CN214219776U - Automatic turning control system and land leveler - Google Patents
Automatic turning control system and land leveler Download PDFInfo
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- CN214219776U CN214219776U CN202022950022.8U CN202022950022U CN214219776U CN 214219776 U CN214219776 U CN 214219776U CN 202022950022 U CN202022950022 U CN 202022950022U CN 214219776 U CN214219776 U CN 214219776U
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Abstract
本实用新型公开一种转弯自动控制系统及平地机，包括人机交互显示器，所述人机交互显示器用于输入指令信息；控制器，所述控制器用于接收前轮转向角度传感器监测的前轮转向角度、铰接转动角度传感器监测的铰接转动角度信号，并与人机交互显示器输入的指令信息进行对比，控制器将输出信号传输给电比例阀，由电比例阀控制前轮转向油缸、铰接油缸伸缩。本实用新型的转弯自动控制系统，可实现转弯半径、通道宽度的实时测量；根据施工要求，实时控制平地机的转弯半径；采用全自动控制方案，减轻机手劳动强度。
The utility model discloses an automatic turning control system and a motor grader, comprising a human-machine interactive display, which is used for inputting instruction information; and a controller, which is used for receiving a front wheel monitored by a front wheel steering angle sensor. The steering angle and the articulation angle signal monitored by the articulation angle sensor are compared with the command information input by the human-computer interaction display. The controller transmits the output signal to the electric proportional valve, and the electric proportional valve controls the front wheel steering cylinder and the articulation cylinder. telescopic. The turning automatic control system of the utility model can realize real-time measurement of turning radius and channel width; according to construction requirements, the turning radius of the motor grader can be controlled in real time; the automatic control scheme is adopted to reduce the labor intensity of the operator.
Description
Technical Field
The utility model relates to a turn automatic control system and leveler belongs to the leveler field.
Background
The land leveler is a kind of operation machinery equipment commonly used in large-area road engineering and agriculture and forestry engineering. In construction operation, the road surface is generally not straight, a manipulator is usually required to adjust a steering wheel to perform turning operation of the land leveler, and in certain specific road sections, when the turning radius is small, due to the limitation of the land leveler structure, only rotating the front wheels is not enough to achieve the proper turning radius, and the articulated oil cylinders are required to be adjusted to enable the front frame and the rear frame to be in a deflection state, so that the smaller turning radius is achieved.
At present, the turning radius of a target can be realized only by manually adjusting the extension and retraction of the front wheel steering oil cylinder and the hinged oil cylinder through a manipulator, the whole process needs to be controlled and held by the experience of the manipulator, the error is large, the difference between the turning radius of actual operation and the target value is too large, repeated operation is needed for trimming, time and labor are wasted, and the intelligent degree is low.
Therefore, how to realize the automatic control of the turning radius and improve the construction precision and efficiency based on the actual situation of the turning operation is a technical problem to be solved urgently.
Disclosure of Invention
To the problem that above-mentioned prior art exists, the utility model provides a turn automatic control system and leveler can realize the real-time regulation of leveler turning radius and channel width, raises the efficiency, promotes the intelligent degree of leveler.
In order to achieve the above object, the utility model discloses a turn automatic control system, include:
the human-computer interaction display is used for inputting instruction information;
the controller is used for receiving a front wheel steering angle monitored by the front wheel steering angle sensor and an articulated rotating angle signal monitored by the articulated rotating angle sensor, comparing the signals with instruction information input by the human-computer interaction display, transmitting output signals to the electric proportional valve by the controller, and controlling the front wheel steering oil cylinder and the articulated oil cylinder to stretch and retract by the electric proportional valve.
As an improvement, the front wheel steering angle sensor is arranged at the hinge point of the front wheel steering oil cylinder, and the hinge rotation angle sensor is arranged at the hinge point of the front frame and the hinge point of the rear frame.
As an improvement, the front wheel steering angle sensor and the hinge rotation angle sensor respectively adopt a gyro angle sensor, a potentiometer or a rotary encoder.
As an improvement, the controller is connected with a human-computer interaction display by adopting a CAN bus.
Additionally, the utility model also provides a land leveler, install turn automatic control system.
Compared with the prior art, the automatic turning control system can realize the real-time measurement of the turning radius and the channel width; controlling the turning radius of the land leveler in real time according to the construction requirements; and a full-automatic control scheme is adopted, so that the labor intensity of a manipulator is reduced.
Drawings
FIG. 1 is a schematic diagram of the principle structure of the present invention;
FIG. 2 is a schematic view of the turning principle of the present invention;
FIG. 3 is a schematic view of the working process of the present invention;
in the figure: 1. the system comprises a front wheel steering oil cylinder 2, a hinged oil cylinder 3, an electric proportional valve 4, a front wheel steering angle sensor 5, a hinged rotation angle sensor 6, a controller 7 and a human-computer interaction display.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.
As shown in fig. 1, an automatic turning control system includes:
the human-computer interaction display 7 is used for inputting instruction information;
and the controller 6 is used for receiving the front wheel steering angle monitored by the front wheel steering angle sensor 4 and the hinge rotation angle signal monitored by the hinge rotation angle sensor 5, comparing the signals with instruction information input by the human-computer interaction display 7, transmitting the output signal to the electro-proportional valve 3 by the controller 6, and controlling the front wheel steering oil cylinder 1 and the hinge oil cylinder 2 to stretch and retract by the electro-proportional valve 3.
The automatic turning control system of the utility model realizes the left and right turning of the front wheels of the land leveler through the extension and retraction of the front wheel steering oil cylinder 1; the angle deviation of the front frame and the rear frame of the land leveler is realized through the extension and retraction of the hinged oil cylinder 2;
the front wheel steering angle sensor 4 is arranged at a hinge point of the front wheel steering oil cylinder 1, the hinge rotation angle sensor 5 is arranged at a hinge point of the front frame and the hinge point of the rear frame, and the front wheel steering angle (front wheel tire deflection angle) and the hinge rotation angle (front frame and rear frame deflection angle) can be measured in real time, of course, the front wheel steering angle sensor 4 and the hinge rotation angle sensor 5 can be a gyro angle sensor, a potentiometer, a rotary encoder, a test instrument capable of realizing the same action and the like;
in addition, the electro proportional valve 3 is provided with and not limited to an oil path for controlling the front wheel steering oil cylinder 1 and the hinge oil cylinder 2, and can realize the extension and retraction of the front wheel steering oil cylinder 1 and the hinge oil cylinder 2;
the controller 6 can receive an electric signal and also can send an electric signal, and can include an electric signal comparison function, process the difference value of different input signals, and output a corresponding electric signal according to a set rule, wherein the model of the controller 6 can be IMC T5040;
the human-computer interaction display 7 comprises a display interface of data such as turning radius, channel width and the like, and can realize real-time input of a manipulator, wherein input information comprises but not only comprises the turning radius, the channel width and the like; the controller 6 is connected with the human-computer interaction display 7 in a CAN bus mode;
the electric proportional valve 3 is connected with a PWM port of the controller 6;
the front wheel steering angle sensor 4 and the hinge rotation angle sensor 5 are connected with a current detection port of the controller 6 at the same time, and can send oil cylinder extension data measured in real time to the controller 6 according to an electric signal mode; after receiving signals of the front wheel steering angle sensor 4 and the hinge rotation angle sensor 5, the controller 6 compares the signals with input data of a human-computer interaction display 7, the controller 6 outputs signals to the electro-proportional valve 3 after calculation, the electro-proportional valve 3 controls the front wheel steering oil cylinder 1 and the hinge oil cylinder 2 to stretch, adjustment of the steering angle and the hinge rotation angle is achieved, and adjustment of the whole posture of the grader is achieved;
the control system is powered by a whole grader power supply.
As shown in FIG. 2, according to the definition of the turning radius and the width of the tunnel, when the grader turns, the distance from the center of the outer tire of the front wheel of the grader to the rotation center point of the whole grader is the turning radius R of the grader0(ii) a The difference between the maximum turning radius and the minimum turning radius in the grader structure during turning is the channel radius S shown in the figure, where R is the maximum turning radius and R is the minimum turning radius.
According to the principle of turning of the land leveler, it is relatively easy to calculate:
turning radius R0：
Channel width S:
wherein: l is1The distance between the hinge point of the front frame and the rear frame and the center of the rear frame is constant;
L2the distance between the hinge point of the front frame and the rear frame and the center of the front axle is constant;
L3the distance between the inner sides of the left tire and the right tire of the front axle is a constant;
L4is the width of the front axle tire and is a constant;
L5the outer widths of the left and right tires of the rear axle are constant;
alpha is a front wheel steering angle, and is measured by a front wheel steering angle sensor 4 in real time;
beta is a hinge rotation angle which is measured by a hinge rotation angle sensor 5 in real time.
Furthermore, a calculation function formula of the turning radius and the channel width is embedded in the controller 6, calculation can be carried out according to actual output signals, corresponding signals are output and transmitted to the electro-proportional valve 3, and then the telescopic action of the front wheel steering oil cylinder 1 and the hinge oil cylinder 2 is controlled.
As shown in fig. 3, a control method based on an automatic turning control system includes the following steps:
1) the manipulator inputs the target values of the turning radius and the channel width in the man-machine interaction display 7 according to the construction requirement;
2) the controller 6 calculates the existing values of the turning radius and the channel width according to an embedded formula, compares the target values input by a manipulator, and outputs a signal to the electro-proportional valve 3;
3) the electro proportional valve 3 drives the front wheel steering oil cylinder 1 and the hinge oil cylinder 2 to extend and retract through a PWM (pulse-width modulation) port under the signal control of the controller 6;
4) the controller 6 detects the current values of the turning radius and the channel width in real time, and when the current values reach target values, outputs signals to the electro proportional valve 3 to stop the telescopic actions of the front wheel steering oil cylinder 1 and the hinged oil cylinder 2;
5) the target turning radius and the channel width are achieved.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the present invention.
Claims (5)
1. An automatic turning control system, comprising:
the human-computer interaction display (7), the human-computer interaction display (7) is used for inputting instruction information;
controller (6), controller (6) are used for receiving front-wheel steering angle, the articulated turned angle signal of articulated turned angle sensor (5) monitoring of front-wheel steering angle sensor (4) monitoring to compare with the instruction information of human-computer interaction display (7) input, controller (6) give electrical proportional valve (3) with output signal transmission, by electrical proportional valve (3) control front-wheel steering hydro-cylinder (1), articulated hydro-cylinder (2) are flexible.
2. An automatic turning control system according to claim 1, characterized in that the front wheel steering angle sensor (4) is mounted at the hinge point of the front wheel steering cylinder (1), and the articulation angle sensor (5) is mounted at the hinge point of the front and rear frames.
3. A turning automatic control system according to claim 1 or 2, characterized in that the front wheel steering angle sensor (4) and the articulation angle sensor (5) are respectively a gyro angle sensor, a potentiometer or a rotary encoder.
4. A turning automatic control system according to claim 1, characterized in that the controller (6) is connected to the man-machine interaction display (7) using a CAN bus.
5. A motor grader equipped with the automatic turning control system according to any one of claims 1 to 4.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020221697435 | 2020-09-28 | ||
| CN202022169743 | 2020-09-28 |
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| CN214219776U true CN214219776U (en) | 2021-09-17 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112411650A (en) * | 2020-09-28 | 2021-02-26 | 徐州徐工筑路机械有限公司 | Automatic turning control system, land leveler and control method thereof |
| CN117433468A (en) * | 2023-12-21 | 2024-01-23 | 睿泽(天津)管业科技有限公司 | Hot dip galvanized pipe galvanization thickness detection device and detection method thereof |
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2020
- 2020-12-11 CN CN202022950022.8U patent/CN214219776U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112411650A (en) * | 2020-09-28 | 2021-02-26 | 徐州徐工筑路机械有限公司 | Automatic turning control system, land leveler and control method thereof |
| CN112411650B (en) * | 2020-09-28 | 2024-11-19 | 徐州徐工筑路机械有限公司 | Automatic turning control system, grader and control method thereof |
| CN117433468A (en) * | 2023-12-21 | 2024-01-23 | 睿泽(天津)管业科技有限公司 | Hot dip galvanized pipe galvanization thickness detection device and detection method thereof |
| CN117433468B (en) * | 2023-12-21 | 2024-03-05 | 睿泽(天津)管业科技有限公司 | Hot dip galvanized pipe galvanization thickness detection device and detection method thereof |
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