CN101666105B - Method for controlling rising velocity of movable arm of excavator, control system and excavator - Google Patents
Method for controlling rising velocity of movable arm of excavator, control system and excavator Download PDFInfo
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- CN101666105B CN101666105B CN2009100882114A CN200910088211A CN101666105B CN 101666105 B CN101666105 B CN 101666105B CN 2009100882114 A CN2009100882114 A CN 2009100882114A CN 200910088211 A CN200910088211 A CN 200910088211A CN 101666105 B CN101666105 B CN 101666105B
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Abstract
The invention discloses a method for controlling the rising velocity of a movable arm of an excavator, a control system for realizing the method and an excavator containing the control system. The control system comprises an engine, a first hydraulic pump, a second hydraulic pump, a movable arm oil cylinder, a main control valve, an operating handle, a controller and a plurality of detecting devices. The movable arm is provided with a limit position detecting zone. The controller judges whether the movable arm rises to the limit position detecting zone according to signals fed back from the detecting devices, calculates and outputs a control signal to the first hydraulic pump, adjusts the output power of the first hydraulic pump in time, and reduces the stretching velocity of the movable arm oil cylinder until the action terminal velocity is zero so as to effectively realize the buffer function, increase the service life of the movable arm oil cylinder and enhance the reliability of the complete machine. When the excavator works in a worksite with complex working condition, the accident rate can be effectively reduced, and the efficiency of construction operation is increased; and moreover, the control system has simple structure, and the control method is convenient to realize.
Description
Technical field
The present invention relates to a kind of control method, specifically, relate to the control method of rising velocity of movable arm of excavator, the invention still further relates to the control system of this method of realization and the excavator that comprises this control system.
Background technology
At present, excavator is widely used in a cubic meter construction works, in the excavator course of work, work by manipulation operations handle drives excavator swing arm, experienced operators is operating operation handle and operate excavator swing arm reposefully accurately, make it possible to alleviate impact to actuator, on the contrary, the unskilled operative who has a less experience in operating aspect is the operating operation handle fine, but be easy to manipulation bar suddenly, make since suddenly operate make swing arm and on equipment cause impact because of inertia, thereby the reduction operating efficiency.At this situation, application number is " 200710170072.0 ", name is called the Chinese invention patent application of " be used to alleviate to the equipment of the impact of excavator pivoted arm and the method for this equipment of control ", its disclosed control system is when controller is judged boom cylinder and stopped suddenly, regulate the amount of switched of the spool of main control valve, the operating pressure of supplying with the boom cylinder capacitor is carried out active adjustment, thereby make the vibration that in swing arm, produces owing to impact drop to minimum, and can increase work efficiency boom cylinder.
Yet, generally, excavator swing arm is when uphill process, and operational motion is too fast because the excavator operator pursues high efficiency production, or operational motion is unskilled, to make swing arm arrive the rising extreme position fast, huge kinetic energy has little time to discharge, and causes excavator complete machine horizontal direction to shake back and forth for several times, and the concussion of this no benefit is unfavorable for enhancing productivity, and, there is great potential safety hazard in the complicated building site of operating mode.The vibration that produces can not solve excavator swing arm well and rapidly increase to the problem that extreme position causes that excavator complete machine horizontal direction is shaken back and forth though control system that relates in the above-mentioned patent application and method can solve that boom cylinder stops suddenly.
Summary of the invention
Technical problem to be solved by this invention provides a kind of method and control system of controlling rising velocity of movable arm of excavator, rapidly increase to the problem that extreme position causes that excavator complete machine horizontal direction is shaken back and forth to solve excavator swing arm, thereby improve the excavator operating efficiency, and improve the safety of producing.
To achieve these goals, the present invention at first provides a kind of method of controlling rising velocity of movable arm of excavator, described swing arm is hinged on the swing arm seat, described swing arm moves under its boom cylinder effect, the action of described boom cylinder is controlled in conjunction with a main control valve by a motor, one first hydraulic pump, an operating grip, and described control method comprises the steps:
S10, the step of an extreme position detection zone is set on described swing arm;
S20, the checkout gear step is set, to make things convenient for to swing arm position, the first hydraulic pump pressure, the signals collecting of engine speed and stick control amount, the described checkout gear step that is provided with comprises and the first hydraulic pump pressure-detecting device step is set, the engine speed detection device step is set, handle checkout gear step is set and swing arm position detecting device step is set;
S30, signals collecting step, and the various signals that will collect input in the controller;
S40, the swing arm position signalling according to the collection of above-mentioned signals collecting step, controller judge whether swing arm rises to the extreme position detection zone, if not, execution in step S50, if, execution in step S60;
S50, tach signal and stick control amount signal according to the collection of above-mentioned signals collecting step, controller calculates and exports the pump power controlling value of first hydraulic pump, and returns execution in step S40;
S60, tach signal and stick control amount signal according to the collection of above-mentioned signals collecting step, controller calculates a basic pump power value of first hydraulic pump; Next according to the collection of above-mentioned signals collecting step simultaneously pressure signal and stick control amount signal, controller calculates one of first hydraulic pump and revises the pump power value, then, controller according to described basic pump power value and described correction pump power value calculate and export the pump power controlling value of first hydraulic pump, to reduce the stretching speed of boom cylinder.
Above-mentioned method wherein, also has one and judges whether swing arm rises to extreme position step S70 behind described step S60, if, carry out end step S80, if not, execution in step S60 returned.
Above-mentioned method, wherein, it is that the β angle is the angle between swing arm physical location and the swing arm rising extreme position in 3 °～6 ° the zone that described extreme position detection zone is arranged at the β angle.
Above-mentioned method wherein, is provided with in the swing arm position detecting device step described, needs the swing arm position detecting device is arranged on the described swing arm seat, and corresponding described extreme position detection zone.
In order to realize said method, the present invention also provides the control system that realizes said method, described swing arm is hinged on the swing arm seat, described control system comprises motor, first hydraulic pump, second hydraulic pump, boom cylinder, main control valve and operating grip, described motor is connected with described first hydraulic pump, described main control valve is installed between described first hydraulic pump and the described boom cylinder, described operating grip is handled the pressure that described second hydraulic pump is supplied with the spool of described main control valve, and described control system also comprises
One controller;
The first hydraulic pump pressure-detecting device is used to detect the pressure of first hydraulic pump and supplies with a pressure signal to described controller;
Engine speed detection device is used to detect the rotating speed of described motor and supplies with a tach signal to described controller;
The handle checkout gear is used to detect the manipulated variable of described operating grip and supplies with one handle manipulated variable signal to described controller; And
The swing arm position detecting device is used to detect described swing arm lifting position and supplies with a swing arm position signalling to described controller;
One extreme position detection zone is set on the described swing arm, described controller is according to described swing arm position signalling, judge whether described swing arm rises to the extreme position detection zone, and according to described pressure signal, described tach signal, described stick control amount signal, calculate, export one and control signal to described first hydraulic pump, with the power output of regulating described first hydraulic pump, the stretching speed that reduces boom cylinder.
Above-mentioned control system, wherein, described swing arm position detecting device is arranged on the described swing arm seat, and corresponding described extreme position detection zone.
Above-mentioned control system, wherein, it is that the β angle is the angle between swing arm physical location and the swing arm rising extreme position in 3 °～6 ° the zone that described extreme position detection zone is arranged at the β angle.
Above-mentioned control system, wherein, described swing arm position detecting device is one near switch.
Further, the present invention also provides the excavator that comprises above-mentioned control system, the control system that comprises the swing arm and the described swing arm rate of climb of control, described swing arm is hinged on the swing arm seat, described control system comprises motor, first hydraulic pump, second hydraulic pump, boom cylinder, main control valve, operating grip and controller, described motor is connected with described first hydraulic pump, described main control valve is installed between described first hydraulic pump and the described boom cylinder, described operating grip is handled the pressure that described second hydraulic pump is supplied with the spool of described main control valve, and described control system also comprises
The first hydraulic pump pressure-detecting device is used to detect the pressure of first hydraulic pump and supplies with a pressure signal to described controller;
Engine speed detection device is used to detect the rotating speed of described motor and supplies with a tach signal to described controller;
The handle checkout gear is used to detect the manipulated variable of described operating grip and supplies with one handle manipulated variable signal to described controller; And
The swing arm position detecting device is used to detect described swing arm lifting position and supplies with a swing arm position signalling to described controller;
One extreme position detection zone is set on the described swing arm, described controller is according to described swing arm position signalling, judge whether described swing arm rises to the extreme position detection zone, and according to described pressure signal, described tach signal, described stick control amount signal, calculate, export one and control signal to described first hydraulic pump, with the power output of regulating described first hydraulic pump, the stretching speed that reduces boom cylinder.
Above-mentioned excavator, wherein, described swing arm position detecting device is arranged on the described swing arm seat, and corresponding described extreme position detection zone.
Above-mentioned excavator, wherein, it is that the β angle is the angle between swing arm physical location and the swing arm rising extreme position in 3 °～6 ° the zone that described extreme position detection zone is arranged at the β angle.
Above-mentioned excavator, wherein, described swing arm position detecting device is one near switch.
Beneficial functional of the present invention is, after excavator adopts above-mentioned control method and control system, controller is according to the first hydraulic pump pressure-detecting device, engine speed detection device, the handle checkout gear, the signal that swing arm position detecting device feedback is come, when swing arm rises to the extreme position detection zone, in time adjust the power output of first hydraulic pump, reduce the stretching speed of boom cylinder, until the action terminal (promptly, the equipment that swing arm drives) speed is zero, with effective realization pooling feature, thereby increase the application life of boom cylinder, improve the reliability of complete machine; Excavator can also effectively reduce accident rate when the site construction of complex working condition, and improves construction operation efficient; And control system of the present invention is simple in structure, and control method realizes convenient.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Description of drawings
Fig. 1 is a swing arm scheme of installation of the present invention;
Fig. 2 is the flow chart of the method for control rising velocity of movable arm of excavator of the present invention;
Fig. 3 is the structured flowchart of control system of the present invention.
Wherein, Reference numeral
1 swing arm, 2 swing arm seats
30 control systems
31 motors, 32 first hydraulic pumps
33 second hydraulic pumps, 34 boom cylinders
35 main control valves, 36 operating grips
37 controllers, 38 first hydraulic pump pressure-detecting devices
39 engine speed detection devices, 310 handle checkout gears
311 swing arm position detecting devices
The specific embodiment
Below in conjunction with the drawings and specific embodiments technical solution of the present invention being described in detail, further understanding purpose of the present invention, scheme and effect, but is not the restriction as claims protection domain of the present invention.
Shown in the flow chart of the method for Fig. 1 swing arm scheme of installation of the present invention and Fig. 2 control rising velocity of movable arm of excavator of the present invention and in conjunction with consulting the structured flowchart of Fig. 3 control system of the present invention, excavator of the present invention is identical with the excavator mechanism of prior art, its swing arm 1 is hinged on the swing arm seat 2, swing arm 1 motion under boom cylinder 34 effects, wherein in conjunction with main control valve 35 controls, the method for control rising velocity of movable arm of excavator of the present invention comprises the steps: by motor 31, first hydraulic pump 32, operating grip 36 in the action of boom cylinder 34
S10, the step of an extreme position detection zone is set on swing arm 1, it is that the β angle is the angle between swing arm physical location and the swing arm rising extreme position in 3 °～6 ° the zone that the extreme position detection zone is arranged at the β angle.
S20, the checkout gear step is set, to make things convenient for to swing arm position S, the first hydraulic pump pressure P, the signals collecting of engine speed V and stick control amount Ps, this step comprises the first hydraulic pump pressure-detecting device, 38 steps is set, engine speed detection device 39 steps are set, handle checkout gear 310 steps are set, and swing arm position detecting device 311 steps are set, the first hydraulic pump pressure-detecting device 38 wherein, engine speed detection device 39, handle checkout gear 310 and swing arm position detecting device 311 can be sensors, swing arm position detecting device 311 is preferably near switch, be provided with on the position, the first hydraulic pump pressure-detecting device 38, engine speed detection device 39, handle checkout gear 310 is not strict with, as long as can detect the signal of each self-corresponding device, but, swing arm position detecting device 311 requires to be arranged on the swing arm seat 2, and corresponding extreme position detection zone.
S30, signals collecting step, and the various signals that will collect input in the controller 37.
S40, swing arm position signalling S according to the collection of above-mentioned signals collecting step, controller 37 judges whether swing arms rise to the extreme position detection zone, if not, execution in step S50, if, execution in step S60.
S50, tach signal V and stick control amount signal Ps according to the collection of above-mentioned signals collecting step, controller 37 calculates and exports the pump power controlling value of first hydraulic pump, this pump power controlling value PWA
1=f (V, P
S)=K
1* V+K
2* P
S, return execution in step S40 simultaneously.
S60, tach signal V and stick control amount signal P according to the collection of above-mentioned signals collecting step
S, controller 37 calculates a basic pump power value PWA of first hydraulic pump
1=f (V, P
S)=K
1* V+K
2* P
SNext according to the collection of above-mentioned signals collecting step simultaneously pressure signal P and stick control amount signal Ps, controller 37 calculate one of first hydraulic pump and revise pump power value PWA
2=f (P, P
S)=K
3* P+K
4* P
S, then, controller 37 is according to described basic pump power value PWA
1With described correction pump power value PWA
2Calculate and export the pump power controlling value PWA of first hydraulic pump
3, PWA
3=f (V, P
S)-K * f (P, P
S)=K
1* V+K
2* P
S-K * (K
3* P+K
4* P
S), wherein, K ∈ (0,1), preferably demarcating is 0.6, K
1, K
2, K
3, K
4∈ (0,1), above-mentioned K
1, K
2, K
3, K
4In actual use, can equate, also can not wait, as most preferred embodiment of the present invention, K
1=K
2=K
3=K
4=0.4.
In the said method, behind described step S60, also have one and judge whether swing arm rises to extreme position step S70, if, carry out end step S80, if not, execution in step S60 returned.
In order to realize said method, control system provided by the invention as shown in Figure 3, control system 30 comprises motor 31, first hydraulic pump 32, second hydraulic pump 33, boom cylinder 34, main control valve 35 and operating grip 36, motor 31 is connected with first hydraulic pump 32, main control valve 35 is installed between first hydraulic pump 32 and the boom cylinder 34, operating grip 36 is handled the pressure that second hydraulic pump 33 is supplied with the spool of main control valve 35, control system 30 also comprises controller 37, the first hydraulic pump pressure-detecting device 38, engine speed detection device 39, handle checkout gear 310 and swing arm position detecting device 311, wherein, the first hydraulic pump pressure-detecting device 38 is used to detect the pressure of first hydraulic pump 32, and to controller 37 supplies one pressure signal P, engine speed detection device 39 is used for the rotating speed of detection of engine 31 and supplies with a tach signal V to controller 37, and handle checkout gear 310 is used for the manipulated variable of detecting operation handle 36, and to controller 37 supply one handle manipulated variable signal P
S, swing arm position detecting device 311 is used to detect the lifting position of swing arm 1 and supplies with a swing arm position signalling S to controller 37;
One extreme position detection zone is set on the swing arm 1, and it is that the β angle is the angle between swing arm physical location and the swing arm rising extreme position in 3 °～6 ° the zone that the extreme position detection zone is arranged at the β angle.Swing arm position detecting device 311 is arranged on the swing arm seat 2, and corresponding extreme position detection zone, and it is preferably one near switch.
Swing arm position signalling S preferably is an angle signal, when swing arm is arranged in horizontal level (the x shaft position of figure), and the S=0 degree, when swing arm is in vertical position (the y shaft position among the figure), S=90 °, when S+ β=90 °, swing arm 1 promptly rises to the extreme position detection zone.
When the operator adopts said method operation excavator to rise, when swing arm rises to the extreme position detection zone, control system is in time adjusted the power output of first hydraulic pump, reduce the stretching speed of boom cylinder, until action terminal (that is, the equipment that swing arm drives) speed is zero, with effective realization pooling feature, thereby increase the application life of boom cylinder, improve the reliability of complete machine; Excavator can also effectively reduce accident rate when the site construction of complex working condition, and improves construction operation efficient; And control system of the present invention is simple in structure, and control method realizes convenient.
Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (12)
1. method of controlling rising velocity of movable arm of excavator, described swing arm is hinged on the swing arm seat, described swing arm moves under its boom cylinder effect, the action of described boom cylinder is controlled in conjunction with a main control valve by a motor, one first hydraulic pump, an operating grip, it is characterized in that described control method comprises the steps:
S10, the step of an extreme position detection zone is set on described swing arm;
S20, the checkout gear step is set, with convenient signals collecting to swing arm position, the first hydraulic pump pressure, engine speed and stick control amount, the described checkout gear step that is provided with comprises and the first hydraulic pump pressure-detecting device step is set, the engine speed detection device step is set, handle checkout gear step is set and swing arm position detecting device step is set;
S30, signals collecting step, and the various signals that will collect input in the controller;
S40, the swing arm position signalling according to the collection of above-mentioned signals collecting step, controller judge whether swing arm rises to the extreme position detection zone, if not, execution in step S50, if, execution in step S60;
S50, tach signal and stick control amount signal according to the collection of above-mentioned signals collecting step, controller calculates and exports the pump power controlling value of first hydraulic pump, and returns execution in step S40;
S60, tach signal and stick control amount signal according to the collection of above-mentioned signals collecting step, controller calculates a basic pump power value of first hydraulic pump; Next according to the collection of above-mentioned signals collecting step simultaneously pressure signal and stick control amount signal, controller calculates one of first hydraulic pump and revises the pump power value, then, controller according to described basic pump power value and described correction pump power value calculate and export the pump power controlling value of first hydraulic pump, to reduce the stretching speed of boom cylinder.
2. method according to claim 1 is characterized in that, behind described step S60, also has one and judges whether swing arm rises to extreme position step S70, if, carry out end step S80, if not, execution in step S60 returned.
3. method according to claim 1 is characterized in that, it is that the β angle is the angle between swing arm physical location and the swing arm rising extreme position in 3 °～6 ° the zone that described extreme position detection zone is arranged at the β angle.
4. method according to claim 3 is characterized in that, is provided with in the swing arm position detecting device step described, need the swing arm position detecting device is arranged on the described swing arm seat, and corresponding described extreme position detection zone.
5. control system that realizes the described method of claim 1, described swing arm is hinged on the swing arm seat, described control system comprises motor, first hydraulic pump, second hydraulic pump, boom cylinder, main control valve and operating grip, described motor is connected with described first hydraulic pump, described main control valve is installed between described first hydraulic pump and the described boom cylinder, described operating grip is handled the pressure that described second hydraulic pump is supplied with the spool of described main control valve, it is characterized in that described control system also comprises
One controller;
The first hydraulic pump pressure-detecting device is used to detect the pressure of first hydraulic pump and supplies with a pressure signal to described controller;
Engine speed detection device is used to detect the rotating speed of described motor and supplies with a tach signal to described controller;
The handle checkout gear is used to detect the manipulated variable of described operating grip and supplies with one handle manipulated variable signal to described controller; And
The swing arm position detecting device is used to detect described swing arm lifting position and supplies with a swing arm position signalling to described controller;
One extreme position detection zone is set on the described swing arm, described controller is according to described swing arm position signalling, judge whether described swing arm rises to the extreme position detection zone, and according to described pressure signal, described tach signal, described stick control amount signal, calculate, export one and control signal to described first hydraulic pump, with the power output of regulating described first hydraulic pump, the stretching speed that reduces boom cylinder.
6. control system according to claim 5 is characterized in that, described swing arm position detecting device is arranged on the described swing arm seat, and corresponding described extreme position detection zone.
7. according to claim 5 or 6 described control systems, it is characterized in that it is that the β angle is the angle between swing arm physical location and the swing arm rising extreme position in 3 °～6 ° the zone that described extreme position detection zone is arranged at the β angle.
8. according to claim 5 or 6 described control systems, it is characterized in that described swing arm position detecting device is one near switch.
9. excavator, the control system that comprises the swing arm and the described swing arm rate of climb of control, described swing arm is hinged on the swing arm seat, described control system comprises motor, first hydraulic pump, second hydraulic pump, boom cylinder, main control valve, operating grip and controller, described motor is connected with described first hydraulic pump, described main control valve is installed between described first hydraulic pump and the described boom cylinder, described operating grip is handled the pressure that described second hydraulic pump is supplied with the spool of described main control valve, it is characterized in that described control system also comprises
The first hydraulic pump pressure-detecting device is used to detect the pressure of first hydraulic pump and supplies with a pressure signal to described controller;
Engine speed detection device is used to detect the rotating speed of described motor and supplies with a tach signal to described controller;
The handle checkout gear is used to detect the manipulated variable of described operating grip and supplies with one handle manipulated variable signal to described controller; And
The swing arm position detecting device is used to detect described swing arm lifting position and supplies with a swing arm position signalling to described controller;
One extreme position detection zone is set on the described swing arm, described controller is according to described swing arm position signalling, judge whether described swing arm rises to the extreme position detection zone, and according to described pressure signal, described tach signal, described stick control amount signal, calculate, export one and control signal to described first hydraulic pump, with the power output of regulating described first hydraulic pump, the stretching speed that reduces boom cylinder.
10. excavator according to claim 9 is characterized in that, described swing arm position detecting device is arranged on the described swing arm seat, and corresponding described extreme position detection zone.
11. excavator according to claim 10 is characterized in that, it is that the β angle is the angle between swing arm physical location and the swing arm rising extreme position in 3 °～6 ° the zone that described extreme position detection zone is arranged at the β angle.
12., it is characterized in that described swing arm position detecting device is one near switch according to claim 9 or 10 described excavators.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100882114A CN101666105B (en) | 2009-07-08 | 2009-07-08 | Method for controlling rising velocity of movable arm of excavator, control system and excavator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100882114A CN101666105B (en) | 2009-07-08 | 2009-07-08 | Method for controlling rising velocity of movable arm of excavator, control system and excavator |
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| CN101666105B true CN101666105B (en) | 2011-08-10 |
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| CN101864780B (en) * | 2010-06-22 | 2011-10-12 | 三一重机有限公司 | Intelligent control method for hydraulic excavator |
| CN102061714B (en) * | 2010-12-03 | 2012-10-17 | 三一重机有限公司 | Control method for descending movable arm of excavator |
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| JP6860458B2 (en) * | 2017-09-15 | 2021-04-14 | 日立建機株式会社 | Work machine |
| CN108301457B (en) * | 2018-03-14 | 2021-02-19 | 华侨大学 | Excavator start and stop control method |
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| CN108661111A (en) * | 2018-06-27 | 2018-10-16 | 潍柴动力股份有限公司 | A kind of hydraulic control system and method |
| CN109469137B (en) * | 2018-12-28 | 2024-05-24 | 上海三一重机股份有限公司 | Swing arm deceleration control device and method of excavator and excavator |
| CN112252387B (en) * | 2020-10-30 | 2023-06-20 | 徐州徐工挖掘机械有限公司 | Swing arm deflection system of excavator, excavator and swing arm deflection control method of excavator |
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