A control system and method for maintaining the position of a bulldozer blade

Abstract

This invention discloses a control system and method for maintaining the position of a bulldozer blade. The control system includes: a flow acquisition unit for collecting the flow rates of the small and large chamber oil circuits of the lifting cylinder and the angle cylinder; an instrument for calculating the total amount of oil leakage through the main oil circuit based on the collected flow data, determining whether the bulldozer blade position has changed, and sending a reset command to the controller; a controller for controlling the output current of a proportional solenoid valve according to the command sent by the instrument; and a proportional solenoid valve for controlling the opening and closing of the main valve core through the output current to replenish 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 reset of the bulldozer blade. This invention can automatically detect changes in the bulldozer blade position and replenish oil to the cylinders, achieving automatic correction and adjustment, preventing automatic changes in the bulldozer blade position due to internal leakage, and improving the stability, safety, and efficiency of the entire machine operation.

Description

Technical Field

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

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

[0003] When a hydraulic excavator lowers its bulldozer blade for normal digging, lifting, tilting bulldozing, and transportation operations, the bulldozer blade cylinder is continuously subjected to uneven digging forces, support reactions, and gravity, resulting in inconsistent pressure on both sides of the cylinder. Due to unavoidable internal leakage in the main valve core, prolonged impact and uneven force cause the bulldozer blade position to change. This automatic change in bulldozer blade position is difficult to detect and significantly impacts the overall machine's digging stability, lifting stability, transportation safety, and bulldozing efficiency. Furthermore, current methods typically rely on manual adjustment of the bulldozer blade position after the cylinder distance changes, making it impossible to accurately return it to the intended position. Summary of the Invention

[0004] The purpose of this invention is to provide a control system and method for maintaining the position of a bulldozer blade, which can monitor changes in the position of the bulldozer blade in real time and make automatic corrections and adjustments to achieve the purpose of maintaining the bulldozer blade in a predetermined position.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] This invention provides a control system for maintaining the position of a bulldozer blade, comprising:

[0007] The flow collector group is used to collect the flow rate of the small and large chamber oil passages of the lifting cylinder and the angle cylinder.

[0008] The instrument is used to calculate the total amount of oil discharged through the main oil circuit based on the flow data transmitted by the flow acquisition group, determine whether the position of the bulldozer blade has changed, and send a reset command to the controller.

[0009] The controller is used to control the output current of the proportional solenoid valve according to the instructions sent by the instrument;

[0010] 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 the automatic reset of the bulldozer blade.

[0011] Preferably, the flow collector group includes a flow collector 1 installed in the small cavity oil circuit of the lifting cylinder, a flow collector 2 installed in the large cavity oil circuit of the lifting cylinder, a flow collector 3 installed in the large cavity oil circuit of the angle cylinder, and a flow collector 4 installed in the small cavity oil circuit of the angle cylinder, which are respectively used to collect the flow of the corresponding oil circuit and detect changes in the oil circuit.

[0012] Preferably, each flow collector is connected to the instrument to send the collected flow data to the instrument.

[0013] Preferably, the instrument is specifically used for,

[0014] The total amount of oil discharged through the main oil circuit is calculated based on the flow data transmitted by each flow collector. When the total amount of oil discharged reaches the preset allowable value, it is determined that the position of the bulldozer blade has changed and an alarm is issued.

[0015] 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 cylinder pressure is due to human operation.

[0016] This invention also provides a control method for maintaining the position of a bulldozer blade based on the above-mentioned bulldozer blade position maintaining control system, the method comprising:

[0017] The pressure signal is detected. When no pilot pressure is detected, the flow rate of the small and large chamber oil circuits of the lifting cylinder and the angle cylinder is collected by the flow acquisition group and sent to the instrument.

[0018] Determine whether the position of the bulldozer blade has changed based on the flow detection data;

[0019] If a change occurs, the controller will control the proportional solenoid valve of the corresponding oil circuit to perform oil replenishment.

[0020] Preferably, the step of determining whether the position of the bulldozer blade has changed based on the flow detection data includes:

[0021] The total amount of oil drained through the main oil circuit is calculated by the instrument. When the calculated total amount of oil drained through the main oil circuit reaches the preset allowable value, it is determined that the position of the bulldozer blade has changed.

[0022] Preferably, the method further includes:

[0023] If the position of the bulldozer blade is determined to have changed, a reset command is sent to the controller via the instrument.

[0024] Based on the received reset command, the controller controls the output current of the proportional solenoid valve, which in turn controls the corresponding main valve spool to open and perform oil replenishment.

[0025] Preferably, after performing the refueling operation, the method further includes:

[0026] When the replenishment amount reaches the discharge amount, the instrument sends a command to the controller to control the proportional solenoid valve to stop outputting current.

[0027] Preferably, the method further includes:

[0028] When the signal is identified as a pressure signal from the bulldozer handle, it is determined to be a human operation, and no oil replenishment operation is performed.

[0029] The beneficial effects of this invention are as follows:

[0030] This invention can automatically detect changes in the position of the bulldozer blade by detecting and calculating the total amount of oil leakage in the main oil circuit of the bulldozer blade, and replenish the oil cylinder accordingly. This achieves automatic correction and adjustment, preventing the bulldozer blade position from changing automatically due to internal leakage, and improving the stability, safety, and efficiency of the entire machine operation. Attached Figure Description

[0031] Figure 1 This invention provides a control system architecture for maintaining the position of a bulldozer blade.

[0032] Figure 2 A flowchart of a control method for maintaining the position of a bulldozer blade provided by the present invention. Detailed Implementation

[0033] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention, and should not be construed as limiting the present invention.

[0034] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "end", "bottom", "side", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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 should not be construed as limiting this invention.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "installation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a direct connection, or a connection through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances.

[0036] Secondly, the term "an embodiment" or "embodiment" as used in this invention refers to a specific feature, structure, or characteristic that can be included in at least one implementation of this invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0037] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0038] One embodiment of the present invention provides a control system for maintaining the position of a bulldozer blade, see [link to relevant documentation]. Figure 1 It includes a flow collector assembly, controller, instruments, main valve, proportional solenoid valve, lifting cylinder, angle cylinder and bulldozer blade.

[0039] Among them, the lifting cylinder and the angle cylinder are used to drive the bulldozer blade to swing up and down and left and right.

[0040] The flow acquisition unit includes flow acquisition device 1 installed in the small chamber oil circuit of the lifting cylinder, flow acquisition device 2 installed in the large chamber oil circuit of the lifting cylinder, flow acquisition device 3 installed in the large chamber oil circuit of the angle cylinder, and flow acquisition device 4 installed in the small chamber oil circuit of the angle cylinder, which are used to collect the flow of the corresponding oil circuit. It should be noted that the flow acquisition device can be installed at any position in the oil circuit from the main valve to the corresponding cylinder, with the purpose of detecting the flow change of the oil circuit.

[0041] Each flow collector is connected to the meter and is used to send the collected flow data to the meter;

[0042] The instrument is used to calculate the total amount of oil discharged through the main oil circuit based on the flow data transmitted by each flow collector. When the total amount of oil discharged reaches the preset allowable value, an alarm is issued to remind the user that the oil cylinder has automatically extended or retracted and the position of the bulldozer blade has changed; and a reset command is sent to the controller.

[0043] The proportional solenoid valve is used to control the opening and closing of the main valve core by outputting current, thereby replenishing oil to the lifting cylinder and the angle cylinder and adjusting the extension and retraction of the cylinder.

[0044] Both the proportional solenoid valve and the instrument are connected to the controller, which is used to...

[0045] The proportional solenoid valve outputs current according to the instructions sent by the instrument.

[0046] 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 cylinder pressure is due to human operation.

[0047] Based on the above-described bulldozer blade position-keeping control system, another embodiment of the present invention provides a bulldozer blade position-keeping control method, see [link to relevant documentation]. Figure 2 The method includes:

[0048] After the excavator is powered on and ignited, the instrument panel defaults to the bulldozer blade position holding mode, and the control program begins to run.

[0049] The instrument first judges the pressure signal controlling the bulldozer's lifting and swaying. When it identifies the bulldozer handle pressure signal, it determines that it is a human operation and automatically stops the subsequent work of the protection program.

[0050] 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 is from by using pins T1, T2, T3, and T4. If the signal transmitted from several pins of the handle can be collected, it indicates that it is a human operation.

[0051] When no pilot pressure is detected, the flow collector set in the main oil circuit of the lifting and yaw functions collects the flow in real time and transmits it to the instrument, and calculates the total amount of oil discharged 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, similar to a household gas meter.

[0052] When the calculated total amount of oil drained through the main oil circuit reaches the preset allowable value, the instrument will issue an alarm, prompting the user that the oil cylinder has automatically extended or retracted and the position of the bulldozer blade has changed. At this time, the user can choose whether to reset based on the alarm prompt.

[0053] When "No" is selected, the program automatically repeats the operation for the next round. When "Yes" is selected, the instrument sends a reset command to the controller, which in turn outputs current to the proportional solenoid valve, controlling the corresponding main valve spool to open, performing oil replenishment, and adjusting the extension and retraction of the hydraulic cylinder. It should be noted that the main valve is the most basic hydraulic component of the excavator, located on the turntable. When the engine is running, the opening of the main valve allows hydraulic oil to flow through for replenishment.

[0054] When the replenishment oil level reaches the discharge oil level, the instrument sends a command to the controller to stop the proportional solenoid valve from outputting current. Based on the above operation, the bulldozer blade automatically resets.

[0055] It should be noted that both the unloading and replenishment of oil can be recorded by instruments. The corresponding oil circuits are designed with flow collectors to compare the replenishment of oil with the unloading of oil recorded by the instruments. This prompts the unloading oil volume controller to output a command to stop the proportional solenoid valve, which in turn closes the main valve core and stops replenishment.

[0056] In this invention, the relevant terms are explained as follows:

[0057] Lifting cylinder: A device that connects the vehicle frame and the bulldozer blade, enabling the bulldozer blade to swing up and down (i.e., lift).

[0058] Angle cylinder: A device that connects the frame and the bulldozer blade, enabling the bulldozer blade to swing left and right (i.e., yaw);

[0059] Four-way bulldozer blade: A system or device that enables the bulldozer blade to swing up and down and left and right;

[0060] Traffic collector: A device that collects traffic volume and converts it into a usable output signal;

[0061] Proportional solenoid valve: A type of solenoid valve whose opening degree can be adjusted by the magnitude of the current.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do 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: The flow collector group is used to collect the flow rate of the small and large chamber oil passages of the lifting cylinder and the angle cylinder. The flow acquisition unit includes a flow acquisition device 1 installed in the small cavity oil circuit of the lifting cylinder, a flow acquisition device 2 installed in the large cavity oil circuit of the lifting cylinder, a flow acquisition device 3 installed in the large cavity oil circuit of the angle cylinder, and a flow acquisition device 4 installed in the small cavity oil circuit of the angle cylinder, which are respectively used to collect the flow of the corresponding oil circuit and detect changes in 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 discharged through the main oil circuit based on the flow data transmitted by each flow collector. When the total amount of oil discharged reaches the preset allowable value, it is determined that the position of the bulldozer blade has changed, and an alarm is issued, as well as a reset command is sent to the controller. The controller is used to control the output current of the proportional solenoid valve according to the instructions 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 the automatic reset of the bulldozer blade.

2. The control system for maintaining the position of a bulldozer blade according to claim 1, characterized in that, The instrument is also connected to the bulldozer handle to detect the pressure signal of the bulldozer handle and determine whether the change in cylinder pressure is due to human operation.

3. A control method for maintaining the position of a bulldozer blade based on the control system for maintaining the position of a bulldozer blade as described in claim 1 or 2, characterized in that, The method includes: The pressure signal is detected. When no pilot pressure is detected, the flow rate of the small and large chamber oil circuits of the lifting cylinder and the angle cylinder is collected by the flow acquisition group and sent to the instrument. Determine whether the position of the bulldozer blade has changed based on the flow detection data; If a change occurs, the controller will control the proportional solenoid valve of the corresponding oil circuit to perform oil replenishment.

4. The method for controlling the position of the bulldozer blade according to claim 3, characterized in that, The step of determining whether the position of the bulldozer blade has changed based on the flow detection data includes: The total amount of oil drained through the main oil circuit is calculated by the instrument. When the calculated total amount of oil drained through the main oil circuit reaches the preset allowable value, it is determined that the position of the bulldozer blade has changed.

5. The method for controlling the position of the bulldozer blade according to claim 3, characterized in that, The method further includes: If the position of the bulldozer blade is determined to have changed, a reset command is sent to the controller via the instrument. Based on the received reset command, the controller controls the output current of the proportional solenoid valve, which in turn controls the corresponding main valve spool to open and perform oil replenishment.

6. The method for controlling the position of a bulldozer blade according to claim 5, characterized in that, After the refueling operation is performed, it also includes: When the replenishment amount reaches the discharge amount, the instrument sends a command to the controller to control the proportional solenoid valve to stop outputting current.

7. The method for controlling the position of a bulldozer blade according to claim 3, characterized in that, The method further includes: When the signal is identified as a pressure signal from the bulldozer handle, it is determined to be a human operation, and no oil replenishment operation is performed.

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