CN103243772A - Engineering machine and operating control system thereof - Google Patents
Engineering machine and operating control system thereof Download PDFInfo
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- CN103243772A CN103243772A CN2013101679636A CN201310167963A CN103243772A CN 103243772 A CN103243772 A CN 103243772A CN 2013101679636 A CN2013101679636 A CN 2013101679636A CN 201310167963 A CN201310167963 A CN 201310167963A CN 103243772 A CN103243772 A CN 103243772A
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Abstract
The invention discloses an engineering machine and an operating control system thereof. The operating control system comprises an operating device, a sensor, a controller, a wireless transmitter, and a wireless receiver, wherein the sensor is used for sensing operational information of the operating device, the controller is electrically connected with the sensor and used for determining corresponding action type information and action strength information according to the operational information and generating an action command including the action type information and the action strength information, the wireless transmitter is electrically connected with the controller and used for forwarding the action command, and the wireless receiver is used for receiving the forwarded action command, allowing a proportional solenoid valve corresponding to the action type information to execute proportional control corresponding to the action strength information so that an actuator acts correspondingly. The operating control system has the advantages that machine structural design and harness arrangement difficulty can be simplified and cost can be reduced effectively.
Description
Technical field
The present invention relates to the intelligent control technology of engineering machinery, particularly a kind of management system of engineering machinery and be equiped with the engineering machinery of this management system.
Background technology
Operated by rotary motion has driver's cabin in the engineering machinery, is furnished with manipulation devices such as handle, foot valve and control stick in the driver's cabin, and the driver is by the action of manipulation device control banked direction control valves, and then the executive component of driving engineering machinery is realized exercises.At present, manipulation device mostly is the guide greatly and controls formula, and it is connected by hydralic hose and electrical harness with banked direction control valves.
There is following problem in the manipulation device that the guide controls formula:
1) hydralic hose between manipulation device and the banked direction control valves and electrical harness quantity are more, have increased the difficulty that complete machine structure design and wire harness are arranged.
2) it is higher that the guide controls the used component cost of formula manipulation device.
Summary of the invention
In view of this, the present invention proposes a kind of management system of engineering machinery and is equiped with the engineering machinery of this management system, to solve the problem that difficulty is big and the element cost is high that existing engineering machinery complete machine structure design and wire harness are arranged.
On the one hand, the invention provides a kind of management system of engineering machinery, comprising: manipulation device; Sensor is for the operation information of the described manipulation device of sensing; Controller is connected with described sensor electrical, is used for determining corresponding action classification information and action intensity information according to described operation information, and generates the action command that comprises described action classification information and action intensity information; Wireless launcher is electrically connected with described controller, is used for transmitting described action command; Wireless receiver is used for receiving the action command of described forwarding, and makes the proportion magnetic valve corresponding with described action classification information carry out the proportional control corresponding with this action intensity information, so that executive component acts accordingly.
Further, described manipulation device comprises at least a in handle, foot valve and the control stick; Perhaps; The 3rd actuation unit at least a that described manipulation device comprises for first actuation unit of realizing handle function, be used for realizing second actuation unit of foot valve function and be used for realizing joy stick function.
Further, described first actuation unit, second actuation unit, the 3rd actuation unit, sensor and wireless launcher are encapsulated as the controlled in wireless panel.
Further, described first actuation unit, second actuation unit, the 3rd actuation unit, sensor, controller and wireless launcher are encapsulated as wireless controller.
Further, described controller and the integrated setting of described wireless launcher; And/or; Described sensor and the integrated setting of described manipulation device.
Further, the quantity of described wireless receiver is one, and described wireless receiver also is used for determining according to each default proportion magnetic valve and the corresponding relation of type of action the corresponding proportion magnetic valve of action classification information of described action command after receiving the action command of described forwarding; Perhaps; The quantity of described wireless receiver is consistent with the quantity of described proportion magnetic valve, and corresponding integrated being arranged in described each proportion magnetic valve one by one.
Further, described manipulation device, sensor, controller and wireless launcher all are arranged in the driver's cabin.
Further, pass through bluetooth, infrared or frequency modulation transmission information between described wireless launcher and the described wireless receiver.
The management system of engineering machinery of the present invention is by utilizing the operation information of sensor sensing manipulation device, and this operation information is sent to controller in the mode of the signal of telecommunication resolves and encapsulate and obtain action command, and then by wireless launcher this action command is forwarded to wireless receiver, each proportion magnetic valve is resolved and controlled to wireless receiver to this action command, and then drive the action of each executive component, thus, need not to arrange hydralic hose between manipulation device and each proportion magnetic valve, based on wireless tranmission techniques and a spot of electrical harness can solid-line signals effective transmission, thereby realize the control to executive component, simplified the difficulty of complete machine structure design with the wire harness layout, and manipulation device no longer for the element of hydraulic pilot control formula, can effectively reduce cost.
On the other hand, the present invention also provides a kind of engineering machinery that is equiped with above-mentioned management system, comprise: a plurality of proportion magnetic valves, banked direction control valves and executive component, described a plurality of proportion magnetic valve connects described banked direction control valves, described banked direction control valves connects described executive component, this project machinery also comprises described management system, and described a plurality of proportion magnetic valves connect the wireless receiver in the described management system.
Particularly, described engineering machinery is excavator.
Because engineering machinery has the corresponding technique effect of above-mentioned management system, does not give unnecessary details now.
Description of drawings
The accompanying drawing that constitutes a part of the present invention is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not constitute improper restriction of the present invention.In the accompanying drawings:
The structured flowchart of the management system of the engineering machinery that Fig. 1 provides for the embodiment of the invention one;
The structured flowchart of the management system of the engineering machinery that Fig. 2 provides for the embodiment of the invention two;
The structured flowchart of the management system of the engineering machinery that Fig. 3 provides for the embodiment of the invention three.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the feature among the embodiment among the present invention can make up mutually.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Basic thought of the present invention is: for solving the design of engineering machinery complete machine structure and arranging the big and high problem of element cost of difficulty, the present invention proposes a kind of management system of novel engineering machinery, this management system has been cancelled manipulation device and has been connected with first rodding between the banked direction control valves, then the mode that adopts radio communication realizes the information interaction between manipulation device and the proportion magnetic valve, and then the banked direction control valves that is attached thereto by proportional solenoid valve control.
The structured flowchart of the management system of the engineering machinery that Fig. 1 provides for the embodiment of the invention one; As shown in Figure 1, this management system comprises: manipulation device 1, sensor 2, controller 3, wireless launcher 4 and wireless receiver 5; For the convenience of describing, be convenient to public understanding simultaneously, also show banked direction control valves 7 and executive component 8 among the figure; Should be noted that the management system that the invention process provides can not comprise banked direction control valves 7 and executive component 8; As a kind of enforcement scene, banked direction control valves 7, executive component 8 can form the oil inlet and oil return loop with oil pump (scheming not shown), proportion magnetic valve 6 is connected between the hydraulic control end and guide's oil sources of banked direction control valves 7, proportion magnetic valve 6 can the proportional control guide oil arrives the pressure of banked direction control valves 7 hydraulic control ends like this, thereby adjust the state of banked direction control valves 7, so that executive component 8 is made the action of expection.
Wherein, sensor 2 is used for the operation information of sensing manipulation device 1; Controller 3 is electrically connected with sensor 2, is used for determining corresponding action classification information and action intensity information according to operation information, and generates the action command that comprises action classification information and action intensity information; Wireless launcher 4 is electrically connected with controller 3, is used for receiving and transmitting this action command; Wireless receiver 5 is connected with wireless launcher 4 signals, be used for receiving and resolving the action command that wireless launcher 4 is transmitted, make the proportion magnetic valve corresponding with this action classification information carry out the proportional control corresponding with this action intensity information, thereby make executive component 8 produce corresponding action.
Wherein, manipulation device 1 can comprise at least a in handle, foot valve and the control stick.During concrete operations, sensor 2 can with manipulation device 1 integrated setting with the module that forms a whole, also can be separate; Controller 3 can be realized corresponding function, the i.e. function of integrated manipulator 3 on the basis of existing controller based on existing controller in the engineering machinery; Controller 3 can with wireless launcher 4 integrated being arranged in the same module, also can divide to be arranged.All adopt and divide when being arranged, can realize information interaction by general-purpose interface between sensor 2 and manipulation device 1 and controller 3 and the wireless launcher 4, divide the mode that is arranged to be convenient to element replacement.
The quantity of wireless receiver 5 can be one, at this moment, this wireless receiver 5 also has following function: each proportion magnetic valve that basis is preset after receiving the action command that wireless launcher 4 is transmitted and the corresponding relation of type of action are determined the proportion magnetic valve 6 that the action classification information in this action command is corresponding, and make proportion magnetic valve 6 make corresponding proportional control according to the action intensity information in this action command, so that the state of banked direction control valves 7 is made corresponding adjustment, allow executive component 8 act accordingly.Certainly, the quantity of wireless receiver 5 also can be consistent with the quantity of proportion magnetic valve 6, and wireless receiver 5 has relation one to one with each proportion magnetic valve 6, and further, each wireless receiver 5 can integratedly be arranged in the corresponding with it proportion magnetic valve 6; At this moment, wireless receiver 5 need not to determine which proportion magnetic valve is controlled device after receiving the action command of above-mentioned forwarding.In the quantity of wireless receiver 5 when being a plurality of, wireless launcher 4 can adopt different agreements with the communication between the wireless receiver 5, also can there be some difference in the action of wireless receiver 5, as: when between wireless launcher 4 and wireless receiver 5, adopting the mode of broadcasting to communicate, each wireless receiver 5 is after receiving the action command of above-mentioned forwarding, according to the object identity that is used for sign wireless launcher 4 in this action command (can generate and be encapsulated in action command by controller 3), judge and self whether need action, judging and just to resolve the action command of this forwarding after the action, and carrying out subsequent action; Adopt between wireless launcher 4 and wireless receiver 5 when mode communicates one to one, each wireless receiver 5 is directly resolved the action command of this forwarding after receiving the action command of above-mentioned forwarding, and carries out subsequent action.Adopt when mode communicates one to one between wireless launcher 4 and the wireless receiver 5, the quantity of wireless launcher 4 can be for one or more, when adopting a wireless launcher 4, wireless launcher 4 can be sent to corresponding wireless launcher 4 with action command according to the object identity in the above-mentioned action command; When adopting a plurality of wireless launcher 4, its quantity can be consistent with the quantity of a plurality of wireless receivers 5, and it is corresponding one by one with a plurality of wireless receivers 5, controller 3 is according to the mapping relations of default each wireless launcher 4 with type of action, action command is sent to the wireless launcher corresponding with its type of action 4, and then be sent to the proportion magnetic valve 6 that corresponding wireless receiver 5 is attached thereto with control.
Can carry out the information transmission based on Bluetooth technology, infrared technique or frequency modulation technology between wireless launcher 4 and the wireless receiver 5.Above-mentioned manipulation device 1, sensor 2, controller 3 and wireless launcher 4 can be arranged in the driver's cabin, after being convenient to residing various operating modes that the driver judges engineering machinery in real time, adjusting in time and control by the action of 1 pair of executive component 8 of manipulation device.
When comprising a wireless launcher 4 and a wireless receiver 5 with management system below, to the explanation that makes an explanation of the course of work of management system: when driver's operation manipulation device 1(is example with the handle) time, sensor 2 is gathered the operation information (as motion amplitude information such as the displacement of handle or angles) of manipulation devices 1, and the operation information of gathering is transferred to controller 3 after the A/D conversion; Controller 3 is analyzed to the received signal, determine corresponding action classification information and action intensity information, such as controller 3 when receiving the operation information that sends with the handle corresponding sensor, namely according to the corresponding relation of presetting each direction of motion of handle and type of action, determine the corresponding type of action of handle motion directional information in this operation information, and determine corresponding action intensity information according to the handle motion amplitude in the operation information; Controller 3 generates the action command (information that can also comprise other as required that comprises action classification information and action intensity information, as the above-mentioned object identity that is used to indicate wireless receiver 4), and action command is sent to wireless receiver 5 through wireless signal transmitter 4; Wireless receiver 5 is behind the action command that receives from wireless signal transmitter 4, determine the corresponding proportion magnetic valve 6 of action classification information in the action command according to each default proportion magnetic valve and the corresponding relation of type of action, and then according to the aperture size of the action intensity information control ratio electromagnetic valve core 6 in the action command, thereby drive spool aperture corresponding with this type of action on the banked direction control valves 7 that connects with proportion magnetic valve 6, the final action control that realizes executive component 8.
Above-mentioned management system comes transfer control signal by using the controlled in wireless technology, thereby removed the hydraulic pilot pipeline between manipulation device and the banked direction control valves from, and then the Layout Problem of having removed hydraulic pilot pipeline and supporting electrical control wire harness from, saved the component cost of hydraulic pilot pipeline and supporting control components and parts thereof, the degree of difficulty in also having reduced the complete machine structure design simultaneously and having arranged; In addition, the electric-controlled type manipulation device replaces hydraulic pilot formula manipulation device, has improved response speed and the precision of control system.
The structured flowchart of the management system of the engineering machinery that Fig. 2 provides for the embodiment of the invention two, as shown in Figure 2, embodiment two is with the main distinction of embodiment one: manipulation device 1 does not adopt the form of concrete frame for movement, but adopt the form of functional unit, it comprises: be used for realizing handle function the first actuation unit (not shown), be used for realizing the second actuation unit (not shown) of foot valve function and be used for realizing at least one of the 3rd actuation unit (not shown) of joy stick function; This first actuation unit, second actuation unit, the 3rd actuation unit, sensor 2 and wireless launcher 4 are encapsulated as controlled in wireless panel 20.
The operation of above-mentioned first actuation unit, second actuation unit, the 3rd actuation unit can realize by the form that touches this controlled in wireless panel 20, after raising out the handle operation interface at controlled in wireless panel 20, sliding left at the interface namely represents operating grip left.The specific implementation of each mode of operation of manipulation device 1 can arrange according to actual needs, does not give unnecessary details now.Above-mentioned controlled in wireless panel 20 can be arranged in the driver's cabin, is connected with controller 3, and carries out radio communication with wireless receiver 5.
Present embodiment is convenient to itself and sensor 2 and wireless launcher 4 and is encapsulated as controlled in wireless panel 20 by operating means 1 being adopted the form of functional unit, and then can simplify mode of operation in the various operations of controlled in wireless panel 20 realizations to operating means 1.
The structured flowchart of the management system of the engineering machinery that Fig. 3 provides for the embodiment of the invention three, as shown in Figure 3, embodiment three is with the main distinction of embodiment two: first actuation unit, second actuation unit, the 3rd actuation unit, sensor 2, controller 3 and wireless launcher 4 are encapsulated as wireless controller 30.Be that controlled in wireless panel 20 and controller 3 are encapsulated as wireless controller 30.Wireless controller 30 can independently arrange, and namely is arranged on outside the driver's cabin, realizes the remote control to executive component 8.
The management system of the engineering machinery that the embodiment of the invention provides is by being encapsulated as wireless controller 30 with manipulation device etc., is convenient to realize the remote control to executive component 8.
Other embodiments of the invention also provide a kind of engineering machinery, and it is provided with above-mentioned management system.Because this project machinery has the corresponding technique effect of above-mentioned management system, does not give unnecessary details now.During concrete operations, this project machinery includes but not limited to excavator.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the management system of an engineering machinery comprises: manipulation device (1), it is characterized in that, and also comprise:
Sensor (2) is for the operation information of the described manipulation device of sensing (1);
Controller (3) is electrically connected with described sensor (2), is used for determining corresponding action classification information and action intensity information according to described operation information, and generates the action command that comprises described action classification information and action intensity information;
Wireless launcher (4) is electrically connected with described controller, is used for transmitting described action command;
Wireless receiver (5) is used for receiving the action command of described forwarding, and makes the proportion magnetic valve (6) corresponding with described action classification information carry out the proportional control corresponding with this action intensity information, so that executive component (8) acts accordingly.
2. the management system of engineering machinery according to claim 1 is characterized in that,
Described manipulation device (1) comprises at least a in handle, foot valve and the control stick; Perhaps;
The 3rd actuation unit at least a that described manipulation device (1) comprises for first actuation unit of realizing handle function, be used for realizing second actuation unit of foot valve function and be used for realizing joy stick function.
3. the management system of engineering machinery according to claim 2 is characterized in that, described first actuation unit, second actuation unit, the 3rd actuation unit, sensor (2) and wireless launcher (4) are encapsulated as controlled in wireless panel (20).
4. the management system of engineering machinery according to claim 2, it is characterized in that described first actuation unit, second actuation unit, the 3rd actuation unit, sensor (2), controller (3) and wireless launcher (4) are encapsulated as wireless controller (30).
5. the management system of engineering machinery according to claim 1 and 2 is characterized in that, described controller (3) and the integrated setting of described wireless launcher (4); And/or
Described sensor (2) and the integrated setting of described manipulation device (1).
6. the management system of engineering machinery according to claim 5, it is characterized in that, the quantity of described wireless receiver (5) is one, and described wireless receiver (5) also is used for determining according to each default proportion magnetic valve and the corresponding relation of type of action the corresponding proportion magnetic valve (6) of action classification information of described action command after receiving the action command of described forwarding; Perhaps;
The quantity of described wireless receiver (5) is consistent with the quantity of described proportion magnetic valve (6), and corresponding integrated being arranged in the described proportion magnetic valve (6) one by one.
7. according to the management system of each described engineering machinery among the claim 1-3, it is characterized in that described manipulation device (1), sensor (2), controller (3) and wireless launcher (4) all are arranged in the driver's cabin.
8. according to the management system of each described engineering machinery among the claim 1-4, it is characterized in that, pass through bluetooth, infrared or frequency modulation transmission information between described wireless launcher (4) and the described wireless receiver (5).
9. engineering machinery, comprise: a plurality of proportion magnetic valves (6), banked direction control valves (7) and executive component (8), described a plurality of proportion magnetic valve (6) connects described banked direction control valves (7), described banked direction control valves (7) connects described executive component (8), it is characterized in that, also comprise each described management system among the claim 1-8, described a plurality of proportion magnetic valves (6) connect the wireless receiver (5) in the described management system.
10. engineering machinery according to claim 9 is characterized in that, it is excavator.
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| CN2013101679636A CN103243772A (en) | 2013-05-08 | 2013-05-08 | Engineering machine and operating control system thereof |
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| CN2013101679636A CN103243772A (en) | 2013-05-08 | 2013-05-08 | Engineering machine and operating control system thereof |
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| CN105459846A (en) * | 2014-09-11 | 2016-04-06 | 比亚迪股份有限公司 | Forklift and speed control method and device thereof |
| CN106460369A (en) * | 2014-06-25 | 2017-02-22 | 西门子工业公司 | Dynamic motion optimization for excavating machines |
| CN108363322A (en) * | 2018-03-05 | 2018-08-03 | 湖南盈峰国创智能科技有限公司 | Engineering machinery control module, work machine control system and method |
| CN109235530A (en) * | 2018-11-08 | 2019-01-18 | 北京拓疆者智能科技有限公司 | Hydraulic system and excavator for excavator |
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Application publication date: 20130814 |