CN103114623A - Remote control system of walking excavator - Google Patents
Remote control system of walking excavator Download PDFInfo
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- CN103114623A CN103114623A CN2013100644786A CN201310064478A CN103114623A CN 103114623 A CN103114623 A CN 103114623A CN 2013100644786 A CN2013100644786 A CN 2013100644786A CN 201310064478 A CN201310064478 A CN 201310064478A CN 103114623 A CN103114623 A CN 103114623A
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Abstract
The invention discloses a remote control system of a walking excavator, and belongs to the technical field of walking excavators. The remote control system is characterized in that an electronic controlled switching valve is serially connected into an original pilot control oil circuit and is used for opening or closing the hydraulic pilot oil circuit, then a proportional electromagnetic valve is connected between a hydraulic pilot control handle and pedal combination and a main control multi-way valve in parallel, relays (1) are respectively connected onto a circuit of a starting relay, a circuit of a flameout electromagnetic valve, a circuit of a loudspeaker and a circuit of a brake electromagnetic valve in parallel, and a remote control module is added to the remote control system and comprises a PLC (programmable logic controller), a transmitter and a receiver. An electronic control unit is introduced into the remote control system on the premise that merits of automatic operation and full-hydraulic pilot control flexible operation are kept, modification of a remote control function is facilitated, and the remote control system is simple in structure and low in cost. Besides, a group of relays (1) is connected onto the starting circuit, the flameout circuit, the loudspeaker circuit and the brake circuit in parallel respectively and are used for actuating remote control instructions to control basic electric functions, and the remote control functional module mainly comprises the transmitter, the receiver, the PLC and an accelerator actuator.
Description
Technical field
The present invention relates to a kind of walking type excavator remote control system, belong to the walking type excavator technical field.
Background technology
Walking type excavator is as the important equipment in engineering construction, play a part very importantly in industry and the constructions such as civilian construction, communications and transportation, hydraulic and electric engineering engineering, mine excavation and military engineering, the walking type excavator straighforward operation has extremely important effect to safety, comfortableness and production efficiency and the minimizing operator labour intensity that improves operation.Straighforward operation will change the constraint of conventional manual operation, and will be easy to operate, save manpower, job safety, and to high temperature or there is pernicious gas, the industry spot of dust, and the place that needs exactitude position and loading and unloading dangerous goods more demonstrate its incomparable superiority.
Rarely have the drone version excavator to sell on domestic market, its improvement cost is higher, complex structure, and inconvenient maintenance, and can't reusing, utilization rate is low, only has a few Foreign Engineering Machinery manufacturer that the excavator product of drone version can be provided, and is expensive.Excavator there is the demand of distant control function although have many consumers, due to purchasing channel and product price, can't realizes using widely.Participate in now walking type excavator and general excavator that engineering is used on market, as crawler type, wheel excavator, its overwhelming majority's driving operating system is all full hydraulic systems, can't realize remote operation.
General walking type excavator remote-control transformation is to be used for realizing remote control by converting the hydraulic pressure signal to the signal of telecommunication at hydraulic pilot hydraulic fluid port increase pressure sensor, pure hydraulic control can't realize remote control, but this method has changed its original Hydraulic guide control oil circuit fully, change larger to system, Hydraulic System Reliability and the compliance of car load pilot steering have been reduced, and complex structure, manufacturing cost are high, can't reuse.
Summary of the invention
The invention provides a kind of walking type excavator remote control system, adopt modularized design, can separate with complete machine, after separation, not affect the normal operating of complete machine, volume is small and exquisite, can realize the wireless remote control operation by the distant control function module is installed easily on various walking type excavators, simple in structure, cost is low, can reuse, and installation and maintenance are convenient; During operation, labour intensity is little under complex-terrain and dangerous environment, and danger coefficient is low, can effectively guarantee staff's personal safety, improves the safety and reliability of machinery operation.
For solving the problems of the technologies described above, walking type excavator remote control system of the present invention comprises hydraulic pump, pilot handle and pedal, banked direction control valves, switch electromagnetic valve, support oil cylinder, operation oil cylinder and motor, battery, Displaying Meter, engine speed sensor, cooling-water temperature sensor, fuel level sender, Oil pressure switch, power supply relay, receiver is with the supporting transmitter of receiver; The hydraulic pump output is connected with pilot handle and pedal input with banked direction control valves respectively by control circuit, pilot handle and pedal output are connected with operation oil cylinder and motor by banked direction control valves, the hydraulic pump output is connected with support oil cylinder by switch electromagnetic valve, Displaying Meter is in parallel with engine speed sensor, cooling-water temperature sensor, fuel level sender, Oil pressure switch respectively, and receiver is connected by radio with transmitter;
Wherein, be in series with the electric-controlled switch valve in the middle of the oil circuit of pilot handle and pedal and banked direction control valves; Be parallel with proportion magnetic valve on the oil circuit of pilot handle and pedal; Be parallel with respectively relay on starting relay, flameout electromagnetic valve, loudspeaker and braking electromagnetic valve circuit;
The present invention also is provided with the PLC controller, and relay, battery, Displaying Meter, engine speed sensor, cooling-water temperature sensor, fuel level sender, Oil pressure switch and power supply relay are connected with the PLC controller by the CAN bus respectively;
In addition, be respectively equipped with receiver module and transmitter module in the receiver in the present invention and transmitter, the receiver module in receiver is connected with the PLC controller by the CAN bus, and transmitter module is connected with receiver module in transmitter by radio; Transmitter module in transmitter is connected with receiver module in receiver by radio.
Further, the present invention is provided with changeover switch, one end is connected with the PLC controller, the other end is connected on battery, be used for to control the break-make of electric-controlled switch valve, jointly realize the switching of Hydraulic guide control and electric proportion pilot control, the advantage of the method is to keep on the basis of former walking type excavator Hydraulic guide control and realizes the remote control electric proportional control, greatly saved improvement cost, and former car electrohydraulic system has been realized keeping fully.
Further, the present invention is provided with throttle actuator, be connected with the PLC controller, the throttle actuator flexible axle is connected support plate with manual bracing wire throttle flexible axle by throttle and is connected in parallel on engine throttle, realized the dual control of electricity-controlling throttle and hand throttle, keep the reliability of manual operation throttle, controlled by transmitter grip control signal.
Further, transmitter panel of the present invention is provided with straight line ratio push rod, is used for the output of the control signal of walking, flexible dipper and crushing function; Twin shaft ratio rocking bar is used for controlling the equipment of walking type excavator and the output of revolution action control signal; Press button is used for that walking type excavator starts, the output of flame-out, loudspeaker and brake control signal; Changeover switch is used for the output of the switch-over control signal of hydraulic control pilot control and electric proportion pilot control; The current potential knob is used for the control signal output of throttle motor; The four-way toggle switch that resets is used for the control output of chassis support leg actuating signal; LCDs is used for showing the sensor signal that receives from receiver, and is used for engine water temperature, engine oil pressure, engine speed and fuel level gauge tap.
The present invention has the following advantages:
1. increase electric-controlled switch valve, proportion magnetic valve and remote control module on complete machine original basis, remote control module is comprised of receiver, transmitter and PLC controller, dismounting is flexible, can by being installed, remote control module realize the wireless remote control operation easily on various walking type excavators, can reuse, save cost;
2. be respectively equipped with receiver module and transmitter module in receiver and transmitter, also be provided with display screen on the transmitter panel, transmitter module in receiver can be in time be sent to receiver module in transmitter with the data message of complete machine, receiver module is sent to data the display screen on the transmitter panel again, and data are presented on display screen, for operating personnel's reference;
3. simple in structure, realized the remote-control transformation of walking type excavator with less cost, make it have the function of remote-wireless operation, and keep the advantage of former electric-control system and all-hydraulic control flexibility operation, and the remote-control method and system can realize using on other full hydraulic excavators easily.
4. the transmitter volume is small and exquisite, is convenient for carrying, and operating personnel can carry out straighforward operation from excavator is arbitrarily angled, and the duty of being convenient to observe excavator simultaneously, has also ensured staff's personal safety effectively, has improved operating efficiency.
Description of drawings
Fig. 1 is the structural representation of hydraulic system of the present invention;
Fig. 2 is the schematic diagram of remote control system of the present invention;
Fig. 3 is the structural representation of the two Throttle Opening Control of the present invention;
Fig. 4 is that the A of Fig. 3 is to structural representation;
Fig. 5 is the control panel structural representation of transmitter of the present invention.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, hydraulic pump is electrically connected to the electric-controlled switch valve by pilot handle and pedal, the electric-controlled switch valve is electrically connected to operation oil cylinder and motor by banked direction control valves, and proportion magnetic valve one end is electrically connected to the hydraulic pump output, and the other end is connected between electric-controlled switch valve and banked direction control valves; Switch electromagnetic valve one end is electrically connected to the hydraulic pump output, and the other end is electrically connected to the support oil cylinder input.The electric-controlled switch valve is used for the switching that hydraulic control pilot control and electric proportion pilot are controlled; Proportion magnetic valve is used for remote control pilot operated.
As extremely shown in Figure 4 in Fig. 2, this walking type excavator remote control system, battery 3 is connected with power supply relay, and power supply relay is subjected to former car key switch to control the power supply of connecting PLC controller and receiver, receiver is connected with the PLC controller with the CAN bus, carries out data communication.The switch ways of four relays 1 is connected in parallel on respectively on the gauge tap of starting relay, flameout electromagnetic valve, loudspeaker and braking electromagnetic valve, the power end of relay 1 is connected with the PLC controller, when receiver is received corresponding control signal from transmitter, to relay 1 output drive signal connect that corresponding relay 1 switch ways is realized starting, the control of flame-out, loudspeaker and braking.changeover switch 2, be used for controlling the break-make of electric-controlled switch valve, jointly realize the switching that Hydraulic guide control and electric proportion pilot are controlled, the advantage of the method is to keep on the basis of former walking type excavator Hydraulic guide control and realizes the remote control electric proportional control, greatly saved improvement cost, and former car electrohydraulic system has been realized keeping fully, when this switch connection, the PLC controller is to electric-controlled switch valve output electrical signals, close hydraulic control guide oil circuit, this moment, banked direction control valves only was subjected to proportional solenoid valve control, in the receiver module in receiver is received from transmitter during the corresponding control signal of transmitter module, the PLC controller is to the aperture of the corresponding oil circuit of the proportion magnetic valve corresponding pwm signal control ratio electromagnetic valve of output, and then realization is to the control of banked direction control valves, to drive equipment oil cylinder, revolution and running motor action, when changeover switch 2 is closed, the electric-controlled switch valve cuts off the power supply simultaneously, the electric proportion pilot oil circuit of remote control does not participate in work, all electrohydraulic systems when car load recovers pilot steering are controlled function, engine speed sensor 5, fuel level sender 7, the signal end of cooling-water temperature sensor 6 and Oil pressure switch 8 is connected with PLC controller 4, with former car display instrument telogenesis relation in parallel, do not affect the demonstration of former car instrument relevant parameter, the PLC controller passes through the CAN bus transfer to receiver with the sensor signal that receives, receiver is launched with the radio form by built-in transmitter module, receiver module in transmitter is presented on liquid crystal display 19 after receiving corresponding sensor feedback signal.Throttle actuator directly is connected with the PLC controller, controlled by remote signal, when the Throttle Opening Control knob 17 on the operator revolving expeller, transmitter is transferred to receiver with corresponding control signal with wireless form, receiver passes through the CAN bus transfer to the PLC controller, by the PLC controller, throttle actuator is exported control signal, drive throttle actuator flexible axle 9 flexible, realize the control of accelerator open degree.
Throttle actuator flexible axle 9 is connected support plate 11 with the manual bracing wire throttle flexible axle 10 of former car by throttle and is connected in parallel on engine throttle 12, can realize so the dual control of electricity-controlling throttle and hand throttle, keeps the reliability of manual operation throttle.
As shown in Figure 5, the transmitter panel has the output that three straight line ratio push rods 13 are used for the control signal of walking, flexible dipper and crushing function; Two twin shaft ratio rocking bars 14 are used for controlling the equipment of walking type excavator and the output of revolution action control signal; Four press buttones 15 are used for that walking type excavator starts, the output of flame-out, loudspeaker and brake control signal; The output of the switch-over control signal that changeover switch 2 is controlled due to hydraulic control pilot control and electric proportion pilot; Current potential knob 17 is used for the control signal output of throttle motor; Six four-ways reset toggle switch 18 because the control of walking type excavator chassis support leg actuating signal is exported.LCDs 19 is used for showing the sensor signal that is received from receiver, comprises engine water temperature, engine oil pressure, engine speed and fuel level.Transmitter to command signal encode, carrier modulation and signal amplify, then by transmitting antenna with the form emission of control instruction with radio wave, receiver is given output circuit after with the radio signal amplification of receiving, demodulation, decoding.
The present invention's tandem tap electro hydraulic valve in former guide's oil circuit control is used for opening or closing the hydraulic pilot oil circuit, then, electric proportional control valve in parallel between Hydraulic guide control handle and pedal and master control banked direction control valves, thereby completed the remote-control transformation of hydraulic system, the method has been introduced ECU under the prerequisite that keeps the all-hydraulic pilot control flexibility of manual operation service advantages, facilitate the transformation of distant control function.Simultaneously, in basic electric wiring, comprise that on startup, flame-out, loudspeaker, braking circuit, relay 1 in parallel is used for carrying out telecommand to the control of basic electric function, the distant control function module mainly comprises transmitter, receiver, PLC controller and throttle actuator.
The integrated various gauge taps of transmitter panel, knob and control stick, be used for producing corresponding control instruction and by built-in transmitter module encode, carrier modulation and signal amplify, then by transmitting antenna with the form emission of control instruction with radio wave.
Receiver is given output circuit after with the radio signal amplification of receiving, demodulation, decoding, with the formal output of CAN bus to the PLC controller, the corresponding signal that drives of controller output drives proportion magnetic valve, relay 1 and throttle actuator to realize corresponding functional response.
The present invention can realize distant operating function easily under the prerequisite that does not affect former manual control system operation.Signal with water temperature, fuel level, engine speed sensor accesses the PLC controller simultaneously, export to receiver by controller by bus, receiver is presented at signal feedback on LCDs 19 to transmitter, makes the operator can grasp in real time at a distance the machine duty.
Claims (4)
1. a walking type excavator remote control system, comprise hydraulic pump, pilot handle and pedal, banked direction control valves, switch electromagnetic valve, support oil cylinder, operation oil cylinder and motor, battery (3), Displaying Meter, engine speed sensor (5), cooling-water temperature sensor (6), fuel level sender (7), Oil pressure switch (8), power supply relay, receiver is with the supporting transmitter of receiver; The hydraulic pump output is connected with pilot handle and pedal input with banked direction control valves respectively by control circuit, pilot handle and pedal output are connected with operation oil cylinder and motor by banked direction control valves, the hydraulic pump output is connected with support oil cylinder by switch electromagnetic valve, Displaying Meter is in parallel with engine speed sensor (5), cooling-water temperature sensor (6), fuel level sender (7), Oil pressure switch (8) respectively, receiver is connected by radio with transmitter, it is characterized in that
Be in series with the electric-controlled switch valve in the middle of the oil circuit of pilot handle and pedal and banked direction control valves,
Be parallel with proportion magnetic valve on the oil circuit of pilot handle and pedal,
Be parallel with respectively relay (1) on starting relay, flameout electromagnetic valve, loudspeaker and braking electromagnetic valve circuit,
Also be provided with the PLC controller, relay (1), battery (3), Displaying Meter, engine speed sensor (5), cooling-water temperature sensor (6), fuel level sender (7), Oil pressure switch (8) and power supply relay are connected with the PLC controller by the CAN bus respectively;
Be respectively equipped with receiver module and transmitter module in receiver and transmitter, the receiver module in receiver is connected with the PLC controller by the CAN bus, and transmitter module is connected with receiver module in transmitter by radio; Transmitter module in transmitter is connected with receiver module in receiver by radio.
2. a kind of walking type excavator remote control system according to claim 1, it is characterized in that, also be provided with the changeover switch (2) of controlling for switching hydraulic control pilot control and electric proportion pilot, an end is connected with the PLC controller, and the other end is connected on battery (3).
3. a kind of walking type excavator remote control system according to claim 1, it is characterized in that, also be provided with throttle actuator, be connected with the PLC controller, throttle actuator flexible axle (9) is connected support plate (11) with manual bracing wire throttle flexible axle (10) by throttle and is connected in parallel on engine throttle (12).
4. the described a kind of walking type excavator remote control system of according to claim 1 to 3 any one, is characterized in that, the transmitter panel is provided with
The straight line ratio push rod (13) that is used for walking, flexible dipper and the output of crushing function control signal;
The twin shaft ratio rocking bar (14) that is used for equipment and the output of revolution action control signal;
The shift knob (15) that is used for starting relay, flameout electromagnetic valve, loudspeaker and the output of braking electromagnetic valve control signal;
Be used for hydraulic control pilot control and electric proportion pilot and control the changeover switch (2) of switch-over control signal output;
The current potential knob (17) that is used for the output of throttle motor control signal;
Be used for the chassis support leg actuating signal and control the four-way of the output toggle switch (18) that resets;
Be used for showing the LCDs (19) that receives from the receiver sensor signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310064478.6A CN103114623B (en) | 2013-02-28 | 2013-02-28 | Remote control system of walking excavator |
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| CN201310064478.6A CN103114623B (en) | 2013-02-28 | 2013-02-28 | Remote control system of walking excavator |
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| CN103114623A true CN103114623A (en) | 2013-05-22 |
| CN103114623B CN103114623B (en) | 2014-10-08 |
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| CN201310064478.6A Active CN103114623B (en) | 2013-02-28 | 2013-02-28 | Remote control system of walking excavator |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103294040A (en) * | 2013-06-09 | 2013-09-11 | 山东华山拖拉机制造有限公司 | Remote automatic control system |
| CN103699051A (en) * | 2013-12-23 | 2014-04-02 | 大连佳林设备制造有限公司 | Wireless telecontrol system |
| CN104765336A (en) * | 2015-01-30 | 2015-07-08 | 徐州徐工基础工程机械有限公司 | Rotary drilling rig operating system, rotary drilling rig and control method |
| CN105544642A (en) * | 2015-12-29 | 2016-05-04 | 徐州赫思曼电子有限公司 | Remote control system and method for small excavator |
| CN105673207A (en) * | 2016-01-29 | 2016-06-15 | 大连楼兰科技股份有限公司 | Secondary ignition method and device for preventing vehicle wading flameout |
| CN106120943A (en) * | 2016-07-16 | 2016-11-16 | 谭琛 | Hydraulic crawler excavator intelligence control system |
| CN106368104A (en) * | 2016-11-11 | 2017-02-01 | 徐工集团工程机械股份有限公司 | Key function switching control device and method of spreading machine control device |
| CN106394432A (en) * | 2015-07-28 | 2017-02-15 | 长城汽车股份有限公司 | Wireless controller and vehicle wireless control method |
| CN106836359A (en) * | 2017-03-27 | 2017-06-13 | 徐工集团工程机械股份有限公司 | A kind of walking type excavator and its walking movement system |
| CN107544403A (en) * | 2016-06-28 | 2018-01-05 | 中信重工开诚智能装备有限公司 | A kind of diesel caterpillar type robot control system and control method |
| CN108568450A (en) * | 2017-03-12 | 2018-09-25 | 上海康恒环境股份有限公司 | A kind of automatic control system of self-propelled soil remediation equipment |
| CN110409543A (en) * | 2019-06-28 | 2019-11-05 | 三一重机有限公司 | Excavator commutation method, processing unit, remote controler and excavator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103294040A (en) * | 2013-06-09 | 2013-09-11 | 山东华山拖拉机制造有限公司 | Remote automatic control system |
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| CN105673207A (en) * | 2016-01-29 | 2016-06-15 | 大连楼兰科技股份有限公司 | Secondary ignition method and device for preventing vehicle wading flameout |
| CN105673207B (en) * | 2016-01-29 | 2017-09-15 | 大连楼兰科技股份有限公司 | The method and device of secondary ignition after preventing automobile wading flame-out |
| CN107544403B (en) * | 2016-06-28 | 2020-03-13 | 中信重工开诚智能装备有限公司 | Control system and control method for diesel power crawler-type robot |
| CN107544403A (en) * | 2016-06-28 | 2018-01-05 | 中信重工开诚智能装备有限公司 | A kind of diesel caterpillar type robot control system and control method |
| CN106120943A (en) * | 2016-07-16 | 2016-11-16 | 谭琛 | Hydraulic crawler excavator intelligence control system |
| CN106368104B (en) * | 2016-11-11 | 2019-02-26 | 徐工集团工程机械股份有限公司 | A kind of the keypress function conversion control device and method of paver manipulation device |
| CN106368104A (en) * | 2016-11-11 | 2017-02-01 | 徐工集团工程机械股份有限公司 | Key function switching control device and method of spreading machine control device |
| CN108568450A (en) * | 2017-03-12 | 2018-09-25 | 上海康恒环境股份有限公司 | A kind of automatic control system of self-propelled soil remediation equipment |
| CN106836359A (en) * | 2017-03-27 | 2017-06-13 | 徐工集团工程机械股份有限公司 | A kind of walking type excavator and its walking movement system |
| CN110409543A (en) * | 2019-06-28 | 2019-11-05 | 三一重机有限公司 | Excavator commutation method, processing unit, remote controler and excavator |
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