CN109322338B - Excavator and pushing pressure control method thereof - Google Patents
Excavator and pushing pressure control method thereof Download PDFInfo
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- CN109322338B CN109322338B CN201811273324.7A CN201811273324A CN109322338B CN 109322338 B CN109322338 B CN 109322338B CN 201811273324 A CN201811273324 A CN 201811273324A CN 109322338 B CN109322338 B CN 109322338B
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- 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
- E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/308—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom working outwardly
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- 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
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- 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
Abstract
The invention discloses an excavator and a pushing pressure control method thereof, wherein the method comprises the following steps: the first detection unit detects the telescopic stroke of the bucket and sends the telescopic stroke to the control unit. The second detection unit detects a lift stroke of the bucket and sends the lift stroke to the control unit. The control unit determines an output torque threshold of the first motor according to the telescopic stroke and the lifting stroke, controls the output torque of the first motor to be equal to the output torque threshold, and outputs preset pushing force through the pushing unit. According to the excavator and the pushing force control method thereof, the telescopic stroke and the lifting stroke of the bucket are detected, the output torque threshold value at the current position is determined after the position of the bucket relative to the boom is determined, the output torque threshold values under different working conditions can be obtained in real time, the first motor outputs the output torque equal to the output torque threshold value, the occurrence probability of the boom jacking phenomenon is reduced, and the production efficiency is high.
Description
Technical Field
The invention relates to the technical field of material excavation, in particular to an excavator and a pushing pressure control method thereof.
Background
The excavator is a commonly used equipment for material excavation, and it includes: the device comprises a base, a bucket rod, a crane boom, a gear rack pushing device and a lifting device. The crane boom and the base form a certain inclination angle, the bottom end of the crane boom is hinged to the base through a pin shaft, and the top end of the crane boom is suspended. The one end at the dipper is connected to the scraper bowl, and the dipper passes through rack and pinion thrust unit with the jib loading boom to be connected, drives gear through first motor and rotates, makes the rack take place to stretch out and draw back, and then drives the dipper and stretch out and draw back, controls the flexible stroke of scraper bowl. One end of the lifting device is connected with a second motor positioned on the base, the other end of the lifting device is connected with the bucket by bypassing the top end of the crane boom, and the bucket is driven to move up and down through the rotation of the second motor.
In the working process of the excavator, when a material with high hardness is excavated, the bucket needs to apply a large acting force to the material, correspondingly, the reaction force of the material to the bucket is large, and the reaction force acts on the crane boom through the bucket, the bucket rod and the gear and rack push-press device, so that the crane boom rotates around the hinge pin shaft and is jacked up. After the crane boom is jacked up, when the reaction force of the materials disappears, the crane boom generates larger impact in the falling process, and the damage to equipment is larger. In the prior art, the output torque of the first motor is limited, the pushing force of the excavator is controlled at a certain preset safety value, the acting force of the bucket on materials is limited within a certain range, and the crane boom is prevented from being jacked up due to the large reaction force.
The inventor finds that the prior art has at least the following problems:
when the telescopic stroke and the lifting stroke of the bucket are different, the force action directions of the bucket on the crane boom are different, and the pushing force of the crane boom during jacking is different. The torque limiting amplitude in the prior art cannot be adjusted in real time according to actual working conditions, if the output torque limiting value is small, the production efficiency is affected, and if the output torque limiting value is large, the probability that the crane boom is jacked up is high.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides an excavator and a pushing pressure control method thereof. The specific technical scheme is as follows:
in one aspect, an excavator is provided, the excavator comprising: base, scraper bowl, dipper, jib loading boom, bulldoze unit, hoist unit, first motor and second motor, the excavator still includes: first detection unit, second detection unit and control unit: the bottom end of the cargo boom is hinged to the base through a pin shaft, and the top end of the cargo boom is suspended in the air; the bucket is connected to one end of the bucket rod, the bucket rod is connected with the cargo boom through the pushing unit, and the first motor is located on the cargo boom, is connected with the bucket rod through the pushing unit and is used for driving the bucket rod to stretch and retract; the second motor is positioned on the base, one end of the lifting unit is connected with the second motor, the other end of the lifting unit bypasses the top end of the cargo boom and is connected with the bucket, and the second motor drives the bucket to move up and down through the lifting unit; the control unit is respectively connected with the first detection unit, the second detection unit and the first motor; the first detection unit is used for detecting the telescopic stroke of the bucket and sending the telescopic stroke to the control unit; the second detection unit is used for detecting the lifting stroke of the bucket and sending the lifting stroke to the control unit; the control unit is used for determining an output torque threshold of the first motor according to the telescopic stroke and the lifting stroke, and controlling the output torque of the first motor to be equal to the output torque threshold.
Further, the excavator further comprises a third detection unit, wherein the third detection unit is arranged on the first motor, is connected with the control unit and is used for detecting the output torque of the first motor and sending the output torque to the control unit.
Furthermore, a proximity switch is arranged above the base, the proximity switch is opposite to the lifting arm and is connected with the control unit, and the proximity switch is pressed when the lifting arm is jacked up.
Further, the pushing unit comprises a gear and a rack which are meshed with each other, the gear is rotatably arranged on the cargo boom, the rack is arranged on the bucket rod, and the first motor is connected with the gear to drive the gear to rotate.
Furthermore, the lifting unit is a cable, one end of the cable is wound on a winding drum, the other end of the cable is connected with the bucket, and the second motor is connected with the winding drum to drive the winding drum to rotate.
In another aspect, there is provided a pushing force control method of an excavator, the method including: the first detection unit detects the telescopic stroke of the bucket and sends the telescopic stroke to the control unit; the second detection unit detects the lifting stroke of the bucket and sends the lifting stroke to the control unit; the control unit determines an output torque threshold of the first motor according to the telescopic stroke and the lifting stroke, controls the output torque of the first motor to be equal to the output torque threshold, and outputs preset pushing force through the pushing unit.
Further, the control unit determines an output torque threshold of the first motor according to the telescopic stroke and the lifting stroke, and includes: the control unit determines the position of the bucket relative to a boom according to the telescopic stroke and the lifting stroke; acquiring the gravity moment of the cargo boom and the lifting moment of a lifting unit, determining the pushing force moment when the cargo boom is balanced according to the gravity moment, the lifting moment and the position of the bucket relative to the cargo boom, and determining the output torque threshold of the first motor according to the pushing force moment.
Further, the control unit also stores a plurality of history recording sequences, and each history recording sequence in the plurality of history recording sequences comprises: recording a telescopic stroke, a lifting stroke and a recording output torque of a first motor; the method further comprises the following steps: and the control unit controls the output torque of the first motor to be smaller than or equal to the recorded output torque of the first motor in the historical recording sequence when the received telescopic stroke and the received lifting stroke are the same as the recorded telescopic stroke and the recorded lifting stroke in the historical recording sequence.
Further, when the boom is jacked up, the proximity switch is pressed, the control unit collects and records the output torque of the first motor at the moment as the recorded output torque, collects and records the telescopic stroke at the moment as the recorded telescopic stroke, and collects and records the lifting stroke at the moment as the recorded lifting stroke, so that a history recording sequence is formed.
The technical scheme of the invention has the following main advantages:
according to the excavator and the pushing force control method thereof, the telescopic stroke and the lifting stroke of the bucket are detected, the output torque threshold value at the current position is determined after the position of the bucket relative to the boom is determined, the output torque threshold values under different working conditions can be obtained in real time, the first motor outputs the output torque equal to the output torque threshold value, the occurrence probability of the boom jacking phenomenon is reduced, and the production efficiency is high.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of an excavator according to an embodiment of the present invention;
fig. 2 is a flowchart of a pushing force control method of an excavator according to an embodiment of the present invention.
Description of reference numerals:
1-base, 2-bucket, 3-bucket rod, 4-boom, 5-pushing unit, 51-gear, 52-rack, 6-lifting unit, 7-first motor, 8-second motor and 9-proximity switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides an excavator, including: the device comprises a base 1, a bucket 2, an arm 3, a boom 4, a pushing unit 5, a lifting unit 6, a first motor 7, a second motor 8, a first detection unit, a second detection unit and a control unit. The bottom end of the crane boom 4 is hinged to the base 1 through a pin shaft, and the top end of the crane boom is suspended. Bucket 2 is connected to one end of arm 3, arm 3 is connected to boom 4 by pushing unit 5, and first motor 7 is located on boom 4, is connected to arm 3 by pushing unit 5, and is used for driving arm 3 to extend and contract. The second motor 8 is located on the base 1, one end of the lifting unit 6 is connected with the second motor 8, the other end of the lifting unit bypasses the top end of the crane boom 4 and is connected with the bucket 2, and the second motor 8 drives the bucket 2 to move up and down through the lifting unit 6. The control unit is respectively connected with the first detection unit, the second detection unit and the first motor 7. And the first detection unit is used for detecting the telescopic stroke of the bucket 2 and sending the telescopic stroke to the control unit. And the second detection unit is used for detecting the lifting stroke of the bucket 2 and sending the lifting stroke to the control unit. And the control unit is used for determining an output torque threshold value of the first motor 7 according to the telescopic stroke and the lifting stroke, and controlling the output torque of the first motor 7 to be equal to the output torque threshold value.
The following explains the working principle of the excavator provided by the embodiment of the invention:
the bottom end of the crane boom 4 is hinged to the base 1 through a pin shaft, and the top end of the crane boom is suspended in the air to serve as a frame for mounting other components. The arm 3 is connected to the boom 4 by the pushing unit 5, and the first motor 7 drives the arm 3 to extend and contract by the pushing unit 5, thereby controlling the extending and contracting stroke of the bucket 2. One end of the lifting unit 6 is connected with the second motor 8 positioned on the base 1, the other end of the lifting unit is connected with the bucket 2, the bucket 2 is driven to move up and down through the second motor 8, and therefore the bucket 2 can stretch and/or move up and down to a preset position through the matching of the first motor 7 and the second motor 8, and material excavating operation is carried out. The first detection unit detects the telescopic stroke of the bucket 2 and sends the telescopic stroke to the control unit. The second detection unit detects the lift stroke of the bucket 2 and sends the lift stroke to the control unit. The control unit determines the position of the bucket 2 relative to the boom 4 according to the telescopic stroke and the lifting stroke, performs stress analysis on the gravity arm according to the known (input) gravity moment of the boom 4 and the known lifting moment of the lifting unit 6 to obtain the pushing force moment when the boom 4 is balanced, determines the output torque threshold of the first motor 7 according to the pushing force moment, and controls the output torque of the first motor 7 to be equal to the output torque threshold.
Therefore, the excavator provided by the embodiment of the invention can move the bucket 2 to different positions to perform the excavating operation of the materials. And the telescopic stroke and the lifting stroke of the bucket 2 are detected, the output torque threshold value at the current position is determined after the position of the bucket 2 relative to the crane boom 4 is determined, the output torque threshold values under different working conditions are obtained in real time, and the first motor 7 outputs the output torque equal to the output torque threshold value in real time, so that the occurrence probability of the jacking phenomenon of the crane boom 4 is reduced, and the production efficiency is high.
Optionally, the excavator provided in the embodiment of the present invention further includes a third detecting unit, which is disposed on the first motor 7 and connected to the control unit, and is configured to detect the output torque of the first motor 7 and send the output torque to the control unit. By arranging the third detection unit to detect the output torque of the first motor 7, whether the operation of the first motor 7 meets expectations or not can be monitored, the use reliability of the excavator is improved, and the output torque of the first motor 7 can be recorded.
Wherein, the third detecting unit may obtain the output torque of the first motor 7 by detecting the input current of the first motor 7.
Wherein the control unit may control the output torque of the first motor 7 by:
as an example, after obtaining the output torque threshold, the control unit calculates an input current corresponding to the output torque threshold, and controls the input current of the first motor 7 to be equal to the input current corresponding to the output torque threshold.
As another example, when the first electric machine 7 is operated, the input current is continuously increased to continuously increase the output torque of the first electric machine 7. The control unit monitors the output torque of the first motor 7 through the third detection unit, and when the output torque is equal to the output torque threshold, the control unit sends out an instruction to stop increasing the input current, so that the output torque of the first motor 7 is kept unchanged at the output torque threshold.
Optionally, a proximity switch 9 is further disposed above the base 1, the proximity switch 9 is opposite to the lift arm 4 and connected to the control unit, and the proximity switch 9 is pressed when the lift arm 4 is jacked up. By arranging the proximity switch 9, the proximity switch 9 is pressed when the cargo boom 4 is jacked up, the control unit determines that the cargo boom 4 is lifted when receiving the control switch pressed, the corresponding relation between the current telescopic stroke, the current lifting stroke and the output torque of the first motor 7 can be obtained through the first detection unit, the second detection unit and the third detection unit to be used as a history sequence, the output torque of the first motor 7 can be conveniently determined through the history sequence in the subsequent operation process, the excavator has a memory function, and the self-adaptability of the excavator in different excavation places is improved.
The proximity switch 9 can be in contact with the boom 4 when not being pressed, or can be spaced from the boom 4 by 1-2 cm, for example, 1cm, 1.5cm, or 2cm, so that the stroke from the start of jacking the boom 4 to the pressing of the proximity switch 9 is short, and the boom 4 can be detected when being jacked slightly.
How the pushing unit 5 converts the output torque of the first motor 7 into the pushing force to drive the arm 3 to extend and contract will be described as follows: the pushing unit 5 comprises a gear 51 and a rack 52 which are meshed with each other, the gear 51 is rotatably arranged on the lifting arm 4, the rack 52 is arranged on the bucket rod 3, and the first motor 7 is connected with the gear 51 to enable the gear 51 to rotate. The first motor 7 drives the gear 51 to rotate, the gear 51 is meshed with the rack 52, the rack 52 is made to extend and retract, the arm 3 is made to extend and retract, the extending and retracting stroke of the bucket 2 is in proportional relation to the rotating angle of the first motor 7 and the rotating angle of the gear 51, and the pushing force is in proportional relation to the output torque of the first motor 7.
Wherein, the first detecting unit can obtain the telescopic stroke of the bucket 2 by detecting the rotation angle of the gear 51. Illustratively, the first detection unit may be a rotary encoder.
Alternatively, the hoisting unit 6 may be a cable, one end of which is wound on a drum, which is rotated by the second motor 8. One end of the mooring rope is wound on the winding drum, the other end of the mooring rope is connected with the bucket 2 by bypassing the top end of the crane boom 4, and the winding drum increases or decreases the release length of the mooring rope when rotating to drive the bucket 2 to move up and down. And the lift stroke of the bucket 2 is in proportional relation to the rotation angle of the second motor 8 and the rotation angle of the drum, respectively, the lift stroke of the bucket 2 can be obtained by detecting the rotation angle of the second motor 8 and/or the rotation angle of the drum.
Wherein the second detecting unit may obtain the lifting stroke of the bucket 2 by detecting the rotation angle of the drum, and exemplarily, the second detecting unit may be a rotary encoder.
In a second aspect, an embodiment of the present invention provides a method for controlling a pushing force of an excavator, as shown in fig. 2, the method including:
in step 101, the first detection unit detects the extension stroke of the bucket 2 and sends the extension stroke to the control unit.
In step 102, the second detection unit detects the lift stroke of the bucket 2 and sends the lift stroke to the control unit.
And 103, determining an output torque threshold value of the first motor 7 by the control unit according to the expansion stroke and the lifting stroke, controlling the output torque of the first motor 7 to be equal to the output torque threshold value, and outputting a preset pushing force through the pushing unit 5.
Wherein, the step 101 and the step 102 are not sequential and can be performed simultaneously. According to the pushing force control method of the excavator, provided by the embodiment of the invention, the telescopic stroke and the lifting stroke of the bucket 2 are detected, the output torque threshold value at the current position is determined after the position of the bucket 2 relative to the boom 4 is determined, the output torque threshold values under different working conditions are obtained in real time, the first motor 7 outputs the output torque equal to the output torque threshold value in real time, and further the pushing force of the bucket 2 is controlled within the preset range, so that the occurrence probability of the jacking phenomenon of the boom 4 is reduced, and the production efficiency is higher.
As to how the control unit determines the output torque threshold of the first motor 7 from the telescopic stroke and the lift stroke, the following is exemplified:
the control unit determines the threshold value of the output torque of the first motor 7 according to the extension stroke and the lifting stroke, and comprises: determining the position of the bucket 2 relative to the boom 4 according to the telescopic stroke and the lifting stroke; the gravity moment of the cargo boom 4 and the lifting moment of the lifting unit 6 are acquired, the pushing force moment when the cargo boom 4 is balanced is determined according to the gravity moment, the lifting moment and the position of the bucket 2 relative to the cargo boom 4, and the output torque threshold of the first motor 7 is determined according to the pushing force moment.
Wherein the control unit can determine the position of the bucket 2 relative to the boom 4 by means of analytic geometry, depending on the extension stroke and the lifting stroke. The direction of the pushing force applied to the boom 4 can be determined from the position of the bucket 2 relative to the boom 4, and when the magnitude and direction of the gravity moment of the boom 4 are known and the magnitude and direction of the lifting moment are known, the pushing force moment (i.e., the allowable maximum pushing force) when the boom 4 is balanced can be obtained by analyzing the force applied to the boom 4, and the pushing force corresponding to the output torque threshold of the first motor 7 can be smaller than or equal to the pushing force moment when the boom 4 is balanced.
The ratio of the pushing force corresponding to the output torque threshold of the first motor 7 to the pushing force moment when the boom 4 is balanced may be 0.9-1, for example, 0.9, 0.92, 0.95, 1, etc. Therefore, the production efficiency can be kept high, and the jacking probability of the crane boom 4 is low.
Optionally, during the operation of the excavator, when the boom 4 is jacked up, the proximity switch 9 is pressed, the control unit collects and records the output torque of the first motor 7 at the moment as a recorded output torque, collects and records the telescopic stroke at the moment as a recorded telescopic stroke, and collects and records the lifting stroke at the moment as a recorded lifting stroke, so as to form a history recording sequence.
The control unit also stores a plurality of history recording sequences, and each history recording sequence in the plurality of history recording sequences comprises: recording the telescopic stroke, recording the lifting stroke and recording the output torque of the first motor 7. The method further comprises the following steps: when the telescopic stroke and the lifting stroke received by the control unit are the same as the recorded telescopic stroke and the recorded lifting stroke in the historical recording sequence, the output torque of the first motor 7 is controlled to be smaller than or equal to the recorded output torque of the first motor 7 in the historical recording sequence.
And recording data when the boom 4 is jacked as a historical record sequence, and controlling the output torque of the first motor 7 to be smaller than or equal to the recorded output torque in the historical record sequence when the current position of the bucket 2 is detected to be consistent with the position of the bucket 2 in the historical record sequence in the subsequent operation process. Through the process, the excavator can record a plurality of dangerous positions in the working process, and control the output torque in the subsequent similar scene operation, so that the excavator has a memory function, and the self-adaption performance in different excavation places is improved.
The ratio of the output torque of the first motor 7 to the recorded output torque of the first motor 7 in the history sequence may be 0.8-1, for example, 0.8, 0.9, 1, and the like, so as to further reduce the jacking probability of the boom 4.
Optionally, the control unit may further be provided with a control switch for controlling whether the control unit operates, so as to select whether the pushing pressure control method is applicable according to actual working conditions, thereby expanding the application range of the excavator.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are referred to the placement states shown in the drawings.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. An excavator, the excavator comprising: base, scraper bowl, dipper, jib loading boom, bulldoze unit, hoist unit, first motor and second motor, its characterized in that, the excavator still includes: the device comprises a first detection unit, a second detection unit and a control unit;
the bottom end of the cargo boom is hinged to the base through a pin shaft, and the top end of the cargo boom is suspended in the air;
the bucket is connected to one end of the bucket rod, the bucket rod is connected with the cargo boom through the pushing unit, and the first motor is located on the cargo boom, is connected with the bucket rod through the pushing unit and is used for driving the bucket rod to stretch and retract;
the second motor is positioned on the base, one end of the lifting unit is connected with the second motor, the other end of the lifting unit bypasses the top end of the cargo boom and is connected with the bucket, and the second motor drives the bucket to move up and down through the lifting unit;
the control unit is respectively connected with the first detection unit, the second detection unit and the first motor;
the first detection unit is used for detecting the telescopic stroke of the bucket and sending the telescopic stroke to the control unit;
the second detection unit is used for detecting the lifting stroke of the bucket and sending the lifting stroke to the control unit;
the control unit is used for determining an output torque threshold of the first motor according to the telescopic stroke and the lifting stroke and controlling the output torque of the first motor to be equal to the output torque threshold;
wherein the control unit is used for determining an output torque threshold of the first motor according to the telescopic stroke and the lifting stroke, and comprises: the control unit is used for determining the position of the bucket relative to the cargo boom according to the telescopic stroke and the lifting stroke, acquiring the gravity moment of the cargo boom and the lifting moment of the lifting unit, determining the pushing force moment when the cargo boom is balanced according to the gravity moment, the lifting moment and the position of the bucket relative to the cargo boom, and determining the output torque threshold of the first motor according to the pushing force moment;
the excavator further comprises a third detection unit, wherein the third detection unit is arranged on the first motor, is connected with the control unit and is used for detecting the output torque of the first motor and sending the output torque to the control unit;
a proximity switch is further arranged above the base, the proximity switch is opposite to the lifting arm and is connected with the control unit, and the proximity switch is pressed when the lifting arm is jacked up;
the control unit determines that the cargo boom is lifted when receiving the pressing of the control switch, and the corresponding relation between the current telescopic stroke, the current lifting stroke and the output torque of the first motor is acquired as a historical record sequence through the first detection unit, the second detection unit and the third detection unit, so that the output torque of the first motor can be determined through the historical record sequence in the subsequent operation process, the excavator has a memory function, and the self-adaption performance under different excavation places is improved.
2. The excavator of claim 1 wherein the pushing unit comprises a gear and a rack engaged with each other, the gear is rotatably disposed on the boom, the rack is disposed on the arm, and the first motor is connected to the gear to rotate the gear.
3. The excavator of claim 1 wherein the hoist unit is a cable having one end wound around a drum and the other end connected to the bucket, and the second motor is connected to the drum to rotate the drum.
4. A pushing force control method using the excavator according to any one of claims 1 to 3, the method comprising:
the first detection unit detects the telescopic stroke of the bucket and sends the telescopic stroke to the control unit;
the second detection unit detects the lifting stroke of the bucket and sends the lifting stroke to the control unit;
the control unit determines an output torque threshold of a first motor according to the telescopic stroke and the lifting stroke, controls the output torque of the first motor to be equal to the output torque threshold, and outputs preset pushing force through a pushing unit;
the control unit determines an output torque threshold of the first motor according to the telescopic stroke and the lifting stroke, and comprises:
the control unit determines the position of the bucket relative to a boom according to the telescopic stroke and the lifting stroke;
acquiring the gravity moment of the cargo boom and the lifting moment of a lifting unit, determining the pushing force moment when the cargo boom is balanced according to the gravity moment, the lifting moment and the position of the bucket relative to the cargo boom, and determining the output torque threshold of the first motor according to the pushing force moment.
5. The method for controlling pushing force of an excavator according to claim 4, wherein the control unit further stores a plurality of history sequences, each of the plurality of history sequences including: recording a telescopic stroke, a lifting stroke and a recording output torque of a first motor;
the method further comprises the following steps: and the control unit controls the output torque of the first motor to be smaller than or equal to the recorded output torque of the first motor in the historical recording sequence when the received telescopic stroke and the received lifting stroke are the same as the recorded telescopic stroke and the recorded lifting stroke in the historical recording sequence.
6. A pushing force control method for an excavator according to claim 5 wherein the proximity switch is pressed when the boom is raised, and the control unit collects and records the output torque of the first motor at that time as the recorded output torque, collects and records the telescopic stroke at that time as the recorded telescopic stroke, and collects and records the lift stroke at that time as the recorded lift stroke, forming a history sequence.
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| CN111395440A (en) * | 2020-04-13 | 2020-07-10 | 内蒙古霍林河露天煤业股份有限公司 | Pushing limiting system and method for WK-10B electric shovel and electric shovel |
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| CA2896857A1 (en) * | 2013-01-14 | 2014-07-17 | Caterpillar Global Mining Llc | Control systems for a mining vehicle |
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| CN205576994U (en) * | 2016-05-09 | 2016-09-14 | 程娟娟 | Novel excavating equipment |
| CN106193168B (en) * | 2016-07-06 | 2019-01-25 | 太原重型机械集团工程技术研发有限公司 | Large-sized mining dredger and its crane arm control protective unit, control method |
| CN107165217A (en) * | 2017-05-17 | 2017-09-15 | 广西玉柴重工有限公司 | A kind of revolution detecting system of hydraulic crawler excavator |
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| CN102817390A (en) * | 2011-04-14 | 2012-12-12 | 哈尼施费格尔技术公司 | Swing automation for rope shovel |
| CA2896857A1 (en) * | 2013-01-14 | 2014-07-17 | Caterpillar Global Mining Llc | Control systems for a mining vehicle |
| CN103171984A (en) * | 2013-04-03 | 2013-06-26 | 中联重科股份有限公司 | Variable-amplitude limiting device and crane |
| CN105275030A (en) * | 2015-11-11 | 2016-01-27 | 太原重工股份有限公司 | Ejection limiting device for cargo boom of excavator |
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