the blade according to the tilt angle of the handle.

[0015] When the floating button is triggered and the handle is tilted relative to the center position to the set direction and set angle, the floating activation condition is met. The controller outputs a floating control signal to activate the blade floating, and the handle returns to the center position.

[0016] When the blade float is activated, the float button is triggered again and / or the handle is tilted relative to the center position to the opposite direction of the set direction, the float exit condition is met, and the controller outputs a control signal according to the handle position to adjust the blade.

[0017] Furthermore, when the adjustment button is triggered, the controller adjusts the offset of the blade in automatic mode according to the trigger state of the adjustment button.

[0018] Furthermore, the set direction is the direction in which the handle controls the blade to descend, and the set angle is determined based on the maximum tilt angle of the handle in the set direction.

[0019] Furthermore, when the blade float is activated, the blade float remains activated as the handle moves between the maximum tilt angle in the set direction and the neutral position.

[0020] Furthermore, when the blade floating mechanism is activated, the handle returns to the center position in the opposite direction of the set direction.

[0021] Furthermore, the controller is connected to the blade regulating main valve. When the initial power-on start-up is completed and the initial floating start-up conditions are met, the blade floating is not activated, and the controller waits for the next floating start-up conditions to be met before activating the blade floating mechanism.

[0022] Compared with the prior art, the advantages and positive effects of this invention are:

[0023] (1) In response to the problem that the floating switch is prone to accidental activation when set independently, the floating button is set on the handle and a floating non-mechanical locking method is adopted. The floating mode can be triggered only when the floating button is pressed and the handle is pushed forward to a certain range, which increases the safety and accuracy of operation and reduces the instability and safety hazards caused by misoperation.

[0024] (2) When the floating mode is triggered, the handle can be operated to lower the blade, so that the blade gradually falls and gets closer to the ground before entering the floating mode, reducing the falling distance of the blade after entering the floating mode and improving the efficiency of entering the floating mode.

[0025] (3) The floating non-mechanical locking method is adopted, which can have the same safety performance as the traditional handle with mechanical locking. The floating button is integrated into the handle, and it has a cost advantage and a shorter production cycle. Attached Figure Description

[0026] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0027] Figure 1 This is a schematic diagram of the electric control handle of the bulldozer in Embodiments 1-3 of the present invention.

[0028] Figure 2 This is a floating control logic diagram of the electric control handle of the bulldozer in Embodiments 1-3 of the present invention.

[0029] Figure 3 This is a schematic diagram illustrating the linkage between the handle, controller, and shovel in Embodiments 1-3 of the present invention.

[0030] The components include: 1. Handle, 2. Mode switch button, 3. Offset button, and 4. Floating button. Detailed Implementation

[0031] Terminology Explanation:

[0032] Bulldozer blade floating action: When the blade lifting valve core is pushed to the floating position with the maximum stroke, the rod chamber and rodless chamber of the bulldozer blade lifting cylinder are connected. The bulldozer blade moves up and down with the undulation of the ground by its own mass, thereby realizing the floating function of the bulldozer blade.

[0033] Example 1

[0034] In a typical embodiment of the present invention, such as Figures 1-3 As shown, an electric control handle for a bulldozer is presented.

[0035] Currently, bulldozers typically use a separate control button for entering floating mode, and these buttons are often located far from the operating handle 1. The floating switch is a separate physical button, which is susceptible to accidental activation or pressing. When both the operator's hands are occupied by the operating handle 1, it is difficult to operate the blade floating switch in a timely manner, affecting operational efficiency. Therefore, this embodiment provides a bulldozer electronic control handle where the floating button 4 is located on the handle 1 used to adjust the blade posture. This facilitates operation, and the floating mode is triggered only when the floating button 4 is pressed and the handle 1 is pushed forward to a certain range, reducing instability and safety hazards caused by misoperation.

[0036] like Figure 1 As shown, the bulldozer's electronic control handle includes a handle 1 and a tilt monitoring component. The handle 1 has a separate adjustment button and a float button 4. The float button 4 and the adjustment button are connected to the controller. The adjustment button can switch the bulldozer's working mode and provide auxiliary adjustment control for the blade. The float button 4 can serve as one of the trigger conditions for the blade to enter a floating state. The tilt monitoring component measures the tilt direction and angle of the handle 1 relative to its center position and sends this information to the controller, enabling corresponding control of the blade based on the tilt posture of the handle 1.

[0037] When handle 1 is triggered and tilted relative to the center position to a set direction and angle, and float button 4 is triggered, the controller outputs a control signal to put the blade into a floating state. Through the dual control of float button 4 and the tilt state of handle 1, the blade's floating state is achieved, thereby improving operational safety and accuracy.

[0038] like Figure 1 As shown, the handle 1 has clearly distinguishable adjustment buttons and floating buttons 4, both of which are connected to the controller to ensure independent signal transmission and reduce the possibility of misoperation. Each button on the handle 1 corresponds to multiple control switches. When a button is triggered, its trigger signal can be transmitted to the controller. The transmission of the trigger signal can use the CAN bus protocol.

[0039] The adjustment button and the floating button 4 are located on different sides of the handle 1, allowing the operator to clearly distinguish and press different buttons during operation, increasing the intuitiveness and convenience of operation. In this embodiment, the adjustment button and the floating button 4 can also be distinguished by different colors.

[0040] The adjustment buttons are further refined into offset button 3 and mode switching button 2, used to adjust the specific position of the blade and switch between different working modes, respectively. These functions are precisely controlled through the controller. Mode switching button 2 is used to switch between the automatic and manual modes of the blade, and can be a rocker switch.

[0041] In automatic mode, the bulldozer can autonomously control the blade's travel path, angle, and force without direct operator intervention. The automatic control system may also include tilt cylinder displacement sensors, lift cylinder displacement sensors, and body tilt sensors, which transmit real-time data to the electronic control unit for precise monitoring and adjustment of the blade's status. In automatic mode, the blade's lifting and lowering amount can be adjusted using offset button 3.

[0042] In manual mode, the operator needs to flexibly adjust the blade's travel path, angle, and force according to the actual situation and operational requirements. In complex or changing working environments, manual mode can better cope with various emergencies, ensuring the safety and smooth progress of the operation.

[0043] The tilt monitoring component is installed inside the handle 1 or on a connected mechanism to monitor the tilt direction and tilt angle of the handle 1 relative to its neutral position (i.e., its natural state when not in operation) in real time. The tilt monitoring component can be a position switch or similar device. When the position of the handle 1 changes, the position switch triggered by the handle 1 changes, causing the tilt monitoring component to output a corresponding control signal.

[0044] The system employs a floating, non-mechanical locking mechanism. A floating button 4 is installed on handle 1. The backward tilt position of handle 1 relative to the center position corresponds to the raised position, the natural state when not in operation is the center position, and the forward tilt position of handle 1 relative to the center position corresponds to the lowered position. Additionally, the bulldozer blade tilt has two operating states: left tilt and right tilt, corresponding to the two operating areas of handle 1: left tilt and right tilt.

[0045] When handle 1 is pushed forward to a certain range (i.e., set direction and set angle), the tilt monitoring component will send a corresponding signal to the controller, indicating that handle 1 has entered a specific operating state.

[0046] The set direction is the forward tilt direction, and the set angle is within the range of 80% to 100% of the maximum tilt angle of the forward push handle 1. In other optional embodiments, the set direction can also be adjusted, and the set angle range can also be adjusted.

[0047] like Figure 2 and Figure 3 As shown, after receiving dual signals from the tilt monitoring component and the floating button 4, the controller performs a logical judgment. Only when the floating button 4 is pressed and the handle 1 is pushed to the set direction and angle will the controller output a control signal to put the blade into floating mode. This dual-condition triggering design effectively avoids changes in the blade state caused by a single operational error, improving operational safety and stability.

[0048] The dual-condition control via floating button 4 and handle 1 tilt significantly reduces changes in blade status due to misoperation, minimizing instability and safety hazards during operation. The clear button layout and dual-condition triggering mechanism allow operators to more accurately control the blade's working state, improving work efficiency and job quality.

[0049] Precise control allows the blade to quickly and stably enter floating operation, reducing the time and effort wasted on adjusting the blade's state. This reduces equipment damage and failure rates caused by misoperation, and lowers the frequency and cost of maintenance and parts replacement.

[0050] In addition, there is a reserved button in the adjustment button area of ​​handle 1, which is reserved for extended functions, such as angle adjustment function.

[0051] Example 2

[0052] In another typical embodiment of the present invention, such as Figures 1-3 As shown, a bulldozer is presented.

[0053] Using the electric control handle of the bulldozer as in Example 1, the electric control handle of the bulldozer is connected to the controller, the controller is connected to the main valve of the bulldozer, the hydraulic power source is connected to the adjusting cylinder of the blade through the main valve, the control signal is input through the electric control handle of the bulldozer, the controller receives the control signal and outputs the control command to the main valve, so that the main valve controls the action of the adjusting cylinder, thereby changing the posture of the blade to meet the working requirements.

[0054] Example 3

[0055] In another typical embodiment of the present invention, such as Figures 1-3 As shown, a control method for a bulldozer electric control handle is given, which utilizes the bulldozer electric control handle as in Example 1.

[0056] include:

[0057] The tilt monitoring component acquires the tilt direction and tilt angle of handle 1 relative to the center position and sends it to the controller. The controller adjusts the lifting / tilting of the blade according to the tilt direction of handle 1 and adjusts the lifting height / tilting angle of the blade according to the tilt angle of handle 1.

[0058] When the floating button 4 is triggered and the handle 1 is tilted relative to the center position to the set direction and set angle, the floating start condition is met. The controller outputs a floating control signal to start the blade floating and the handle 1 returns to the center position.

[0059] When the blade float is activated, and the float button 4 is triggered again and / or the handle 1 is tilted relative to the center position to the opposite direction of the set direction, the float exit condition is met. The controller outputs a control signal according to the position of the handle 1 to adjust the blade.

[0060] In this embodiment, when the adjustment button is triggered, the controller adjusts the blade offset in automatic mode according to the button's trigger state. Specifically, in automatic mode, the bulldozer can autonomously control the blade's travel path, angle, and force without direct driver intervention. The automatic control system may also include tilt hydraulic cylinder displacement sensors, lifting hydraulic cylinder displacement sensors, and body tilt sensors, which transmit real-time data to the electronic control unit, thereby enabling precise monitoring and adjustment of the blade's status. In automatic mode, the blade's lifting and lowering amount can be adjusted using the offset button 3.

[0061] The set direction is the direction in which the handle 1 controls the blade to descend, and the set angle is determined based on the maximum tilt angle of the handle 1 in the set direction. When the blade floating is activated, the handle 1 remains activated while moving between the maximum tilt angle and the neutral position in the set direction.

[0062] In this embodiment, the control method of the bulldozer's electronic control handle can switch between manual and automatic operation modes. The operation of the handle 1 via raising, lowering, tilting left, and tilting right is the same as a regular handle 1. The difference is that the floating control uses a non-mechanical locking method, and a floating button 4 is provided on the handle 1. To achieve the same safety effect, such as... Figure 2 As shown, the floating trigger / exit logic is as follows:

[0063] Float trigger logic: Pressing the float button 4 and pushing the handle 1 forward to the range of 80-100% (these two actions are not sequential) triggers the float (on the first power-on, even if the float button 4 was previously pressed, pushing it forward will not trigger the float). Afterwards, you can release the handle 1 to return it to the center position and maintain the float state.

[0064] Floating exit logic: Press the floating button 4 to make it pop up or pull the handle 1 from the middle position to exit floating. Both methods will exit floating.

[0065] The above-mentioned lifting / tilting action of the shovel is achieved by operating the handle 1 forward / backward / left / right. It can also be used in conjunction with the floating button 4 to enable the operator to trigger or exit the floating state. It can achieve the same safety effect as the traditional mechanical locking handle 1 and reduce costs. The forward / backward / left / right movement of the handle 1 corresponds to the lifting / tilting control of the shovel.

[0066] When the blade floating mechanism is activated, handle 1 returns to the neutral position in the opposite direction of the set direction, without needing to remain in the activated floating state. The controller is connected to the blade regulating main valve. Upon initial power-on, if the initial floating activation conditions are met, the blade floating mechanism will not be activated, but will wait for the next activation condition to be met before activating, reducing the risk of accidental activation during the first operation.

[0067] In this embodiment, the direction is set as the direction in which the handle 1 controls the blade to descend. Before the handle 1 causes the blade to enter the floating state, the blade is already in a state of gradual descent, thereby reducing the time required to enter the floating state.

[0068] The set angle is determined based on the maximum tilt angle of handle 1 in the set direction. The upper limit of the set angle is theoretically this maximum tilt angle, since it is based on that angle. However, in practical applications, due to factors such as safety, precision control, or mechanical limitations, a value slightly smaller than the maximum tilt angle may be set as the upper limit.

[0069] The lower limit of the set angle can be set flexibly, depending on the specific application requirements. For example, an angle close to the upper limit can be used to reduce accidental touches. With the upper limit of the set angle as 100% as a baseline, the lower limit of the set angle triggering can be 80% of the upper limit. For instance, if the maximum tilt angle of the handle 1 from the forward tilt position to the center position is 60°, then the upper limit of the set angle is 60° at the forward tilt position, and the lower limit is 48° at the forward tilt position. In other optional implementations, other set angle ranges can also be used.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A bulldozer electrically controlled operating handle, characterized by, The utility model relates to a kind of bulldozer electric control working handle, including: Handle, it is equipped with phase separation adjusting button and floating button, and floating button and adjusting button are respectively connected to controller; Tilt monitoring component, for measuring the tilt direction and tilt angle of handle relative to the center, and sending to controller; Wherein, when handle is triggered to tilt relative to the center to set direction and set angle, and floating button is triggered, controller outputs control signal to make spade in floating working condition; Tilt monitoring component obtains the tilt direction and tilt angle of handle relative to the center and sends to controller, and controller adjusts spade lifting / tilting according to the tilt direction of handle, and adjusts the lifting height / tilting angle of spade according to the tilt angle of handle; When floating button is triggered and handle is tilted relative to the center to set direction and set angle, floating opening condition is met, and controller gives floating control signal output, opens spade floating, and handle returns to center; When spade floating is opened, when floating button is triggered again and / or handle is tilted relative to the center to opposite direction with set direction, floating exit condition is met, and controller outputs control signal according to handle position, adjusts spade.

2. The bulldozer electric control operating handle of claim 1, wherein, The adjusting button and the floating button are located on different sides of the handle.

3. The bulldozer electric control operating handle of claim 2, wherein, The adjusting button includes offset button and mode switching button, which are respectively connected to the controller.

4. A bulldozer characterized by comprising: The utility model relates to a kind of bulldozer electric control working handle.

5. The control method of the bulldozer electric control operation handle according to claim 1, characterized by, When the adjusting button is triggered, the controller adjusts the offset of the spade in the automatic mode according to the trigger state of the adjusting button.

6. The control method of the bulldozer electric control operation handle according to claim 1, characterized by, The set direction is the direction when the handle controls the spade to descend, and the set angle is determined according to the maximum tilt angle of the handle in the set direction.

7. The control method of the bulldozer electric control operation handle according to claim 6, characterized by, When spade floating is opened, the handle keeps spade floating opened when moving between the maximum tilt angle in the set direction and the center.

8. The control method of the bulldozer electric control operation handle according to claim 1, characterized by, When spade floating is opened, the handle resets to the center along the opposite direction of the set direction.

9. The control method of the bulldozer electric control operation handle according to claim 8, characterized by, The controller is connected to the spade adjusting main valve, and when starting for the first time after power-on, the spade floating is not opened when the first floating opening condition is met, and waits for the next time when the floating opening condition is met to start.

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