CN104074226B - Hydraulic excavator and oil cylinder buffering and speed adjusting device and method - Google Patents
Hydraulic excavator and oil cylinder buffering and speed adjusting device and method Download PDFInfo
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- CN104074226B CN104074226B CN201410330337.9A CN201410330337A CN104074226B CN 104074226 B CN104074226 B CN 104074226B CN 201410330337 A CN201410330337 A CN 201410330337A CN 104074226 B CN104074226 B CN 104074226B
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Abstract
The invention provides a hydraulic excavator and an oil cylinder buffering and speed adjusting device and method. The oil cylinder buffering and speed adjusting device is applied to an oil cylinder driving a first body, and comprises a position information collecting unit and a control unit, wherein the position information collecting unit is used for collecting a relative position value between the first body and a second body in real time and sending the relative position value to the control unit; the control unit is used for carrying out closed-loop control on oil cylinder speed when the relative position value continues to reduce and is smaller than a threshold, so that the oil cylinder speed is gradually reduced to 0 along with reduction of the relative position value, and meanwhile the acceleration speed of an oil cylinder is controlled to gradually reduce to 0 along with reduction of the change rate of the relative position value in a closed-loop mode. By means of the oil cylinder buffering and speed adjusting device, soft buffering and speed adjustment of the oil cylinder are achieved.
Description
Technical field
It relates to technical field of engineering machinery is and in particular to a kind of cylinder buffer arrangements for speed regulation, cylinder buffer speed governing
Method and the hydraulic crawler excavator applying this cylinder buffer arrangements for speed regulation.
Background technology
Hydraulic crawler excavator is a kind of conventional engineering machinery.In hydraulic crawler excavator, its scraper bowl needs to rely on hydraulic jack
Driving complete various actions.Scraper bowl work during, due to moved inertia, the out-of-flatness on ground, plus-minus quick-action
Make or derive from the impact of the factors such as the vibration of equipment itself, scraper bowl is easy to mutually touch with other positions of hydraulic crawler excavator
Hit, cause equipment damage.
In prior art, a solution is, arranges a proximity switch in the position easily colliding, when scraper bowl enters
The triggering of proximity switch apart from when, proximity switch is triggered, thus control oil pump stops fuel feeding to oil cylinder, by scraper bowl locking,
Such that it is able to simply avoid mechanism to collide.But after proximity switch is triggered, direct control oil pump stops the confession to oil cylinder
Oil, the action of oil cylinder is unexpected stopping；So, on the one hand can produce larger vibrations and noise, operator is caused not
Suitable sense；On the other hand, cylinder pipe system can be caused with stronger impact, easily reduce the service life of product, thus being prolonged
The maintenance cycle of long equipment and reduction maintenance cost bring detrimental effect.
And if being capable of the soft buffer deceleration of oil cylinder, then can avoid the problems referred to above.
Content of the invention
For some or all of problem of the prior art, the disclosure provides a kind of cylinder buffer arrangements for speed regulation, oil cylinder
Buffering speed regulating method and the hydraulic crawler excavator applying this cylinder buffer arrangements for speed regulation, the soft buffering for realizing oil cylinder is adjusted
Speed.
Other characteristics of the disclosure and advantage will be apparent from by detailed description below, or partially by the disclosure
Practice and acquistion.
According to an aspect of this disclosure, a kind of cylinder buffer arrangements for speed regulation, it is applied to drive the oil cylinder of the first main body；Bag
Include:
Positional information collecting unit, for the relative position value between the first main body described in Real-time Collection and one second main body
And send to a control unit；
Control unit, for described relative position value persistently reduce and less than a threshold value when, oil cylinder described in closed loop control
Speed is gradually decreased to 0 with the reduction of described relative position value, and meanwhile, the acceleration of oil cylinder described in closed loop control is with described relative
The reduction of positional value rate of change and be gradually decreased to 0.
In a kind of embodiment of the disclosure, be reduced to the limit to described relative position value, described oil cylinder speed and
Acceleration is all down to 0 just.
In a kind of embodiment of the disclosure, described positional information collecting unit is:
Range sensor for relative distance information between Real-time Collection first main body and the second main body；Or, it is used for
The angular transducer of relative angle information between Real-time Collection first main body and the second main body.
In a kind of embodiment of the disclosure, also include:
Variable pump, for adjusting the delivery rate to described oil cylinder under described control unit control, thus control described
The speed of oil cylinder and acceleration.
In a kind of embodiment of the disclosure, oil cylinder speed subtracting with described relative position value described in described closed loop control
Little and be gradually decreased to 0 and include:
With the reduction of described relative position value, described control unit controls the delivery rate of described variable pump to be gradually lowered,
It is reduced to the limit to described relative position value, the delivery rate of described variable pump is down to 0 just；
Described in described closed loop control, oil cylinder speed is gradually decreased to 0 and includes with the reduction of described relative position value:
With the reduction of described relative position value rate of change, described control unit controls the change of the delivery rate of described variable pump
Rate is gradually lowered, and is reduced to the limit, the delivery rate of described variable pump and delivery rate change to described relative position value
Rate is all down to 0 just.
According to another aspect of the present disclosure, a kind of cylinder buffer speed regulating method, it is applied to drive the oil cylinder of the first main body；Bag
Include:
Obtain the relative position value between described first main body and one second main body in real time；
When described relative position value persistently reduces and is less than a threshold value, oil cylinder speed described in closed loop control is with described relative
The reduction of positional value and be gradually decreased to 0, meanwhile, the acceleration of oil cylinder described in closed loop control is with described relative position value rate of change
Reduce and be gradually decreased to 0.
In a kind of embodiment of the disclosure, be reduced to the limit to described relative position value, described oil cylinder speed and
Acceleration is all down to 0 just.
In a kind of embodiment of the disclosure, described relative position value is phase between described first main body and the second main body
Adjust the distance information, or, relative angle information between described first main body and the second main body.
In a kind of embodiment of the disclosure, described oil cylinder is by a variable oil pump feed；
Described in described closed loop control, oil cylinder speed is gradually decreased to 0 and includes with the reduction of described relative position value:
With the reduction of described relative position value, the delivery rate of described variable pump is controlled to be gradually lowered, to described position relatively
Put value and be reduced to the limit, the delivery rate of described variable pump is down to 0 just；
Described in described closed loop control, oil cylinder speed is gradually decreased to 0 and includes with the reduction of described relative position value:
With the reduction of described relative position value rate of change, the rate of change of the delivery rate of described variable pump is controlled gradually to drop
Low, it is reduced to the limit to described relative position value, the delivery rate of described variable pump and delivery rate rate of change all drop just
To 0.
According to the another aspect of the disclosure, a kind of hydraulic crawler excavator, driven including oil cylinder, the second main body and by described oil cylinder
Dynamic first main body, also includes the cylinder buffer arrangements for speed regulation of above-mentioned any one.
In embodiment of the disclosure provided cylinder buffer arrangements for speed regulation and method, obtain the first main body and first in real time
Relative position value between second main body, then, when the first main body is close to the second main body, oil cylinder speed described in closed loop control with
The reduction of described relative position value and be gradually decreased to 0, meanwhile, the acceleration of oil cylinder described in closed loop control is with described relative position value
The reduction of rate of change and be gradually decreased to 0.So, because the velocity variations of oil cylinder and acceleration change are all very smooth, thus
Achieve the soft buffering speed governing of oil cylinder.
Brief description
Describe its example embodiment by referring to accompanying drawing in detail, above and other feature of the disclosure and advantage will become
Become apparent from.
Fig. 1 is the module diagram of cylinder buffer arrangements for speed regulation in a kind of embodiment of the disclosure；
Fig. 2 is the schematic flow sheet of cylinder buffer speed regulating method in a kind of embodiment of the disclosure；
Fig. 3 is the front view of hydraulic crawler excavator part body in a kind of embodiment of the disclosure.
Description of reference numerals:
10: positional information collecting unit
101: range sensor
20: control unit
30: oil cylinder
40: the first main bodys
401: scraper bowl
402: easily crash element
S101, s102: step
Specific embodiment
It is described more fully with example embodiment referring now to accompanying drawing.However, example embodiment can be with multiple shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, these embodiments are provided so that the disclosure will
Fully and completely, and by the design of example embodiment comprehensively convey to those skilled in the art.In in figure, in order to clear
Clear, may be exaggerated the size of subregion.Represent same or similar structure in figure identical reference, thus will save
Slightly their detailed description.
Additionally, described feature, structure or characteristic can combine in one or more enforcements in any suitable manner
In example.In the following description, many details are provided thus providing fully understanding of embodiment of this disclosure.However,
It will be appreciated by persons skilled in the art that the technical scheme of the disclosure can be put into practice without one of described specific detail or more
Many, or other methods, constituent element, material etc. can be adopted.In other cases, be not shown in detail or describe known features,
Material or operation are to avoid each side of the fuzzy disclosure.
A kind of cylinder buffer arrangements for speed regulation and cylinder buffer speed regulating method is provide firstly, it is applied in present embodiment
Drive the oil cylinder of the first main body.As shown in fig. 1, this cylinder buffer arrangements for speed regulation mainly includes positional information collecting unit 10 He
Control unit 20；As shown in Figure 2, this cylinder buffer speed regulating method specifically includes that
Step s101. obtains described first main body 40 and one second intersubjective relative position value in real time；
, when described relative position value persistently reduces and is less than a threshold value, described in closed loop control, oil cylinder 30 is fast for step s103.
Degree is gradually decreased to 0 with the reduction of described relative position value, and meanwhile, the acceleration of oil cylinder 30 described in closed loop control is with described relative
The reduction of positional value rate of change and be gradually decreased to 0.
Below by the positional information collecting unit 10 of cylinder buffer arrangements for speed regulation in present embodiment and control unit 20
And step s101, s102 of cylinder buffer speed regulating method is described in detail.
Phase between first main body 40 and one second main body described in step s101. positional information collecting unit 10 Real-time Collection
To positional value, and by the relative position value collecting and send to control unit 20.
Taking hydraulic crawler excavator as a example, as shown in Figure 3, above-mentioned first main body 40 can be the shovel being driven by above-mentioned oil cylinder 30
Bucket 401, above-mentioned second main body (hereinafter referred to as easily can be collided for a portion structure easily being collided with this scraper bowl 401
Part 402), when the relative distance between this scraper bowl 401 and easy crash element 402 or the relative angle (angle in for example illustrating
Degree β) when being zero, then illustrate to have contacted between this scraper bowl 401 and this easy crash element 402.So, positional information collecting unit
10 can be a range sensor 101, and this range sensor 101 is used for this scraper bowl 401 of Real-time Collection and this easy crash element
Relative distance information between 402, and the relative distance information collecting is sent to control unit 20；Positional information collection is single
Unit 10 can also be an angular transducer (not shown), and it is easy with this that this angular transducer is used for this scraper bowl 401 of Real-time Collection
Relative angle information between crash element 402, and the relative angle information collecting is sent to control unit 20.
Additionally, for the range sensor 101 or angular transducer of output analogue signal, a mould can also be arranged
Number converter, the relative position value of range sensor 101 or angular transducer collection is first sent to this analog-digital converter, by
After this analog-digital converter converts analog signals into the pretreatment of digital signal, retransmit to control unit 20.
Control unit 20 when described relative position value persistently reduces and is less than a threshold value, (may soon touch by explanation
Hit, below with this moment as initial time), oil cylinder 30 speed described in closed loop control with described relative position value reduction and gradually
It is down to 0, meanwhile, the acceleration of oil cylinder 30 described in closed loop control is gradually decreased to 0 with the reduction of described relative position value rate of change.
The acquisition modes of this threshold value can be arranged multiple relative position value, control according to the disclosure under the plurality of relative position value
In method control cylinder buffer deceleration, from so that the first main body and the second main body do not send collision relative position value
Select a suitable value as this threshold value.For example, it is possible to select a suitable threshold value so that being reduced in described relative position value
During the limit, described oil cylinder speed and acceleration are all down to just.
Specifically, in initial time, the speed of oil cylinder 30 speed is maximum；With the reduction of this relative position value, control
The reduction that the speed of oil cylinder 30 smooths therewith, and, before colliding, oil cylinder 30 speed is reduced to 0.However, due to oil
The motion of cylinder 30 is a variable motion, if the acceleration for oil cylinder 30 is not controlled by, is likely to occur multiple gear shift modes.
For example, it can be uniformly retarded motion, and that is, the speed of oil cylinder 30 speed is uniformly reduced to 0 with a fixing acceleration, will add simultaneously
Speed also rapid drawdown to 0.Again for example, in the starting stage, oil cylinder 30 acceleration is less, to will colliding when, oil cylinder 30 speed
Still distance is reduced to 0 has very big gap it is therefore necessary to larger acceleration, drop oil cylinder 30 speed before colliding
As little as 0, simultaneously by acceleration also rapid drawdown to 0.On the one hand, the mutation of acceleration means the mutation of active force, and active force
Mutation can bring new vibrations or impact unavoidably；On the other hand, when will colliding, because the first main body 40 and second is main
The relative position of body is extremely near, in the event of shaking or impacting, then most probably cause the first main body 40 and the second main body by
Collide in effect of inertia.Therefore, the disclosure, in cylinder buffer speed regulation process, is also controlled to the acceleration of oil cylinder 30
System.I.e. in initial time, oil cylinder 30 speed maximum (i.e. the rate of change of above-mentioned relative position value is maximum), the now acceleration of oil cylinder 30
Degree is also maximum, and oil cylinder 30 percentage speed variation is maximum；With the reduction of oil cylinder 30 speed (i.e. the rate of change of above-mentioned relative position value),
The reduction that the acceleration of control cylinder 30 smooths therewith, and, before colliding, oil cylinder 30 acceleration is reduced to 0.Its
In, both can be when described relative position value is reduced to the limit, described oil cylinder 30 speed and acceleration are all down to 0 just,
Can also be when described relative position value is reduced to close to the limit, described oil cylinder 30 speed and acceleration are all down to 0 just.
In above-mentioned cylinder buffer speed regulation process, both there is no the mutation of speed, there is no the mutation of acceleration yet, oil cylinder 30
Velocity variations and acceleration change are all very smooth, therefore can avoid any collision, vibrations or impact, thus realizing
The soft buffering speed governing of oil cylinder.
, the reflection that Real-time Collection arrives is shoveled by range sensor 101 or angular transducer taking above-mentioned hydraulic crawler excavator as a example
The relative position value of bucket 401 and easy crash element 402 degree of closeness is sent to control unit 20.Control unit 20 is by the phase obtaining
Positional value is compared with the threshold value prestoring, if comparative result is more than this threshold value for this relative position value, illustrates
This scraper bowl 401 and easy crash element 402 are distant, can not possibly collide in the short time.If it is relative that comparative result is this
Positional value is less than this threshold value, but after this this relative position value is compared with the relative position value of previous moment, finds position relatively
Put value and be in continuous enlarging state, although then illustrating that this scraper bowl 401 and easy crash element 402 are this moment close together, scraper bowl
401, away from easy crash element 402, are also impossible in the short time collide.If comparative result is this relative position
Value is less than this threshold value, and after this this relative position value is compared with the relative position value of previous moment, at discovery relative position value
Reduce state in continuous, then illustrate that this scraper bowl 401 and easy crash element 402 are not only this moment close together, and scraper bowl 401 just court
Move to easy crash element 402, may soon collide.
The oil cylinder 30 of this hydraulic crawler excavator is connected with a variable pump；This variable pump can be in the control of described control unit 20
The lower delivery rate adjusting to described oil cylinder 30, thus control speed and the acceleration of described oil cylinder 30.In above-mentioned position relatively
Put value persistently reduce and less than a threshold value when, with the reduction of described relative position value, described control unit 20 controls described variable
The delivery rate of pump is gradually lowered, and is reduced to the limit to described relative position value, the delivery rate of described variable pump is down to just
0；With the reduction of described relative position value rate of change, described control unit 20 controls the rate of change of the delivery rate of described variable pump
It is gradually lowered, be reduced to the limit to described relative position value, the delivery rate of described variable pump and delivery rate rate of change are equal
Just it is down to 0.
A kind of hydraulic crawler excavator is additionally provided in present embodiment.As shown in Figure 3, tie for the part of this hydraulic crawler excavator
Structure schematic diagram；It includes oil cylinder 30, the second main body and drives the first main body by described oil cylinder 30.Wherein, the first main body is permissible
For the scraper bowl 401 of hydraulic crawler excavator, the second main body be can so that the structure that this scraper bowl 401 collides to be easy on hydraulic crawler excavator,
I.e. easy crash element 402.One of maximum difference of this hydraulic crawler excavator and prior art is, also includes in above-mentioned embodiment
Cylinder buffer arrangements for speed regulation.
By arranging above-mentioned cylinder buffer arrangements for speed regulation, in cylinder buffer speed regulation process, both there is no the mutation of speed,
There is no the mutation of acceleration, the velocity variations of oil cylinder and acceleration change are all very smooth, therefore can avoid any yet
Collision, vibrations or impact, it is achieved thereby that the soft buffering speed governing of oil cylinder.So, on the one hand decrease due to vibrations with
And the sense of discomfort that noise causes to operator, on the other hand, it is to avoid pipe-line system is impacted, extend the use of product
Life-span, such that it is able to reduce maintenance cycle and the maintenance cost of equipment.
The disclosure is been described by by above-mentioned related embodiment, but above-described embodiment is only the example implementing the disclosure.
It must be noted that, the embodiment of exposure is not limiting as the scope of the present disclosure.On the contrary, in the spirit without departing from the disclosure and
In the range of the change made and retouching, all belong to the scope of patent protection of the disclosure.
Claims (10)
1. a kind of cylinder buffer arrangements for speed regulation, are applied to drive the oil cylinder of the first main body；Including:
Positional information collecting unit, concurrent for the relative position value between the first main body described in Real-time Collection and one second main body
Deliver to a control unit；
Control unit, for described relative position value persistently reduce and less than a threshold value when, oil cylinder speed described in closed loop control
It is gradually decreased to 0 with the reduction of described relative position value, meanwhile, the acceleration of oil cylinder described in closed loop control is with described relative position
The reduction of value changes rate and be gradually decreased to 0.
2. cylinder buffer arrangements for speed regulation according to claim 1 are it is characterised in that be reduced to pole to described relative position value
Limit, described oil cylinder speed and acceleration are all down to 0 just.
3. cylinder buffer arrangements for speed regulation according to claim 1 are it is characterised in that described positional information collecting unit is:
Range sensor for relative distance information between Real-time Collection first main body and the second main body；Or, for real-time
Gather the angular transducer of relative angle information between the first main body and the second main body.
4. cylinder buffer arrangements for speed regulation according to claim 1 are it is characterised in that also include:
Variable pump, for adjusting the delivery rate to described oil cylinder under described control unit control, thus control described oil cylinder
Speed and acceleration.
5. cylinder buffer arrangements for speed regulation according to claim 4 are it is characterised in that oil cylinder speed described in described closed loop control
It is gradually decreased to 0 and includes with the reduction of described relative position value:
With the reduction of described relative position value, described control unit controls the delivery rate of described variable pump to be gradually lowered, to institute
State relative position value and be reduced to the limit, the delivery rate of described variable pump is down to 0 just；
The acceleration of oil cylinder described in described closed loop control is gradually decreased to 0 and includes with the reduction of described relative position value rate of change:
With the reduction of described relative position value rate of change, described control unit controls the rate of change of the delivery rate of described variable pump
It is gradually lowered, be reduced to the limit to described relative position value, the delivery rate of described variable pump and delivery rate rate of change are equal
Just it is down to 0.
6. a kind of cylinder buffer speed regulating method, is applied to drive the oil cylinder of the first main body；Including:
Obtain the relative position value between described first main body and one second main body in real time；
When described relative position value persistently reduces and is less than a threshold value, described in closed loop control, oil cylinder speed is with described relative position
The reduction of value and be gradually decreased to 0, meanwhile, the acceleration of oil cylinder described in closed loop control is with the reduction of described relative position value rate of change
And it is gradually decreased to 0.
7. cylinder buffer speed regulating method according to claim 6 is it is characterised in that be reduced to pole to described relative position value
Limit, described oil cylinder speed and acceleration are all down to 0 just.
8. cylinder buffer speed regulating method according to claim 6 is it is characterised in that described relative position value is described first
Relative distance information between main body and the second main body, or, relative angle information between described first main body and the second main body.
9. cylinder buffer speed regulating method according to claim 6 is it is characterised in that described oil cylinder is by a variable oil pump feed；
Described in described closed loop control, oil cylinder speed is gradually decreased to 0 and includes with the reduction of described relative position value:
With the reduction of described relative position value, the delivery rate of described variable pump is controlled to be gradually lowered, to described relative position value
It is reduced to the limit, the delivery rate of described variable pump is down to 0 just；
The acceleration of oil cylinder described in described closed loop control is gradually decreased to 0 and includes with the reduction of described relative position value rate of change:
With the reduction of described relative position value rate of change, the rate of change of the delivery rate of described variable pump is controlled to be gradually lowered, extremely
Described relative position value is reduced to the limit, and the delivery rate of described variable pump and delivery rate rate of change are all down to 0 just.
10. a kind of hydraulic crawler excavator, including oil cylinder, the second main body and the first main body by described hydraulic oil cylinder driving, its feature exists
In also including according to the arbitrary described cylinder buffer arrangements for speed regulation of claim 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410330337.9A CN104074226B (en) | 2014-07-10 | 2014-07-10 | Hydraulic excavator and oil cylinder buffering and speed adjusting device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410330337.9A CN104074226B (en) | 2014-07-10 | 2014-07-10 | Hydraulic excavator and oil cylinder buffering and speed adjusting device and method |
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| CN104074226A CN104074226A (en) | 2014-10-01 |
| CN104074226B true CN104074226B (en) | 2017-01-18 |
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| JPH07109746A (en) * | 1993-10-12 | 1995-04-25 | Hitachi Constr Mach Co Ltd | Operation room interference prevention device of working machine |
| JPH0881979A (en) * | 1994-09-09 | 1996-03-26 | Kubota Corp | Backhoe |
| JPH10183666A (en) * | 1996-12-27 | 1998-07-14 | Kubota Corp | Backhoe |
| CN101952520A (en) * | 2008-02-20 | 2011-01-19 | 卡特彼勒Sarl公司 | Interference prevention control device for operating machinery |
| CN102691332A (en) * | 2012-06-11 | 2012-09-26 | 上海三一重机有限公司 | Rotation anti-collision early warning control device of excavator, control device, and excavator |
| CN202882009U (en) * | 2012-06-05 | 2013-04-17 | 中联重科股份有限公司 | Loading machine and oil cylinder limiting and protecting device and oil cylinder limiting and protecting system thereof |
-
2014
- 2014-07-10 CN CN201410330337.9A patent/CN104074226B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07109746A (en) * | 1993-10-12 | 1995-04-25 | Hitachi Constr Mach Co Ltd | Operation room interference prevention device of working machine |
| JPH0881979A (en) * | 1994-09-09 | 1996-03-26 | Kubota Corp | Backhoe |
| JPH10183666A (en) * | 1996-12-27 | 1998-07-14 | Kubota Corp | Backhoe |
| CN101952520A (en) * | 2008-02-20 | 2011-01-19 | 卡特彼勒Sarl公司 | Interference prevention control device for operating machinery |
| CN202882009U (en) * | 2012-06-05 | 2013-04-17 | 中联重科股份有限公司 | Loading machine and oil cylinder limiting and protecting device and oil cylinder limiting and protecting system thereof |
| CN102691332A (en) * | 2012-06-11 | 2012-09-26 | 上海三一重机有限公司 | Rotation anti-collision early warning control device of excavator, control device, and excavator |
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| CN104074226A (en) | 2014-10-01 |
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