CN102071716A - Control system and method for rotating speed of excavator - Google Patents
Control system and method for rotating speed of excavator Download PDFInfo
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- CN102071716A CN102071716A CN2009102384433A CN200910238443A CN102071716A CN 102071716 A CN102071716 A CN 102071716A CN 2009102384433 A CN2009102384433 A CN 2009102384433A CN 200910238443 A CN200910238443 A CN 200910238443A CN 102071716 A CN102071716 A CN 102071716A
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Abstract
The invention discloses a control system for the rotating speed of an excavator, comprising a pressure sensor, an engine rotating speed sensor, a controller and a proportional oil pressure regulation device, wherein the pressure sensor is used for sensing the pressure of hydraulic oil in the main oil line of the excavator and sends the sensed pressure value to the controller; the engine rotating speed sensor is used for sensing the engine rotating speed and sends a rotating speed signal to the controller; the controller is electrically connected with the pressure sensor and the engine rotating speed sensor, is used for determining the working situation of the excavator according to the received pressure value and rotating speed signal, and outputs a corresponding proportional current according to the working condition; and the proportional oil pressure regulation device is electrically connected with the controller, is used for receiving the proportional current, and regulates the pressure of pilot hydraulic oil leading into the valve plug of a main rotating valve in the hydraulic system of the excavator according to the proportional current, thus the valve plug of the main rotating valve has different openings to regulate the rotating speed.
Description
Technical field
The present invention relates to a kind of control system and method for digger revolving speed.
Background technology
In existing excavator, the revolution of excavator turntable is by hydraulic system and common driving of transmission system and control, and wherein the parameter of excavator hydraulic system and transmission system all configures, so the speed of gyration of turntable is uncontrollable.And the flow of hydraulic oil under different pressure has changeability, and therefore under the situation of different motor gears and load, the swing arm rate of climb is different.So in practical operation, swing arm carry out to rise and turntable when carrying out rotating composite move, the ratio between the rate of climb of swing arm and the speed of gyration of turntable always changes.Like this, swing arm may make owing to excavator turntable speed of gyration is too fast swing arm vertical motion imperfect tense turntable finished revolution action, thereby make operation have some setbacks or reduce operating efficiency and comfortableness.
Summary of the invention
Carry out at the swing arm of existing excavator and to rise and operation that turntable exists when carrying out rotating composite move has some setbacks or reduces the problem of operating efficiency and comfortableness, the invention provides a kind of can smooth operation and improve operating efficiency and the control system and the method for the digger revolving speed of comfortableness.
The control system of a kind of digger revolving speed provided by the present invention comprises pressure sensor, engine speed sensor, controller and proportional oil pressure adjusting device, wherein: pressure sensor, the pressure that is used for the working connection hydraulic oil of sensing excavator, and the force value of institute's sensing sent to described controller; Engine speed sensor is used for the rotating speed of sensing motor, and tach signal is sent to described controller; Controller is electrically connected with described pressure sensor and described engine speed sensor, is used for determining the residing operating mode of described excavator according to received force value and tach signal, and exports corresponding proportional current according to this operating mode; And proportional oil pressure adjusting device, be electrically connected with described controller, be used for receiving described proportional current and regulate the pressure of guide's hydraulic oil of the spool that leads to excavator hydraulic system revolution main valve, thereby regulate speed of gyration by making the spool of described revolution main valve have different apertures according to described proportional current.
The control method of a kind of digger revolving speed provided by the present invention comprises: the rotating speed of the pressure of hydraulic oil and motor in the sensing working connection; Determine the residing operating mode of described excavator according to the force value of hydraulic oil in the described working connection and the rotating speed of described motor; Export corresponding proportional current according to described operating mode; And the pressure of guide's hydraulic oil of regulating the spool of the revolution main valve that leads in the excavator hydraulic system according to described proportional current, thereby regulate speed of gyration by making the spool of described revolution main valve have different apertures.
The control system of digger revolving speed provided by the present invention and method, give the proportional oil pressure adjusting device by controller according to the different proportional current of different operating mode output, and the passing ratio hydraulic adjustment device is regulated the pressure size of leading to the guide's hydraulic oil that turns round main valve according to proportional current, can under different operating modes, control and regulate the speed of gyration of excavator, make the speed of gyration of excavator turntable become suitable ratio with the rate of climb of swing arm, thereby make swing arm rise and the rotating action maintenance of turntable smoothness, improved the operating efficiency and the operational comfort of excavator.
Description of drawings
Fig. 1 is the schematic diagram of the control system of a kind of digger revolving speed of the present invention;
Fig. 2 is the structure chart according to the control system of the digger revolving speed of one embodiment of the present invention; And
Fig. 3 is the flow chart of the control method of a kind of digger revolving speed of the present invention.
The specific embodiment
Describe the control system and the method for digger revolving speed provided by the present invention in detail below in conjunction with accompanying drawing.
Fig. 1 is the schematic diagram of the control system of a kind of digger revolving speed of the present invention.As shown in Figure 1, the control system of a kind of digger revolving speed provided by the present invention comprises pressure sensor 1, engine speed sensor 2, controller 3 and proportional oil pressure adjusting device 4, wherein: pressure sensor 1, the pressure that is used for the working connection hydraulic oil of sensing excavator, and the force value of institute's sensing sent to described controller 3; Engine speed sensor 2 is used for the rotating speed of sensing motor, and tach signal is sent to described controller 3; Controller 3 is electrically connected with described pressure sensor 1 and described engine speed sensor 2, is used for determining the residing operating mode of described excavator according to received force value and tach signal, and exports corresponding proportional current according to this operating mode; And proportional oil pressure adjusting device 4, be electrically connected with described controller 3, be used for receiving described proportional current and regulate the pressure of guide's hydraulic oil of the spool that leads to excavator hydraulic system revolution main valve, thereby regulate speed of gyration by making the spool of described revolution main valve have different apertures according to described proportional current.
As shown in Figure 2, pressure sensor 1 can be installed on the main pump of excavator hydraulic system or on the pipeline of working connection, pressure sensor 1 can be any various pressure sensors that can be used for hydraulic system.
Proportional oil pressure adjusting device 4 among Fig. 1 is expressed as proportional pressure-reducing valve 5 and shuttle valve 6 in Fig. 2, proportional pressure-reducing valve 5 is used for regulating according to described proportional current the pressure of guide's hydraulic oil of an end of the spool that leads to described revolution main valve 7, and described shuttle valve 6 is used for making guide's hydraulic oil of an end of the spool that leads to described revolution main valve 7 to flow into proportional pressure-reducing valve 5.Proportional pressure-reducing valve used in the present invention is that the model of German BOSCH-REXROTH is the proportioning valve of FTDRE2K 3X/18A, and the characteristic of this proportioning valve increases for the increase along with the proportional current of input of the oil pressure regulated, and relation in direct ratio with it.Described shuttle valve 6 is made up of valve body and steel ball, and described valve body has 2 inlets and 1 outlet, and described steel ball is positioned at described valve body and can be promoted by hydraulic oil and move, thereby closes one in two inlets.Wherein, the latus rectum of shuttle valve 5 is generally 6mm, but also can select the shuttle valve with different latus rectums for use according to actual conditions.
Specifically, as shown in Figure 2, revolution pilot valve 8 in the excavator hydraulic system is divided into left side revolution pilot valve 10 and right-hand rotation pilot valve 9, thereby the spool that the hydraulic oil in guide's oil circuit promotes revolution main valves 7 via left side revolution pilot valve 10 in the revolution pilot valve 8 or right-hand rotation pilot valve 9 makes the revolution of a turntable left side or the right-hand rotation of excavator.In embodiments of the present invention, when turntable turns round left, the steel ball that guide's hydraulic oil in the left side revolution pilot valve 10 promotes in the shuttle valve 6 moves up, like this, guide's hydraulic oil in the left side revolution pilot valve 10 flow into the proportional pressure-reducing valve 5 from outlet via the following inlet of shuttle valve 6, proportional pressure-reducing valve 5 is regulated the guide's hydraulic oil that flows in it according to proportional current, force value after feasible force value of leading to guide's hydraulic oil of the spool that turns round main valve 7 equals to regulate, like this, thus the spool of revolution main valve 7 just has different aperture regulates speed of gyration; When turntable during to right-hand rotation, process is similar to the above process, is not described in detail.
Described operating mode with load and motor gear as dividing foundation, the described load of big young pathbreaker according to the force value of hydraulic oil in the working connection is divided into the n kind, tach signal according to described motor is divided into m with described motor gear, thereby makes that described operating mode is n * m kind.The scope of n is generally 4-6, and the scope of m is generally 8-12, also can select other scope for use according to actual conditions.
In a preferred embodiment, load according to big young pathbreaker's power shovel of the force value of hydraulic oil in the working connection is divided into 4 kinds, the scope of the hydraulic fluid pressure value P of these 4 kinds of load is respectively: P=0bar, 0bar＜P≤150bar, 150bar＜P≤250bar, 250bar＜P≤310bar, wherein, the maximum pressure value of hydraulic oil is 310bar in the working connection, also can divide more kinds of load according to actual conditions.Described controller 3 is divided into 10 gears according to the tach signal of described motor with the gear of described motor, and the engine speed of these 10 gears is respectively: 1000r/min, 1200r/min, 1400r/min, 1500r/min, 1600r/min, 1750r/min, 1900r/min, 2050r/min, 2200r/min, 2350r/min.Different motors can have the division methods of different gears, and it is a little bit smaller at interval wherein several gears of using always can be divided ground, so that control is more accurate.Like this, different loads and motor gear have just been formed 40 kinds of operating modes of excavator.
Under different operating modes, the corresponding proportional current of controller 3 outputs, proportional pressure-reducing valve 4 receives this proportional current and regulates the pressure of guide's hydraulic oil of an end that leads to the spool that turns round main valve 7 according to this proportional current, thereby make the pressure difference of guide's hydraulic oil of an end of the spool that promotes revolution main valve 7, like this, the aperture of the spool of revolution main valve 7 is just different, and the speed of gyration of turntable is also different.Preferably, described control makes that in the identical time ratio of boom cylinder outreach and turntable angle of revolution is the ultimate range that can stretch out of boom cylinder and the ratio of maximum angle of revolution, wherein, the swing arm rate of climb is the ratio of boom cylinder outreach and time.
Needed proportional current is determined by experiment is next repeatedly under the wherein different operating modes, experimentation is, configure the gear of motor, load by the measured design of pressure scraper bowl of pressure sensor 1, under a kind of operating mode, give proportional pressure-reducing valve 5 export ratio electric currents by controller 3, under this proportional current, measure the angle of revolution θ of boom cylinder outreach d and excavator turntable in the certain hour, if the ratio of d and θ is the maximum value of d and the peaked ratio of θ within a certain period of time, then this proportional current is noted, under every kind of operating mode, repeat said process 5-10 time (also can be more), obtain the average of the proportional current that is write down under every kind of operating mode.The average of the proportional current under every kind of operating mode obtaining is stored in the program of controller 3, and like this, controller 3 just can be exported needed proportional current according to different operating modes.
The control method of a kind of digger revolving speed provided by the present invention comprises: the rotating speed of the pressure of hydraulic oil and motor in the sensing working connection; Determine the residing operating mode of described excavator according to the force value of hydraulic oil in the described working connection and the rotating speed of described motor; Export corresponding proportional current according to described operating mode; And the pressure of guide's hydraulic oil of regulating the spool of the revolution main valve that leads in the excavator hydraulic system according to described proportional current, thereby regulate speed of gyration by making the spool of described revolution main valve have different apertures.
Described operating mode with load and motor gear as dividing foundation, the described load of big young pathbreaker according to the force value of hydraulic oil in the working connection is divided into the n kind, tach signal according to described motor is divided into m with described motor gear, thereby makes that described operating mode is n * m kind.Wherein, the scope of n is 4-6, and the scope of m is 8-12.
The control system of digger revolving speed provided by the present invention and method, can under different operating modes, control the speed of gyration of excavator turntable, make the speed of gyration of excavator turntable become suitable ratio, thereby improved the operating efficiency and the operational comfort of excavator with the rate of climb of swing arm.
Claims (8)
1. the control system of a digger revolving speed, this system comprises pressure sensor, engine speed sensor, controller and proportional oil pressure adjusting device, wherein:
Pressure sensor is used for the pressure of the working connection hydraulic oil of sensing excavator, and the force value of institute's sensing is sent to described controller;
Engine speed sensor is used for the rotating speed of sensing motor, and tach signal is sent to described controller;
Controller is electrically connected with described pressure sensor and described engine speed sensor, is used for determining the residing operating mode of described excavator according to received force value and tach signal, and exports corresponding proportional current according to this operating mode; And
The proportional oil pressure adjusting device, be electrically connected with described controller, be used for receiving described proportional current and regulate the pressure of guide's hydraulic oil of the spool that leads to excavator hydraulic system revolution main valve, thereby regulate speed of gyration by making the spool of described revolution main valve have different apertures according to described proportional current.
2. system according to claim 1, wherein, described proportional oil pressure adjusting device comprises proportional pressure-reducing valve and shuttle valve, this proportional pressure-reducing valve is used for regulating according to described proportional current the pressure of guide's hydraulic oil of an end of the spool that leads to described revolution main valve, and described shuttle valve is used for making guide's hydraulic oil of an end of the spool that leads to described revolution main valve to flow into described proportional pressure-reducing valve.
3. system according to claim 2, wherein, described shuttle valve is made up of valve body and steel ball, and described valve body has 2 inlets and 1 outlet, and described steel ball is positioned at described valve body and is promoted by hydraulic oil and move, thereby closes one in two inlets.
4. system according to claim 1, wherein, described operating mode with load and motor gear as dividing foundation, the described load of big young pathbreaker according to the force value of hydraulic oil in the working connection is divided into the n kind, tach signal according to described motor is divided into m with described motor gear, thereby makes that described operating mode is n * m kind.
5. system according to claim 4, wherein, the scope of n is 4-6, the scope of m is 8-12.
6. the control method of a digger revolving speed, this method comprises:
The rotating speed of the pressure of hydraulic oil and motor in the sensing working connection;
Determine the residing operating mode of described excavator according to the force value of hydraulic oil in the described working connection and the rotating speed of described motor;
Export corresponding proportional current according to described operating mode; And
Regulate the pressure of guide's hydraulic oil of the spool of the revolution main valve that leads in the excavator hydraulic system according to described proportional current, thereby regulate speed of gyration by making the spool of described revolution main valve have different apertures.
7. system according to claim 6, wherein, described operating mode with load and motor gear as dividing foundation, the described load of big young pathbreaker according to the force value of hydraulic oil in the working connection is divided into the n kind, tach signal according to described motor is divided into m with described motor gear, thereby makes that described operating mode is n * m kind.
8. system according to claim 7, wherein, the scope of n is 4-6, the scope of m is 8-12.
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| CN2009102384433A CN102071716B (en) | 2009-11-20 | 2009-11-20 | Control system and method for rotating speed of excavator |
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| CN2009102384433A CN102071716B (en) | 2009-11-20 | 2009-11-20 | Control system and method for rotating speed of excavator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102912816A (en) * | 2012-11-19 | 2013-02-06 | 中联重科股份有限公司渭南分公司 | Control method and control device for excavator and excavator |
| CN103419782A (en) * | 2013-08-16 | 2013-12-04 | 三一重机有限公司 | Traveling deviation rectifying device, traveling deviation rectifying method and engineering machinery |
| CN104295543A (en) * | 2014-09-09 | 2015-01-21 | 柳州柳工挖掘机有限公司 | Hybrid power engineering machine composite motion control method |
| CN105369817A (en) * | 2014-08-06 | 2016-03-02 | 中联重科股份有限公司 | A slot milling machine milling control treatment method, device and system and a slot milling machine |
| CN113188822A (en) * | 2021-04-29 | 2021-07-30 | 山重建机有限公司 | Automatic detection device for excavator |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2564626Y (en) * | 2002-08-01 | 2003-08-06 | 任中信 | Small multifunctional excavator |
| JP2004263489A (en) * | 2003-03-04 | 2004-09-24 | Hitachi Constr Mach Co Ltd | Electronic control unit for work vehicle |
| JP2004360216A (en) * | 2003-06-02 | 2004-12-24 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | Swing driving device for construction machinery |
| CN101070707B (en) * | 2007-05-29 | 2011-06-15 | 三一重机有限公司 | Digger revolving-control method and system |
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2009
- 2009-11-20 CN CN2009102384433A patent/CN102071716B/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102912816A (en) * | 2012-11-19 | 2013-02-06 | 中联重科股份有限公司渭南分公司 | Control method and control device for excavator and excavator |
| CN103419782A (en) * | 2013-08-16 | 2013-12-04 | 三一重机有限公司 | Traveling deviation rectifying device, traveling deviation rectifying method and engineering machinery |
| CN103419782B (en) * | 2013-08-16 | 2017-05-03 | 三一重机有限公司 | Traveling deviation rectifying device, traveling deviation rectifying method and engineering machinery |
| CN105369817A (en) * | 2014-08-06 | 2016-03-02 | 中联重科股份有限公司 | A slot milling machine milling control treatment method, device and system and a slot milling machine |
| CN105369817B (en) * | 2014-08-06 | 2018-06-29 | 中联重科股份有限公司 | Slotter milling control process method, apparatus, system and slotter |
| CN104295543A (en) * | 2014-09-09 | 2015-01-21 | 柳州柳工挖掘机有限公司 | Hybrid power engineering machine composite motion control method |
| CN113188822A (en) * | 2021-04-29 | 2021-07-30 | 山重建机有限公司 | Automatic detection device for excavator |
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| CN102071716B (en) | 2012-06-13 |
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