CN106677239A - Mechanical and electrical integration excavator - Google Patents
Mechanical and electrical integration excavator Download PDFInfo
- Publication number
- CN106677239A CN106677239A CN201510748672.5A CN201510748672A CN106677239A CN 106677239 A CN106677239 A CN 106677239A CN 201510748672 A CN201510748672 A CN 201510748672A CN 106677239 A CN106677239 A CN 106677239A
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- China
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- excavator
- controller
- engine
- angle sensor
- monitoring processor
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- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The invention discloses a mechanical and electrical integration excavator. The mechanical and electrical integration excavator comprises a monitoring processor, a memory, a watchdog, a display screen, a voice alarm, a photoelectric isolation circuit, a high-speed photoelectric isolation circuit, a counter, a filter and a communication circuit. The monitoring processor is connected with the memory, the watchdog, the display screen, the voice alarm, the counter, the filter and the communication circuit. The photoelectric isolation circuit is connected with the filter. The high-speed photoelectric isolation circuit is connected with the counter. The mechanical and electrical integration excavator further comprises a motion controller, a movable arm tilt angle sensor, a bucket rod tilt angle sensor and a bucket tilt angle sensor. The output end of the movable arm tilt angle sensor, the output end of the bucket rod tilt angle sensor and the output end of the bucket tilt angle sensor are connected with the input end of the motion controller. The motion controller is connected with the monitoring processor through the communication circuit. The mechanical and electrical integration excavator can achieve automatic excavation control on a predetermined trajectory and has the advantages of being high in control precision, accurate in positioning and low in energy consumption.
Description
Technical field
The present invention relates to a kind of excavator, especially a kind of electromechanical integrated excavator.
Background technology
Excavator is a kind of engineering machinery for being widely used in construction, maneuverability of constructing, and efficiency of construction is high, but in excavator work progress, the problem for existing also can not be ignored, and operates the high labor intensive of excavator operation；The mankind's inconvenience of some adverse circumstances is directly entered；Operator must carry out prolonged training and can just complete high-quality operation.Therefore the electromechanical integration degree of excavator is improved, and then realizes the automation of excavator, intellectuality, be the optimal scheme that solves the above problems.
The content of the invention
It is an object of the invention to provide the control device and control method of a kind of electromechanical integrated excavator, with solve the problems, such as existing excavator operation and control accuracy not enough, positioning is inaccurate, energy consumption is too high.
To realize above-mentioned purpose, technical scheme：Including monitoring processor, memory, house dog, show screen, phonetic alarm, photoelectric isolating circuit, high speed optoelectronic isolation circuit, counter, wave filter, telecommunication circuit, monitoring processor respectively with memory, house dog, show screen, phonetic alarm, counter, wave filter, telecommunication circuit and be connected, photoelectric isolating circuit is connected with wave filter, and high speed optoelectronic isolation circuit is connected with counter；Also include motion controller, boom angle sensor, dipper obliquity sensor, scraper bowl obliquity sensor, boom angle sensor, dipper obliquity sensor, the output of scraper bowl obliquity sensor connect the input of motion controller, and motion controller Jing telecommunication circuits are connected with monitoring processor.
In above-mentioned electromechanical integrated excavator, also include generating laser support, generating laser, height detecting instrument, generating laser is placed on the front adjacent of excavator, generating laser is placed on generating laser support, height detecting instrument is fixed on excavator boom, and the output end of height detecting instrument is connected with monitoring processor.
In above-mentioned electromechanical integrated excavator, also include energy-saving controller, mode selection switch, engine speed set knob, the engine controller being input to by mode selection switch, engine speed set knob in energy-saving controller, and real-time detection engine speed enters engine controller and forms feedback, demand of the engine throttle adaptation to power, control engine ground action are adjusted by straight-line displacement electromagnet；Δ P adjusting knobs are input into pump controller, and throttle position and engine speed enter controller, form effective Feedback, and output signal control pump control mechanism realizes the control to pump.
Advantages of the present invention：1) using hard-wired laser transmitter projects head rotation transmitting laser, peace
Dress height detecting instrument on board a dredger, receives laser signal and measures relative altitude of the laser beam with respect to zero-bit, draws the positional information of excavator body, position of bucket can be positioned, so as to reach precise control with real-time regulation excavating depth.Meanwhile, based on elevation guidance information, after Location vehicle is completed, according to equipment kinematics model, digger operating device can be tracked and control.2) it is respectively provided with obliquity sensor in excavator swing arm, dipper, scraper bowl, can real-time monitored excavator operating attitude, there is provided the position of digger operating device and attitude information, facilitate operator to be compared accurate operation, raise labour productivity, and be capable of achieving blind operation.Meanwhile, it is controlled using intelligent position PID, pid algorithm can in real time be changed according to the pose of equipment, overcome the big inertia of digger operating device, the strong nonlinearity of hydraulic system and the parameter uncertainty of Controlling model, it is ensured that control accuracy.3) monitoring system can make operator grasp the working condition of excavator in time the monitoring of system major parameter, display and warning.The numerical value of each port when fault diagnosis functions can in real time show machine operation, when machine breaks down, quickly and easily to find abort situation and to be keeped in repair.4) the expectation rotating speed of diesel engine is together decided on using mode of operation selecting switch and diesel speed setting knob, by the combination of invariable power and two kinds of control modes of Variable power, adjust engine throttle and deacclimatize its demand to power, engine, hydraulic pump, the matched well of load are reached, energy-conservation is realized.
Lower machine is further described in conjunction with specific embodiments to the structure and operation principle of the present invention.
Description of the drawings
Fig. 1 is the mounting structure figure of sensor in the present invention.
Fig. 2 is the monitoring system structured flowchart of the present invention.
Fig. 3 is automatic control system flow chart of the present invention.
Fig. 4 is the Energy Saving Control theory diagram of the present invention.
Specific embodiment
Referring to Fig. 1, the equipment swing arm 1 of excavator is provided with obliquity sensor 2, and dipper 3 is provided with obliquity sensor 4, the obliquity sensor 7 that scraper bowl 6 is provided with.The dipper 3 of excavator is nearby provided with generating laser support 8, and generating laser 9 is placed on generating laser support 8, and height detecting instrument 5 is fixed on excavator boom 3, and the output end of height detecting instrument 5 is connected with monitoring processor.When excavator works, by the level-off of generating laser support 8, laser head on generating laser 9 rotates and launches laser, height detecting instrument 5 receives laser signal, relative altitude of the measurement laser beam with respect to zero-bit, by bus transfer to monitoring system central processing unit, in the display screen display elevation of monitoring system, then motion controller is transferred to by telecommunication circuit.
Referring to Fig. 2, Fig. 2 is the monitoring system composition frame chart of the present invention.The monitoring system of the present invention includes monitoring processor, memory, house dog, shows screen, phonetic alarm, photoelectric isolating circuit, high speed optoelectronic isolation circuit, counter, wave filter, telecommunication circuit, motion controller, boom angle sensor, dipper obliquity sensor, scraper bowl obliquity sensor, generating laser, height detecting instrument, monitoring processor respectively with memory, house dog, show screen, phonetic alarm, counter, wave filter, telecommunication circuit and be connected.Photoelectric isolating circuit is connected with wave filter, and boom angle sensor, dipper obliquity sensor, the positional information of scraper bowl obliquity sensor are transmitted over busses and are sent to motion controller, then Jing telecommunication circuits are sent to monitoring processor, send display screen to show Jing after processing.The laser signal that height detecting instrument is received, measurement laser beam, by bus transfer to monitoring processor, shows on a display screen elevation with respect to the relative altitude of zero-bit.High-speed pulse signal Jing photoelectric isolating circuits from engine are sent to counter, and Jing rolling counters forwards are sent to monitoring processor.Various switching signals are sent to monitoring processor and are processed Jing after photoelectric isolating circuit, wave filter.
Pressure, temperature, the liquid level numerical value of each node, can also to a certain extent realize Based Intelligent Control when the present invention can in real time show machine operation.The monitoring to system major parameter is realized, is shown and is reported to the police, including：Fuel liquid level, engine oil pressure, water temperature, oil temperature, battery voltage is low, engine water temperature is too high, fuel oil is too low, filter restriction, air filter exception, hydraulic oil high oil temperature, too low engine oil pressure, machine oil high oil temperature, water level are excessively low.Meanwhile, the numerical value of each port when the fault diagnosis functions of monitoring processor can in real time show machine operation, when machine breaks down, quickly and easily to find abort situation and to be keeped in repair.
Referring to Fig. 3, Fig. 3 is excavator automatic control system flow chart in the present invention.The equipment of excavator is processed as multiple degrees of freedom mechanical hand, using the obliquity sensor 2 on equipment swing arm 1, obliquity sensor 4 on dipper 3, obliquity sensor 7 on scraper bowl 6 determines the pose of equipment, the signal of three obliquity sensors is by the motion controller 11 in bus transfer to excavator, using the online planning function of motion controller, it is determined that target trajectory is (such as straight line, oblique line, circular arc etc.) after, it is swing arm 1 to obtain equipment according to kinematics and dynamics planning, dipper 3, the motion sequence of scraper bowl 6, one in sequence clicks through line parameter and arranges and obtain pwm signal control guide's electro-hydraulic proportional valve, again main valve is controlled by guide's electro-hydraulic proportional valve, drive each hydraulic cylinder action, and the error of real-time detection motion process forms feedback, due to digger operating device inertia it is big, hydraulic system is non-linear strong, Controlling model Parameter uncertainties, change control parameter in real time according to the pose of equipment and using self-adaptive PID algorithm, Jing PWM outputs obtain the controlled quentity controlled variable of real-time amendment.The action of equipment can cause the value of three obliquity sensors to change and passed in real time by bus
It is defeated, Real-time Feedback is formed, so circulation is controlled as described above to each sequence of points, obtains precise trajectory, only
Need to press a button and achieve that and automatically control.
Referring to Fig. 4, Fig. 4 is the Energy Saving Control theory diagram of the present invention.By the combination of invariable power and two kinds of control modes of Variable power, the engine controller being input to by model selection, engine speed set knob in energy-saving controller 12, and real-time detection engine speed enters engine controller and forms feedback, demand of the engine throttle adaptation to power is adjusted by straight-line displacement electromagnet, the action of engine is controlled；Δ P adjusting knobs are input into pump controller, and throttle position and engine speed enter controller, form effective Feedback, and output signal control pump control mechanism realizes the control to pump；The energy-saving controller of engine controller and pump controller composition realizes the matched well of engine, hydraulic pump and load jointly, reaches energy-conservation purpose.
Claims (3)
1. a kind of electromechanical integrated excavator, including monitoring processor, memory, house dog, show screen, phonetic alarm, photoelectric isolating circuit, high speed optoelectronic isolation circuit, counter, wave filter, telecommunication circuit, monitoring processor respectively with memory, house dog, show screen, phonetic alarm, counter, wave filter, telecommunication circuit and be connected, photoelectric isolating circuit is connected with wave filter, and high speed optoelectronic isolation circuit is connected with counter；It is characterized in that：Also include motion controller, boom angle sensor, dipper obliquity sensor, scraper bowl obliquity sensor, boom angle sensor, dipper obliquity sensor, the output of scraper bowl obliquity sensor connect the input of motion controller, and motion controller Jing telecommunication circuits are connected with monitoring processor.
2. electromechanical integrated excavator according to claim 1, it is characterised in that：Also include generating laser support, generating laser, height detecting instrument, generating laser is placed on the front adjacent of excavator, generating laser is placed on generating laser support, and height detecting instrument is fixed on excavator boom, and the output end of height detecting instrument is connected with monitoring processor.
3. electromechanical integrated excavator according to claim 1, it is characterised in that：Also include energy-saving controller, mode selection switch, engine speed set knob, the engine controller being input to by mode selection switch, engine speed set knob in energy-saving controller, and real-time detection engine speed enters engine controller and forms feedback, demand of the engine throttle adaptation to power is adjusted by straight-line displacement electromagnet, the action of engine is controlled；Δ P adjusting knobs are input into pump controller, and throttle position and engine speed enter controller, form effective Feedback, and output signal control pump control mechanism realizes the control to pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510748672.5A CN106677239A (en) | 2015-11-07 | 2015-11-07 | Mechanical and electrical integration excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510748672.5A CN106677239A (en) | 2015-11-07 | 2015-11-07 | Mechanical and electrical integration excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106677239A true CN106677239A (en) | 2017-05-17 |
Family
ID=58858037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510748672.5A Withdrawn CN106677239A (en) | 2015-11-07 | 2015-11-07 | Mechanical and electrical integration excavator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106677239A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111622283A (en) * | 2020-06-17 | 2020-09-04 | 雷沃工程机械集团有限公司 | Excavator action state monitoring device, excavator and control method |
-
2015
- 2015-11-07 CN CN201510748672.5A patent/CN106677239A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111622283A (en) * | 2020-06-17 | 2020-09-04 | 雷沃工程机械集团有限公司 | Excavator action state monitoring device, excavator and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170517 |