CN102628290B - Grab controller, control system and control method as well as engineering mechanical equipment - Google Patents
Grab controller, control system and control method as well as engineering mechanical equipment Download PDFInfo
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- CN102628290B CN102628290B CN201210114559.8A CN201210114559A CN102628290B CN 102628290 B CN102628290 B CN 102628290B CN 201210114559 A CN201210114559 A CN 201210114559A CN 102628290 B CN102628290 B CN 102628290B
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Abstract
The invention discloses a grab controller, a control system, a control method as well as engineering mechanical equipment. The grab controller comprises a receiving unit, a judging unit and a processing unit, wherein the receiving unit is used for receiving a stroke signal of an opening-closing bucket cylinder; the judging unit is used for judging the state of a grab according to the stroke signal of the opening-closing bucket cylinder; the processing unit is used for outputting a control signal according to the state of the grab; and the control signal is used for controlling a control electromagnetic valve of the opening-closing bucket cylinder to be switched off. The state of the grab is determined through detecting the stroke of the opening-closing bucket cylinder, the control signal is outputted according to the state of the grab, an opening-closing bucket control valve bank needing to be switched off can be switched off in time accurately, and energy loss caused by shutoff pressure of an opening-closing bucket action system is eliminated, thereby the energy-saving and emission-reducing effects are achieved.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of grab controller, control system and control method and engineering mechanical device.
Background technology
In engineering machinery field, such as subterranean continuous wall hydraulic grab groover is in trenching construction process, often grab a pipeful of soil exist put bucket, grab soil, lifting, revolution, fall native, go back to six main actions.In this one-period, driver can perform the action of repeatedly holding bucket, closing bucket by control crank, and the soil ensureing once to capture from deep trouth enough full bucket with this falls soil to ground, to reach higher efficiency of construction.When bucket lobe of grabbing bucket reaches the end or closes on earth, due to mechanical location locking, grab bucket is held bucket or is closed bucket oil circuit and can build the pressure at once, wherein, is provided with pressure monitoring device in driver's cabin, can show the current pressure opened bucket or close bucket.When constructing owing to grabbing bucket all in the deep trouth of below ground, the open and-shut mode driver of grab bucket is invisible, only have when open bucket or close bucket pressure build the pressure rise to very large, and time on the entity fed back in driver's cabin or virtual pressure monitoring device, driver construction experience could be relied on to judge current grab bucket may put in place by closure or openness, thus stop opening bucket or closing bucket control crank action.In this process, from grab bucket open bucket put in place or close put in place to driver rule of thumb stop out bucket or close bucket operation, a period of time will be lost, reduce operating efficiency, the unexpected rising of simultaneity factor pressure also can cause system power dissipation to increase on foot, and the hydraulic oil after now building the pressure does not do any useful work, just causes system to generate heat, a large amount of energy becomes heat exhaustion in this course and falls, and causes great energy waste.
Summary of the invention
The object of this invention is to provide a kind of grab controller, control system and control method and engineering mechanical device, to solve above-mentioned the problems of the prior art.
To achieve these goals, the invention provides a kind of grab controller, this grab controller comprises receiving element, for receiving opening and closing bucket oil cylinder stroke signal; Judging unit, for judging the state of grab bucket according to opening and closing bucket oil cylinder stroke signal; And processing unit, for the State-output control signal according to grab bucket, this control signal disconnects for the Controlling solenoid valve controlling opening and closing bucket oil cylinder.
Present invention also offers a kind of grab bucket control system, this system comprises: the first checkout gear, for detecting opening and closing bucket oil cylinder stroke; The Controlling solenoid valve of opening and closing bucket oil cylinder; And above-mentioned grab controller.
Present invention also offers a kind of engineering mechanical device, this equipment comprises above-mentioned grab bucket control system.
Present invention also offers a kind of grab bucket control method, the method comprises: receive opening and closing bucket oil cylinder stroke signal; The state of grab bucket is judged according to opening and closing bucket oil cylinder stroke signal; And according to the State-output control signal of grabbing bucket, this control signal disconnects for the Controlling solenoid valve controlling opening and closing bucket oil cylinder.
Pass through technique scheme, by detecting the state that opening and closing bucket oil cylinder stroke is determined to grab bucket, and according to grab bucket State-output control signal, accurately and timely can cut off the opening and closing bucket control valve group needing to cut off, eliminate opening and closing bucket moving system to build the pressure the energy loss caused, reach the effect of energy-saving and emission-reduction.
Other features and advantages of the present invention are described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for manual, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:
Fig. 1 is the block diagram of the grab controller according to the embodiment of the present invention;
Fig. 2 is the block diagram of the grab bucket control system according to the embodiment of the present invention;
Fig. 3 is the flow chart of the grab bucket control method according to the embodiment of the present invention; And
Fig. 4 is the grab bucket schematic diagram of the subterranean continuous wall hydraulic grab groover according to the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
Fig. 1 is the block diagram of the grab controller according to the embodiment of the present invention.
As shown in Figure 1, this controller comprises: receiving element 10, for receiving opening and closing bucket oil cylinder stroke signal; Judging unit 12, for judging the state of grab bucket according to opening and closing bucket oil cylinder stroke signal; And processing unit 14, for the State-output control signal according to grab bucket, this control signal disconnects for the Controlling solenoid valve controlling opening and closing bucket oil cylinder.Above-mentioned controller can be applied to variously to be had in the engineering mechanical device of grab bucket, such as subterranean continuous wall hydraulic grab groover.
By detecting the state that opening and closing bucket oil cylinder stroke is determined to grab bucket, and according to grab bucket State-output control signal, thus accurately and timely can cut off the opening and closing bucket control valve group needing to cut off, eliminate opening and closing bucket moving system and to build the pressure the energy loss caused, reach the effect of energy-saving and emission-reduction.
Wherein, according to opening and closing bucket oil cylinder stroke signal, judging unit 12 is for judging that the state of grab bucket comprises: when opening and closing bucket oil cylinder stroke reaches the first predetermined displacement, then judging unit 12 judges that the state of grabbing bucket puts in place as opening bucket; Or when opening and closing bucket oil cylinder stroke reaches the second predetermined displacement, then judging unit 12 judges that the state of grabbing bucket puts in place as closing bucket.
In the present embodiment, receiving element 10 is also for receiving opening and closing bucket pressure signal; Judging unit 12 also judges the state of grab bucket on the basis at opening and closing bucket oil cylinder stroke signal according to opening and closing bucket pressure signal.
By detecting opening and closing bucket oil cylinder stroke and opening and closing bucket pressure, even if grab bucket for close bucket to require under higher operating mode (grab bucket closes as there not being a gap) or when grab bucket make to produce various gap between its frame for movement owing to using for a long time, also accurately and timely can judge the state of grabbing bucket.
Wherein, according to opening and closing bucket pressure signal, judging unit 12 also judges that the state of grab bucket comprises on the basis forming signal at opening and closing bucket oil cylinder: when opening and closing bucket oil cylinder stroke reaches the 3rd predetermined displacement, and opening and closing bucket pressure is when reaching the first predetermined pressure, then judging unit 12 judges that the state of grabbing bucket puts in place as opening bucket; Or when opening and closing bucket oil cylinder stroke reaches the 4th predetermined displacement, and when opening and closing bucket pressure reaches the second predetermined pressure, then judging unit 12 judges that the state of grabbing bucket puts in place as closing bucket.
Wherein, the 3rd predetermined displacement can be less than the first predetermined displacement, and the 4th predetermined displacement can be less than the second predetermined displacement.Such as when grab bucket makes to produce various gap between its frame for movement owing to using for a long time, adopt and judge that the mode of grab bucket state is inaccurate by means of only opening and closing bucket oil cylinder stroke, thus above-mentioned controller detection opening and closing bucket oil cylinder stroke and opening and closing bucket pressure side is utilized can accurately and timely to judge grab bucket state, thus cut off the opening and closing bucket control valve group needing to cut off, eliminate opening and closing bucket moving system to build the pressure the energy loss caused, reach the effect of energy-saving and emission-reduction.
In the present embodiment, alternatively, the 3rd predetermined displacement can equal the first predetermined displacement, and the 4th predetermined displacement can equal the second predetermined displacement.For closing the less demanding operating mode of bucket, even if such as the second predetermined displacement is not the opening and closing bucket oil cylinder stroke closed as none gap of grabbing bucket, as long as but opening and closing bucket oil cylinder stroke reaches the second predetermined displacement, just can determine that the state of grabbing bucket puts in place for closing bucket, because this second displacement can't affect the carrying out to closing the less demanding operating mode that struggles against.But when for closing bucket (grab bucket closes as there not being a gap) under higher operating mode required for grab bucket, judge that grab bucket state is inaccurate by means of only opening and closing bucket oil cylinder stroke.Thus, opening and closing bucket oil cylinder stroke basis judges grab bucket state according to opening and closing bucket pressure, more accurately and timely to judge grab bucket state, thus controller controls to cut off the opening and closing bucket control valve group needing to cut off, eliminate opening and closing bucket moving system to build the pressure the energy loss caused, reach the effect of energy-saving and emission-reduction.
In the present embodiment, processing unit 14 is also for exporting the index signal corresponding with grab bucket state.Like this, when index signal exports corresponding signal indicator to, signal indicator just can notify that operator grabs bucket current state, to remind operator to terminate current operation, can perform next operation.
Fig. 2 is the block diagram of the grab bucket control system according to the embodiment of the present invention.
As shown in Figure 2, this system comprises:
First checkout gear 20, for detecting opening and closing bucket oil cylinder stroke; The Controlling solenoid valve 22 of opening and closing bucket oil cylinder; And the grab controller 24 in above-described embodiment, the input of controller 24 is connected with the first checkout gear 20, and output is connected with the Controlling solenoid valve 22 of opening and closing bucket oil cylinder.
By detecting the state that opening and closing bucket oil cylinder stroke is determined to grab bucket, and according to grab bucket State-output control signal, thus accurately and timely can cut off the opening and closing bucket control valve group needing to cut off, eliminate opening and closing bucket moving system and to build the pressure the energy loss caused, reach the effect of energy-saving and emission-reduction.
This system also comprises: second detection device, is connected with controller 24 input, for detecting opening and closing bucket pressure.Wherein, the first checkout gear 20 can be oil cylinder displacement transducer or limit switch (proximity switch).Second detection device can be pressure sensor.
In the present embodiment, the Controlling solenoid valve 22 of opening and closing bucket oil cylinder comprises out the Controlling solenoid valve of bucket oil circuit control and closes the Controlling solenoid valve of bucket oil circuit control.
By detecting opening and closing bucket oil cylinder stroke and opening and closing bucket pressure, even if grab bucket for close bucket to require under higher operating mode (grab bucket is closed when bucket puts in place can not a gap) or when grab bucket make to produce various gap between its frame for movement owing to using for a long time, also accurately and timely can judge the state of grabbing bucket.
In the present embodiment, this system also comprises: signal indicating device, is connected with the output of controller 24, is used to indicate grab bucket state.Like this, signal indicator just can notify that operator grabs bucket current state, to remind operator to terminate current operation, can perform next operation.
This system also comprises: human-computer interaction interface, is connected with controller 24.Wherein, human-computer interaction interface can be display screen, and it is communicated by CAN with controller 34.The first predetermined displacement can be preset to the 4th predetermined displacement and the first predetermined pressure and the second predetermined pressure by human-computer interaction interface.They can be stored in the nonvolatile memory of human-computer interaction interface or in the nonvolatile memory of controller.
Wherein, the selection (switching) of the pattern that pattern that only opening and closing bucket oil cylinder stroke is detected and opening and closing bucket oil cylinder stroke and opening and closing bucket pressure are all detected can also be realized by human-computer interaction interface.
Present invention also offers a kind of engineering mechanical device, this equipment comprises the grab bucket control system in above-described embodiment.
Fig. 3 is the flow chart of the grab bucket control method according to the embodiment of the present invention.
As shown in Figure 3, the method comprises:
S300, receives opening and closing bucket oil cylinder stroke signal;
S302, judges the state of grab bucket according to opening and closing bucket oil cylinder stroke signal; And
S304, according to the State-output control signal of grab bucket, this control signal disconnects for the Controlling solenoid valve controlling opening and closing bucket oil cylinder.
The state that opening and closing bucket oil cylinder stroke determines grab bucket is detected by said method, and according to grab bucket State-output control signal, thus accurately and timely can cut off the opening and closing bucket control valve group needing to cut off, eliminate opening and closing bucket moving system to build the pressure the energy loss caused, reach the effect of energy-saving and emission-reduction.
In the method, step S302 comprises:
When opening and closing bucket oil cylinder stroke reaches the first predetermined displacement, then judge that the state of grabbing bucket puts in place as opening bucket; Or
When opening and closing bucket oil cylinder stroke reaches the second predetermined displacement, then judge that the state of grabbing bucket puts in place as closing bucket.
The method also comprises:
Receive opening and closing bucket pressure signal;
The basis of opening and closing bucket oil cylinder stroke signal judges according to opening and closing bucket pressure signal the state of grab bucket.
By detecting opening and closing bucket oil cylinder stroke and opening and closing bucket pressure, even if grab bucket for close bucket to require under higher operating mode (grab bucket is closed when bucket puts in place can not a gap) or when grab bucket make to produce various gap between its frame for movement owing to using for a long time, also accurately and timely can judge the state of grabbing bucket.
Wherein, according to opening and closing bucket pressure signal, the basis of opening and closing bucket oil cylinder formation signal judges that the state of grab bucket comprises:
When opening and closing bucket oil cylinder stroke reaches the 3rd predetermined displacement, and when opening and closing bucket pressure reaches the first predetermined pressure, then judge that the state of grabbing bucket puts in place as opening bucket; Or
When opening and closing bucket oil cylinder stroke reaches the 4th predetermined displacement, and when opening and closing bucket pressure reaches the second predetermined pressure, then judge that the state of grabbing bucket puts in place as closing bucket.
Wherein, the 3rd predetermined displacement can be less than the first predetermined displacement, and the 4th predetermined displacement can be less than the second predetermined displacement.Such as when grab bucket makes to produce various gap between its frame for movement owing to using for a long time, adopt and judge that the mode of grab bucket state is inaccurate by means of only opening and closing bucket oil cylinder stroke, thus above-mentioned controller detection opening and closing bucket oil cylinder stroke and opening and closing bucket pressure side is utilized can accurately and timely to judge grab bucket state, thus cut off the opening and closing bucket control valve group needing to cut off, eliminate opening and closing bucket moving system to build the pressure the energy loss caused, reach the effect of energy-saving and emission-reduction.
In the present embodiment, alternatively, the 3rd predetermined displacement can equal the first predetermined displacement, and the 4th predetermined displacement can equal the second predetermined displacement.For closing the less demanding operating mode of bucket, even if such as the second predetermined displacement is not the opening and closing bucket oil cylinder stroke closed as none gap of grabbing bucket, as long as but opening and closing bucket oil cylinder stroke reaches the second predetermined displacement, just can determine that the state of grabbing bucket puts in place for closing bucket, because this second displacement can't affect the carrying out to closing the less demanding operating mode that struggles against.But when for closing bucket (grab bucket closes as there not being a gap) under higher operating mode required for grab bucket, judge that grab bucket state is inaccurate by means of only opening and closing bucket oil cylinder stroke.Thus, opening and closing bucket oil cylinder stroke basis judges grab bucket state according to opening and closing bucket pressure, more accurately and timely to judge grab bucket state, thus controller controls to cut off the opening and closing bucket control valve group needing to cut off, eliminate opening and closing bucket moving system to build the pressure the energy loss caused, reach the effect of energy-saving and emission-reduction.
In the present embodiment, the method also comprises: export the index signal corresponding with grab bucket state.Like this, when index signal exports corresponding signal indicator to, signal indicator just can notify that operator grabs bucket current state, to remind operator to terminate current operation, can perform next operation.
Fig. 4 is the grab bucket schematic diagram of the subterranean continuous wall hydraulic grab groover according to the embodiment of the present invention.The grab bucket control method of the embodiment of the present invention is described in detail below in conjunction with Fig. 4.
As shown in Figure 4, when the piston rod 7 of opening and closing bucket hydraulic jack 5 stretches, by the transmission of first to fourth hinge 2a, 2b, 2c, 2d and first connecting rod 3a and second connecting rod 3b, the first grab bucket bucket lobe 1a and second grab bucket bucket lobe 1b is closed, thus complete and close bucket action; When the piston rod 7 of opening and closing bucket hydraulic jack 5 shrinks, by the transmission of first to fourth hinge 2a, 2b, 2c, 2d and first connecting rod 3a and second connecting rod 3b, the first grab bucket bucket lobe 1a and second grab bucket bucket lobe 1b is launched, thus completes out bucket action.
Here, the first checkout gear of grab bucket control system can adopt oil cylinder displacement transducer 6, and it is arranged in oil cylinder to be measured.Oil cylinder displacement transducer 6 pairs of oil cylinder strokes detect in real time, and the oil cylinder stroke detected is sent to controller (PLC) by oil cylinder displacement transducer electric connector and cable 4.The oil cylinder stroke received compares with predetermined displacement by controller, if reach the first predetermined displacement (namely cylinder piston motion is to top), then judge that the state of grabbing bucket puts in place as opening bucket, controller exports the signal opening the Controlling solenoid valve disconnection of bucket oil circuit control controlling opening and closing bucket oil cylinder, to cut off out the Controlling solenoid valve of bucket oil circuit control at once, correspondingly open bucket operation and stop; If reach the second predetermined displacement (namely cylinder piston motion on earth), then judge that the state of grabbing bucket puts in place as closing bucket, controller exports the signal closing the Controlling solenoid valve disconnection of bucket oil circuit control controlling opening and closing bucket oil cylinder, to cut off the Controlling solenoid valve closing bucket oil circuit control at once, correspondingly close bucket operation and stop.In addition, the index signal corresponding with current grab bucket state (open bucket put in place or close bucket put in place) that controller can also export (such as can export while control signal), send out bucket by signal indicator and/or display screen to put in place or close bucket and to put in place prompting, to remind driver/operator open bucket operation or close bucket end of operation, next operation can be performed.In this case, even if carry out out the operation of (closing) bucket again, system also can not carry out responding and action, correspondingly also would not cause the hydraulic oil energy ezpenditure of working connection, and then the effect reaching Optimizing construction action, improve operating efficiency, reduce energy consumption.
When grabbing bucket when excavating sand bed, need grab bucket so closed that to fit together perfectly, the gap of several millimeters also can cause a large amount of silt to be flowed out by not closed gap, causes the extreme loss of operating efficiency.And grab bucket is as the frame for movement of underwater operation, various gap can be produced after having grown service time, have impact on the precision of control, even if now recalibrate the accuracy that opening and closing bucket oil cylinder displacement transducer can not ensure to close bucket signal completely, now except relying on opening and closing bucket oil cylinder displacement transducer signal to do and judging, introduce the supplementary condition of opening and closing bucket pressure signal as opening and closing bucket oil cylinder displacement transducer signal, jointly participate in PLC in the logic decision of opening and closing bucket action.In this case, as common conditions, opening and closing bucket oil cylinder displacement transducer and opening and closing bucket pressure sensor signal judge whether opening and closing bucket puts in place.The selection (switching) of the pattern that pattern that only opening and closing bucket oil cylinder stroke is detected and opening and closing bucket oil cylinder stroke and opening and closing bucket pressure are all detected can be realized, to adapt to the demand of different construction conditions to opening and closing bucket cutoff pressure by human-computer interaction interface.
Situation when being all detected opening and closing bucket oil cylinder stroke and opening and closing bucket pressure is below described.Particularly, oil cylinder displacement transducer (the first checkout gear) detects in real time to oil cylinder stroke, opening and closing bucket pressure sensor (second detection device, be positioned on the working connection of opening and closing bucket oil cylinder or chassis opening and closing bucket) opening and closing bucket pressure is detected in real time, and the oil cylinder stroke detected and opening and closing bucket pressure are sent to controller.The oil cylinder stroke received and predetermined displacement compare by controller, opening and closing bucket pressure and predetermined pressure are compared.If oil cylinder stroke reaches the 3rd predetermined displacement, and opening and closing bucket pressure is when reaching the first predetermined pressure, then judge that the state of grabbing bucket puts in place as opening bucket, controller exports the signal opening the Controlling solenoid valve disconnection of bucket oil circuit control controlling opening and closing bucket oil cylinder, to cut off out the Controlling solenoid valve of bucket oil circuit control at once, correspondingly open bucket operation and stop; If oil cylinder stroke reaches the 4th predetermined displacement, and opening and closing bucket pressure is when reaching the second predetermined pressure, then judge that the state of grabbing bucket puts in place as closing bucket, controller exports the signal closing the Controlling solenoid valve disconnection of bucket oil circuit control controlling opening and closing bucket oil cylinder, to cut off the Controlling solenoid valve closing bucket oil circuit control at once, correspondingly close bucket operation and stop.In addition, the index signal corresponding with current grab bucket state (open bucket put in place or close bucket put in place) that controller can also export (such as can export while control signal), send out bucket by signal indicator and/or display screen to put in place or close bucket and to put in place prompting, to remind driver/operator open bucket operation or close bucket end of operation, next operation can be performed.In this case, even if carry out out the operation of (closing) bucket again, system also can not carry out responding and action, correspondingly also would not cause the hydraulic oil energy ezpenditure of working connection, and then the effect reaching Optimizing construction action, improve operating efficiency, reduce energy consumption.
Wherein, human-computer interaction interface (such as display can be passed through, button control panel etc.) pre-set the first predetermined displacement, second predetermined displacement, 3rd predetermined displacement and the 4th predetermined displacement and the first predetermined pressure and the second predetermined pressure, first predetermined displacement is out to struggle against and puts cylinder piston motion in place to the displacement of pushing up, second predetermined displacement is close the cylinder piston motion displacement on earth that puts in place that struggles against, 3rd predetermined displacement can be less than or equal to the first predetermined displacement, 4th predetermined displacement can be less than or equal to the second predetermined displacement, first predetermined pressure is out the pressure struggled against when putting in place, second predetermined pressure is close pressure when bucket puts in place.This parameter pre-set (the first predetermined displacement and the second predetermined displacement and the first predetermined pressure and the second predetermined pressure) can according between distinct device difference or the different operating mode of same equipment be modified, to calibrate after using generation error for a long time sensor, plant equipment, even if thus the device of guarantee component devices, structure, system performance parameter exist different, each equipment room also can reach consistent superior function.In addition in use, when the change of system performance, by the parameter revised, calibration is arranged, the matched well of controling parameters and system performance can be reached.And the first predetermined pressure and the second predetermined pressure the demand that can adapt to various different closing forces is set.The parameter set can be sent in the nonvolatile memory of controller by CAN and preserve to realize power down.Alternatively, the parameter set also can be stored in the nonvolatile memory of human-computer interaction interface or in the nonvolatile memory of other devices, carries out data transmission (exchange) at system startup, parameters when needing amendment or real-time Transmission etc. to need to use by CAN or other communications mechanism.
In addition, signal indicator can be alarm lamp, buzzer and phonetic alarm etc.
In the above-described embodiments, what the first checkout gear adopted is oil cylinder displacement transducer, and it is only exemplary, and is not intended to limit the present invention.To those skilled in the art, other device can also to be adopted in prior art to detect the stroke (displacement) of opening and closing bucket oil cylinder, such as limit switch or proximity switch (are positioned at the two ends of oil cylinder, can be built in oil cylinder, also can be arranged on oil cylinder outside.If be arranged on oil cylinder outside, seal structural part can be increased limit switch or proximity switch are protected, to make it not by deep trouth inner high voltage water mitigation).
The pattern that the pattern be detected for only opening and closing bucket oil cylinder stroke and opening and closing bucket oil cylinder stroke and opening and closing bucket pressure are all detected, the former can not produce opening and closing bucket and build the pressure, and therefore energy-saving effect is more obvious.Although the latter's energy-saving effect is slightly worse than the former, but action can be stopped by cutting-off controlling oil circuit under being arranged on the state that slightly builds the pressure, remain obvious compared to situation energy-saving effect of the prior art, being suitable for bucket head when equipment is operated in fine sand layer can not have the situation in a gap.Two kinds of patterns with the use of, more can be adapted to the various operating modes of grab bucket work while energy-conservation.
The signal being installed on the in-oil cylinder device of grab bucket (displacement transducer, pressure sensor) transfers to controller by stube cable.Because stube cable and plug need to adopt watertight waterproof device, thus can install, to save cost together with the control cables of grab bucket deviation correction control system.
Can be found out by above-described embodiment, perform in subterranean continuous wall hydraulic grab grooving process in application grab controller of the present invention, controlled by the opening and closing bucket oil cylinder of controller (PLC) to grab bucket, in cylinder efficient process, the displacement transducer arranged in oil cylinder detects (when needing, pressure sensor detects opening and closing bucket working connection pressure) in real time to oil cylinder stroke, and by detection signal through cable transmission to PLC signal input part, the oil cylinder stroke (opening and closing bucket pressure) that the sensor signal fed back and human-computer interaction interface are preset is carried out logic and compares by PLC, judge whether the action of opening and closing bucket puts in place, and according to judged result, opening and closing bucket oil cylinder Controlling solenoid valve is controlled.When system judges that grab bucket is opened (closing) to desired location, what PLC controlled drive (closing) bucket oil circuit electromagnetic valve will out the cut-out of (closing) bucket oil circuit control, simultaneously PLC sends out (closing) bucket and to put in place signal, open (closing) bucket action executing to point out driver to put in place, driver can judge rapidly according to cue and stop out (closing) to struggle against and operate, improve operating efficiency, even if now driver again control crank carry out out (closing) bucket action, because oil circuit control is cut off, hold the action of (closing) bucket and will can not cause the hydraulic oil energy ezpenditure of working connection again, thus greatly reduce energy loss.Alleviate the burden that driver judges action executing situation simultaneously, reduce the dependence of equipment to subjective factors such as driver's operation level, driving experiences, make the average efficiency of construction action, reliability is all improved.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible combination.
In addition, also can be combined between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (13)
1. a grab controller, this grab controller comprises:
Receiving element, for receiving opening and closing bucket oil cylinder stroke signal;
Judging unit, for judging the state of grab bucket according to described opening and closing bucket oil cylinder stroke signal; And
Processing unit, for the State-output control signal according to described grab bucket, described control signal disconnects for the Controlling solenoid valve controlling opening and closing bucket oil cylinder.
2. grab controller according to claim 1, wherein, described judging unit is used for judging that the state of grab bucket comprises according to described opening and closing bucket oil cylinder stroke signal:
When described opening and closing bucket oil cylinder stroke reaches the first predetermined displacement, then described judging unit judges that the state of described grab bucket puts in place as opening bucket; Or
When described opening and closing bucket oil cylinder stroke reaches the second predetermined displacement, then described judging unit judges that the state of described grab bucket puts in place as closing bucket.
3. grab controller according to claim 2, wherein,
Described receiving element is also for receiving opening and closing bucket pressure signal;
Described judging unit also judges the state of described grab bucket on the basis at described opening and closing bucket oil cylinder stroke signal according to described opening and closing bucket pressure signal.
4. grab controller according to claim 3, wherein, according to described opening and closing bucket pressure signal, described judging unit also judges that the state of described grab bucket comprises on the basis forming signal at described opening and closing bucket oil cylinder:
When described opening and closing bucket oil cylinder stroke reaches the 3rd predetermined displacement, and when described opening and closing bucket pressure reaches the first predetermined pressure, then described judging unit judges that the state of described grab bucket puts in place as opening bucket; Or
When described opening and closing bucket oil cylinder stroke reaches the 4th predetermined displacement, and when described opening and closing bucket pressure reaches the second predetermined pressure, then described judging unit judges that the state of described grab bucket puts in place as closing bucket.
5. grab controller according to claim 4, wherein, described 3rd predetermined displacement is less than or equal to described first predetermined displacement, and described 4th predetermined displacement is less than or equal to described second predetermined displacement.
6. a grab bucket control system, this system comprises:
First checkout gear, for detecting opening and closing bucket oil cylinder stroke;
The Controlling solenoid valve of opening and closing bucket oil cylinder; And
Grab controller any one of claim 1-5 described in claim.
7. grab bucket control system according to claim 6, wherein, this system also comprises: second detection device, for detecting opening and closing bucket pressure.
8. an engineering mechanical device, this equipment comprises the grab bucket control system any one of claim 6-7 described in claim.
9. a grab bucket control method, the method comprises:
Receive opening and closing bucket oil cylinder stroke signal;
The state of grab bucket is judged according to described opening and closing bucket oil cylinder stroke signal; And
According to the State-output control signal of described grab bucket, described control signal disconnects for the Controlling solenoid valve controlling opening and closing bucket oil cylinder.
10. according to described opening and closing bucket oil cylinder stroke signal, grab bucket control method according to claim 9, wherein, judges that the state of grab bucket comprises:
When described opening and closing bucket oil cylinder stroke reaches the first predetermined displacement, then judge that the state of described grab bucket puts in place as opening bucket; Or
When described opening and closing bucket oil cylinder stroke reaches the second predetermined displacement, then judge that the state of described grab bucket puts in place as closing bucket.
11. grab bucket control methods according to claim 10, wherein, the method also comprises:
Receive opening and closing bucket pressure signal;
The basis of described opening and closing bucket oil cylinder stroke signal judges according to described opening and closing bucket pressure signal the state of described grab bucket.
12. grab bucket control methods according to claim 11, wherein, according to described opening and closing bucket pressure signal, the basis of described opening and closing bucket oil cylinder formation signal judge that the state of described grab bucket comprises:
When described opening and closing bucket oil cylinder stroke reaches the 3rd predetermined displacement, and when described opening and closing bucket pressure reaches the first predetermined pressure, then judge that the state of described grab bucket puts in place as opening bucket; Or
When described opening and closing bucket oil cylinder stroke reaches the 4th predetermined displacement, and when described opening and closing bucket pressure reaches the second predetermined pressure, then judge that the state of described grab bucket puts in place as closing bucket.
13. grab bucket control methods according to claim 12, wherein, described 3rd predetermined displacement is less than or equal to described first predetermined displacement, and described 4th predetermined displacement is less than or equal to described second predetermined displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210114559.8A CN102628290B (en) | 2012-04-18 | 2012-04-18 | Grab controller, control system and control method as well as engineering mechanical equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210114559.8A CN102628290B (en) | 2012-04-18 | 2012-04-18 | Grab controller, control system and control method as well as engineering mechanical equipment |
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| Publication Number | Publication Date |
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| CN102628290A CN102628290A (en) | 2012-08-08 |
| CN102628290B true CN102628290B (en) | 2014-12-24 |
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| CN201210114559.8A Active CN102628290B (en) | 2012-04-18 | 2012-04-18 | Grab controller, control system and control method as well as engineering mechanical equipment |
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| WO2020202066A1 (en) * | 2019-04-02 | 2020-10-08 | Indian Institute Of Science | A desilting apparatus for cleaning a pre-defined vicinity |
| CN113635592A (en) * | 2021-07-27 | 2021-11-12 | 长沙普惠环保机械有限公司 | Control method and control system for actuating mechanism of garbage compression equipment |
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| CN101392771A (en) * | 2008-10-13 | 2009-03-25 | 江苏武进液压启闭机有限公司 | Hydraulic double cylinder or multi-cylinder synchronous control system |
| CN101463613B (en) * | 2009-01-14 | 2011-06-01 | 镇江市亿华系统集成有限公司 | Control system and control method for trailing suction hopper dredger active drag head |
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