CN106948406B - 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
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- CN106948406B CN106948406B CN201710106888.0A CN201710106888A CN106948406B CN 106948406 B CN106948406 B CN 106948406B CN 201710106888 A CN201710106888 A CN 201710106888A CN 106948406 B CN106948406 B CN 106948406B
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- rid
- model formula
- clay model
- excavator
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- 239000004927 clay Substances 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000002689 soil Substances 0.000 claims abstract description 24
- 230000004044 response Effects 0.000 claims abstract description 12
- 230000003111 delayed effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000009184 walking Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 10
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004043 responsiveness Effects 0.000 description 2
- 241000602850 Cinclidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000002708 enhancing effect Effects 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
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, it presets shoveling mode and gets 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 there is 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, when without other pressure signals, clay model formula action response speed is got rid of in promotion, and otherwise, entire car controller is without control signal output.By a kind of control method for being switched fast excavator shoveling and getting rid of clay model formula, manipulator can be allowed to get rid of in shoveling and quickly selected between the two different modes of soil, different operational requirements are met.
Description
Technical field
Native control technology field is got rid of the present invention relates to excavator shoveling more particularly to a kind of excavator is switched fast shoveling and gets rid of
The control method and system of clay model formula.
Background technique
With the raising of the automatically controlled level of current excavator sector, the matching degree of excavator composite move is higher and higher, moves
Make more and more comfortable soft.But the having differences of operating habit of excavator manipulators different simultaneously, and excavator acts
It is more and more softer will lead to instead it is certain operation cannot achieve.For example excavator machine hand requires bucket when want to get rid of soil under crawler belt
Bar can be recycled quickly and quickly be stopped, and the soil in such scraper bowl could be thrown out of due to inertia to be come.If dipper acts too
Soft, soil will stay in scraper bowl, if but dipper reaction it is too rapid, will lead to excavator in normal excavate and shake, and
And it is easy that the soil in scraper bowl is spilt to come.Desired satisfaction gets rid of the mildness that soil would have to sacrifice excavator movement, between the two
Balance be difficult to hold.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems, provides a kind of excavator and is switched fast shoveling and gets rid of clay model formula
Control method and system realize that excavator is switched fast between clay model formula in shoveling mode and getting rid of, in this way can when cutting the earth
To guarantee mildness to the greatest extent, movement is clear-cut strong when getting rid of soil, and the two is non-interference.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of excavator, which is switched fast to cut the earth, gets rid of the control method of clay model formula, including,
It presets shoveling mode and gets 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 there is getting rid of native mode signal, then pilot pressure signal is detected；
If detecting the pressure signal of only dipper, scraper bowl, when without other pressure signals, native Modal action is got rid of in promotion
Response speed, otherwise, entire car controller is without control signal output.
Output by reducing discharge of main pump signal, which is delayed, gets rid of clay model formula action response speed to be promoted.
Other pressure signals include swing arm, revolution or walking pressure signal.
Default mode is shoveling mode.
It is described get rid of native mode signal by detection instrument key-press input or key analog signals obtain.
It is switched fast to cut the earth using a kind of excavator and gets rid of the control system of the control method of clay model formula, including cut the earth and get rid of
Native mode switching key, the shoveling are got rid of native mode switching key and are connect with entire car controller, and the input terminal of the entire car controller is also
It is connect with pilot pressure sensor, the output end of the entire car controller and the proportion magnetic valve of control discharge of main pump output size
Connection, the entire car controller are also connect with instrument.
It is mechanical key that native mode switching key is got rid of in the shoveling.
It is instrument virtual key that native mode switching key is got rid of in the shoveling, transmits data by CAN bus.
The entire car controller is hydraulic power controller.
It is shoveling mode 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:
By a kind of control method for being switched fast excavator shoveling and getting rid of clay model formula, manipulator can be allowed to get rid of soil two in shoveling
It is quickly selected between the different mode of kind, meets different operational requirements.
For the needs for meeting different user, different soil properties, the response speed that can be acted by instrument or other modes modification
Degree.
Detailed description of the invention
Fig. 1 is the principle of the present invention figure；
Fig. 2 is control flow chart of the invention；
Fig. 3 is excavator structure figure；
Wherein, 1. scraper bowl, 2. dippers, 3. swing arms.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
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,
It presets shoveling mode and gets 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 there is getting rid of native mode signal, then pilot pressure signal is detected；
If detecting the pressure signal of only dipper, scraper bowl, when without other pressure signals, native Modal action is got rid of in promotion
Response speed, otherwise, entire car controller is without control signal output.
Output by reducing discharge of main pump signal, which is delayed, gets rid of clay model formula action response speed to be promoted.
Other pressure signals include swing arm, revolution or walking pressure signal.
Default mode is shoveling mode.
It is described get rid of native mode signal by detection instrument key-press input or key analog signals obtain.
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；After controller receives signal, when detecting only dipper, dipper motion, it is switched to clay model formula of getting rid of, is reduced
The output of discharge of main pump signal is delayed.
1) responsiveness for clay model formula of cutting the earth/get rid of is set in advance by instrument or host computer.
2) it cuts the earth, get rid of native pattern switching and can input (transmission of CAN bus information) or key by meter key, switch and input
(analog signals) access entire car controller (hydraulic power controller).General default mode is shoveling mode, is entered after switching
Get rid of clay model formula.
3) when driver operates excavator, controller, which detects whether to have entered, gets rid of clay model formula.If shoveling mode, then ring
Answering property etc. is still exported by normal condition.If detecting into getting rid of clay model formula, detection pilot pressure signal is also needed, when having and only
There is the pressure signal of scraper bowl or dipper, when without pressure signals such as swing arm, revolution, walkings, then reduce discharge of main pump output delay,
Enhancing action responsiveness.
The control system of the control method of clay model formula is got rid of as shown in Figure 1, being switched fast to cut the earth 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 connect with entire car controller, the entire car controller
Input terminal also connect with pilot pressure sensor, the output end of the entire car controller and control discharge of main pump output size
Proportion magnetic valve connection, the entire car controller are also connect with instrument.
It is mechanical key that native mode switching key is got rid of in the shoveling.
It is instrument virtual key that native mode switching key is got rid of in the shoveling, transmits data by CAN bus.
The entire car controller is hydraulic power controller.
It is shoveling mode 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 after soil when power shovel 1 is inner, if it is desired to the soil in scraper bowl 1 is thrown out, it is necessary to
Allow dipper 2 or scraper bowl 1 can quick start, and quickly stop, soil could be thrown out by inertia.But general excavator
It is shaken to reduce vehicle, reducing driver fatigue can all allow movement to soften, therefore be less susceptible to throw out in soil.Generally have
The excavator hand of experience is all liked digging some soil before work, and soil is thrown to track bottom underlay one and is padded, and makes excavator work more flat
Surely, but if excavator movement is than milder, soil, which is difficult to throw away, to be come.Therefore in order to allow excavator that can not only get rid of soil, but also can
It shakes small when working, just it is necessary to do a model selection, enters when wanting to get rid of soil and get rid of clay model formula, make movement more dry
Crisp (time for needing to get rid of soil after all is shorter than the time of work many).It allows movement 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 movement is just relatively more clear-cut, and output delay length acts just than milder.
It can just be played a role due to getting rid of native only dipper 2, scraper bowl 1, if discharge of main pump changes also very when swing arm 3 and revolution
Fastly, vehicle just will shake bigger, it is therefore necessary to when detecting only dipper or dipper motion without other movements, can just drop
The delay of low discharge of main pump output signal.
It in addition is the needs for meeting different user, different soil properties, the sound that can be acted by instrument or other modes modification
Speed is answered, to change mildness.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (9)
1. a kind of excavator, which is switched fast to cut the earth, gets rid of the control method of clay model formula, characterized in that control system includes cutting the earth to get rid of soil
Mode switching key, the shoveling are got rid of native mode switching key and are connect with entire car controller, the input terminal of the entire car controller also with
Pilot pressure sensor connection, the output end of the entire car controller and the proportion magnetic valve of control discharge of main pump output size connect
It connects, the entire car controller is also connect with instrument；
Control method includes,
Shoveling mode is preset by instrument or host computer and gets 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, when without other pressure signals, clay model formula action response is got rid of in promotion
Speed, otherwise, entire car controller is without control signal output.
2. a kind of excavator, which is switched fast to cut the earth, as described in claim 1 gets rid of the control method of clay model formula, characterized in that pass through drop
The output of low discharge of main pump signal, which is delayed, gets rid of clay model formula action response speed to be promoted.
3. a kind of excavator, which is switched fast to cut the earth, as described in claim 1 gets rid of the control method of clay model formula, characterized in that other pressures
Force signal includes swing arm, revolution or walking pressure signal.
4. a kind of excavator, which is switched fast to cut the earth, as described in claim 1 gets rid of the control method of clay model formula, characterized in that default mould
Formula is shoveling mode.
5. a kind of excavator, which is switched fast to cut the earth, as described in claim 1 gets rid of the control method of clay model formula, characterized in that described to get rid of
Native mode signal is obtained by detection instrument key-press input or key analog signals.
6. a kind of excavator, which is switched fast to cut the earth, as described in claim 1 gets rid of the control method of clay model formula, characterized in that the digging
It is mechanical key that soil, which gets rid of native mode switching key,.
7. a kind of excavator, which is switched fast to cut the earth, as described in claim 1 gets rid of the control method of clay model formula, characterized in that the digging
It is instrument virtual key that soil, which gets rid of native mode switching key, transmits data by CAN bus.
8. a kind of excavator, which is switched fast to cut the earth, as described in claim 1 gets rid of the control method of clay model formula, characterized in that described whole
Vehicle controller is hydraulic power controller.
9. a kind of excavator, which is switched fast to cut the earth, as described in claim 1 gets rid of the control method of clay model formula, characterized in that the digging
It is shoveling mode that soil, which gets rid of native mode switching key default mode, enters after switching and gets rid of clay model formula.
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| 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 |
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| 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 |
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| CN106948406A CN106948406A (en) | 2017-07-14 |
| CN106948406B true CN106948406B (en) | 2019-03-08 |
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| CN110632924A (en) * | 2019-09-09 | 2019-12-31 | 安徽大学 | Unmanned ship control system for remote control monitoring and sampling |
| 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 |
| CN113565162B (en) * | 2021-07-27 | 2022-09-23 | 徐州徐工挖掘机械有限公司 | Excavator, accurate control method and system thereof, vehicle-mounted end and storage medium |
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| JP3112814B2 (en) * | 1995-08-11 | 2000-11-27 | 日立建機株式会社 | Excavation control device for construction machinery |
| 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 |
| KR102031376B1 (en) * | 2013-02-13 | 2019-10-11 | 두산인프라코어 주식회사 | Apparatus for controlling attachmentm in construction vehicle and method thereof |
| CN104563855B (en) * | 2014-12-18 | 2016-08-24 | 上海中联重科桩工机械有限公司 | Rotary drilling rig, the getting rid of soil series system and based on this system get rid of indigenous method of rotary drilling rig |
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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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| CB03 | Change of inventor or designer 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 |
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 | ||
| 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 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. |