CN102912817A - Excavator as well as control method and control device thereof - Google Patents
Excavator as well as control method and control device thereof Download PDFInfo
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- CN102912817A CN102912817A CN201210470898XA CN201210470898A CN102912817A CN 102912817 A CN102912817 A CN 102912817A CN 201210470898X A CN201210470898X A CN 201210470898XA CN 201210470898 A CN201210470898 A CN 201210470898A CN 102912817 A CN102912817 A CN 102912817A
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Abstract
The invention provides an excavator as well as a control method and a control device thereof. The control method for the excavator comprises the following steps of: obtaining the rotating angle of the excavator and the included angle between a movable arm and a frame in real time; obtaining the required movement of a hydraulic actuator of the excavator according to the numerical ranges of the included angle and the rotating angle; and sending a control instruction corresponding to the movement to the hydraulic actuator. According to the actual working condition, the coordinated movement conditions for the movable arm and rotation can be realized by utilizing the preset matching relation between the movement of the hydraulic actuator and the included angle and the rotating angle so as to meet the requirement for coordinated movement of the actual working condition, realize the coordinated control on an oil cylinder of the movable arm and a rotary motor, and real-time manipulation of operating personnel is not needed in the movement process, so that the labor intensity of the operating personnel is reduced, and high efficiency and energy conservation can be realized.
Description
Technical field
The present invention relates to engineering machinery field, in particular to a kind of excavator and control method and control device.
Background technology
Excavator is carried out when excavating action, need to often finish compound motion, such as all need to be at the rotating swing arm that promotes simultaneously at many engineering sites, carry out the compound motion of this class in the prior art, generally be operating personnel rule of thumb, executing agency's action situation of Real Time Observation excavator, corresponding control operation handle is realized the harmony motion of typical action.Such as, operating personnel's both hands operate respectively revolution joystick and swing arm joystick, utilize the speed of the corresponding control execution action of operation amplitude of joystick, to realize the coordinated operation of two actions.
Operating personnel rely on that experience is manual to realize the harmony motion, and Main Problems comprises: operator's intensity of working is large, and degree of fatigue is high; The operator reacts and has prolonged net cycle time, reduces production efficiency; Need frequent adjusting operation handle, strengthened the generation probability of trouble point, impact that the action executing quality is subject to operating personnel's experience and duty is large.
For excavator in the prior art need to rely on operating personnel rule of thumb the control operation handle cause operating personnel's the large problem of workload, effective solution is not yet proposed at present.
Summary of the invention
The present invention aims to provide a kind of excavator and control method and control device, with solve in the prior art excavator need to rely on operating personnel rule of thumb the control operation handle cause operating personnel's the large problem of workload.
To achieve these goals, according to an aspect of the present invention, provide a kind of control method of excavator.The control method of this excavator comprises: the angle of the angle of revolution of Real-time Obtaining excavator and swing arm and vehicle frame; Draw the action that the hydraulic actuating mechanism of excavator need to carry out according to the number range of the number range of angle and angle of revolution; Send the control instruction corresponding with action to hydraulic actuating mechanism.
Further, drawing the action that the hydraulic actuating mechanism of excavator need to carry out according to the number range of the number range of angle and angle of revolution comprises: whether judge angle more than or equal to the first predetermined angle and less than the 3rd predetermined angle, and whether the angle of revolution is less than the second predetermined angle; When angle more than or equal to the first predetermined angle and less than the 3rd predetermined angle, and the angle of revolution is during less than the second predetermined angle, rotary motor need to carry out the revolution action simultaneously boom cylinder need to carry out and promote the swing arm action.
Further, drawing the action that the hydraulic actuating mechanism of excavator need to carry out according to the number range of the number range of angle and angle of revolution comprises: whether judge angle more than or equal to the first predetermined angle and less than the 3rd predetermined angle, and judge that whether the angle of revolution is more than or equal to the second predetermined angle; When angle more than or equal to the first predetermined angle and less than the 3rd predetermined angle, and the angle of revolution is during more than or equal to the second predetermined angle, rotary motor need to stop revolution, boom cylinder need to be carried out and promote the swing arm action simultaneously.
Further, drawing the action that the hydraulic actuating mechanism of excavator need to carry out according to the number range of the number range of angle and angle of revolution comprises: judge angle whether more than or equal to the 3rd predetermined angle and angle of revolution whether less than the second predetermined angle; When angle more than or equal to the 3rd predetermined angle and angle of revolution during less than the second predetermined angle, rotary motor need to be carried out the revolution action, boom cylinder need to stop to promote swing arm simultaneously.
Further, drawing the action that the hydraulic actuating mechanism of excavator need to carry out according to the number range of the number range of angle and angle of revolution comprises: judge angle whether more than or equal to the 3rd predetermined angle and angle of revolution whether more than or equal to the second predetermined angle; When angle more than or equal to the 3rd predetermined angle and angle of revolution during more than or equal to the second predetermined angle, rotary motor need to stop revolution, boom cylinder need to stop to promote swing arm, and need to open the action that bucket is unloaded.
Further, before the angle of Real-time Obtaining excavator swing arm and vehicle frame and angle of revolution, also comprise: number range and the number range of angle of revolution and the mapping relations between the control instruction of obtaining default angle.
A kind of control device of excavator also is provided according to another aspect of the present invention.The control device of this excavator comprises: sensing module is used for measuring in real time the angle of revolution of excavator and the angle of swing arm and vehicle frame; Controller is connected with sensing module, is used for obtaining the angle of angle of revolution and swing arm and vehicle frame, draws the action that the hydraulic actuating mechanism of excavator need to carry out according to the number range of the number range of angle and angle of revolution; Send the control instruction corresponding with action to hydraulic actuating mechanism.
Further, above-mentioned sensing module comprises: the first angular transducer, be arranged on the swing arm, and be used for measuring the angle of swing arm and vehicle frame; The second angular transducer is arranged on the revolving dial, is used for measuring the angle of revolution of excavator.
Further, the control device of excavator provided by the invention also comprises: analog-digital commutator, respectively with the first angular transducer be connected angular transducer and be connected, be used for angle and angle of revolution are converted to data signal, and send to controller; Digiverter is connected with controller, be used for controller send control instruction be converted to analog signal and send to hydraulic actuating mechanism.
Further, the control device of excavator provided by the invention also comprises: parameter setting module, be connected with controller, and be used for obtaining number range and the number range of angle of revolution and the mapping relations between the control instruction of default angle.
According to another aspect of the present invention, also provide a kind of excavator.This excavator comprises revolving dial, swing arm, control device, and wherein, control device is used for control revolving dial and swing arm motion, and this control device is the control device of above-mentioned any excavator.
Use technical scheme of the present invention, by angle α and the angle of revolution θ that obtains swing arm and vehicle frame, can obtain the height of swing arm lifting and the current state of revolving dial, thereby according to actual condition, utilize the action of default hydraulic actuating mechanism and the matching relationship of above-mentioned angle and angle of revolution, carry out swing arm and rotating harmony moving condition, comprise: swing arm begins revolution when where rising to, turn round separately in what situations or the swing arm lifting, thereby can reach actual condition to the requirement of coordination, realization is to the coordination control of boom cylinder and rotary motor, do not need controlling in real time of operating personnel in the course of action, reduced labor intensity of operating staff, efficient and energy-conservation.
Description of drawings
The Figure of description that consists of the application's a part is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram according to the control device of the excavator of the embodiment of the invention;
Fig. 2 is the schematic diagram according to the dynamical system of the excavator of the embodiment of the invention;
Fig. 3 is the schematic diagram according to the excavator swing arm lifting of the embodiment of the invention;
Fig. 4 is the schematic diagram according to the action executing flow process of the excavator of the embodiment of the invention;
Fig. 5 is the schematic diagram according to the control method of the excavator of the embodiment of the invention;
Fig. 6 is the executing agency's operating state conversion schematic diagram according to the control method of the excavator of the embodiment of the invention;
Fig. 7 is the flow chart according to the control method of the excavator of the embodiment of the invention.
The specific embodiment
Need to prove that in the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
The embodiment of the invention provides a kind of control device of excavator, Fig. 1 is the schematic diagram according to the control device of the excavator of the embodiment of the invention, as shown in Figure 1, the control device of this excavator comprises: sensing module 11 is used for measuring in real time the angle of revolution of excavator and the angle of swing arm and vehicle frame; Controller 12 is connected with sensing module 11, is used for obtaining the angle of angle of revolution and swing arm and vehicle frame, draws the action that the hydraulic actuating mechanism of excavator need to carry out according to the number range of the number range of angle and angle of revolution; Send the control instruction corresponding with action to hydraulic actuating mechanism.Thereby control boom cylinder and rotary motor are carried out corresponding action.
Utilize the control device of the excavator of present embodiment, obtain angle α and the angle of revolution θ of swing arm and vehicle frame by sensing module 11, to obtain height that swing arm promotes and the current state of revolving dial, thereby according to actual condition, utilize the action of default hydraulic actuating mechanism and the mapping relations of above-mentioned angle and angle of revolution, carry out swing arm and rotating harmony moving condition, comprise: swing arm begins revolution when where rising to, turn round separately in what situations or the swing arm lifting, thereby can reach actual condition to the requirement of coordination, realization is to the coordination control of boom cylinder and rotary motor, do not need controlling in real time of operating personnel in the course of action, reduced labor intensity of operating staff.
Condition with up conversion executing agency action can comprise following several condition: swing arm begins revolution when where rising to, carry out swing arm separately promotes, carries out separately the platform revolution, stops that swing arm promotes and revolution, carries out and opens bucket discharging action.The below describes respectively above condition:
Under different working environments, revolution is inconsistent with the requirement of swing arm coordination, and the namely coordination of excavator need to be satisfied the requirement of different operating modes, more than the first predetermined angle α
Th1, the 3rd predetermined angle α
Th2, the second predetermined angle θ
ThAll can arrange according to site environment, operating personnel can directly arrange above control parameter according to operating mode like this, therefore, the control device of the excavator of the embodiment of the invention can also comprise: parameter acquisition module, be used for obtaining number range and the number range of angle of revolution and the mapping relations between the control instruction of default angle, thereby can make controller 12 draw above the first predetermined angle α that meets current working
Th1, the 3rd predetermined angle α
Th2, the second predetermined angle θ
ThEtc. parameter.
Above sensing module 11 can specifically comprise the first angular transducer 28, is arranged on the swing arm, is used for measuring the angle α of swing arm and vehicle frame; The second angular transducer 29 is arranged on the revolving dial, is used for measuring the angle of revolution θ of excavator.
Angle that sensing module 11 records is processed through analog-digital commutator, the angle of angle of revolution and swing arm and vehicle frame is converted to data signal, and sends to controller.Process through the judgement of controller 12, the action directive that output is corresponding through digiverter, is converted to the control instruction of controller 12 analog signal and sends to the hydraulic pressure Executive Module.At this moment, the control device of the excavator of present embodiment can also comprise analog-digital commutator, respectively with the first angular transducer 28 be connected angular transducer 29 and be connected, being used for angle and revolution device angular transition processed is data signal, and sends to controller 12; Digiverter is connected with controller 12, be used for controller 12 send control instruction be converted to analog signal and send to hydraulic actuating mechanism.
The embodiment of the invention also provides a kind of excavator, and the control device of any excavator that use embodiment of the invention foregoing provides is controlled.Fig. 2 is the schematic diagram according to the dynamical system of the excavator of the embodiment of the invention, and the control device of this excavator comprises: the first angular transducer 28, be arranged on the swing arm, and be used for measuring the angle α of swing arm and vehicle frame; The second angular transducer 29 is arranged on the revolving dial, is used for measuring the angle of revolution θ of excavator; Controller 12, respectively with the first angular transducer 28 be connected angular transducer 29 and be connected, with angle α and the angle of revolution θ that obtains swing arm and vehicle frame, be used for the angle of revolution of Real-time Obtaining excavator and the angle of swing arm and vehicle frame; Draw the action that hydraulic actuating mechanism need to carry out according to the number range of described angle and the number range of described angle of revolution; Send the control instruction corresponding with described action to described hydraulic actuating mechanism.Controller 12 sends the control instruction of control hydraulic jack and rotary motor to automatically controlled main valve 26.The hydraulic system of present embodiment excavator comprises: the power source of motor 21 outputs offers hydraulic pump 23 through behind the gearbox 22, and hydraulic pump 23 is by control hydraulic jack 27 and rotary motor behind the automatically controlled main valve.
Fig. 3 is that excavator swing arm length is L, is provided with the first angular transducer 28 at swing arm, can calculate according to H=L*sin α the hoisting depth of swing arm according to the schematic diagram of the excavator swing arm lifting of the embodiment of the invention.
Fig. 4 is the schematic diagram according to the action executing flow process of the excavator of the embodiment of the invention.As shown in the figure, angle that sensor records is processed through analog-digital commutator, the angle of angle of revolution and swing arm and vehicle frame is converted to data signal, and sends to controller.Process through the judgement of controller, the action directive that output is corresponding through digiverter, is converted to the control instruction of controller analog signal and sends to the hydraulic pressure Executive Module.The concrete processing procedure of hydraulic pressure Executive Module is for amplifying through the hydraulic proportional amplifier analog control signal with signal, control hydraulic proportional reversal valve, by the spool displacement amount, control enters the hydraulic fluid flow rate of boom cylinder and rotary motor, and then control swing arm and rotating motion.Sensor mainly comprises for the first angular transducer of the angle α that measures swing arm and vehicle frame with for the second angular transducer of measuring angle of revolution θ.
The embodiment of the invention also provides a kind of control method of excavator, the control device of any excavator that the control method of this excavator can provide by the above embodiment of the present invention is carried out, and, the control method of this excavator can be applied to comprise the excavator with upper controller, Fig. 5 is the schematic diagram according to the control method of the excavator of the embodiment of the invention, as shown in the figure, the control method of this excavator comprises:
Step S51, the angle of the angle of revolution of Real-time Obtaining excavator and swing arm and vehicle frame;
Step S53 draws the action that the hydraulic actuating mechanism of excavator need to carry out according to the number range of the number range of described angle and described angle of revolution;
Step S55 sends the control instruction corresponding with described action to described hydraulic actuating mechanism.
The state of above executing agency action generally comprises 5 kinds, Fig. 6 is the executing agency's operating state conversion schematic diagram according to the control method of the excavator of the embodiment of the invention, as shown in the figure, from the excavators initiating is done, when at first swing arm being risen to the first preset height, turn round, in revolution with promote when reaching desired value simultaneously, stop to promote and revolution having been opened bucket and unloads.In the action executing process, because may there be independent revolution in the inconsistency of action, promotes separately, turns round simultaneously the three kinds of states that promote.The switch condition of above action is described below in conjunction with Fig. 7.
Fig. 7 is the flow chart according to the control method of the excavator of the embodiment of the invention, as shown in Figure 7,
Step S53 judges the angle α of swing arm and vehicle frame more than or equal to the first predetermined angle α
Th1And less than the 3rd predetermined angle α
Th2, and angle of revolution θ is less than the second predetermined angle θ
ThThe time, i.e. α
Th2α 〉=α
Th1And θ＜θ
ThThe time, rotary motor need to carry out revolution action simultaneously boom cylinder need to carry out and promote the swing arm action, step S55 is corresponding to be sent the revolution of control rotary motor and controls simultaneously the control instruction that boom cylinder promotes swing arm.
Step S53 judges the angle α of swing arm and vehicle frame more than or equal to the first predetermined angle α
Th1And less than the 3rd predetermined angle α
Th2, and angle of revolution θ is more than or equal to the second predetermined angle θ
ThThe time, i.e. α
Th2α 〉=α
Th1And θ 〉=θ
ThThe time,, rotary motor need to stop revolution, and boom cylinder need to be carried out and promote the swing arm action simultaneously.The corresponding control rotary motor that sends of step S55 stops revolution and control boom cylinder lifting swing arm, namely carries out separately the control instruction that swing arm promotes.
Step S53 judges the angle α of swing arm and vehicle frame more than or equal to the 3rd predetermined angle α
Th2, and angle of revolution θ is less than the second predetermined angle θ
ThThe time, i.e. α 〉=α
Th2And θ＜θ
ThThe time, rotary motor need to be carried out the revolution action, and boom cylinder need to stop to promote swing arm simultaneously.Step S55 is corresponding to send the revolution of control rotary motor and the control boom cylinder stops to promote swing arm, namely carries out separately the rotating control instruction of platform.
Step S53 judges the angle α of swing arm and vehicle frame more than or equal to the 3rd predetermined angle α
Th2, and angle of revolution θ is more than or equal to the second predetermined angle θ
ThThe time, i.e. α 〉=α
Th2And θ 〉=θ
ThThe time, rotary motor need to stop revolution, and boom cylinder need to stop to promote swing arm, and need to open the action that bucket is unloaded.
The corresponding control rotary motor that sends of step S55 stops revolution and controls boom cylinder stopping to promote swing arm, and opens the control instruction that bucket is unloaded.
For adapting to the requirement of different operating modes, can also comprise before the step S51: obtain the mapping relations between the number range of the number range of described angle and described angle of revolution and the action that hydraulic actuating mechanism need to carry out.Thereby so that above the first predetermined angle α to be set according to site environment
Th1, the 3rd predetermined angle α
Th2, the second predetermined angle θ
Th, satisfied different operating modes to the requirement of coordination.
Use technical scheme of the present invention, by angle α and the angle of revolution θ that obtains swing arm and vehicle frame, can obtain the height of swing arm lifting and the current state of revolving dial, thereby according to actual condition, utilize the action of default hydraulic actuating mechanism and the matching relationship of above-mentioned angle and angle of revolution, carry out swing arm and rotating harmony moving condition, comprise: swing arm begins revolution when where rising to, turn round separately in what situations or the swing arm lifting, thereby can reach actual condition to the requirement of coordination, realization is to the coordination control of boom cylinder and rotary motor, do not need controlling in real time of operating personnel in the course of action, reduced labor intensity of operating staff, efficient and energy-conservation.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the storage device and be carried out by calculation element, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. the control method of an excavator is characterized in that, comprising:
The angle of the angle of revolution of Real-time Obtaining excavator and swing arm and vehicle frame;
Draw the action that the hydraulic actuating mechanism of described excavator need to carry out according to the number range of the number range of described angle and described angle of revolution;
Send the control instruction corresponding with described action to described hydraulic actuating mechanism.
2. the control method of excavator according to claim 1 is characterized in that, draws the action that the hydraulic actuating mechanism of described excavator need to carry out according to the number range of the number range of described angle and described angle of revolution and comprises:
Whether judge described angle more than or equal to the first predetermined angle and less than the 3rd predetermined angle, and whether described angle of revolution is less than the second predetermined angle;
When described angle more than or equal to described the first predetermined angle and less than described the 3rd predetermined angle, and the angle of revolution is during less than the second predetermined angle, rotary motor need to carry out the revolution action simultaneously boom cylinder need to carry out and promote the swing arm action.
3. the control method of excavator according to claim 1 is characterized in that, draws the action that the hydraulic actuating mechanism of described excavator need to carry out according to the number range of the number range of described angle and described angle of revolution and comprises:
Whether judge described angle more than or equal to the first predetermined angle and less than the 3rd predetermined angle, and judge that whether described angle of revolution is more than or equal to the second predetermined angle;
When described angle more than or equal to described the first predetermined angle and less than described the 3rd predetermined angle, and described angle of revolution is during more than or equal to described the second predetermined angle, rotary motor need to stop revolution, boom cylinder need to be carried out and promote the swing arm action simultaneously.
4. the control method of excavator according to claim 1 is characterized in that, draws the action that the hydraulic actuating mechanism of described excavator need to carry out according to the number range of the number range of described angle and described angle of revolution and comprises:
Judge described angle whether more than or equal to the 3rd predetermined angle and described angle of revolution whether less than the second predetermined angle;
When described angle more than or equal to described the 3rd predetermined angle and described angle of revolution during less than described the second predetermined angle, rotary motor need to be carried out the revolution action, boom cylinder need to stop to promote swing arm simultaneously.
5. the control method of excavator according to claim 1 is characterized in that, draws the action that the hydraulic actuating mechanism of described excavator need to carry out according to the number range of the number range of described angle and described angle of revolution and comprises:
Judge described angle whether more than or equal to the 3rd predetermined angle and described angle of revolution whether more than or equal to the second predetermined angle;
When described angle more than or equal to described the 3rd predetermined angle and described angle of revolution during more than or equal to described the second predetermined angle, rotary motor need to stop revolution, boom cylinder need to stop to promote swing arm, and need to open the action that bucket is unloaded.
6. the control method of each described excavator in 5 according to claim 1 is characterized in that, also comprises before the angle of Real-time Obtaining excavator swing arm and vehicle frame and angle of revolution:
Obtain number range and the number range of angle of revolution and the mapping relations between the control instruction of default angle.
7. the control device of an excavator is characterized in that, comprising:
Sensing module is used for measuring in real time the angle of revolution of excavator and the angle of swing arm and vehicle frame;
Controller is connected with described sensing module, is used for obtaining the angle of described angle of revolution and swing arm and vehicle frame, draws the action that the hydraulic actuating mechanism of described excavator need to carry out according to the number range of the number range of described angle and described angle of revolution; Send the control instruction corresponding with described action to described hydraulic actuating mechanism.
8. the control device of excavator according to claim 7 is characterized in that, described sensing module comprises:
The first angular transducer is arranged on the swing arm, is used for measuring the angle of described swing arm and vehicle frame;
The second angular transducer is arranged on the revolving dial, is used for measuring the angle of revolution of excavator.
9. the control device of excavator according to claim 8 is characterized in that, also comprises:
Analog-digital commutator, respectively with described the first angular transducer be connected the second angular transducer and be connected, be used for described angle and described angle of revolution are converted to data signal, and send to described controller;
Digiverter is connected with described controller, be used for described controller send control instruction be converted to analog signal and send to described hydraulic actuating mechanism.
10. the control device of excavator according to claim 7 is characterized in that, also comprises:
Parameter setting module is connected with described controller, is used for obtaining number range and the number range of angle of revolution and the mapping relations between the control instruction of default angle.
11. excavator, comprise revolving dial, swing arm, control device, wherein, described control device is used for controlling described revolving dial and the motion of described swing arm, it is characterized in that described control device is the control device of each described excavator in the claim 7 to 10.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210470898XA CN102912817A (en) | 2012-11-19 | 2012-11-19 | Excavator as well as control method and control device thereof |
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| CN201210470898XA CN102912817A (en) | 2012-11-19 | 2012-11-19 | Excavator as well as control method and control device thereof |
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Cited By (6)
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| CN104915477A (en) * | 2015-05-18 | 2015-09-16 | 浙江工业大学 | Simulation method of mining hydraulic excavator excavating resistance |
| CN108678049A (en) * | 2018-05-28 | 2018-10-19 | 柳州柳工挖掘机有限公司 | Excavator boom excavating resistance optimal control method and control system |
| CN110984267A (en) * | 2019-06-29 | 2020-04-10 | 三一重机有限公司 | Pressure control method and device for excavator, controller and readable storage medium |
| CN112834255A (en) * | 2021-01-04 | 2021-05-25 | 三一重机有限公司 | Coordination testing method for mechanical device, fault diagnosis method and engineering machine |
| CN113482076A (en) * | 2021-05-07 | 2021-10-08 | 湖南大学 | Motion control method, device and medium for rotary platform of unmanned excavator |
| CN115982541A (en) * | 2023-01-16 | 2023-04-18 | 徐州徐工挖掘机械有限公司 | Excavator working condition ratio statistical method based on big data |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104915477A (en) * | 2015-05-18 | 2015-09-16 | 浙江工业大学 | Simulation method of mining hydraulic excavator excavating resistance |
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| CN110984267A (en) * | 2019-06-29 | 2020-04-10 | 三一重机有限公司 | Pressure control method and device for excavator, controller and readable storage medium |
| CN112834255A (en) * | 2021-01-04 | 2021-05-25 | 三一重机有限公司 | Coordination testing method for mechanical device, fault diagnosis method and engineering machine |
| CN112834255B (en) * | 2021-01-04 | 2024-01-23 | 三一重机有限公司 | Coordination testing method and fault diagnosis method of mechanical device and engineering machinery |
| CN113482076A (en) * | 2021-05-07 | 2021-10-08 | 湖南大学 | Motion control method, device and medium for rotary platform of unmanned excavator |
| CN115982541A (en) * | 2023-01-16 | 2023-04-18 | 徐州徐工挖掘机械有限公司 | Excavator working condition ratio statistical method based on big data |
| CN115982541B (en) * | 2023-01-16 | 2023-09-29 | 徐州徐工挖掘机械有限公司 | Big data-based excavator working condition duty ratio statistical method |
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Application publication date: 20130206 |