CN103114623B - Remote control system of walking excavator - Google Patents
Remote control system of walking excavator Download PDFInfo
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- CN103114623B CN103114623B CN201310064478.6A CN201310064478A CN103114623B CN 103114623 B CN103114623 B CN 103114623B CN 201310064478 A CN201310064478 A CN 201310064478A CN 103114623 B CN103114623 B CN 103114623B
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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 walking type excavator technical field.
Background technology
Walking type excavator is as the important equipment in engineering construction, in the constructions such as industry and civilian construction, communications and transportation, hydraulic and electric engineering engineering, mine excavation and military engineering, play a part very importantly, walking type excavator straighforward operation has extremely important effect to safety, comfortableness and the production efficiency and the minimizing operator labour intensity that improve operation.Straighforward operation is by changing the constraint of conventional manual operation, easy to operate, saves manpower, job safety, and to high temperature or there is pernicious gas, the industry spot of dust, and need the place of exactitude position and handling dangerous goods, more demonstrate its incomparable superiority.
On domestic market, rarely have drone version excavator to sell, its improvement cost is higher, complex structure, and inconvenient maintenance, and cannot reusing, utilization rate is low, only has a few Foreign Engineering Machinery manufacturer that the excavator product of drone version can be provided, expensive.Excavator is had to the demand of distant control function although have many consumers, due to purchasing channel and product price, cannot realize application widely.The walking type excavator and the general excavator that on market, participate in now engineering application, as crawler type, wheel excavator, its overwhelming majority's driving operating system is all full hydraulic systems, cannot realize remote operation.
General walking type excavator remote-control transformation is to be used for realizing remote control by converting hydraulic pressure signal to the signal of telecommunication at hydraulic pilot hydraulic fluid port increase pressure sensor, pure hydraulic control cannot realize remote control, but this method has changed its original Hydraulic guide control oil circuit completely, change larger to system, Hydraulic System Reliability and the compliance of car load pilot steering are reduced, and complex structure, manufacturing cost are high, cannot 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 on various walking type excavators, realize wireless remote control operation by distant control function module is installed easily, simple in structure, cost is low, can reuse, and installation and maintenance are convenient; Under complex-terrain and dangerous environment, when operation, labour intensity is little, and danger coefficient is low, can effectively ensure 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, with the supporting transmitter of receiver; 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, 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, in the middle of the oil circuit of pilot handle and pedal and banked direction control valves, be in series with electric-controlled switch valve; On the oil circuit of pilot handle and pedal, be parallel with proportion magnetic valve; On starting relay, flameout electromagnetic valve, loudspeaker and braking electromagnetic valve circuit, be parallel with respectively relay;
The present invention is also provided with 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 PLC controller by 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 PLC controller by CAN bus, and transmitter module is connected with the receiver module in transmitter by radio; Transmitter module in transmitter is connected with the receiver module in receiver by radio.
Further, the present invention is provided with changeover switch, one end is connected with PLC controller, the other end is connected on battery, for controlling 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 retain on the basis of former walking type excavator Hydraulic guide control and realizes remote control electric proportional control, greatly save improvement cost, and former car electrohydraulic system has been realized completely and having been retained.
Further, the present invention is provided with throttle actuator, be connected with PLC controller, 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, realize the dual control of electricity-controlling throttle and hand throttle, the reliability that retains manual operation throttle is subject to the control of transmitter grip control signal simultaneously.
Further, transmitter panel of the present invention is provided with straight line ratio push rod, for walking, the output of the control signal of flexible dipper and crushing function; Twin shaft ratio rocking bar, for controlling the equipment of walking type excavator and the output of revolution action control signal; Press button, for walking type excavator start, the output of flame-out, loudspeaker and brake control signal; Changeover switch, for the output of the switch-over control signal of hydraulic control pilot control and electric proportion pilot control; Current potential knob, for the control signal output of throttle motor; Four-way reset toggle switch, for the control output of chassis support leg actuating signal; LCDs, is used for showing the sensor signal receiving from receiver, and for engine water temperature, engine oil pressure, engine speed and fuel level gauge tap.
The present invention has the following advantages:
1. on the original basis of complete machine, increase electric-controlled switch valve, proportion magnetic valve and remote control module, remote control module is made up of receiver, transmitter and PLC controller, dismounting is flexible, can on various walking type excavators, by being installed, remote control module realize wireless remote control operation easily, can reuse, cost-saving;
2. in receiver and transmitter, be respectively equipped with receiver module and transmitter module, on transmitter panel, be also provided with display screen, transmitter module in receiver can be sent to the receiver module in transmitter by the data message of complete machine in time, receiver module is sent to data the display screen on 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 retain the advantage of former electric-control system and all-hydraulic control flexibility operation, and remote-control method and system can realize application easily on other full hydraulic excavators.
4. 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, meanwhile, has also ensured staff's personal safety effectively, has improved operating efficiency.
Brief description of the 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.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, hydraulic pump is electrically connected with electric-controlled switch valve by pilot handle and pedal, electric-controlled switch valve is electrically connected with operation oil cylinder and motor by banked direction control valves, and proportion magnetic valve one end is electrically connected with 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 with hydraulic pump output, and the other end is electrically connected with support oil cylinder input.Electric-controlled switch valve, for the switching of hydraulic control pilot control and electric proportion pilot control; Proportion magnetic valve, pilot operated for remote control.
As shown in Figures 2 to 4, this walking type excavator remote control system, battery 3 is connected with power supply relay, and power supply relay is subject to former car key switch control to connect the power supply of PLC controller and receiver, receiver is connected with PLC controller with 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 PLC controller, in the time that receiver is received the corresponding control signal from transmitter, to relay 1 output drive signal connect corresponding relay 1 switch ways realize start, the control of flame-out, loudspeaker and braking.Changeover switch 2, for controlling 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 retain on the basis of former walking type excavator Hydraulic guide control and realizes remote control electric proportional control, greatly save improvement cost, and former car electrohydraulic system has been realized completely and having been retained, in the time of this switch connection, PLC controller is to electric-controlled switch valve output electrical signals, close hydraulic control guide oil circuit, now banked direction control valves is only subject to proportional solenoid valve control, in the receiver module in receiver is received from transmitter when the corresponding control signal of transmitter module, PLC controller is exported the aperture of the corresponding oil circuit of corresponding pwm signal control ratio electromagnetic valve to proportion magnetic valve, and then realizes the control to banked direction control valves, to drive equipment oil cylinder, revolution and running motor action, in the time that changeover switch 2 is closed, the power-off simultaneously of electric-controlled switch valve, the electric proportion pilot oil circuit of remote control does not participate in work, all electrohydraulic system control functions when car load recovers pilot steering, 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, PLC controller passes through CAN bus transfer to receiver by the sensor signal receiving, receiver is launched with radio form by built-in transmitter module, receiver module in transmitter is presented on liquid crystal display 19 receiving after corresponding sensor feedback signal.Throttle actuator is directly connected with PLC controller, only be subject to remote signal control, in the time of Throttle Opening Control knob 17 on operator revolving expeller, transmitter is transferred to receiver by corresponding control signal with wireless form, receiver passes through CAN bus transfer to PLC controller, by PLC controller, throttle actuator is exported to 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, retains the reliability of manual operation throttle.
As shown in Figure 5, transmitter panel has the output of three straight line ratio push rods 13 for the control signal of walk, stretch dipper and crushing function; Two twin shaft ratio rocking bars 14 are for controlling the equipment of walking type excavator and the output of revolution action control signal; Four press buttones 15 for walking type excavator start, the output of flame-out, loudspeaker and brake control signal; Changeover switch 2 is due to the output of the switch-over control signal of hydraulic control pilot control and electric proportion pilot control; Current potential knob 17 is for the control signal output of throttle motor; Six four-way reset toggle switches 18 are 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, the then form transmitting with radio wave by control instruction by transmitting antenna, receiver will be given output circuit after 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 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 complete the remote-control transformation of hydraulic system, the method has been introduced ECU under the prerequisite that retains the all-hydraulic pilot control flexibility of manual operation service advantages, facilitates 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 the control of telecommand to basic electric function, 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, the then form transmitting with radio wave by control instruction by transmitting antenna.
Receiver will be given output circuit after the radio signal amplification of receiving, demodulation, decoding, with the formal output of CAN bus to 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 easily distant operating function under the prerequisite that does not affect former manual control system operation.Simultaneously by the signal access PLC controller of water temperature, fuel level, engine speed sensor, export to receiver by controller by bus, receiver is presented at signal feedback on LCDs 19 to transmitter, makes operator can grasp in real time at a distance machine duty.
Claims (4)
1. a walking type excavator remote control system, comprises 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, with the supporting transmitter of receiver; 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, 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
In the middle of the oil circuit of pilot handle and pedal and banked direction control valves, be in series with electric-controlled switch valve,
On the oil circuit of pilot handle and pedal, be parallel with proportion magnetic valve,
On starting relay, flameout electromagnetic valve, loudspeaker and braking electromagnetic valve circuit, be parallel with respectively relay (1),
Also be provided with 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 PLC controller by CAN bus respectively;
In receiver and transmitter, be respectively equipped with receiver module and transmitter module, the receiver module in receiver is connected with PLC controller by CAN bus, and transmitter module is connected with the receiver module in transmitter by radio; Transmitter module in transmitter is connected with the 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) for switching hydraulic control pilot control and electric proportion pilot control, one end is connected with 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 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. according to a kind of walking type excavator remote control system described in claims 1 to 3 any one, it is characterized in that, transmitter panel is provided with
For walking, stretch the straight line ratio push rod (13) of dipper and the output of crushing function control signal;
For the twin shaft ratio rocking bar (14) of equipment and the output of revolution action control signal;
For the shift knob (15) of starting relay, flameout electromagnetic valve, loudspeaker and the output of braking electromagnetic valve control signal;
For the changeover switch (2) of hydraulic control pilot control and the output of electric proportion pilot control switch-over control signal;
For the current potential knob (17) of throttle motor control signal output;
For the four-way reset toggle switch (18) of chassis support leg actuating signal control output;
For showing the LCDs (19) receiving from 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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| 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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| CN103114623A CN103114623A (en) | 2013-05-22 |
| CN103114623B true 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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Families Citing this family (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 |
| CN106394432B (en) * | 2015-07-28 | 2019-09-20 | 长城汽车股份有限公司 | A kind of wireless controller and automobile wireless 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 |
| 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 |
| CN106120943B (en) * | 2016-07-16 | 2018-07-24 | 广西科技大学 | 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 |
| 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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