Bulldozing blade position keeping control system and method

Abstract

The invention discloses a control system and method for keeping the position of a dozer blade, and the system comprises a flow collector group which is used for collecting the flow of a small-cavity oil path and a large-cavity oil path of a lifting oil cylinder and an angle oil cylinder; the instrument is used for calculating the total amount of leaked oil flowing through the main oil way based on the collected flow data, judging whether the position of the dozer blade is changed or not and sending a reset instruction to the controller; the controller is used for controlling the proportional electromagnetic valve to output current according to an instruction sent by the instrument; and the proportional electromagnetic valve is used for controlling the opening and closing of the valve core of the main valve through output current, supplementing oil for the lifting oil cylinder and the angle oil cylinder and adjusting the stretching of the lifting oil cylinder and the angle oil cylinder so as to realize the automatic resetting of the dozer blade. According to the invention, the position change of the dozer blade can be automatically detected, oil is supplemented to the oil cylinder, automatic correction and adjustment are realized, the automatic position change of the dozer blade caused by internal leakage is prevented, and the stability, the safety and the efficiency of the whole machine operation are improved.

Description

Technical Field

[0001] The invention relates to a control system and a method for maintaining the position of a bulldozer blade, belonging to the technical field of excavator tool control. Background Art

[0002] With the development of society, construction machinery, especially excavators, are becoming more and more indispensable in engineering construction. In order to meet different construction conditions, the market demand for excavators equipped with four-way bulldozers is increasing. Whether the four-way bulldozer can maintain a given position for a long time directly affects the stability, safety and operating efficiency of the entire excavator.

[0003] When the hydraulic excavator puts down the bulldozer for normal excavation, lifting, tilting and transportation, the bulldozer cylinder is continuously subjected to uneven excavation force, support reaction and gravity, resulting in inconsistent pressure on both sides of the bulldozer cylinder. Due to the inevitable internal leakage of the main valve core, the long-term impact and uneven force cause the position of the bulldozer to change. The automatic change of the bulldozer position is not easy to detect, which has a great impact on the excavation stability, lifting stability, transportation safety and bulldozing efficiency of the whole machine during construction. Moreover, after the cylinder distance changes, the bulldozer position is generally adjusted manually, and it is impossible to accurately return to the set position. Summary of the invention

[0004] The object of the present invention is to provide a control system and method for maintaining the position of a bulldozer blade, which can monitor the change of the bulldozer blade position in real time and perform automatic correction and adjustment to achieve the purpose of maintaining the bulldozer blade in a predetermined position.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows: The present invention provides a control system for maintaining a bulldozer position, comprising: Flow collector set, used to collect the flow of small cavity oil circuit and large cavity oil circuit of lifting cylinder and angle cylinder; An instrument, used for calculating the total amount of oil leakage flowing through the main oil circuit based on the flow data transmitted by the flow collector group, determining whether the position of the bulldozer blade has changed, and sending a reset instruction to the controller; A controller, used for controlling the output current of the proportional solenoid valve according to the instruction sent by the instrument; The proportional solenoid valve is used to control the opening and closing of the main valve core by outputting current, replenishing oil to the lifting cylinder and the angle cylinder, adjusting the extension and retraction of the lifting cylinder and the angle cylinder, and realizing automatic resetting of the bulldozer.

[0006] Preferably, the flow collector group includes flow collector 1 arranged in the small-cavity oil circuit of the lifting cylinder, flow collector 2 arranged in the large-cavity oil circuit of the lifting cylinder, flow collector 3 arranged in the large-cavity oil circuit of the angle cylinder, and flow collector 4 arranged in the small-cavity oil circuit of the angle cylinder, which are respectively used to collect the corresponding oil circuit flows and detect oil circuit changes.

[0007] Preferably, each flow collector is connected to the meter and is used to send the collected flow data to the meter.

[0008] Preferably, the instrument is specifically used for: The total amount of oil leakage flowing through the main oil circuit is calculated based on the flow data transmitted by each flow collector. When the total amount of oil leakage reaches the preset allowable value, it is determined that the position of the bulldozer has changed and an alarm is issued.

[0009] Preferably, the instrument is also connected to the bulldozer handle to detect the pressure signal of the bulldozer handle and determine whether the change in the cylinder pressure is caused by human operation.

[0010] The present invention also provides a method for controlling the position of a bulldozer blade based on the control system for maintaining the position of a bulldozer blade, the method comprising: Detect the pressure signal. When the pilot pressure is not detected, the flow of the small-cavity oil circuit and the large-cavity oil circuit of the lifting cylinder and the angle cylinder is collected through the flow collector group and sent to the instrument; Determine whether the bulldozer position has changed based on the flow detection data; If there is a change, the controller controls the proportional solenoid valve of the corresponding oil circuit to perform oil replenishment.

[0011] Preferably, judging whether the bulldozer position has changed according to the flow detection data includes: The total amount of oil leakage through the main oil circuit is calculated by an instrument. When the calculated total amount of oil leakage through the main oil circuit reaches a preset allowable value, it is determined that the position of the bulldozer blade has changed.

[0012] Preferably, the method further comprises: If it is determined that the bulldozer blade position has changed, a reset command is sent to the controller through the instrument; The controller controls the output current of the proportional solenoid valve according to the reset command received, controls the corresponding main valve core to open, and performs the oil replenishment operation.

[0013] Preferably, after the oil replenishment operation is performed, the method further comprises: When the oil replenishment volume reaches the oil leakage volume, the instrument sends a command to the controller to control the proportional solenoid valve to stop outputting current.

[0014] Preferably, the method further comprises: When a bulldozer handle pressure signal is identified, it is determined to be a human operation and no oil replenishment operation is performed.

[0015] The beneficial effects of the present invention are: The present invention can automatically detect the change of the bulldozer blade position by detecting and calculating the total amount of oil leakage in the main oil circuit of the bulldozer blade, and replenish oil to the oil cylinder to achieve automatic correction and adjustment, thereby preventing the automatic change of the bulldozer blade position due to internal leakage and improving the stability, safety and efficiency of the whole machine operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A control system architecture for maintaining the position of a bulldozer blade provided by the present invention; Figure 2 A flow chart of a control method for maintaining the position of a bulldozer blade provided by the present invention. DETAILED DESCRIPTION

[0017] The specific implementation of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The embodiments described below with reference to the accompanying drawings are illustrative and intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0018] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as “upper”, “lower”, “front”, “rear”, “end”, “bottom” and “side” are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0019] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "installation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a direct connection, or a connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0021] The specific embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0022] One embodiment of the present invention provides a control system for maintaining the position of a bulldozer blade. Figure 1, including flow collector group, controller, instrument, main valve, proportional solenoid valve, lifting cylinder, angle cylinder and bulldozer.

[0023] Among them, the lifting cylinder and the angle cylinder are used to drive the bulldozer to swing up and down and left and right; The flow collector group includes a flow collector 1 arranged in the small-cavity oil circuit of the lifting cylinder, a flow collector 2 arranged in the large-cavity oil circuit of the lifting cylinder, a flow collector 3 arranged in the large-cavity oil circuit of the angle cylinder, and a flow collector 4 arranged in the small-cavity oil circuit of the angle cylinder, which are respectively used to collect the flow of the corresponding oil circuits; it should be noted that the flow collector can be installed at any position of the oil circuit from the main valve to the corresponding cylinder, and the purpose is to detect the flow change of the oil circuit; Each flow collector is connected to the meter and is used to send the collected flow data to the meter; The instrument is used to calculate the total amount of oil leakage flowing through the main oil circuit based on the flow data transmitted by each flow collector. When the total amount of oil leakage reaches the preset allowable value, an alarm is issued to remind the user that the oil cylinder has automatically extended and retracted and the position of the bulldozer has changed; and a reset command is sent to the controller; The proportional solenoid valve is used to control the opening and closing of the main valve core through the output current, thereby replenishing oil for the lifting cylinder and angle cylinder to adjust the extension and retraction of the cylinder; The proportional solenoid valve and the instrument are connected to the controller, which is used to The output current of the proportional solenoid valve is controlled according to the instructions sent by the instrument.

[0024] Furthermore, the instrument is also connected to the bulldozer handle to detect the pressure signal of the bulldozer handle and determine whether the change in the cylinder pressure is caused by human operation.

[0025] Based on the above bulldozer position keeping control system, another embodiment of the present invention provides a bulldozer position keeping control method, see Figure 2 , the method comprising: After the excavator is powered on and ignited, the instrument turns on the bulldozer position holding mode by default, and the control program begins to run formally; The instrument first determines the pressure signal that controls the lifting and deflection of the bulldozer. When it identifies the pressure signal of the bulldozer handle, it is determined to be a human operation and automatically stops the subsequent work of the protection program. It should be noted that each function has a corresponding pin output signal, see Figure 1 The instrument can determine which pin the output signal comes from by using T1, T2, T3, and T4. As long as the signal transmitted by several pins of the handle can be collected, it means that it is manually operated.

[0026] When the pilot pressure is not detected, the flow collector set in the main oil circuit of the lifting function and the swing function collects the flow in real time, transmits it to the instrument, and calculates the total amount of oil leakage flowing through the main oil circuit. It should be known that the flow meter can convert the hydraulic flow into a current signal and transmit it to the instrument for calculation and display, which is similar to a household gas meter.

[0027] When the calculated total amount of oil leakage through the main oil circuit reaches the preset allowable value, the instrument will sound an alarm to remind the customer that the cylinder has automatically extended or retracted and the position of the bulldozer has changed. At this time, the customer can choose whether to reset according to the alarm prompt.

[0028] When No is selected, the program automatically repeats the next round of operations. When Yes is selected, the instrument sends a reset command to the controller, and the controller outputs current to the proportional solenoid valve to control the corresponding main valve core to open, perform oil replenishment operations, and adjust the extension and contraction of the oil cylinder; it should be known that the main valve is the most basic hydraulic component of the excavator, which is set on the turntable of the whole machine. When the engine is running, the main valve is opened and hydraulic oil will pass through for oil replenishment.

[0029] When the oil replenishment volume reaches the oil leakage volume, the instrument sends a command to the controller to control the proportional solenoid valve to stop outputting current. Based on the above operation, the purpose of automatic resetting of the bulldozer blade is achieved.

[0030] It should be noted that both the oil unloading volume and the oil replenishing volume can be recorded by instruments, and flow collectors are designed for the corresponding oil circuits to compare the oil replenishing volume with the oil unloading volume recorded by the instruments, so that the oil unloading volume controller outputs an instruction to stop the output of the proportional solenoid valve, so that the main valve core is also closed to stop oil replenishment.

[0031] In the present invention, the relevant terms are explained as follows: Lifting cylinder: a device that connects the frame and the bulldozer blade to enable the bulldozer blade to swing up and down (i.e. lift); Angle cylinder: a device that connects the frame and the bulldozer blade to enable the bulldozer blade to swing left and right (i.e., yaw); Four-way bulldozer: A system or device that can swing the bulldozer up and down, left and right; Flow collector: a device that collects flow volume and converts it into a usable output signal; Proportional solenoid valve: A solenoid valve whose opening can be adjusted by the current.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A control system for maintaining the position of a bulldozer blade, characterized in that: include: Flow collector set, used to collect the flow of small cavity oil circuit and large cavity oil circuit of lifting cylinder and angle cylinder; An instrument, used for calculating the total amount of oil leakage flowing through the main oil circuit based on the flow data transmitted by the flow collector group, determining whether the position of the bulldozer blade has changed, and sending a reset instruction to the controller; A controller, used for controlling the output current of the proportional solenoid valve according to the instruction sent by the instrument; The proportional solenoid valve is used to control the opening and closing of the main valve core by outputting current, replenishing oil to the lifting cylinder and the angle cylinder, adjusting the extension and retraction of the lifting cylinder and the angle cylinder, and realizing automatic resetting of the bulldozer.

2. A bulldozer position keeping control system according to claim 1, characterized in that: The flow collector group includes flow collector 1 set in the small-cavity oil circuit of the lifting cylinder, flow collector 2 set in the large-cavity oil circuit of the lifting cylinder, flow collector 3 set in the large-cavity oil circuit of the angle cylinder, and flow collector 4 set in the small-cavity oil circuit of the angle cylinder, which are respectively used to collect the corresponding oil circuit flow and detect oil circuit changes.

3. A bulldozer position keeping control system according to claim 2, characterized in that: Each flow collector is connected to the meter and is used to send the collected flow data to the meter.

4. A bulldozer position keeping control system according to claim 1, characterized in that: The instrument is specifically used for: The total amount of oil leakage flowing through the main oil circuit is calculated based on the flow data transmitted by each flow collector. When the total amount of oil leakage reaches the preset allowable value, it is determined that the position of the bulldozer has changed and an alarm is issued.

5. A bulldozer position keeping control system according to claim 1, characterized in that: The instrument is also connected to the bulldozer handle and is used to detect the pressure signal of the bulldozer handle and determine whether the change of the oil cylinder pressure is caused by human operation.

6. A method for controlling the position of a bulldozer blade based on the control system for maintaining the position of a bulldozer blade according to any one of claims 1 to 5, characterized in that: The method comprises: Detect the pressure signal. When the pilot pressure is not detected, the flow of the small-cavity oil circuit and the large-cavity oil circuit of the lifting cylinder and the angle cylinder is collected through the flow collector group and sent to the instrument; Determine whether the bulldozer position has changed based on the flow detection data; If there is a change, the controller controls the proportional solenoid valve of the corresponding oil circuit to perform oil replenishment.

7. The method for controlling the position of a bulldozer according to claim 6, characterized in that: The determining whether the bulldozer position has changed according to the flow detection data includes: The total amount of oil leakage through the main oil circuit is calculated by an instrument. When the calculated total amount of oil leakage through the main oil circuit reaches a preset allowable value, it is determined that the position of the bulldozer blade has changed.

8. The method for controlling the position of a bulldozer according to claim 6, characterized in that: The method further comprises: If it is determined that the bulldozer blade position has changed, a reset command is sent to the controller through the instrument; The controller controls the output current of the proportional solenoid valve according to the reset command received, controls the corresponding main valve core to open, and performs the oil replenishment operation.

9. The method for controlling the position maintenance of a bulldozer blade according to claim 8, characterized in that: After the oil replenishment operation is performed, the method further includes: When the oil replenishment volume reaches the oil leakage volume, the instrument sends a command to the controller to control the proportional solenoid valve to stop outputting current.

10. The method for controlling the position of a bulldozer according to claim 6, characterized in that: The method further comprises: When a bulldozer handle pressure signal is identified, it is determined to be a human operation and no oil replenishment operation is performed.

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