Device to determine position of road building machine work tool by satellite systems of navigation gps/glonass or light, for instance, laser radiators

FIELD: construction.

SUBSTANCE: device comprises an antenna of GPS/Glonass systems or a photodetector installed on a vertical rod fixed on a work tool with the help of a bracket with a biaxial hinged joint. Hinged joint axes are equipped with units of rotation with sensors of turn angle and units of braking with electromagnets. A counterweight is fixed in the lower part of the rod. As position of the road building machine or work tool changes relative to the horizon, the rod under action of the counterweight is turned on axes of the biaxial hinged joint and preserves its vertical position. The device is equipped with a system unit supplying control pulses to electromagnets of braking units. The system unit may receive data from sensors of turn angle, has a differentiating link in its composition, a relay link with an area of insensitivity, a unit of pulses generation and an amplification link.

EFFECT: reduced additional error of measurement, higher accuracy of works carried out with a road-building machine.

2 cl, 7 dwg

 

The invention relates to road-building machines, intended for the construction of pavement layers and solid road surface with a predetermined transverse slope and elevation, longitudinal profile, and is designed to provide specified in the project of the transverse slope of the road and elevations of the longitudinal profile.

The invention can also be used to maintain the specified depth and slope of the trench during the construction of drainage and land reclamation systems, as well as in the construction of oil and gas pipelines.

The known device for determining the position of the working body of road-building machines that use antenna satellite navigation systems GPS/GLONASS or photodetectors, interacting with a support surface that is created by a laser beam [Ibraev / Combination of advantages. 3D systems management appliances. // Construction equipment and technologies 2010, No. 6, p.54-56, Suvanaliev, Iauction / leveling System for motor graders// Construction and road machines, 2008, No. 5, s-18]. Antenna satellite navigation systems GPS/GLONASS or photodetectors mounted on vertical rods mounted on the working body. Vertical rods should be up to 4-5 meters in order to prevent shadowing of the laser beams of the other machines builds on the school Playground, getting laser beams into the eyes of the operators of road-building machines and other work, as well as to reduce interference acting on the antenna of satellite navigation systems GPS/GLONASS.

The declared accuracy of the excavation of these devices is 1-2 see However, the known devices have the common disadvantage - when changing the inclination of the road construction machine or the working body relative to the horizon deviates from the vertical rod antenna GPS/Glonass or photodetectors, which introduces additional uncertainty in the determination of the elevation position of the working body of road-building machines.

For example, when the deviation of the rod from the vertical by 10 degrees and the length of the rod 4 m additional error in the determination of the elevation position of the working body of road-building machines will be 6,07 cm, which is more than three times higher than the claimed accuracy of work (1-2 cm).

It is also known device that uses a mast with a photodetector, pivotally connected with the working body. This device is intended for determining the vertical position of the working body earthmoving machine relative to the support surface, created by a laser beam [A.S. 1587148 the USSR. Sensor vertical position inaccessible point of the working body of earth-moving machines. M is FOR E02F 9/20 / Uporov, Uscola, Emoinstaller (USSR)].

This device has the following disadvantage when driving earthmoving machine on uneven ground the mast with a sensor deviates from the vertical, which gives an additional error in the determination of the elevation position of the working body.

Known technical solutions closest to the technical nature of the claimed object are devices company Topcon, intended for installation on bulldozers, graders or pavers [Varfolomeev VP / Technology and equipment of the automatic control of road-building machines using GPS/GLONASS//Construction and road machines 2008 No. 9, p.32-37]. Devices contain one or two vertical rods connected to the working body of the road-building machine, which strengthened antenna satellite navigation systems GPS/Glonass or the photodetector of the laser beam.

The disadvantages of these devices is an additional measurement error of the height position of the working body due to the deviation of the rod from the vertical, movement of the earthmoving machine on uneven profile, and when the movement of the working body.

The objective of the invention is the reduction of additional measurement error of the elevation position of the working body road-St is oteley machine, occur due to the deviation of the rod from the vertical, movement of the earthmoving machine on uneven profile, and when the movement of the working body.

This technical result is achieved by the fact that in the proposed device vertical rod mounted on the working body of the road-building machines using a biaxial hinge, the axis of which is equipped nodes of rotation and braking with the solenoids in the lower part of the bar is fortified contrast, the structure of the device includes a system unit, which delivers control pulses to the electromagnets braking; the nodes of the rotation sensor rotation angle axis, the signals from the angle sensors are received in the system unit, the system unit contains a differentiating element, a relay link with the dead zone, the unit pulse shaping and amplifying the link.

The invention is illustrated by the attached drawings, in which figure 1 shows the attachment of the rod to the working body, the figure 2 - section, showing a top view of the attachment point on the figure 3 is a sectional node braking electromagnet, the figure 4 - site rotation angle sensor, shape 5 is one of the options for the delivery of signals from the control unit to the solenoid node braking (permanently closed)figure 6 - formation algorithm and under the Chi signals to the electromagnet node braking (permanently open), in figure 7 - block diagram of the generation of control signals for supply to the electromagnet node deceleration (constant open).

The device consists of a rod 1 of tubular shape made of light material, such as reinforced plastic, the lower part of which strengthened the counterweight 2 and the upper part of the antenna 3 satellite navigation systems GPS/GLONASS or the photodetector 4 laser systems control the height position of the working body. Bracket 5 with a biaxial hinge arm attached to the operating authority road construction machine, for example the rear part of the blade 6.

Using, for example, a junction connection rod 1 is attached to the inner axis (which consists of two parts 7 and 8) biaxial hinge bracket 5, which is equipped with a host of rotation 9 and the node braking 10. The inner frame 11 biaxial hinge is connected with the internal axis (pos.7 and 8) by means of the rotation unit 9 and node braking 10. On the outer side of the inner frame 11 strengthened external axis 12 and 13, which are arranged coaxially, lie in the same plane with the inner hinge axis and perpendicular to it.

On the axes 12 and 13 installed nodes of rotation 14 and the brake 15, the same design as the internal axis (position 9 and 10).

The outer frame 16 biaxial hinge connected to an external axes 12 and 13 through the nodes of rotation 14 and t is omogenia 15, on the other hand outer frame biaxial hinge connected to the bracket 5.

The figure 3 shows the construction site of inhibition (10 and 15 in figure 2). On the axis 8 reinforced bearing 17. On the end of the axis 8 reinforced brake disc 18. Pressure disc 19 is pressed against the brake disk 18 by a spring 20. The rod 21 is screwed into the hub of the pressure disc 19, on the other hand, the rod 21 is connected to the core retractor electromagnet 22.

On the inside of the housing 23 are slotted grooves, in which are included with the possibility of axial movement of the slots on the side surface of the pressure disk 19.

The figure 4 shows the design of the unit rotation (position 9 and POS on figure 2).

On the axis 12 fortified bearing 23. In the end part of the axle 12 has a kerf (groove), which is accordingly placed the sharpened end of the engine angle sensor 24. The angle sensor mounted on the cover 25.

Figure 5 shows one of the options for the delivery of signals from the system unit to the electromagnet node braking (permanently closed).

The figure 6 shows the algorithm and signals to the electromagnet node braking (permanently open).

The figure 7 shows the block diagram of the generation of control signals for supply to the electromagnet node braking (permanently open). The signal is generated by the angle sensor 24, is fed to differencesee link 26, next, the derivative of the angle arrives at the relay link with the dead zone 27, and then the signal fed into the forming unit pulses 28 and then amplifying the link 29. From amplifier node 29, the signal is sent to the electromagnet node braking 22. The magnitude of the dead zone relay link 27 can be adjusted.

The principle of operation of the device is as follows. There are two variants of device operation: - when the braking 10 and 15 permanently closed; when the braking 10 and 15 constantly open.

If the braking 10 and 15 permanently closed, before starting work, the operator of the road construction machine using the control unit sends a signal to the electromagnets braking. This rod 1 freely rotates in the nodes of rotation 9 and 14 and rotates to a vertical position under the action of the counterweight 2 regardless of the initial position of road-building machines and its working body.

In the process, the position of the machine and the working body relative to the horizon may vary, therefore, from the control unit to the electromagnets braking periodically receives signals, for example, by law, presented on figure 5. When the braking disinhibited, there is a continuous automatic adjustment of the position of the rod relative to the vertical.

In the second variant the braking 10 and 15 constantly open when working road construction machine, for example, by feeding on the electromagnets braking 10 and 15 VDC.

This rod 1 under the action of the counterweight 2 will always be in a vertical position regardless of the position of road-building machines and its working body.

To prevent rocking of the rod 1 under the action of accelerations that occur during operation of road-building machines, using angle sensors 24 detect the rotation angles of the inner and outer axis φ1and φ2then the received signal is differentiated and in those moments when the module is derived |φ'| reaches its maximum value, the electromagnets of the braking control signal, causing the inhibition of the corresponding axis.

It should be noted that the brake is served in those moments of time when the rotation angle φ1or φ2is in the area of values close to zero, while the angular velocity φ1or φ2maximum (see figures 6 and 7).

The use of new elements - counterweight fixed in the lower part of the rod, a biaxial hinge, braking with electromagnets, nodes of rotation angle sensors, the system unit that supplies control pulses to elemen tromagnet braking - to improve the accuracy of work performed road construction machine by ensuring the verticality of the rod antenna GPS/GLONASS or a photodetector of the laser control system. For example, when the deviation of the rod from the vertical by changing the tilt of the machine or the working body 10° additional error only on the tilt rod will be 6,07 cm (the length of a rod 4 m), which significantly exceeds the prototype precision work (1-2 cm).

1. Device for determining the position of the working body of road-building machines using satellite navigation systems GPS/GLONASS or light, for example, laser emitters containing antenna satellite navigation systems GPS/GLONASS or photodetectors light, for example, laser radiation, mounted on a vertical rod mounted on the working body of the road construction machine, wherein the vertical rod mounted on the working body of the road-building machines with bracket with a biaxial hinge, the axis of which is equipped nodes of rotation and braking with the solenoids in the lower part of the bar is fortified contrast, the structure of the device is the system unit, which delivers control pulses to the electromagnets braking.

2. The device according to claim 1, characterized in that the nodes of the rotation sensor rotation angle axis, the signals from the angle sensors are received in the system unit, the system unit contains a differentiating element, a relay link with the dead zone, the unit pulse shaping and amplifying the link.



 

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20 cl, 8 dwg

Working machine // 2640062

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7 cl, 3 dwg

Working machine // 2640062

FIELD: machine engineering.

SUBSTANCE: invention relates to a working machine comprising a hood cover, a tank of the second cooling circuit located under the hood cover, and a structure support element not connected to the hood cover for supporting the tank of the second cooling circuit; a tank of the second cooling circuit which is detachable from the hood cover in the operating mode of the working machine and detachably connected to the structure supporting element, where the hood cover has an attachment unit for fastening the connecting element, and the tank of the second cooling circuit has a connecting unit designed to create a detachable connection between the connecting part and the attachment unit on the hood cover.

EFFECT: increase of operational reliability.

7 cl, 3 dwg

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