Automatic control system for crawler dozer

Abstract

The utility model relates to an automatic control system for crawler dozer, including travel control device, scraper knife control device, a pair of GNSS antenna and ultrasonic sensor, travel control device is suitable for controlling left crawler operating lever, right crawler operating lever and shift lever, scraper knife control device is suitable for controlling scraper knife operating lever, and the pair of GNSS antenna and ultrasonic sensor is suitable for controlling the left crawler operating lever, right crawler operating lever and shift lever. The running control device and the scraper knife control device are electrically connected with the controller, the pair of GNSS antennas are suitable for being symmetrically installed on the left side and the right side of a scraper knife respectively, and the ultrasonic sensor is suitable for being installed above the scraper knife to detect the earth volume in the scraper knife; the crawler dozer using the automatic control system disclosed by the utility model can automatically flatten the ground.

Description

Technical Field

[0001] The utility model relates to the technical field of crawler bulldozers, in particular to an automatic control system for crawler bulldozers. Background Art

[0002] The crawler bulldozers in the prior art are mostly controlled by a purely mechanical hydraulic control system. The driver needs to manually operate the left track joystick, the right track joystick, and the shift lever of the crawler bulldozer to control the movement of the crawler bulldozer, and manually operate the blade joystick of the crawler bulldozer to control the movement of the crawler bulldozer. When the driver manually operates the crawler bulldozer to perform leveling work, a lot of physical energy and energy will be consumed. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide an automatic control system for a crawler bulldozer. The crawler bulldozer using the automatic control system can perform automatic ground leveling work.

[0004] In order to solve the above technical problems, the utility model provides an automatic control system for a crawler bulldozer, including a travel control device, a blade control device, a pair of GNSS antennas and an ultrasonic sensor. The travel control device is suitable for controlling the left track joystick, the right track joystick, and the shift lever. The blade control device is suitable for controlling the blade joystick. The travel control device and the blade control device are electrically connected to the controller respectively. A pair of GNSS antennas are suitable for being symmetrically installed on the left and right sides of the blade respectively. The ultrasonic sensor is suitable for being installed above the blade to detect the amount of earth in the blade.

[0005] Further preferably, the controller is a PLC, a single chip microcomputer, or a microcomputer, the controller is electrically connected to the touch screen, the operator can input instructions through the touch screen, and the controller uses G signals or fixed base stations for satellite positioning.

[0006] The control device of claim 1, wherein the control device comprises a bottom plate, wherein the bottom plate is suitable for being mounted on the top surface of the travel console, and the bottom plate is provided with a through hole allowing the left track control lever, the right track control lever, and the shift lever to pass through. A pair of first electric push rods arranged side by side are movably connected above the bottom plate, and the front end of the first electric push rod is provided with a first ring, and the pair of first rings are respectively suitable for being mounted on the left track control lever and the right track control lever. A rotating seat is provided above the bottom plate, and the rotating seat is movably connected to a second electric push rod located between the pair of first electric push rods, and the front end of the second electric push rod is provided with a second ring suitable for being mounted on the shift lever. A steering gear is provided on the top surface of the bottom plate and is located in front of the second electric push rod, and an output end of the steering gear is provided with a swing arm, and an outer end of the swing arm is provided with a groove, and the first electric push rod, the second electric push rod, and the steering gear are respectively electrically connected to the controller; when the shift lever is engaged in the groove, the steering gear drives the shift lever to swing through the swing arm.

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

[0008] Further preferably, the first electric push rod, the second electric push rod, and the servo are respectively provided with an encoder, which is electrically connected to the controller; the first electric push rod, the second electric push rod, and the servo respectively transmit the rotation angle signal or the moving distance signal to the controller through the encoder, so that the controller can accurately control the actions of the first electric push rod, the second electric push rod, and the servo.

[0009] Further preferably, the blade control device includes a side plate, which is suitable for being installed on the inner side of the blade console, a drive motor is provided on the outer side of the side plate, a swing arm is provided at the output end of the drive motor, a cover is provided at the end of the swing arm away from the drive motor, a traction motor is provided in the cover, the output shaft of the traction motor passes through the side wall of the cover, a rotating shaft located on the right side of the traction motor is passed through the side wall of the cover, the outer end of the output shaft of the traction motor is matched with the rotating shaft through a flexible member, a sliding plate with one end extending out of the cover is horizontally provided in the cover, the outer end of the sliding plate is connected to one side of the flexible member, the inner end of the sliding plate is provided with a through hole for allowing the blade joystick to pass through, and the top of the cover is provided with a long strip hole that slides with the blade joystick.

[0010] During operation, the drive motor swings through the drive cover, driving the blade control lever to swing back and forth. The traction motor drives the sliding plate to slide, driving the blade control lever to swing left and right along the length direction of the long hole, thereby realizing the lifting and tilting posture control of the crawler bulldozer's blade.

[0011] Further preferably, the drive motor and traction motor are respectively provided with an encoder, which is electrically connected to the controller; the drive motor and traction motor respectively transmit rotation angle signals to the controller through the encoder, so that the controller can accurately control the movement of the drive motor and traction motor.

[0012] The beneficial effects of the present invention are as follows: when working, the ultrasonic sensor transmits the earthwork amount signal in the blade to the controller. When the earthwork amount in the blade exceeds the standard, the controller automatically controls the crawler bulldozer to perform a temporary shovel lifting action to avoid the crawler bulldozer slipping on the spot due to insufficient thrust; a pair of GNSS antennas transmit satellite positioning signals to the controller, and the controller automatically calculates the height and inclination of the blade. Since the positions of the blade and the vehicle body of the crawler bulldozer on the ground projection are relatively fixed, the controller can also calculate the current position and heading of the crawler bulldozer; the controller automatically controls the actions of the travel control device and the blade control device. The travel control device controls the left track joystick, the right track joystick, and the shift lever to control the travel of the crawler bulldozer, and the blade control device controls the blade joystick to control the blade action of the crawler bulldozer. Therefore, the crawler bulldozer using the automatic control system of the present invention can perform automatic leveling work. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to clearly illustrate the innovative principle of the utility model and its advantages over existing automatic control systems, possible embodiments are described below by means of non-limiting examples applying the principle with the aid of the accompanying drawings. In the drawings:

[0014] Figure 1A three-dimensional diagram of the automatic control system of the present utility model;

[0015] Figure 2 A perspective view of a crawler bulldozer to which the automatic control system is applied;

[0016] Figure 3 is a perspective view of the travel control device;

[0017] Figure 4 for Figure 1 A perspective view of the travel control device mounted on the travel console;

[0018] Figure 5 is a schematic diagram of the shift lever being in the forward gear position;

[0019] Figure 6 is a schematic diagram of the shift lever being in the reverse gear position;

[0020] Figure 7 is a perspective view of the blade control device;

[0021] Figure 8 is a perspective view of the blade control device;

[0022] Figure 9 The present invention is a perspective view of the blade control device installed on the blade console. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0025] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0026] In this utility model, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances. Example

[0027] like Figure 1-9 An automatic control system for a crawler bulldozer includes a travel control device 1, a blade control device 2, a pair of GNSS antennas 3, and an ultrasonic sensor 4. The travel control device 1 is suitable for controlling a left track joystick 5, a right track joystick 6, and a shift lever 7. The blade control device 2 is suitable for controlling a blade joystick 8. The travel control device 1 and the blade control device 2 are respectively electrically connected to a controller 10. The pair of GNSS antennas 3 are respectively suitable for being symmetrically installed on the left and right sides of a blade 9. The ultrasonic sensor 4 is suitable for being installed above the blade 9 to detect the amount of earthwork in the blade.

[0028] Preferably, the controller 10 is a PLC, a single chip microcomputer, or a microcomputer. The controller 10 is electrically connected to the touch screen, and the operator can input instructions through the touch screen. The controller 10 uses 4G signals or fixed base stations for satellite positioning.

[0029] Preferably, Figure 3-4 The travel control device 1 includes a base plate 11, which is suitable for being installed on the top surface of the travel console. The base plate 11 is provided with a through hole allowing the left track joystick 5, the right track joystick 6, and the shift lever 7 to pass through. A pair of first electric push rods 12 arranged side by side are movably connected above the base plate 11. The front end of the first electric push rod 12 is provided with a first ring 13. The pair of first rings 13 are respectively suitable for being mounted on the left track joystick 5 and the right track joystick 6. A rotating seat 14 is provided above the base plate 11, and the rotating seat 14 is movably connected to A second electric push rod 15 is located between a pair of first electric push rods 12, and a front end of the second electric push rod 15 is provided with a second ring 16 suitable for being mounted on the shift lever 7. A servo 17 is provided on the top surface of the base plate 11 and located in front of the second electric push rod 15. The output end of the servo 17 is provided with a swing arm 18, and the outer end of the swing arm 18 is provided with a groove 19. The first electric push rod 12, the second electric push rod 15, and the servo 17 are respectively electrically connected to the controller 10; when the shift lever 7 is engaged in the groove 19, the servo 17 drives the shift lever 7 to swing through the swing arm 18.

[0030] During operation, a pair of first electric push rods 12 are used to push and pull the left track joystick 5 and the right track joystick 6 respectively, and the running speed of the left and right tracks of the crawler bulldozer is controlled by pushing and pulling the left track joystick 5 and the right track joystick 6, thereby controlling the crawler bulldozer to travel in a straight line or turn; Figure 5 In the initial state, the shift lever 7 is in the forward gear position, and the second electric push rod 15 controls the forward gear shifting of the crawler bulldozer by pushing and pulling the shift lever 7. When the shift lever 7 needs to be switched to the reverse gear position, the second electric push rod 15 first pushes the shift lever 7 forward to the neutral position and engages with the groove 19 of the swing arm 18. Figure 6 Then the steering gear 17 drives the shift lever 7 to swing to the reverse gear position through the swing arm 18, and the second electric push rod 15 controls the crawler bulldozer to reverse and shift up and down by pushing and pulling the shift lever 7.

[0031] Preferably, the first electric push rod 12, the second electric push rod 15, and the servo 17 are respectively provided with an encoder, which is electrically connected to the controller 10; the first electric push rod 12, the second electric push rod 15, and the servo 17 respectively transmit the rotation angle signal or the moving distance signal to the controller through the encoder, so that the controller can accurately control the movement of the first electric push rod 12, the second electric push rod 15, and the servo 17.

[0032] Preferably, Figure 7-9 The blade control device 2 includes a side plate 20, which is suitable for being installed on the inner side of the blade console. A drive motor 21 is provided on the outer side of the side plate 20, and a swing arm 22 is provided at the output end of the drive motor 21. A cover 23 is provided at the end of the swing arm 22 away from the drive motor 21. A traction motor 24 is provided in the cover 23, and the output shaft of the traction motor 24 passes through the side wall of the cover 23. A rotating shaft 25 located on the right side of the traction motor 24 is passed through the side wall of the cover 23. The outer end of the output shaft of the traction motor 24 is engaged with the rotating shaft 25 through a flexible member 26. A sliding plate 27 with one end extending out of the cover 23 is horizontally provided in the cover 23, and the outer end of the sliding plate 27 is connected to one side of the flexible member 26. A through hole is opened at the inner end of the sliding plate 27 to allow the blade operating lever 8 to pass through. A long strip hole 28 is opened at the top of the cover 23 to slide with the blade operating lever 8.

[0033] During operation, the drive motor 21 swings through the drive cover 23, driving the blade control lever 8 to swing back and forth. The traction motor 24 drives the sliding plate 27 to slide, driving the blade control lever 8 to swing left and right along the length direction of the long hole 28, thereby realizing the lifting and tilting posture control of the blade 9 of the crawler bulldozer.

[0034] Preferably, the drive motor 21 and the traction motor 24 are respectively provided with an encoder, which is electrically connected to the controller 10; the drive motor 21 and the traction motor 24 respectively transmit the rotation angle signal to the controller through the encoder, so that the controller can accurately control the movement of the drive motor 21 and the traction motor 24.

[0035] During operation, the ultrasonic sensor 4 transmits the earthwork amount signal in the blade 9 to the controller 10. When the earthwork amount in the blade 9 exceeds the standard, the controller 10 automatically controls the crawler bulldozer to perform a temporary lifting action to prevent the crawler bulldozer from slipping on the spot due to insufficient thrust; a pair of GNSS antennas 3 transmits satellite positioning signals to the controller 10, and the controller automatically calculates the height and inclination of the blade 9. Since the positions of the blade 9 and the vehicle body of the crawler bulldozer on the ground are relatively fixed, the controller 10 can also calculate the current position and heading of the crawler bulldozer; the controller 10 automatically controls the movement of the travel control device 1 and the blade control device 2. The travel control device 1 controls the left track joystick 5, the right track joystick 6, and the shift lever 7 to control the travel of the crawler bulldozer, and the blade control device 2 controls the blade joystick 8 to control the blade movement of the crawler bulldozer; therefore, the crawler bulldozer using the automatic control system of this embodiment can perform automatic leveling work.

[0036] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic control system for a crawler bulldozer, characterized in that: The invention comprises a driving control device (1), a blade control device (2), a pair of GNSS antennas (3) and an ultrasonic sensor (4); the driving control device (1) is suitable for controlling a left track joystick (5), a right track joystick (6) and a shift lever (7); the blade control device (2) is suitable for controlling a blade joystick (8); the driving control device (1) and the blade control device (2) are respectively electrically connected to a controller (10); the pair of GNSS antennas (3) are respectively suitable for being symmetrically installed on the left and right sides of a blade (9); and the ultrasonic sensor (4) is suitable for being installed above the blade (9) to detect the amount of earth in the blade.

2. The automatic control system according to claim 1, characterized in that: The travel control device (1) comprises a base plate (11), the base plate (11) is provided with a through hole for allowing a left crawler operating lever (5), a right crawler operating lever (6), and a shift lever (7) to pass through, a pair of first electric push rods (12) arranged side by side are movably connected above the base plate (11), a first sleeve (13) is provided at the front end of the first electric push rod (12), and the pair of first sleeves (13) are respectively suitable for being sleeved on the left crawler operating lever (5) and the right crawler operating lever (6), a rotating seat (14) is provided above the base plate (11), and a rotating seat (14) is movably connected to a first push rod (12) located between the pair of first electric push rods (12) A second electric push rod (15), the front end of the second electric push rod (15) is provided with a second ring (16) suitable for being mounted on the shift lever (7), the top surface of the bottom plate (11) is provided with a steering gear (17) located in front of the second electric push rod (15), the output end of the steering gear (17) is provided with a swing arm (18), the outer end of the swing arm (18) is provided with a groove (19), the first electric push rod (12), the second electric push rod (15), and the steering gear (17) are respectively electrically connected to the controller (10); when the shift lever (7) is engaged in the groove (19), the steering gear (17) drives the shift lever (7) to swing through the swing arm (18).

3. The automatic control system according to claim 2, characterized in that: The first electric push rod (12), the second electric push rod (15), and the steering gear (17) are respectively provided with encoders, and the encoders are electrically connected to the controller (10).

4. The automatic control system according to claim 1, characterized in that: The blade control device (2) comprises a side plate (20), a drive motor (21) is provided on the outer side of the side plate (20), a swing arm (22) is provided at the output end of the drive motor (21), a cover (23) is provided at one end of the swing arm (22) away from the drive motor (21), a traction motor (24) is provided in the cover (23), an output shaft of the traction motor (24) passes through a side wall of the cover (23), and a rotating shaft located on the right side of the traction motor (24) is provided on the side wall of the cover (23). (25), the outer end of the output shaft of the traction motor (24) is in transmission cooperation with the rotating shaft (25) through a flexible member (26), a sliding plate (27) with one end extending out of the cover (23) is horizontally arranged in the cover (23), the outer end of the sliding plate (27) is connected to a side edge of the flexible member (26), the inner end of the sliding plate (27) is provided with a through hole allowing the blade operating rod (8) to pass through, and the top of the cover (23) is provided with a long strip hole (28) that is slidably matched with the blade operating rod (8).

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

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