Bulldozing device and control method

Abstract

The bulldozing device comprises a bulldozing plate, an upper connecting arm and a lower connecting arm are hinged to the rear end of the bulldozing plate, a crushing blade unit used for crushing soil is arranged at the front end of the bulldozing plate, and a resistance detection module used for obtaining bulldozing resistance data in bulldozing operation is arranged in the bulldozing plate; the end, away from the bulldozing plate, of the lower connecting arm is slidably sleeved with a sleeve, the outer side of the lower connecting arm is sleeved with a spring, the spring is located between the bulldozing plate and the sleeve, the sleeve is further provided with a telescopic driving unit, and an angle adjusting mechanism is further arranged between the telescopic driving unit and the upper connecting arm. The controller is electrically connected with the resistance detection module, the telescopic driving unit and the angle adjusting mechanism. The inclination angle of the bulldozing plate and the compression amount of the spring can be adjusted according to different resistance threshold values, so that the bulldozing device can intelligently adapt to different soil working conditions such as soft soil and hard soil, and the bulldozing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly relates to a bulldozing device and a control method. Background Art

[0002] In scenarios such as earthwork engineering, road construction, and mine exploitation, the bulldozing device, as a core working component, its performance directly affects engineering efficiency and energy consumption. Traditional bulldozing devices generally face the following technical bottlenecks: 1. The vibration damping reduction parameters are fixed, and the adaptability to working conditions is insufficient. Most existing vibration damping reduction technologies adopt preset fixed frequencies. Although such solutions can alleviate soil adhesion, they have significant defects: a single vibration frequency cannot adapt to various types of soil.

[0003] 2. The angle adjustment of the bulldozing plate has hysteresis, and the dynamic response ability is poor. Most traditional angle adjustment mechanisms adopt open-loop control and have two major problems: high dependence on manual operation: the driver needs to manually switch the inclination angle according to experience, resulting in a response delay when the soil hardness suddenly changes, which is likely to cause engine overload or operation interruption. Lack of accuracy: without an inclination angle feedback sensor, the deviation between the actual angle and the target value cannot be corrected in a closed loop, leading to repeated adjustment and energy waste.

[0004] 3. The functions of soil fragmentation and resistance reduction are separated, and the coordination efficiency is low. The fragmentation blade only statically cuts the soil and does not form a dynamic cooperation with the vibration parameters. In hard soil conditions, high-frequency vibration cannot be effectively transmitted to the blade edge to enhance the fragmentation effect; insufficient adhesion suppression: in cohesive soil, simply increasing the vibration amplitude is likely to cause secondary compaction of the soil, which instead exacerbates the adhesion of the plate surface. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a bulldozing device and a control method.

[0006] The technical solution adopted by the present invention to solve the above technical problems is: a bulldozing device, including a bulldozing plate, an upper connecting arm and a lower connecting arm are hinged at the rear end of the bulldozing plate, a fragmentation blade unit for fragmenting soil is provided at the front end of the bulldozing plate, and a resistance detection module for obtaining the bulldozing resistance data during the bulldozing operation is provided inside the bulldozing plate; A sleeve is slidably sleeved at one end of the lower connecting arm away from the bulldozing plate, a spring is sleeved outside the lower connecting arm, the spring is located between the bulldozing plate and the sleeve, and a telescopic driving unit is further provided on the sleeve. The telescopic driving unit is used to drive the sleeve to approach or move away from the bulldozing plate to adjust the compression amount of the spring. An angle adjustment mechanism is further provided between the telescopic driving unit and the upper connecting arm, and the angle adjustment mechanism is used to adjust the front and rear inclination angles of the bulldozing plate; It further includes a controller, and the controller is electrically connected to the resistance detection module, the telescopic driving unit, and the angle adjustment mechanism respectively.

[0007] Further, an inclination sensor is also provided inside the bulldozing plate. The inclination sensor is electrically connected to the controller. The inclination sensor is used to monitor the inclination angle of the bulldozing plate in real time and feed back the inclination data to the controller. There are two upper connecting arms which are arranged oppositely, and two lower connecting arms which are arranged oppositely.

[0008] Further, an upper hinge seat is hinged to the rear end of the bulldozing plate. The upper connecting arm is arranged on the upper hinge seat. The angle adjustment mechanism includes an electric push rod arranged on the telescopic driving unit and forming a certain angle with the telescopic driving unit. The end of the push rod of the electric push rod is provided with an arc-shaped rod, and the end of the arc-shaped rod is connected to the upper connecting arm.

[0009] Further, the telescopic driving unit includes a servo electric cylinder, and a sleeve is arranged at the end of the push rod of the servo electric cylinder.

[0010] Further, a lower hinge seat is hinged to the rear end of the bulldozing plate. The lower hinge seat is located below the upper hinge seat. The lower connecting arm is fixedly arranged on the lower hinge seat. Two ends of a spring are respectively connected to the lower hinge seat and the sleeve. Both ends of the sleeve are closed and are of a hollow structure. A through hole which is slidably matched with the lower connecting arm is arranged on the sleeve at one end opposite to the spring.

[0011] Further, the front end of the bulldozing plate has an arc-shaped concave surface. The crushing blade unit includes a plurality of soil-breaking blades which are arranged at intervals on the arc-shaped concave surface. The resistance detection module includes a force sensor arranged inside the bulldozing plate.

[0012] The present application also provides a control method which is applied to the above-mentioned bulldozing device. The control method includes: The resistance detection module obtains the bulldozing resistance data during the bulldozing operation in real time and feeds back the bulldozing resistance data to the controller. Compare the bulldozing resistance data with the dynamically adjusted hard soil resistance threshold and soft soil resistance threshold to judge the current working condition type. Generate a control instruction set according to the working condition type to adjust the inclination angle of the bulldozing plate and the spring compression amount, including: When the bulldozing resistance data exceeds the hard soil resistance threshold, the controller controls the electric push rod to shorten to increase the inclination angle of the bulldozing plate, and the telescopic unit drives the sleeve to approach the bulldozing plate to increase the spring compression amount. When the bulldozing resistance data is lower than the soft soil resistance threshold, the controller controls the electric push rod to extend to reduce the inclination angle of the bulldozing plate, and the telescopic unit drives the sleeve to move away from the bulldozing plate to reduce the spring compression amount. When the bulldozing resistance data exceeds the maximum resistance threshold, freeze the control instruction and trigger an alarm.

[0013] Further, when the bulldozing resistance data is in the critical interval between the hard soil threshold and the soft soil threshold, first adjust the inclination angle of the bulldozing plate to the safe intermediate value, and then adjust the spring compression amount according to the proportion of the resistance deviation amount.

[0014] Furthermore, it also includes inclination feedback: The inclination sensor monitors the actual inclination of the bulldozing plate in real time and feeds the data back to the controller. The controller dynamically corrects the adjustment amount of the electric push rod according to the difference between the inclination feedback data and the target inclination until the error between the actual inclination and the target inclination is less than the preset tolerance value.

[0015] Furthermore, the controller filters the bulldozing resistance data to eliminate instantaneous noise interference; It also includes closed-loop feedback: Continuously monitor the change trend of the bulldozing resistance. If the resistance returns to the preset safe range, terminate the current adjustment operation.

[0016] The beneficial effects of this application are as follows: 1. The resistance detection module obtains the bulldozing resistance data in real time. The controller adjusts the inclination of the bulldozing plate and the spring compression amount according to different resistance thresholds, enabling the bulldozing device to intelligently adapt to different soil conditions such as soft soil and hard soil, and improving the bulldozing efficiency. For example, in the hard soil condition, increase the inclination of the bulldozing plate and the spring compression amount to enhance the soil-breaking ability of the bulldozing plate; in the soft soil condition, reduce the inclination and spring compression amount to avoid excessive bulldozing depth and reduce soil adhesion.

[0017] 2. The cooperation of the spring and the telescopic drive unit can effectively buffer the impact force during the bulldozing process and reduce damage to the equipment. The angle adjustment mechanism adjusts the inclination of the bulldozing plate according to the working conditions, making the force on the bulldozing plate more reasonable and further extending the service life of the equipment.

[0018] 3. The inclination sensor monitors the inclination of the bulldozing plate in real time and feeds it back to the controller, realizing precise control of the inclination of the bulldozing plate. The filtering process of the bulldozing resistance data by the controller and the closed-loop feedback mechanism effectively eliminate interference, improve the accuracy and stability of control, and reduce the labor intensity of operators.

[0019] 4. When the bulldozing resistance exceeds the maximum resistance threshold, freeze the control instruction and trigger an alarm to prevent the equipment from continuing to operate under dangerous working conditions and ensure the safety of the equipment and personnel.

[0020] 5. The crushing blade unit effectively crushes the soil. Combined with the automatically adjusted angle of the bulldozing plate, the soil is piled up more evenly, providing a better foundation for subsequent leveling operations and improving the overall operation quality of the earthwork project. Brief Description of the Drawings

[0021] Figure 1 is the first structural schematic diagram of the present invention.

[0022] Figure 2 is the second structural schematic diagram of the present invention.

[0023] Figure 3 is the flowchart of the present invention.

[0024] Illustration marks: 1, bulldozing plate; 11, arc concave surface; 2, upper connecting arm; 3, lower connecting arm; 4, sleeve; 5, servo electric cylinder; 6, electric push rod; 7, arc rod; 8, spring; 9, soil-breaking edge; 21, upper hinge seat; 31, lower hinge seat. Specific implementation manners

[0025] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that in the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0026] Please refer to Figures 1-3 , the present invention provides a bulldozing device, which includes a bulldozing plate 1. The rear end of the bulldozing plate 1 is hinged with an upper connecting arm 2 and a lower connecting arm 3. The bulldozing plate 1 is rectangular. The upper connecting arm 2 is located above the lower connecting arm 3. There are two upper connecting arms 2 and they are arranged oppositely. There are two lower connecting arms 3 and they are arranged oppositely. The front end of the bulldozing plate 1 is provided with a soil-breaking edge unit for breaking soil, and a resistance detection module for obtaining the bulldozing resistance data during the bulldozing operation is arranged inside the bulldozing plate 1; a sleeve 4 is slidably sleeved on one end of the lower connecting arm 3 far from the bulldozing plate 1. A spring 8 is sleeved outside the lower connecting arm 3. The spring 8 is located between the bulldozing plate 1 and the sleeve 4. An expansion and contraction driving unit is further arranged on the sleeve 4. The expansion and contraction driving unit is used to drive the sleeve 4 to approach or move away from the bulldozing plate 1 to adjust the compression amount of the spring 8. An angle adjustment mechanism is further arranged between the expansion and contraction driving unit and the upper connecting arm 2. The angle adjustment mechanism is used to adjust the front and rear inclination angles of the bulldozing plate 1; a controller is further included, and the controller is electrically connected to the resistance detection module, the expansion and contraction driving unit and the angle adjustment mechanism respectively.

[0027] Among them, an inclination sensor is also provided inside the bulldozer blade 1. The inclination sensor is electrically connected to the controller. The inclination sensor is used to monitor the inclination angle of the bulldozer blade 1 in real time and feedback the inclination angle data to the controller. The rear end of the bulldozer blade 1 is hinged with an upper hinge seat 21, and the upper connecting arm 2 is welded and fixed on the upper hinge seat 21. The upper connecting arm 2 is horizontally arranged. The angle adjustment mechanism includes an electric push rod 6 arranged on the telescopic drive unit and forming a certain angle with the telescopic drive unit. The angle between the electric push rod 6 and the telescopic drive unit is 50 - 55 degrees. The push rod end of the electric push rod 6 is provided with an arc rod 7, and the end of the arc rod 7 is connected to the upper connecting arm 2. The concave surface of the arc rod 7 faces downward. The push rod end of the electric push rod 6 is connected to the upper connecting arm 2 through the arc rod 7. By extending and retracting the electric push rod 6, the position of the upper connecting arm 2 can be adjusted, and thus the front and rear inclination angles of the bulldozer blade 1 can be changed.

[0028] Specifically, the telescopic drive unit includes a servo electric cylinder 5, and a sleeve 4 is arranged at the push rod end of the servo electric cylinder 5. The rear end of the bulldozer blade 1 is hinged with a lower hinge seat 31. The lower hinge seat 31 is located below the upper hinge seat 21, and the lower connecting arm 3 is horizontally arranged.

[0029] The lower connecting arm 3 is welded to the lower hinge seat 31. Both ends of a spring 8 are respectively welded and connected to the lower hinge seat 31 and the sleeve 4. Both ends of the sleeve 4 are closed and are of a hollow structure. A through hole that is slidably matched with the lower connecting arm 3 is provided on the sleeve 4 at one end opposite to the spring 8. The spring 8 is sleeved outside the lower connecting arm 3, which plays a buffering role during the bulldozing process. It should be noted that the parts not detailed in this application are all prior arts.

[0030] In addition, the front end of the bulldozer blade 1 has an arc-shaped concave surface 11. The crushing blade unit includes a plurality of soil-breaking blades 9 arranged at intervals on the arc-shaped concave surface 11. This design enables the soil-breaking blades 9 to better cut into the soil and break the soil when the bulldozer blade 1 is bulldozing, reducing the bulldozing resistance. The resistance detection module includes a force sensor arranged inside the bulldozer blade 1. The controller is electrically connected to the resistance detection module, the servo electric cylinder 5, the electric push rod 6, and the inclination sensor respectively, receives data and sends control instructions according to a preset logic, realizing the intelligent control of the bulldozing device.

[0031] Certainly, the present invention is not limited to the above-described embodiments only. The following also provides several other embodiments based on the design concept of the present invention.

[0032] For example, in other embodiments, different from the above-described embodiments, the electric push rod 6 can also be a servo electric cylinder.

[0033] For example, in other embodiments, different from the above-described embodiments, two vertical plates are symmetrically arranged at the rear end of the bulldozer blade 1, and the lower hinge seat 31 and the upper hinge seat 21 on the same side are hinged on the vertical plate on the same side.

[0034] The present application also provides a control method, which is applied to the above-mentioned earth-moving device. The control method includes: Resistance detection: A force sensor collects resistance data during earth-moving operations in real time and transmits the data to the controller.

[0035] Data processing: The controller performs filtering on the received resistance data to eliminate instantaneous noise interference and conducts data fusion to obtain more accurate resistance information.

[0036] Threshold determination: The controller compares the real-time resistance with the dynamically adjusted hard soil resistance threshold and soft soil resistance threshold. The thresholds are adjusted according to the actual working conditions and the operator's experience.

[0037] Control instruction generation: When the real-time resistance exceeds the hard soil resistance threshold, the controller generates a first set of control instructions: The controller controls the electric push rod 6 to shorten, so as to increase the inclination angle of the earth-moving plate 1 to the target inclination angle, which is beneficial to breaking hard soil.

[0038] The controller controls the telescopic unit to drive the sleeve 4 close to the earth-moving plate 1, so as to increase the compression amount of the spring 8 to the high-frequency crushing range and enhance the crushing effect.

[0039] When the real-time resistance is lower than the soft soil resistance threshold, the controller generates a second set of control instructions: The controller controls the electric push rod 6 to extend, so as to reduce the inclination angle of the earth-moving plate 1 to the target inclination angle and increase the earth-moving area.

[0040] The controller controls the telescopic unit to drive the sleeve 4 away from the earth-moving plate 1, so as to reduce the compression amount of the spring 8 to the low-frequency anti-adhesion range and reduce soil adhesion.

[0041] When the real-time resistance exceeds the maximum resistance threshold, the controller generates a third set of control instructions: Freeze the control instructions and trigger an alarm.

[0042] Actuator action: The controller sends the control instructions to the electric push rod 6 of the upper connecting arm and the telescopic drive unit of the lower connecting arm to perform corresponding actions.

[0043] Inclination feedback: An inclination sensor monitors the actual inclination angle of the earth-moving plate in real time and feeds back the data to the controller. The controller dynamically corrects the adjustment amount of the electric push rod 6 according to the difference between the inclination feedback data and the target inclination angle until the error between the actual inclination angle and the target inclination angle is less than the preset tolerance value.

[0044] Closed-loop feedback: The system continuously monitors the resistance change and the inclination state. When the resistance returns to the preset safe range, the controller terminates the adjustment action to form a closed-loop control cycle.

[0045] Human-computer interaction: The human-computer interaction module displays parameters such as the thermal map of the bulldozing resistance, the inclination deviation indicator, the percentage of spring compression, and the vibration frequency level in real time, facilitating the operator's monitoring and adjustment.

[0046] Fault self-check: The fault self-check module periodically detects the working status of the force sensor, the electric push rod 6, and the telescopic drive unit. When a sensor failure or actuator jamming is detected, the current control instruction is frozen and an audible and visual alarm is triggered.

[0047] Critical area priority strategy: When the real-time resistance is in the critical range between the hard soil and soft soil thresholds, the system first adjusts the bulldozing plate inclination to a safe intermediate value, and then adjusts the spring compression according to the proportion of the resistance deviation. This strategy can avoid frequent switching of control instructions in the critical state and improve the stability of the system.

[0048] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention all fall within the protection scope of the present invention.

Claims

1. A bulldozing device, characterized in that, It includes a bulldozing plate (1). The rear end of the bulldozing plate (1) is hinged with an upper connecting arm (2) and a lower connecting arm (3). The front end of the bulldozing plate (1) is provided with a crushing blade unit for crushing soil. The bulldozing plate (1) is internally provided with a resistance detection module for obtaining the bulldozing resistance data during the bulldozing operation. A sleeve (4) is slidably sleeved on one end of the lower connecting arm (3) far away from the bulldozing plate (1). A spring (8) is sleeved outside the lower connecting arm (3). The spring (8) is located between the bulldozing plate (1) and the sleeve (4). The sleeve (4) is further provided with a telescopic driving unit for driving the sleeve (4) to approach or move away from the bulldozing plate (1) to adjust the compression amount of the spring (8). An angle adjustment mechanism is further provided between the telescopic driving unit and the upper connecting arm (2) for adjusting the front and rear inclination angles of the bulldozing plate (1). It further includes a controller, which is electrically connected to the resistance detection module, the telescopic driving unit, and the angle adjustment mechanism respectively.

2. The earth-moving device according to claim 1, characterized in that, An inclination sensor is further provided inside the bulldozing plate (1). The inclination sensor is electrically connected to the controller and is used for real-time monitoring of the inclination angle of the bulldozing plate (1) and feeding back the inclination angle data to the controller. There are two upper connecting arms (2) which are arranged oppositely, and two lower connecting arms (3) which are arranged oppositely.

3. The earth-pushing device according to claim 2, wherein, An upper hinge seat (21) is hinged at the rear end of the bulldozing plate (1). The upper connecting arm (2) is arranged on the upper hinge seat (21). The angle adjustment mechanism includes an electric push rod (6) which is arranged on the telescopic driving unit and forms a certain included angle with the telescopic driving unit. The push rod end of the electric push rod (6) is provided with an arc-shaped rod (7), and the end of the arc-shaped rod (7) is connected to the upper connecting arm (2).

4. The earth-moving device according to claim 2, characterized in that, The telescopic driving unit includes a servo electric cylinder (5), and the sleeve (4) is arranged at the push rod end of the servo electric cylinder (5).

5. The earth-moving device according to claim 3, characterized in that, A lower hinge seat (31) is hinged at the rear end of the bulldozing plate (1). The lower hinge seat (31) is located below the upper hinge seat (21). The lower connecting arm (3) is fixedly arranged on the lower hinge seat (31). Both ends of the spring (8) are respectively connected to the lower hinge seat (31) and the sleeve (4). Both ends of the sleeve (4) are closed and are of a hollow structure. A through hole which is slidably matched with the lower connecting arm (3) is provided at one end of the sleeve (4) relative to the spring (8).

6. The earth-moving device according to claim 2, wherein, The front end of the bulldozing plate (1) has an arc-shaped concave surface (11). The crushing blade unit includes a plurality of soil-breaking blades (9) which are arranged at intervals on the arc-shaped concave surface (11). The resistance detection module includes a force sensor arranged inside the bulldozing plate (1).

7. A control method, characterized in that, Applied to a bulldozing device according to any one of claims 2 to 6, the control method includes: The resistance detection module obtains the bulldozing resistance data during the bulldozing operation in real time and feeds back the bulldozing resistance data to the controller. Comparing the bulldozing resistance data with the dynamically adjusted hard soil resistance threshold and soft soil resistance threshold to judge the current working condition type; generating a control instruction set according to the working condition type to adjust the inclination angle of the bulldozing plate (1) and the compression amount of the spring (8), including: When the bulldozing resistance data exceeds the hard soil resistance threshold, the controller controls the electric push rod (6) to shorten to increase the inclination angle of the bulldozing plate (1), and the telescopic unit drives the sleeve (4) to approach the bulldozing plate (1) to increase the compression amount of the spring (8); When the bulldozing resistance data is lower than the soft soil resistance threshold, the controller controls the electric push rod (6) to extend to decrease the inclination angle of the bulldozing plate (1), and the telescopic unit drives the sleeve (4) to move away from the bulldozing plate (1) to decrease the compression amount of the spring (8); When the bulldozing resistance data exceeds the maximum resistance threshold, freeze the control command and trigger an alarm.

8. The control method according to claim 7, characterized in that, When the bulldozing resistance data is in the critical interval between the hard soil threshold and the soft soil threshold, first adjust the inclination angle of the bulldozing plate (1) to the safe intermediate value, and then adjust the compression amount of the spring (8) according to the proportion of the resistance deviation amount.

9. The control method according to claim 7, characterized in that, It also includes inclination angle feedback: the inclination angle sensor continuously monitors the actual inclination angle of the bulldozing plate (1) and feeds the data back to the controller. The controller dynamically corrects the adjustment amount of the electric push rod (6) according to the difference between the inclination angle feedback data and the target inclination angle until the error between the actual inclination angle and the target inclination angle is less than the preset tolerance value.

10. The control method according to claim 7, characterized in that, The controller performs filtering processing on the bulldozing resistance data to eliminate instantaneous noise interference; It also includes closed-loop feedback: Continuously monitor the change trend of the bulldozing resistance. If the resistance returns to the preset safe interval, terminate the current adjustment action.

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