CN103321269A - Method for controlling excavator in flat ground mode - Google Patents
Method for controlling excavator in flat ground mode Download PDFInfo
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- CN103321269A CN103321269A CN2013102608695A CN201310260869A CN103321269A CN 103321269 A CN103321269 A CN 103321269A CN 2013102608695 A CN2013102608695 A CN 2013102608695A CN 201310260869 A CN201310260869 A CN 201310260869A CN 103321269 A CN103321269 A CN 103321269A
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- excavator
- dipper
- level land
- scraper bowl
- swing arm
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 10
- 239000010727 cylinder oil Substances 0.000 description 6
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013467 fragmentation Methods 0.000 description 1
- 238000006062 fragmentation reaction Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
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Abstract
The invention discloses a method for controlling an excavator in a flat ground mode. The method includes steps of detecting current angles of a movable arm and a bucket rod of the excavator relative to the horizontal direction; detecting a current position of a bucket of the excavator; adjusting the bucket rod to be operated at a preset position; adjusting a cylinder of the bucket to be operated at a preset position. The invention further discloses a system for controlling the excavator in the flat ground mode. The system comprises a controller, angle sensors and a position sensor; operation of the bucket rod, the movable arm and the bucket can be adjusted under the control of the controller; the angle sensors are used for detecting the current angles of the movable arm and the bucket rod; the position sensor is used for detecting the current position of the bucket. The method and the system have the advantages that the flat control mode can be controlled and set according to requirements of actual working condition of flat ground work, so that the flexible and complicated flat ground work becomes simple and is easy to carry out, the labor intensity of an excavator operator can be reduced, and the flat ground work quality can be improved.
Description
Technical field
The present invention relates to a kind of control method, especially the control method of excavator level land pattern.
Background technology
At present, the excavator application is more and more extensive, and excavator is widely used in all multi-states such as mining, fragmentation, excavation of earthwork, ground grading and goes; Excavator has another name called mechanical hand, and the activity as people's hand of his equipment can realize a lot of highly difficult operations freely.Want with the Function of excavator incisively and vividly, a skilled digging machine operation talent also is the part of excavator.Function is more powerful, and its actual difficulty that operates is just higher, and grading operation is exactly the foundation of people's digging machine skilled operation degree of test.
Because coordinating swing arm, dipper and scraper bowl while cooperation simultaneously, the grading operation need of work could finish preferably level land work; Any one circlet joint misoperation all can not well be finished grading operation work, and this has brought no small trouble for common digging machine hand in grading operation.
Summary of the invention
The technical problem to be solved in the present invention provides the control method of a kind of excavator level land pattern,
The present invention is achieved through the following technical solutions.
The control method of a kind of excavator level land pattern comprises step:
Detect the swing arm, dipper of excavator with respect to the current angle of horizontal direction;
Detect the current location of the scraper bowl of excavator;
Adjust dipper and run to predeterminated position;
Adjust bucket cylinder and run to predeterminated position.
Further, above-mentioned adjustment dipper operation is the current angle according to above-mentioned swing arm.
Further, during the current angle of above-mentioned detection swing arm relative level direction, judge whether above-mentioned dipper is in the corresponding predeterminated position of the current angle of above-mentioned swing arm, if, then keep above-mentioned dipper current location, if not, then adjust above-mentioned dipper and run to above-mentioned predeterminated position.
Further, above-mentioned adjustment scraper bowl operation is to judge whether above-mentioned scraper bowl is in the corresponding predeterminated position of above-mentioned dipper current location, if, then keep above-mentioned scraper bowl current location, if not, then adjust above-mentioned scraper bowl and run to above-mentioned predeterminated position.
The control system of a kind of excavator level land pattern comprises:
Controller is for the adjust operation of controlling above-mentioned dipper, swing arm, scraper bowl;
Angular transducer is for detection of the current angle of above-mentioned swing arm, dipper;
Position sensor is for detection of the current location of above-mentioned scraper bowl.
Further, the control system of above-mentioned excavator level land pattern also comprises proportion magnetic valve, is used for accepting controller information, carries out the adjust operation of above-mentioned dipper, swing arm, scraper bowl.
Further, the control system of above-mentioned excavator level land pattern also comprises change-over switch, is used for starting above-mentioned control model.
Beneficial effect of the present invention:
According to the demand of level land reality of work operating mode, can the level land control model be set by this invention control, make the level land work of flexible complexity become simple to operation, can also reduce the labour intensity of digging machine hand simultaneously, improve the work quality on level land.
Description of drawings
Fig. 1 is the schematic diagram of the control system of the implementation case excavator level land pattern;
Fig. 2 is the operating process schematic diagram of the control system of the implementation case excavator level land pattern.
The specific embodiment
The below is described in further detail the present invention with embodiment with reference to the accompanying drawings.
The control method of a kind of excavator level land pattern comprises step:
Detect the swing arm, dipper of excavator with respect to the current angle of horizontal direction;
Detect the current location of the scraper bowl of excavator;
Adjust dipper and run to predeterminated position;
Adjust bucket cylinder and run to predeterminated position.
Further, above-mentioned adjustment dipper operation is the current angle according to above-mentioned swing arm.
Further, during the current angle of above-mentioned detection swing arm relative level direction, judge whether above-mentioned dipper is in the corresponding predeterminated position of the current angle of above-mentioned swing arm, if, then keep above-mentioned dipper current location, if not, then adjust above-mentioned dipper and run to above-mentioned predeterminated position.
Further, above-mentioned adjustment scraper bowl operation is to judge whether above-mentioned scraper bowl is in the corresponding predeterminated position of above-mentioned dipper current location, if, then keep above-mentioned scraper bowl current location, if not, then adjust above-mentioned scraper bowl and run to above-mentioned predeterminated position.
Fig. 1 is the schematic diagram of the control system of the implementation case excavator level land pattern, and with reference to Fig. 1, the control system of excavator level land pattern comprises:
Proportion magnetic valve 4 is used for accepting controller information, carries out the adjust operation of above-mentioned dipper, swing arm, scraper bowl;
Change-over switch 5 is used for starting above-mentioned control model.
Provided the enabling signal of " level land pattern " by the level land mode selector switch, after controller receives the level land mode starting signal, at first detect the current location of excavator swing arm angular transducer, according to logical relation default in the director demon, the angle of release of large loculus proportion magnetic valve on the control bucket arm cylinder oil supply loop, as feedback signal, the control dipper arrives the predeterminated position of appointment with dipper angular transducer position; With the current location of Time Controller according to the dipper angular transducer, by the angle of release of large loculus proportion magnetic valve on the control bucket cylinder oil supply loop, and with the bucket cylinder position sensor as feedback signal, the control scraper bowl arrives assigned address; By the suitable correction of control different conditions, make that dipper and scraper bowl can along with the current location real time coordination control of swing arm, make the bucket tooth of scraper bowl keep perpendicular to default horizon always and keep operating on the default horizontal plane in the digger operating device; So, level land work only needs the lifting of shirtsleeve operation swing arm can well finish complicated excavator grading operation.If excavator can not rest on the level ground, can add angular transducer at excavator base machine and detect the fuselage angle of inclination, by control program level land control is compensated and revises.
When excavator rests on level road (the fuselage angular transducer is zero) when carrying out pattern level land, level land: controller is according to the swing arm position of swing arm angular transducer feedback, the angle of release of the large loculus proportion magnetic valve of control bucket arm cylinder oil supply loop arrives the appointment predeterminated position by the feedback position control dipper that detects the dipper angular transducer; By detecting the feedback position of bucket cylinder position sensor, ratio battery valve angle of release control scraper bowl arrives and specifies predeterminated position on the control bucket cylinder oil supply loop simultaneously; Realize excavator in the pattern of level road level land, dipper and scraper bowl can be followed in real time the current location of swing arm and be coordinated control, make the bucket tooth of scraper bowl keep perpendicular to default horizon always and keep operating on the default horizontal plane.
When excavator rested on tilted road surface (the fuselage angular transducer is non-vanishing) execution pattern level land, level land: when (1) excavator positive direction was consistent with the inclined plane, controller at first detected the value of fuselage angular transducer and judges that machine leans forward/the hypsokinesis angle; The swing arm angular transducer angle position that controller feeds back detection is carried out fuselage and is leaned forward/the hypsokinesis angle modification, the angle of release of control bucket arm cylinder oil supply loop large loculus proportion magnetic valve, the feedback position by detecting the dipper angular transducer (herein dipper angular transducer angle position also will carry out fuselage lean forward/the hypsokinesis angle modification) control dipper arrives and specifies predeterminated position; By detecting the feedback position of bucket cylinder position sensor, ratio battery valve angle of release control scraper bowl arrives and specifies predeterminated position on the control bucket cylinder oil supply loop simultaneously; Realize that dipper and scraper bowl can be followed in real time the current location of swing arm and be coordinated control in the pattern of excavator tilted road surface level land, make the bucket tooth of scraper bowl keep perpendicular to default tilted road surface always and keep operating on the default inclined plane.When (2) the excavator positive direction is vertical with the inclined plane, on the inclined plane, do not allow this angle work (violation operation).(3) on the inclined plane, when excavator positive direction and inclined plane angle fall between, controller is converted into the fuselage angle of inclination that detects and leans forward/the hypsokinesis modification model through the positive direction projection process, with Time Controller the positive direction projection process is carried out first in the angle position of swing arm and dipper angular transducer feedback and carry out the control of positive direction angle modification again.
Above-described embodiment only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the personage that is familiar with this art can understand content of the present invention and is also implemented, and can not limit protection scope of the present invention with this.All equivalences that Spirit Essence is done according to the present invention change or modify, and all should be encompassed in protection scope of the present invention.
Claims (7)
1. the control method of an excavator level land pattern is characterized in that, comprises step:
Detect the swing arm, dipper of excavator with respect to the current angle of horizontal direction;
Detect the current location of the scraper bowl of excavator;
Adjust dipper and run to predeterminated position;
Adjust bucket cylinder and run to predeterminated position.
2. the control method of excavator according to claim 1 level land pattern is characterized in that, described adjustment dipper operation is the current angle position according to described swing arm.
3. the control method of excavator according to claim 2 level land pattern, it is characterized in that, during the current angle of described detection swing arm relative level direction, judge whether described dipper is in the corresponding predeterminated position of the current angle of described swing arm, if, then keep described dipper current location, if not, then adjust described dipper and run to described predeterminated position.
4. the control method of excavator according to claim 1 level land pattern, it is characterized in that, described adjustment scraper bowl operation is to judge whether described scraper bowl is in the corresponding predeterminated position of described dipper current location, if, then keep described scraper bowl current location, if not, then adjust described scraper bowl and run to described predeterminated position.
5. the control system of an excavator level land pattern is characterized in that, comprising:
Controller is for the adjust operation of controlling described dipper, swing arm, scraper bowl;
Angular transducer is for detection of the current angle of described swing arm, dipper;
Position sensor is for detection of the current location of described scraper bowl.
6. the control system of excavator according to claim 5 level land pattern is characterized in that, the control system of described excavator level land pattern also comprises proportion magnetic valve, is used for accepting controller information, carries out the adjust operation of described dipper, swing arm, scraper bowl.
7. the control system of excavator according to claim 1 level land pattern is characterized in that, the control system of described excavator level land pattern also comprises change-over switch, is used for starting described control model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310260869.5A CN103321269B (en) | 2013-06-26 | 2013-06-26 | Method for controlling excavator in flat ground mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310260869.5A CN103321269B (en) | 2013-06-26 | 2013-06-26 | Method for controlling excavator in flat ground mode |
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| Publication Number | Publication Date |
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| CN103321269A true CN103321269A (en) | 2013-09-25 |
| CN103321269B CN103321269B (en) | 2017-01-18 |
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| CN201310260869.5A Expired - Fee Related CN103321269B (en) | 2013-06-26 | 2013-06-26 | Method for controlling excavator in flat ground mode |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104120745A (en) * | 2014-07-28 | 2014-10-29 | 三一重机有限公司 | Automatic ground flattening control method for excavator |
| CN106836335A (en) * | 2017-02-07 | 2017-06-13 | 柳州柳工挖掘机有限公司 | Excavator with level land accessory system |
| CN112020926A (en) * | 2020-09-14 | 2020-12-04 | 上海联适导航技术有限公司 | Flat ground control method, device and equipment |
| CN112127400A (en) * | 2020-10-09 | 2020-12-25 | 南京工程学院 | Excavator bucket follow-up control system and method |
| WO2022083186A1 (en) * | 2020-10-19 | 2022-04-28 | 三一重机有限公司 | Excavator and control method for excavator |
| CN115387426A (en) * | 2022-08-29 | 2022-11-25 | 三一重机有限公司 | Method, device and equipment for controlling working machine and working machine |
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| CN1153248A (en) * | 1995-10-31 | 1997-07-02 | 三星重工业株式会社 | Method for controlling operation of power excavator |
| CN102656323A (en) * | 2009-12-18 | 2012-09-05 | 斗山英维高株式会社 | Position control apparatus and method for working machine of construction machinery |
| CN102864800A (en) * | 2012-10-23 | 2013-01-09 | 中联重科股份有限公司渭南分公司 | Flat-pushing control method and device of excavator and excavator |
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2013
- 2013-06-26 CN CN201310260869.5A patent/CN103321269B/en not_active Expired - Fee Related
Patent Citations (5)
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| JPS61146929A (en) * | 1984-12-20 | 1986-07-04 | Kubota Ltd | Backhoe working vehicle |
| JPS63161226A (en) * | 1986-12-24 | 1988-07-04 | Kubota Ltd | Shovel working vehicle |
| CN1153248A (en) * | 1995-10-31 | 1997-07-02 | 三星重工业株式会社 | Method for controlling operation of power excavator |
| CN102656323A (en) * | 2009-12-18 | 2012-09-05 | 斗山英维高株式会社 | Position control apparatus and method for working machine of construction machinery |
| CN102864800A (en) * | 2012-10-23 | 2013-01-09 | 中联重科股份有限公司渭南分公司 | Flat-pushing control method and device of excavator and excavator |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104120745A (en) * | 2014-07-28 | 2014-10-29 | 三一重机有限公司 | Automatic ground flattening control method for excavator |
| CN104120745B (en) * | 2014-07-28 | 2016-08-24 | 三一重机有限公司 | A kind of excavator automatic land smoothing control method |
| CN106836335A (en) * | 2017-02-07 | 2017-06-13 | 柳州柳工挖掘机有限公司 | Excavator with level land accessory system |
| CN112020926A (en) * | 2020-09-14 | 2020-12-04 | 上海联适导航技术有限公司 | Flat ground control method, device and equipment |
| CN112127400A (en) * | 2020-10-09 | 2020-12-25 | 南京工程学院 | Excavator bucket follow-up control system and method |
| CN112127400B (en) * | 2020-10-09 | 2022-06-14 | 南京工程学院 | Excavator bucket follow-up control system and method |
| WO2022083186A1 (en) * | 2020-10-19 | 2022-04-28 | 三一重机有限公司 | Excavator and control method for excavator |
| CN115387426A (en) * | 2022-08-29 | 2022-11-25 | 三一重机有限公司 | Method, device and equipment for controlling working machine and working machine |
| CN115387426B (en) * | 2022-08-29 | 2023-11-28 | 三一重机有限公司 | Control method, device and equipment of working machine and working machine |
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| CN103321269B (en) | 2017-01-18 |
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Effective date of registration: 20161209 Address after: Ancient Baihua No. 156 building, 230000 Hefei Road, Anhui province Shou Chun Applicant after: HEFEI HUIZHONG INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. Address before: High tech Zone Hefei city Anhui province 230000 Hongfeng Road No. 21 Applicant before: Hefei Zhenyu Engineering Machinery Co., Ltd. |
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Effective date of registration: 20171211 Address after: The torch Park HII1201-217 No. 1789 Xinxiang 453600 Henan province high tech Zone Frestech Avenue (2109) Patentee after: Henan plain public intellectual property operation and Management Co., Ltd. Address before: Ancient Baihua No. 156 building, 230000 Hefei Road, Anhui province Shou Chun Patentee before: HEFEI HUIZHONG INTELLECTUAL PROPERTY MANAGEMENT CO., LTD. |
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Effective date of registration: 20180703 Address after: 226561 eight group of Gaoming center community, Rugao Town, Nantong City, Jiangsu Province Patentee after: RUGAO FUKAI METAL PRODUCTS CO., LTD. Address before: 453600 HII1201-217 (2109), torch Park, No. 1789, Xinfei Avenue, Xinxiang new high tech Zone, Henan. Patentee before: Henan plain public intellectual property operation and Management Co., Ltd. |
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Granted publication date: 20170118 Termination date: 20210626 |
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