CN106327991A - Intelligent excavator comprehensive experiment platform - Google Patents
Intelligent excavator comprehensive experiment platform Download PDFInfo
- Publication number
- CN106327991A CN106327991A CN201610912310.XA CN201610912310A CN106327991A CN 106327991 A CN106327991 A CN 106327991A CN 201610912310 A CN201610912310 A CN 201610912310A CN 106327991 A CN106327991 A CN 106327991A
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- Prior art keywords
- excavator
- unit
- hydraulic
- control
- hydraulic cylinder
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The invention discloses an intelligent excavator comprehensive experiment platform which comprises a mini-excavator and a control system. The control system comprises a hydraulic control unit, an electrical control unit, a system testing unit, a fault diagnosis unit and a display unit, and the electrical control unit is connected with the hydraulic control unit, the system testing unit and the fault diagnosis unit. The mini-excavator comprises an excavation arm, a rotary table and a walking device; a console control seat, a control arm and a walking control panel are used for controlling the excavation arm, the rotary table and the walking device. The intelligent excavator comprehensive experiment platform has the advantages that practical operation performance, biofidelity and safety performance are high, operation and online self-learning are convenient, and a human-computer interaction interface is arranged to make operation visual and simple.
Description
Technical field
The present invention relates to the excavator experimental provision of a kind of mechanical field, be specifically related to a kind of intelligent excavator Comprehensive Experiment
Platform.
Background technology
Along with the progress of science and technology, intellectuality becomes the development trend of all trades and professions, and excavator field is also such.Dig
The operation of pick machine has a study and the process being familiar with, and can often be required for mould before practical operation excavator carries out operation
Intending operating to be familiar with its performance and operation skill, the use of especially intelligent excavator needs to take longer time to grope
Study.The testing machines of the rarest excavator, the excavator experiment that the most intelligentized combination property is strong is flat
Platform, even if having, the most generally to there is technical functionality single, is only capable of carrying out dredge operation simply, it is impossible to carry out multiple working and
Fault diagnosis, lacks human-computer interaction interface and the module of self-teaching operation, and practicality is relatively low.And fail to realize excavator
Multiplex mode under the Redundant Control of (manual mode and remote control mode), lack safety and reliability.
Summary of the invention
It is an object of the invention to overcome disadvantage mentioned above, it is provided that one has strong operability in fact, fidelity is high, security performance is good, just
In operation and online self-teaching and there is human-computer interaction interface so that operation simple intelligent excavator Comprehensive Experiment directly perceived is put down
Platform.
The technical scheme is that
A kind of intelligent excavator synthesis experiment platform, including mini-excavator and control system, described control system includes
Hydraulic control unit, electric control unit, system test unit, failure diagnosis unit and display unit, described electrical control list
Unit is connected with hydraulic control unit, system test unit, failure diagnosis unit respectively.
Further improvement as technique scheme:
Described mini-excavator includes vehicle body 1, digging arm 2, rotary table 3 and running gear 4 and operation bench 5；Described manipulation
Platform 5 is for digging arm 2, rotary table 3, and running gear 4 is controlled.
Described digging arm 2 includes digging shovel 6, forearm 7, postbrachium 8, digging shovel hydraulic cylinder 9, rear arm hydraulic cylinder 10, big arm hydraulic cylinder
11, described in dig shovel 1 hinged with forearm 11 by digging shovel hydraulic cylinder 9, described forearm 11 and postbrachium 15 passes through rear arm hydraulic cylinder 14 and cuts with scissors
Connecing, described postbrachium 15 is hinged by big arm hydraulic cylinder 16；Described rotary table 3 includes the power section of digging machine, electric-motor pump group, oil
Case, control valve, electric cabinet, fault arrange module；Described running gear 4 includes rubber belt track, walking chassis, running motor, returns
Rotating shaft is held, tubing swivel.
Described hydraulic control unit arranges fault module is set.
Institute's displacement sensors uses portable mode, and described power section uses accumulator to provide power.
Described system test unit uses hydraulic crawler excavator specific test and measure software, and described display unit includes teaching software people
Machine interactive interface.
Employing metal material is made, and designs according to true digging machine hydraulic principle, contour structures, hydraulic system, electrical equipment
Control all identical with excavators principle.
The intelligent excavator synthesis experiment platform that the present invention provides, compared with prior art, has the advantage that
1. real have strong operability: arrange according to the fault in real excavator operation standard, control principle, and operating mode, allow student
While operation real training, solution processes some equipment FAQs.Serve as theme with Professional practice activity, by " learning by doing ", very
That is just improving student starts technical ability and the capability of finding employment；
2. excavator laboratory table uses metal material, designs according to true digging machine hydraulic principle, it is possible to achieve true digging machine
Each action, hydraulic assembly use banked direction control valves, electro-hydraulic proportional valve, Sandwich plate valve design.Contour structures, hydraulic system, electrical equipment control
Making all identical with excavators principle, profile and control mode have carried out industrialization design, dig arm, vehicle body, and crawler belt is equal
By actual proportions manufacture；
3. it will be seen that sensor application in hydraulic construction machine, study pressure by this configuration system test unit
Power, flow, temperature, displacement, etc. parameter use in actual design, sensor uses portable mode, test event and some position
Optional, grasp the method for testing of hydraulic circuit parameter, CAT system and the multiple-unit of computer control system
Comprehensive Experiments；
4. power section selects accumulator, by the Data fusion technique of multisensor, wireless aps technology, telecontrol engineering, void
Intending instrumental technique, Robot Control Technology, sound, optical, electrical etc. effectively combine, design has automatic measure on line function two-stage knot
The Excavator Intellectual Control System (circuit part has extensibility) of structure, it is achieved that to (manual under the multiplex mode of excavator
Pattern, remote control mode) Redundant Control, it is ensured that safety and reliability.
5. hydraulic crawler excavator specific test and measure software and teaching software man machine interface are friendly, and operation is directly perceived simple, and data are real-time
Display, supports data-printing, possesses wireless data energy acquisition function.
6. can carry out the digging operation of excavator, such as revolution operation, handling operation, the reality such as operation, multiple working of walking
Operation.Possessing and truly drive function, speed per hour controls in per hour 2 kilometers, can personnel's Driving control, it is possible to unmanned remotely control
System.
7., by config failure diagnosis unit, can electrical equipment common to hydraulic crawler excavator and hydraulic system fault diagnose
Analyze and process, trouble point can single choice or multiselect, apparatus failure can by remote control arrange disguised by force, command range is up to 100
Rice.
8. band three-phase electric leakage protection, voltage 380V, 50HZ, electrical control uses direct current 24V power supply, and protects with overvoltage
Protect, prevent maloperation damage equipment.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, required use in embodiment being described below
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for this
From the point of view of the those of ordinary skill of field, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the structural representation of the present invention；
Reference: 1, vehicle body；2, digging arm；3, rotary table；4 running gears；5, operation bench；6, shovel is dug；7, forearm；8、
Postbrachium；9, shovel hydraulic cylinder is dug；10, rear arm hydraulic cylinder；11, big arm hydraulic cylinder.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Fig. 1 shows a kind of intelligent excavator synthesis experiment platform embodiment of the present invention, including mini-excavator and control
System processed, control system includes hydraulic control unit, electric control unit, system test unit, failure diagnosis unit and display
Unit, electric control unit is connected with hydraulic control unit, system test unit, failure diagnosis unit respectively.In hydraulic control
Unit is additionally provided with fault module is set.
As it is shown in figure 1, in the present embodiment, mini-excavator includes vehicle body 1, digging arm 2, rotary table 3 and running gear 4 and
Operation bench 5.Operation bench 5 includes manipulating seat, controls arm, and travelling control pedal, for digging arm 2, rotary table 3, walking
Device 4 is controlled.The digging operation of excavator can be carried out, such as revolution operation, handling operation, operation of walking, multiple working etc.
Practical operation.Possessing and truly drive function, speed per hour controls in per hour 2 kilometers, can personnel's Driving control, it is possible to unmanned remotely
Control.
In the present embodiment, digging arm 2 includes digging shovel 6, forearm 7, postbrachium 8, digging shovel hydraulic cylinder 9, rear arm hydraulic cylinder 10, large arm
Hydraulic cylinder 11, digs shovel 6 hinged with forearm 11 by digging shovel hydraulic cylinder 9, and forearm 11 and postbrachium 15 are hinged by rear arm hydraulic cylinder 14,
Postbrachium 15 is hinged by big arm hydraulic cylinder 16.
In the present embodiment, rotary table 3 includes the power section of digging machine, electric-motor pump group, fuel tank, control valve, electric cabinet, fault
Module is set；Running gear 4 includes rubber belt track, walking chassis, running motor, floating bearing, tubing swivel.Running gear
4 include rubber belt track, walking chassis, running motor, floating bearing, tubing swivel.By config failure diagnosis unit, permissible
Electrical equipment common to hydraulic crawler excavator and hydraulic system fault carry out diagnostic analysis and process, trouble point can single choice or multiselect, electrical equipment
Fault can arrange disguised strong by remote control, and command range is up to 100 meters.
In the present embodiment, it will be seen that sensor answering in hydraulic construction machine by this configuration system test unit
With, learning pressure, flow, temperature, displacement, etc. parameter use in actual design, displacement transducer is used portable mode,
Test event and some position may select, and grasp the method for testing of hydraulic circuit parameter, CAT system and computer control
The multiple-unit Comprehensive Experiments of system processed；Power section use accumulator provide power, it is possible to by the data of multisensor
Integration technology, wireless aps technology, telecontrol engineering, virtual instrument technology, Robot Control Technology, sound, optical, electrical etc. effectively tie
Closing, design has the Excavator Intellectual Control System (circuit part has extensibility) of automatic measure on line function two-layer configuration,
Achieve the Redundant Control of (manual mode, remote control mode) under the multiplex mode to excavator, it is ensured that safety and reliability.
In the present embodiment, system test unit uses hydraulic crawler excavator specific test and measure software, and described display unit includes religion
Learn software human-computer interaction interface.This software man machine interface is friendly, and operation is directly perceived simple, and data show in real time, supports data-printing,
Possesses wireless data energy acquisition function.
In the present embodiment, excavator laboratory table uses metal material, designs according to true digging machine hydraulic principle, it is possible to achieve
Each action of true digging machine, hydraulic assembly uses banked direction control valves, electro-hydraulic proportional valve, and Sandwich plate valve designs.Contour structures, hydraulic pressure system
System, electrical equipment control is all identical with excavators principle, and profile and control mode have carried out industrialization design, dig arm, car
Body, crawler belt is all by actual proportions manufacture；Overall dimensions is: long 2600 × wide by 1200 × high 1850mm, complete machine work quality:
1360Kg.Other technologies parameter is standard dipper capacity 0.05m3, speed of gyration 11rpm, climbing: 25 °, maximum digging force:
12KN, the radius of gyration: 820mm.Arrange according to the fault in real excavator operation standard, control principle, and operating mode, allow student
While operation real training, solution processes some equipment FAQs.Serve as theme with Professional practice activity, by " learning by doing ", very
That is just improving student starts technical ability and the capability of finding employment.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all protection models in the present invention
Enclose interior made any amendment, equivalent etc., should be included within the scope of the present invention.
Claims (5)
1. an intelligent excavator synthesis experiment platform, it is characterised in that: include mini-excavator and control system, described control
System includes hydraulic control unit, electric control unit, system test unit, failure diagnosis unit and display unit, described electricity
Gas control unit is connected with hydraulic control unit, system test unit, failure diagnosis unit respectively.
Intelligent excavator synthesis experiment platform the most according to claim 1, it is characterised in that: described mini-excavator includes
Vehicle body (1), digging arm (2), rotary table (3) and running gear (4) and operation bench (5)；Described operation bench (5) is for digging arm
(2), rotary table (3), running gear (4) is controlled.
Intelligent excavator synthesis experiment platform the most according to claim 2, it is characterised in that: described digging arm (2) includes
Dig shovel (6), forearm (7), postbrachium (8), dig shovel hydraulic cylinder (9), rear arm hydraulic cylinder (10), big arm hydraulic cylinder (11), described in dig shovel
(6) hinged with forearm (7) by digging shovel hydraulic cylinder (9), described forearm (7) and postbrachium (8) are hinged by rear arm hydraulic cylinder (10),
Described postbrachium (8) is hinged by big arm hydraulic cylinder (11)；Described rotary table (3) include the power section of excavator, electric-motor pump group,
Fuel tank, control valve, electric cabinet, fault arrange module；Described running gear (4) includes rubber belt track, walking chassis, walking horse
Reach, floating bearing, tubing swivel.
Intelligent excavator synthesis experiment platform the most according to claim 1, it is characterised in that described system test unit makes
Hydraulic crawler excavator specific test and measure software, described display unit is used to include teaching software human-computer interaction interface.
Intelligent excavator synthesis experiment platform the most according to any one of claim 1 to 4, it is characterised in that described examination
Testing platform uses metal material to be made, and designs according to true digging machine hydraulic principle, contour structures, hydraulic system, electrical equipment control
Make all identical with excavators principle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610912310.XA CN106327991A (en) | 2016-10-20 | 2016-10-20 | Intelligent excavator comprehensive experiment platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610912310.XA CN106327991A (en) | 2016-10-20 | 2016-10-20 | Intelligent excavator comprehensive experiment platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106327991A true CN106327991A (en) | 2017-01-11 |
Family
ID=57817875
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| CN201610912310.XA Pending CN106327991A (en) | 2016-10-20 | 2016-10-20 | Intelligent excavator comprehensive experiment platform |
Country Status (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106762987A (en) * | 2017-01-26 | 2017-05-31 | 中国人民解放军装甲兵技术学院 | A kind of hydraulic system of engineering vehicle combined training platform |
| CN109826271A (en) * | 2019-01-16 | 2019-05-31 | 大连理工大学 | A kind of intelligent excavator data display platform based on ROS |
| CN111312060A (en) * | 2019-11-21 | 2020-06-19 | 深圳市佳鑫一帆科技有限公司 | Excavator model and manufacturing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106762987A (en) * | 2017-01-26 | 2017-05-31 | 中国人民解放军装甲兵技术学院 | A kind of hydraulic system of engineering vehicle combined training platform |
| CN109826271A (en) * | 2019-01-16 | 2019-05-31 | 大连理工大学 | A kind of intelligent excavator data display platform based on ROS |
| CN111312060A (en) * | 2019-11-21 | 2020-06-19 | 深圳市佳鑫一帆科技有限公司 | Excavator model and manufacturing method thereof |
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Application publication date: 20170111 |
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