CN109024726A - A kind of engineering machinery electro-fluid execution track control system and its control method - Google Patents
A kind of engineering machinery electro-fluid execution track control system and its control method Download PDFInfo
- Publication number
- CN109024726A CN109024726A CN201810869016.4A CN201810869016A CN109024726A CN 109024726 A CN109024726 A CN 109024726A CN 201810869016 A CN201810869016 A CN 201810869016A CN 109024726 A CN109024726 A CN 109024726A
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- CN
- China
- Prior art keywords
- assembly
- engineering machinery
- execution
- arm
- execute
- 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.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of engineering machinery electro-fluid execution track control system and its control methods, including the operation assembly, execution assembly and drive assembly being located on engineering machinery ontology, it further include information processing assembly, operation assembly is manipulated by operator and sends information processing assembly for action command, information processing assembly issues action command to drive assembly, drive assembly execution action command driving executes assembly and is instructed by execution assembly execution, and control method is the following steps are included: 1) operator passes through the setting input action instruction of user's operation panel；2) data processing of CPU is simultaneously displayed on user's operation panel and checks and modify setting for user；3) instruction of CPU output action makes lifting hydraulic cylinder and overturning hydraulic cylinder movement, it is performed simultaneously arm angle sensor and will execute arm and relative to the angle, θ that engineering machinery ontology rotates feed back to CPU, information feedback of the present invention can accurately collect the motion state of engineering machinery, and pass data to CPU and be analyzed and processed.
Description
Technical field
The present invention relates to technical field of engineering machinery, and in particular to a kind of engineering machinery electro-fluid execution track control system and
Its control method.
Background technique
Existing engineering machinery such as sliding loader or excavator are by the observation of operator, feeling and experience control mostly
Zhi Xia executing agency such as tipping bucket arm or digging arm carry out each movement, are difficult to realize accurate motion profile.Narrow limited
Workplace, executing agency promoted height be more than limit for height, be easy to cause personnel injury and equipment damage the problems such as.
Summary of the invention
(1) technical problems to be solved
In order to overcome the shortage of prior art, it is proposed that a kind of engineering machinery electro-fluid execution track control system and its controlling party
Method.
(2) technical solution
The present invention is achieved through the following technical solutions: the invention proposes a kind of controls of engineering machinery electro-fluid execution track to be
System further includes information processing assembly including the operation assembly, execution assembly and drive assembly being located on engineering machinery ontology, behaviour
Make assembly and send information processing assembly for action command by operator's manipulation, information processing assembly is acted to drive assembly sending
Instruction, drive assembly execute action command driving and execute assembly and instructed by execution assembly execution, and the information processing is total
At the angular transducer for including CPU and being located on execution assembly, signal wire is connected on operation assembly and is connected to CPU and angle sensor
It is connected to signal wire on device, on CPU and is connected to angular transducer and drive assembly, the operation assembly includes for setting input
User's operation panel；The assembly that executes includes that the execution arm transferred on engineering machinery ontology and switching are executing holding on arm
Row terminal, the drive assembly be electro-hydraulic drive system, electro-hydraulic drive system include be located at engineering machinery ontology and execute arm it
Between make execute arm with respect to the lifting hydraulic cylinder that engineering machinery ontology rotate and be located at execution arm and execution terminal between make to execute end
It holds relative to the overturning hydraulic cylinder for executing arm rotation.
Further, the angular transducer includes being located to execute arm and monitoring execution arm phase at engineering machinery ontology switching
It execution arm angle sensor to engineering machinery ontology rotational angle and is located to execute terminal and execute to monitor at arm switching and executes
The opposite execution terminal point sensor for executing arm rotational angle of terminal.
A kind of control method of engineering machinery electro-fluid execution track control system, includes the following steps: that 1) operator passes through
User's operation panel sets input action instruction；2) data processing of CPU is simultaneously displayed on user's operation panel and looks into for user
See and modify setting；3) instruction of CPU output action makes lifting hydraulic cylinder and overturning hydraulic cylinder movement, is performed simultaneously arm angle sensor
Device will execute arm and feed back to CPU relative to the angle, θ that engineering machinery ontology rotates, and terminal phase will be executed by executing terminal point sensor
CPU is fed back to the angle γ for executing arm rotation, then the highest point for executing terminal is calculated from engineering machinery location by CPU
The height H ' in face, operator's opertions engineering machinery surpass height H ' of the highest point for executing terminal from ground where engineering machinery not
Cross the limit for height H at scene.
(3) beneficial effect
The present invention compared with the existing technology, has the advantages that
A kind of engineering machinery electro-fluid execution track control system and its control method that the present invention mentions, information feedback can essences
The motion state of engineering machinery is collected quasi-ly, and passes data to CPU and is analyzed and processed, to accurately control engineering
The working range for mechanically executing terminal, makes it within the setting value of operator, no more than the limit for height H at scene.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of engineering machinery electro-fluid execution track control system as shown in Figure 1, including be located on engineering machinery ontology (1)
Operation assembly, execute assembly and drive assembly, further include information processing assembly, operation assembly is manipulated by operator refers to movement
Order is sent to information processing assembly, and information processing assembly issues action command to drive assembly, and drive assembly executes action command
Driving executes assembly and is simultaneously instructed by execution assembly execution, and the information processing assembly includes CPU (2) and is located at execution assembly
On angular transducer, operate and be connected to signal wire on assembly and be connected on CPU and angular transducer, signal wire company is connected on CPU
It is connected to angular transducer and drive assembly, the operation assembly includes the user's operation panel (11) for setting input, described
Executing assembly includes that the execution arm (31) transferred on engineering machinery ontology and switching are executing the execution terminal (32) on arm, institute
Stating drive assembly is electro-hydraulic drive system (4), and electro-hydraulic drive system includes being located at engineering machinery ontology and executing to make to hold between arm
Row arm relative to the lifting hydraulic cylinder (41) that engineering machinery ontology rotates and be located at execute arm and execute terminal between make execute terminal
Relative to the overturning hydraulic cylinder 42 for executing arm rotation.
Wherein, the angular transducer includes being located to execute arm work opposite with monitoring execution arm at engineering machinery ontology switching
The execution arm angle sensor (51) of journey basic machine rotational angle and be located at execute terminal and execute arm switching at monitor execute
The opposite execution terminal point sensor 52 for executing arm rotational angle of terminal.
A kind of control method of engineering machinery electro-fluid execution track control system, includes the following steps: that 1) operator passes through
User's operation panel sets input action instruction；2) data processing of CPU is simultaneously displayed on user's operation panel and looks into for user
See and modify setting；3) instruction of CPU output action makes lifting hydraulic cylinder and overturning hydraulic cylinder movement, is performed simultaneously arm angle sensor
Device will execute arm and feed back to CPU relative to the angle, θ that engineering machinery ontology rotates, and terminal phase will be executed by executing terminal point sensor
CPU is fed back to the angle γ for executing arm rotation, then the highest point for executing terminal is calculated from engineering machinery location by CPU
The height H ' in face, operator's opertions engineering machinery surpass height H ' of the highest point for executing terminal from ground where engineering machinery not
Cross the limit for height H at scene.
A kind of engineering machinery electro-fluid execution track control system and its control method that the present invention mentions execute arm angle and pass
Height h1 of the sensor from ground where engineering machinery be it is fixed, execute arm angle sensor and execute terminal point sensor it
Between linear distance L1 be also fixed, be also exactly the distance between to execute terminal point sensor and execute terminal front end
L2 is also fixed, therefore can be obtained by the calculating function H ' based on h1, L1 and L2 fixed value=F (θ, γ), this is to compare
H ' is calculated according to variable θ and γ in easy Modeling Calculation, CPU, and i will not repeat them here.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to structure of the invention
Think and range is defined.Without departing from the design concept of the invention, ordinary people in the field is to technology of the invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It is all described in the claims.
Claims (3)
1. a kind of engineering machinery electro-fluid execution track control system, it is characterised in that: including being located on engineering machinery ontology (1)
It operates assembly, execute assembly and drive assembly, further include information processing assembly, operation assembly is manipulated by operator by action command
It is sent to information processing assembly, information processing assembly issues action command to drive assembly, and drive assembly executes action command and drives
Dynamic to execute assembly and instructed by execution assembly execution, the information processing assembly includes CPU (2) and is located on execution assembly
Angular transducer, operate and be connected to signal wire on assembly and be connected on CPU and angular transducer, signal wire connection is connected on CPU
To angular transducer and drive assembly, the operation assembly includes the user's operation panel (11) for setting input, described to hold
Row assembly includes that the execution arm (31) transferred on engineering machinery ontology and switching are executing the execution terminal (32) on arm, described
Drive assembly is electro-hydraulic drive system (4), and electro-hydraulic drive system includes being located at engineering machinery ontology and executing to make to execute between arm
Arm relative to the lifting hydraulic cylinder (41) that engineering machinery ontology rotates and be located at execute arm and execute terminal between make execute terminal phase
To the overturning hydraulic cylinder (42) for executing arm rotation.
2. a kind of engineering machinery electro-fluid execution track control system according to claim 1 and its control method, feature
Be: the angular transducer includes being located to execute arm engineering machinery sheet opposite with monitoring execution arm at engineering machinery ontology switching
The execution arm angle sensor (51) of body rotational angle and be located at execute terminal with execute arm switching at monitoring execution terminal it is opposite
Execute the execution terminal point sensor (52) of arm rotational angle.
3. a kind of control method of engineering machinery electro-fluid execution track control system according to claim 1 or 2, feature
It is: includes the following steps: that 1) operator passes through the setting input action instruction of user's operation panel；2) data processing of CPU, together
When be shown on user's operation panel and check and modify setting for user；3) CPU output action instruction makes lifting hydraulic cylinder and turns over
Turn hydraulic cylinder movement, is performed simultaneously arm angle sensor and feeds back to execution arm relative to the angle, θ that engineering machinery ontology rotates
CPU, execution terminal point sensor will execute terminal and feed back to CPU relative to the angle γ for executing arm rotation, then be calculated by CPU
Height H ' of the highest point from ground where engineering machinery of terminal is executed out, and operator's opertions engineering machinery makes to execute terminal most
Height H ' of the high point from ground where engineering machinery is no more than the limit for height H at scene.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810869016.4A CN109024726A (en) | 2018-08-02 | 2018-08-02 | A kind of engineering machinery electro-fluid execution track control system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810869016.4A CN109024726A (en) | 2018-08-02 | 2018-08-02 | A kind of engineering machinery electro-fluid execution track control system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109024726A true CN109024726A (en) | 2018-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810869016.4A Pending CN109024726A (en) | 2018-08-02 | 2018-08-02 | A kind of engineering machinery electro-fluid execution track control system and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111636512A (en) * | 2020-06-30 | 2020-09-08 | 柳工常州机械有限公司 | Automatic leveling equipment and automatic leveling and automatic height limiting control method |
-
2018
- 2018-08-02 CN CN201810869016.4A patent/CN109024726A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111636512A (en) * | 2020-06-30 | 2020-09-08 | 柳工常州机械有限公司 | Automatic leveling equipment and automatic leveling and automatic height limiting control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200909 Address after: 100027 Beijing, Chaoyangmen, North Street, No. 22, No. Applicant after: China Petroleum & Chemical Corp. Applicant after: South China branch of Sinopec Sales Co.,Ltd. Applicant after: YANGZHOU HENGCHUN ELECTRONIC Co.,Ltd. Address before: 510620 38-40 tower, A tower, Sinopec building, 191 Sports West Road, Tianhe District, Guangzhou, Guangdong. Applicant before: SOUTH CHINA BRANCH OF SINOPEC CHEMICAL COMMERCIAL HOLDING Co.,Ltd. Applicant before: YANGZHOU HENGCHUN ELECTRONIC Co.,Ltd. |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181218 |