Motor Grader Draft Frame Position Tracking via Hydraulic Cylinder Sensors
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Solution Overview
Problem
Precise control and tracking of the position of the working implement in agricultural machines, such as motor graders, is complex due to the multiple degrees of freedom and parallel linkage systems, making it difficult to accurately adjust the blade's position and orientation for shaping the ground surface.
Innovation Solution
A motor grader equipped with a processor that estimates the position of the operational frame relative to the main frame using iterative mathematical models and sensor data from hydraulic cylinders, allowing for precise adjustment of the blade's position and orientation by controlling the hydraulic cylinders and sensors to achieve desired cross slopes and movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple hydraulic cylinders and parallel linkage systems are used to control the operational frame, then the blade can achieve many different positions and orientations for ground shaping, but the complexity of controlling and tracking the draft frame position increases significantly
Solution Approach 1:
The system uses sensors to continuously monitor the position of the draft frame and feeds this information back to the processor. The processor then calculates the required adjustments to the hydraulic cylinders to achieve the desired blade position, creating a closed-loop control system that simplifies operation despite the complex mechanical structure.
Solution Approach 2:
The patent replaces direct mechanical control of multiple hydraulic cylinders with an electronic control system. The processor uses mathematical models to calculate cylinder positions based on sensor feedback, substituting complex mechanical linkages and manual coordination with electronic computation and control.
2Ease of operation
If manual operation of multiple frames (draft frame, circle frame, tilt frame) is used to position the blade, then the operator can control the blade position, but the operation becomes a complex task requiring coordination of multiple components
Solution Approach 1:
The system enables automatic positioning of the blade by having the processor autonomously calculate and control the hydraulic cylinder positions based on the desired blade orientation. The operator simply inputs the desired cross slope, and the system self-adjusts all frame positions automatically without requiring manual coordination of multiple components.
Solution Approach 2:
The system changes the control parameter from manual manipulation of multiple mechanical frames to electronic control of hydraulic cylinder positions. The processor translates the desired cross slope parameter into specific cylinder extension/retraction commands, simplifying the operator's task to setting a single parameter rather than coordinating multiple mechanical components.
3Measurement precision
If sensors are installed on all hydraulic cylinders to track draft frame position, then precise position estimation is achieved, but the cost and complexity of the system increases
Solution Approach 1:
The processor acts as an intermediary that uses mathematical models to estimate the draft frame position based on sensor data from the hydraulic cylinders. Rather than directly measuring draft frame position with complex sensors, the system uses the cylinder position sensors as intermediaries and computationally derives the draft frame position through kinematic relationships.
Data Source
AI summary
A motor grader including a main frame, an operational frame movable relative to the main frame about a primary joint, and a plurality of hydraulic cylinders configured to adjust a position of the operational frame relative to the main frame, where each cylinder of the plurality of cylinders is movable between an extended position and a retracted position to adjust the length thereof. The motor grader further includes a processor configured to receive a signal indicating a desired cross slope of the operational frame, receive a signal identifying one of the plurality of cylinders as a lead cylinder, determine a desired position of the operational frame that achieves the desired cross slope of the operational frame, estimate a current position of the operational frame by monitoring a length of the lead cylinder, and adjust the position of the operational frame by controlling a follower cylinder of the plurality of cylinders to create the desired cross slope.