CN106948406A - A kind of excavator, which is switched fast to cut the earth, gets rid of the control method and system of clay model formula - Google Patents
A kind of excavator, which is switched fast to cut the earth, gets rid of the control method and system of clay model formula Download PDFInfo
- Publication number
- CN106948406A CN106948406A CN201710106888.0A CN201710106888A CN106948406A CN 106948406 A CN106948406 A CN 106948406A CN 201710106888 A CN201710106888 A CN 201710106888A CN 106948406 A CN106948406 A CN 106948406A
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- China
- Prior art keywords
- rid
- model formula
- clay model
- excavator
- shoveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000004927 clay Substances 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000009471 action Effects 0.000 claims abstract description 18
- 230000004044 response Effects 0.000 claims abstract description 14
- 230000009184 walking Effects 0.000 claims description 4
- 239000002689 soil Substances 0.000 description 20
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241000602850 Cinclidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
It is switched fast to cut the earth the invention discloses a kind of excavator and gets rid of the control method and system of clay model formula；Control method, including, preset shoveling pattern and get rid of the respective action response speed of clay model formula；Entire car controller has detected whether to get rid of native mode signal, if it is not, entire car controller if getting rid of native mode signal, then detects pilot pressure signal without control signal output；If detecting the pressure signal of only dipper, scraper bowl, during without other pressure signals, clay model formula action response speed is got rid of in lifting, otherwise, and entire car controller is exported without control signal.The control method that clay model formula is got rid of in excavator shoveling is switched fast by a kind of, manipulator can be allowed quickly to be selected between native two kinds of different patterns are got rid of in shoveling, different operational requirements are met.
Description
Technical field
Cut the earth the present invention relates to excavator and get rid of native control technology field, more particularly to a kind of excavator is switched fast shoveling and got rid of
The control method and system of clay model formula.
Background technology
With the raising of the automatically controlled level of current excavator sector, the matching degree more and more higher of excavator composite move is moved
Make more and more comfortable soft.But the having differences of operating habit of simultaneously different excavator manipulators, and excavator action
It is more and more softer that some operations can be caused not realize on the contrary.Such as excavator machine hand requires bucket when wanting to get rid of soil under crawler belt
Bar can quickly be reclaimed and quickly stopped, and the soil in such scraper bowl could be thrown out of due to inertia to be come.If dipper is acted too
Soft, soil will be stayed in scraper bowl, if but dipper reaction is too rapid, and may result in excavator in normal excavate rocks, and
And easily the soil in scraper bowl is spilt.Desired satisfaction gets rid of the mildness that soil would have to sacrifice excavator action, between the two
Balance be difficult hold.
The content of the invention
The purpose of the present invention is switched fast shoveling there is provided a kind of excavator to solve the above problems and gets rid of clay model formula
Control method and system, realize that excavator be switched fast between clay model formula in shoveling pattern and being got rid of, so can when cutting the earth
Farthest to ensure mildness, acted when soil is got rid of simply effectively, both are non-interference.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of excavator, which is switched fast to cut the earth, gets rid of the control method of clay model formula, including,
Preset shoveling pattern and get rid of the respective action response speed of clay model formula；
Entire car controller has detected whether to get rid of native mode signal, if it is not, entire car controller is exported without control signal,
If getting rid of native mode signal, then pilot pressure signal is detected；
If detecting the pressure signal of only dipper, scraper bowl, during without other pressure signals, native Modal action is got rid of in lifting
Response speed, otherwise, entire car controller are exported without control signal.
Output by reducing discharge of main pump signal to be delayed and get rid of clay model formula action response speed to be lifted.
Other pressure signals include swing arm, revolution or walking pressure signal.
Default mode is shoveling pattern.
It is described to get rid of native mode signal and obtained by instrumentation key-press input or button analog signalses.
The control system for the control method for getting rid of clay model formula of cutting the earth is switched fast using a kind of excavator, including shoveling is got rid of
Native mode switching key, the shoveling is got rid of native mode switching key and is connected with entire car controller, and the input of the entire car controller is also
It is connected with pilot pressure sensor, the proportion magnetic valve of the output end and control discharge of main pump output size of the entire car controller
Connection, the entire car controller is also connected with instrument.
The shoveling gets rid of native mode switching key for mechanical key.
The shoveling gets rid of native mode switching key for instrument virtual key, and data are transmitted by CAN.
The entire car controller is hydraulic power controller.
It is shoveling pattern that native mode switching key default mode is got rid of in the shoveling, enters after switching and gets rid of clay model formula.
Beneficial effects of the present invention：
The control method that clay model formula is got rid of in excavator shoveling is switched fast by a kind of, manipulator can be allowed to get rid of soil two in shoveling
Quickly selected between the different patterns of kind, meet different operational requirements.
The need for meeting different user, different soil properties, the response speed that can be acted by instrument or other modes modification
Degree.
Brief description of the drawings
Fig. 1 is schematic diagram of the invention；
Fig. 2 is control flow chart of the invention；
Fig. 3 is excavator structure figure；
Wherein, 1. scraper bowl, 2. dippers, 3. swing arms.
Embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 2 a kind of excavator, which is switched fast to cut the earth, gets rid of the control method of clay model formula, including,
Preset shoveling pattern and get rid of the respective action response speed of clay model formula；
Entire car controller has detected whether to get rid of native mode signal, if it is not, entire car controller is exported without control signal,
If getting rid of native mode signal, then pilot pressure signal is detected；
If detecting the pressure signal of only dipper, scraper bowl, during without other pressure signals, native Modal action is got rid of in lifting
Response speed, otherwise, entire car controller are exported without control signal.
Output by reducing discharge of main pump signal to be delayed and get rid of clay model formula action response speed to be lifted.
Other pressure signals include swing arm, revolution or walking pressure signal.
Default mode is shoveling pattern.
It is described to get rid of native mode signal and obtained by instrumentation key-press input or button analog signalses.
During excavator normal operation, if it is desired to carrying out getting rid of native operation, it can be switched by instrument or key switch
To getting rid of clay model formula；Controller is received after signal, when detecting only dipper, dipper motion, is switched to clay model formula of getting rid of, reduction
The output delay of discharge of main pump signal.
1) response for clay model formula of cutting the earth/get rid of is set in advance by instrument or host computer.
2) cut the earth, get rid of native pattern switching (CAN information transfer) or button, switch input can be inputted by meter key
(analog signalses) access entire car controller (hydraulic power controller).General default mode is entered after shoveling pattern, switching
Get rid of clay model formula.
3) when driver operates excavator, controller, which detects whether to have been enter into, gets rid of clay model formula.If shoveling pattern, then ring
Answering property etc. is still exported by normal condition.If detecting into getting rid of clay model formula, also need to detect pilot pressure signal, when having and only
There is the pressure signal of scraper bowl or dipper, during without pressure signals such as swing arm, revolution, walkings, then reduce discharge of main pump output delay,
Enhancing action response.
As shown in figure 1, the control system for the control method for getting rid of clay model formula of cutting the earth is switched fast using a kind of excavator,
Native mode switching key is got rid of including cutting the earth, the shoveling is got rid of native mode switching key and is connected with entire car controller, the entire car controller
Input be also connected with pilot pressure sensor, the output end of the entire car controller and control discharge of main pump output size
Proportion magnetic valve is connected, and the entire car controller is also connected with instrument.
The shoveling gets rid of native mode switching key for mechanical key.
The shoveling gets rid of native mode switching key for instrument virtual key, and data are transmitted by CAN.
The entire car controller is hydraulic power controller.
It is shoveling pattern that native mode switching key default mode is got rid of in the shoveling, enters after switching and gets rid of clay model formula.
As shown in figure 3, having been dug when power shovel 1 is inner after soil, if it is desired to the soil in scraper bowl 1 is thrown out, it is necessary to
Dipper 2 or scraper bowl 1 can quickly be started, and quickly stops, soil could be thrown out by inertia.But general excavator
Rocked to reduce vehicle, reduction driver fatigue can all allow action to soften, therefore be less susceptible to throw out in soil.Typically have
The excavator hand of experience is all liked digging some soil before work, and soil is thrown into the pad of track bottom underlay one, makes excavator work more flat
Surely, but if excavator action is than milder, soil, which is difficult to throw away, to be come.Therefore in order to allow the excavator can both to get rid of soil, again may be used
Shake small during working, it is just necessary to do a model selection, enter when wanting to get rid of soil and get rid of clay model formula, make action more dry
Crisp (time for needing to get rid of soil after all is shorter than the time of work many).Allow the action to become soft or clear-cut, control can be passed through
Device controls the delay time length of discharge of main pump output to realize.Discharge of main pump output is by main controller controls proportion magnetic valve
Flow realizes that output delay is short, and action is just relatively more clear-cut, output delay length, acts just than milder.
Only have dipper 2, scraper bowl 1 just to play a role due to getting rid of soil, if discharge of main pump changes also very when swing arm 3 and revolution
It hurry up, vehicle will be shaken than larger, it is therefore necessary to when detecting only dipper or dipper motion and being acted without other, can just drop
The delay of low discharge of main pump output signal.
It is that the need for meeting different user, different soil properties, the sound that instrument or other modes modification are acted can be passed through in addition
Speed is answered, to change mildness.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deform still within protection scope of the present invention that creative work can make.
Claims (10)
1. a kind of excavator, which is switched fast to cut the earth, gets rid of the control method of clay model formula, it is characterized in that, including,
Preset shoveling pattern and get rid of the respective action response speed of clay model formula；
Entire car controller has detected whether to get rid of native mode signal, if it is not, entire car controller is exported without control signal, if
Native mode signal is got rid of, then detects pilot pressure signal；
If detecting the pressure signal of only dipper, scraper bowl, during without other pressure signals, clay model formula action response is got rid of in lifting
Speed, otherwise, entire car controller are exported without control signal.
2. a kind of excavator as claimed in claim 1, which is switched fast to cut the earth, gets rid of the control method of clay model formula, it is characterized in that, pass through drop
The output delay of low discharge of main pump signal gets rid of clay model formula action response speed to be lifted.
3. a kind of excavator as claimed in claim 1, which is switched fast to cut the earth, gets rid of the control method of clay model formula, it is characterized in that, other pressures
Force signal includes swing arm, revolution or walking pressure signal.
4. a kind of excavator as claimed in claim 1, which is switched fast to cut the earth, gets rid of the control method of clay model formula, it is characterized in that, give tacit consent to mould
Formula is shoveling pattern.
5. a kind of excavator as claimed in claim 1, which is switched fast to cut the earth, gets rid of the control method of clay model formula, it is characterized in that, it is described to get rid of
Native mode signal is obtained by instrumentation key-press input or button analog signalses.
6. the control system for the control method for getting rid of clay model formula of cutting the earth is switched fast using a kind of excavator described in claim 1, its
It is characterized in, including native mode switching key is got rid of in shoveling, the shoveling is got rid of native mode switching key and is connected with entire car controller, the vehicle
The input of controller is also connected with pilot pressure sensor, output end and the control discharge of main pump output of the entire car controller
The proportion magnetic valve connection of size, the entire car controller is also connected with instrument.
7. control system as claimed in claim 6, it is characterized in that, the shoveling gets rid of native mode switching key for mechanical key.
8. control system as claimed in claim 6, it is characterized in that, the shoveling get rid of native mode switching key for instrument it is virtual by
Key, data are transmitted by CAN.
9. control system as claimed in claim 6, it is characterized in that, the entire car controller is hydraulic power controller.
10. control system as claimed in claim 6, it is characterized in that, it is digging that native mode switching key default mode is got rid of in the shoveling
Clay model formula, enters after switching and gets rid of clay model formula.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106888.0A CN106948406B (en) | 2017-02-27 | 2017-02-27 | A kind of excavator, which is switched fast to cut the earth, gets rid of the control method and system of clay model formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106888.0A CN106948406B (en) | 2017-02-27 | 2017-02-27 | A kind of excavator, which is switched fast to cut the earth, gets rid of the control method and system of clay model formula |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106948406A true CN106948406A (en) | 2017-07-14 |
| CN106948406B CN106948406B (en) | 2019-03-08 |
Family
ID=59467961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710106888.0A Active CN106948406B (en) | 2017-02-27 | 2017-02-27 | A kind of excavator, which is switched fast to cut the earth, gets rid of the control method and system of clay model formula |
Country Status (1)
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| CN (1) | CN106948406B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110632924A (en) * | 2019-09-09 | 2019-12-31 | 安徽大学 | Unmanned ship control system for remote control monitoring and sampling |
| CN112212747A (en) * | 2020-10-11 | 2021-01-12 | 中建五局土木工程有限公司 | Non-blasting excavation construction method for mountain earth and stone in limited space |
| CN113565162A (en) * | 2021-07-27 | 2021-10-29 | 徐州徐工挖掘机械有限公司 | Excavator, accurate control method and system thereof, vehicle-mounted terminal and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0953259A (en) * | 1995-08-11 | 1997-02-25 | Hitachi Constr Mach Co Ltd | Region-limit excavation controller of construction equipment |
| JPH09273502A (en) * | 1996-04-01 | 1997-10-21 | Sumitomo Constr Mach Co Ltd | Hunting prevention circuit for construction machine |
| JP2001020325A (en) * | 1999-07-05 | 2001-01-23 | Hitachi Constr Mach Co Ltd | Actuator drive controller |
| CN104563855A (en) * | 2014-12-18 | 2015-04-29 | 上海中联重科桩工机械有限公司 | Rotary drilling rig, soil throwing system of rotary drilling rig and soil throwing method based on system |
| US20160002881A1 (en) * | 2013-02-13 | 2016-01-07 | Doosan Infracore Co., Ltd. | Apparatus and method for controlling work machine of work vehicle |
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2017
- 2017-02-27 CN CN201710106888.0A patent/CN106948406B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0953259A (en) * | 1995-08-11 | 1997-02-25 | Hitachi Constr Mach Co Ltd | Region-limit excavation controller of construction equipment |
| JPH09273502A (en) * | 1996-04-01 | 1997-10-21 | Sumitomo Constr Mach Co Ltd | Hunting prevention circuit for construction machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110632924A (en) * | 2019-09-09 | 2019-12-31 | 安徽大学 | Unmanned ship control system for remote control monitoring and sampling |
| CN112212747A (en) * | 2020-10-11 | 2021-01-12 | 中建五局土木工程有限公司 | Non-blasting excavation construction method for mountain earth and stone in limited space |
| CN112212747B (en) * | 2020-10-11 | 2022-10-11 | 中建五局土木工程有限公司 | Non-blasting excavation construction method for mountain earth and stone in limited space |
| CN113565162A (en) * | 2021-07-27 | 2021-10-29 | 徐州徐工挖掘机械有限公司 | Excavator, accurate control method and system thereof, vehicle-mounted terminal and storage medium |
| WO2023005325A1 (en) * | 2021-07-27 | 2023-02-02 | 徐州徐工挖掘机械有限公司 | Excavator, precise control method and system therefor, vehicle-mounted terminal and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106948406B (en) | 2019-03-08 |
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| CB02 | Change of applicant information |
Address after: 266500 No. 75 east the Yellow River Road, Huangdao District, Shandong, Qingdao Applicant after: QINGDAO LOVOL ENGINEERING MACHINERY Co.,Ltd. Address before: 266599 the Yellow River East Road, Huangdao District, Shandong, China, No. 75, No. Applicant before: QINGDAO LOVOL EXCAVATOR Co.,Ltd. |
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| CB02 | Change of applicant information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Weixiong Inventor after: Ni Yunlong Inventor after: Xia Jinling Inventor after: Meng Xiaoxing Inventor after: Cai Fei Inventor after: Xu Yubing Inventor after: Wang Rong Inventor after: Liu Xiaolei Inventor before: Ni Yunlong Inventor before: Chen Weixiong Inventor before: Cai Fei Inventor before: Xu Yubing Inventor before: Wang Rong Inventor before: Chen Hongjie |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 266500 No. 75 East Huanghe Road, Huangdao District, Qingdao City, Shandong Province Patentee after: LOVOL Engineering Machinery Group Co.,Ltd. Address before: 266500 No. 75 East Huanghe Road, Huangdao District, Qingdao City, Shandong Province Patentee before: QINGDAO LOVOL ENGINEERING MACHINERY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |
Address after: 266500 No. 75 East Huanghe Road, Huangdao District, Qingdao City, Shandong Province Patentee after: Lovol Heavy Industry Group Co.,Ltd. Address before: 266500 No. 75 East Huanghe Road, Huangdao District, Qingdao City, Shandong Province Patentee before: LOVOL Engineering Machinery Group Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |