CN109914517B - Intelligent rotation energy-saving control system of excavator - Google Patents
Intelligent rotation energy-saving control system of excavator Download PDFInfo
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- CN109914517B CN109914517B CN201910230562.8A CN201910230562A CN109914517B CN 109914517 B CN109914517 B CN 109914517B CN 201910230562 A CN201910230562 A CN 201910230562A CN 109914517 B CN109914517 B CN 109914517B
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Abstract
The invention discloses an intelligent rotary energy-saving control system of an excavator, which comprises an inclination angle sensor arranged on a movable arm of the excavator, a bucket rod inclination angle sensor arranged on a bucket rod, a bucket inclination angle sensor arranged on a bucket, a rotary platform corner sensor arranged at the center of a rotary platform, a bucket pressure sensor arranged on a bucket cylinder, an electromagnetic handle arranged in a cab for controlling rotary motion, a rotary hydraulic system for controlling the rotary platform to rotate, and an excavator controller respectively connected with the movable arm inclination angle sensor, the bucket rod inclination angle sensor, the bucket pressure sensor, the rotary platform corner sensor, the electromagnetic handle and the hydraulic system; the rotary hydraulic system comprises an electromagnetic proportional valve, a rotary motor and a hydraulic pump, an oil way is additionally arranged between two oil ways for connecting the rotary motor and the electromagnetic directional valve, and the oil way comprises a bidirectional electromagnetic on-off valve and a one-way valve.
Description
Technical Field
The invention relates to an intelligent rotation energy-saving control system of an excavator, which can be used for saving braking energy by fully utilizing the rotation inertia moment of a rotation platform by matching the working state of the excavator on the premise of intelligently realizing the rotation action of the excavator.
Background
At present, when an excavator performs a rotation action, the excavator is mainly operated by a driver, intelligent operation cannot be performed, and much energy is consumed during braking.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an intelligent rotary energy-saving control system of an excavator, signals are input to an excavator controller through a control handle, the controller calculates the switching time of an electromagnetic proportional valve when a rotary platform rotates to a target angle by matching the parameters of a rotary hydraulic system of the excavator, and the excavator controller inputs electric signals of the calculated time to the electromagnetic proportional valve to complete actions.
The invention is realized by the following technical scheme:
an intelligent rotary energy-saving control system of an excavator comprises an inclination angle sensor arranged on a movable arm of the excavator, a bucket rod inclination angle sensor arranged on a bucket rod, a bucket inclination angle sensor arranged on a bucket, a rotary platform corner sensor arranged at the center of a rotary platform, a bucket pressure sensor arranged on a bucket cylinder, an electromagnetic handle arranged in a cab and used for controlling rotary motion, a rotary hydraulic system used for controlling the rotary platform to rotate, and an excavator controller respectively connected with the movable arm inclination angle sensor, the bucket rod inclination angle sensor, the bucket pressure sensor, the rotary platform corner sensor, the electromagnetic handle and the hydraulic system; the rotary hydraulic system comprises an electromagnetic proportional valve, a rotary motor and a hydraulic pump, an oil way is additionally arranged between two oil ways for connecting the rotary motor and the electromagnetic directional valve, and the oil way comprises a bidirectional electromagnetic on-off valve and a one-way valve.
The rotary hydraulic system also comprises a second electromagnetic on-off valve, a brake and an oil tank; an oil outlet of the hydraulic pump is connected with an oil inlet P of the electromagnetic proportional valve, an A port and a B port of the electromagnetic proportional valve are respectively connected with an A port and a B port of the rotary motor, and an oil suction port of the hydraulic pump and a T port of the electromagnetic proportional valve are both connected with an oil tank; a connecting port is respectively arranged between two oil ways for connecting the rotary motor and the electromagnetic proportional valve, two oil ports of the bidirectional electromagnetic on-off valve are respectively connected with the two connecting points, a connecting point is arranged between any connecting point and the bidirectional electromagnetic on-off valve and is connected with an oil outlet of the one-way valve, and an oil inlet of the one-way valve is connected with an oil tank; an oil inlet of the second electromagnetic on-off valve is connected with an oil way of a pilot system of the excavator, and an oil outlet of the second electromagnetic on-off valve is connected with an oil inlet of a brake of the rotary motor speed reducer; the rotary motor is connected with the central shaft of the rotary platform; the hydraulic pump outlet is provided with a hydraulic pump pressure sensor, the rotary motor oil inlet is provided with a rotary motor pressure sensor, and the hydraulic pump pressure sensor, the rotary motor pressure sensor, the electromagnetic proportional valve, the electromagnetic on-off valve and the bidirectional electromagnetic on-off valve are connected to the excavator controller together.
The rotation angle sensor is arranged on the rotary platform and feeds back the rotation angle sensor to the excavator controller in real time, so that the rotary platform can accurately rotate to a target angle.
The energy-saving rotary table is characterized in that an oil path is connected between the rotary motor and two oil paths of an electromagnetic directional valve for controlling rotary motion, the oil path comprises a bidirectional electromagnetic on-off valve and a one-way valve, the bidirectional electromagnetic on-off valve is connected with an oil path at one end, the oil inlet end of the one-way valve is connected with the other end of an oil tank, the other end of the oil tank is connected with the bidirectional electromagnetic on-off valve in parallel to reduce hydraulic braking torque, and inertia torque is fully utilized as driving torque to enable the rotary table to reach a target angle.
The excavator working devices are all provided with inclination angle sensors, the bucket oil cylinder is provided with a pressure sensor which is jointly input into an excavator controller, the positions of the working devices are determined through a movable arm inclination angle sensor, a bucket rod inclination angle sensor and a bucket inclination angle sensor, and bucket loads are measured through the bucket sensors, so that the current rotary inertia of the rotary platform is calculated.
Drawings
FIG. 1 is a schematic diagram of the overall control of the present invention
FIG. 2 is a schematic view of a sensor of the present invention
FIG. 3 is a schematic diagram of an example excavator swing hydraulic system according to the present invention
In the figure:
1-a boom tilt sensor; 2-a dipper tilt angle sensor; 3-bucket tilt sensor; 4-bucket pressure sensor; 5-a rotary platform corner sensor; 6-an electromagnetic handle; 7-an electromagnetic proportional valve; 8-a rotary motor; 9-a bidirectional electromagnetic on-off valve; 10-a second electromagnetic on-off valve; 11-a brake; 12-a one-way valve; 13-oil tank; 14-a hydraulic pump; 15-an excavator controller; 16-hydraulic pump pressure sensor; 17-a rotary motor pressure sensor; 18-second rotary motor pressure sensor
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The intelligent rotary energy-saving control system of the excavator comprises an inclination angle sensor 1 arranged on a movable arm of the excavator, an arm inclination angle sensor 2 arranged on an arm, a bucket inclination angle sensor 3 arranged on a bucket, a rotary platform corner sensor 5 installed at the center of a rotary platform, a bucket pressure sensor 4 arranged on a bucket cylinder, an electromagnetic handle 6 installed in a cab for controlling rotary motion, a rotary hydraulic system for controlling the rotary platform to rotate, and an excavator controller 15 connected with the arm inclination angle sensor 1, the arm inclination angle sensor 2, the bucket inclination angle sensor 3, the bucket pressure sensor 4, the rotary platform corner sensor 5, the electromagnetic handle 6 and the hydraulic system respectively.
As shown in fig. 3, the slewing hydraulic system of the intelligent slewing energy-saving control system of the excavator is composed of an electromagnetic proportional valve 7, a slewing motor 8, a bidirectional electromagnetic on-off valve 9, a second electromagnetic on-off valve 10, a brake 11, a one-way valve 12, an oil tank 13 and a hydraulic pump 14. An oil outlet of the hydraulic pump 14 is connected with an oil inlet P of the electromagnetic proportional valve 7, an A port and a B port of the electromagnetic proportional valve 7 are respectively connected with an A port and a B port of the rotary motor 8, and an oil suction port of the hydraulic pump 14 and a T port of the electromagnetic proportional valve 7 are both connected with the oil tank 13. A connector is respectively arranged between an A, B port of the rotary motor 8 and two oil paths of a A, B port of an electromagnetic proportional valve 7 for controlling the rotary motor 8 to move to be connected with one oil path, the oil path comprises a two-way electromagnetic on-off valve 9 and a one-way valve 12, two oil ports of the two-way electromagnetic on-off valve 9 are respectively connected with the two connecting points, a connecting point is arranged between any connecting point and the two-way electromagnetic on-off valve to be connected with an oil outlet of the one-way valve, and an oil inlet of the one-way valve is connected with an oil tank. And an oil inlet of the second electromagnetic on-off valve 10 is connected with an oil way of a pilot system of the excavator, and an oil outlet of the second electromagnetic on-off valve is connected with an oil inlet of a brake 11 of a speed reducer of the rotary motor. And the rotary motor 8 is connected with a central shaft of the rotary platform and used for driving the rotary platform to rotate. A hydraulic pump pressure sensor 16 is arranged at the outlet of the hydraulic pump 14, rotary motor pressure sensors 17 and 18 are arranged at the oil inlet of the rotary motor, and the hydraulic pump pressure sensor 16, the rotary motor pressure sensor 17, the second rotary motor pressure sensor 18, the electromagnetic proportional valve 7, the electromagnetic on-off valve 10 and the bidirectional electromagnetic on-off valve 9 are connected to the excavator controller 15 together.
The rotation angle signal is input to the excavator controller 15 through the control handle 6, the excavator controller 15 calculates the flow input to the slewing motor 8 corresponding to the voltage input to the electromagnetic proportional valve 7 by matching the parameters of the excavator slewing hydraulic system, calculates the theoretical time required by the slewing platform to rotate to the target angle and outputs the continuous electric signal of the calculated time to the electromagnetic proportional valve 7 to realize the action of the slewing platform to rotate to the target angle.
The hydraulic pump pressure sensor 16 and the rotary motor pressure sensors 17 and 18 input pump outlet pressure and motor oil inlet pressure into the controller 15, theoretical flow of the valve port of the electromagnetic directional valve 7 can be obtained according to a valve port flow equation, and linear relation between input voltage of the controller 15 and the valve port flow of the electromagnetic directional valve 7 can be obtained by matching parameters of the electro-hydraulic proportional valve 7, so that the theoretical on-off time of the valve core is determined.
The rotary motor 8 is not fully utilized due to overflow or internal leakage of the hydraulic motor 8 and the output flow of the electromagnetic directional valve 7, so that the rotary platform is provided with a rotation angle sensor 5 to feed back the excavator controller 15 in real time.
The excavator working devices are all provided with inclination angle sensors, a bucket oil cylinder is provided with a pressure sensor which is input into an excavator controller together, the current positions of a movable arm, an arm and a bucket are determined through a movable arm inclination angle sensor 1, an arm inclination angle sensor 2 and a bucket inclination angle sensor 3, bucket loads are measured through a bucket pressure sensor 4, and the current rotary inertia of the rotary platform is calculated through matching excavator parameters.
When the excavator is decelerated and braked, the oil path from the hydraulic pump 14 is cut off at the moment, the hydraulic motor 8 continues to work under the action of the inertia moment of the rotary table, the braking moment of the rotary table is equal to the inertia moment, and the rotating angle theta of the rotary table in the braking process can be obtained according to the rotating speed before the deceleration and braking, the rotary table rotational inertia and the rotary table braking moment through theoretical mechanics.
When the difference between the target angle and the angle fed back to the system is equal to theta, the controller closes the electromagnetic directional valve 7 of the control rotary motor 8 and opens the two-way electromagnetic on-off valve 9, oil is supplemented from the oil tank 13 by the one-way valve 12, the rotary table continues to rotate to the target angle by taking the inertia moment as the driving moment, and at the moment, the controller closes the two-way electromagnetic on-off valve 9 and controls the electromagnetic switch 10 of the rotary speed reducer brake, so that the rotary platform is completely braked.
Claims (1)
1. An intelligent rotary energy-saving control system of an excavator is characterized by comprising an inclination angle sensor arranged on a movable arm of the excavator, a bucket rod inclination angle sensor arranged on a bucket rod, a bucket inclination angle sensor arranged on a bucket, a rotary platform corner sensor arranged at the center of a rotary platform, a bucket pressure sensor arranged on a bucket cylinder, an electromagnetic handle arranged in a cab for controlling rotary motion, a rotary hydraulic system for controlling the rotary platform to rotate, and an excavator controller respectively connected with the movable arm inclination angle sensor, the bucket rod inclination angle sensor, the bucket pressure sensor, the rotary platform corner sensor, the electromagnetic handle and the hydraulic system;
the rotary hydraulic system consists of an electromagnetic proportional valve, a rotary motor, a two-way electromagnetic on-off valve, a second electromagnetic on-off valve, a brake, a one-way valve, an oil tank and a hydraulic pump; an oil outlet of the hydraulic pump is connected with an oil inlet P of the electromagnetic proportional valve, and an opening A and an opening B of the electromagnetic proportional valve are respectively connected with an opening A and an opening B of the rotary motor; an oil suction port of the hydraulic pump and a T port of the electromagnetic proportional valve are both connected with the oil tank; a connector is respectively arranged between A, B ports of the rotary motor and two oil paths of A, B ports of an electromagnetic proportional valve for controlling the action of the rotary motor to be connected with an oil path, the oil path comprises a two-way electromagnetic on-off valve and a one-way valve, two oil ports of the two-way electromagnetic on-off valve are respectively connected with the two connectors, a connecting point is arranged between any connector and the two-way electromagnetic on-off valve to be connected with an oil outlet of the one-way valve, and an oil inlet of the one-way valve is connected with an oil tank; an oil inlet of the second electromagnetic on-off valve is connected with an oil way of a pilot system of the excavator, and an oil outlet of the second electromagnetic on-off valve is connected with an oil inlet of a brake of a rotary motor speed reducer; the rotary motor is connected with the central shaft of the rotary platform and used for driving the rotary platform to rotate; a hydraulic pump pressure sensor is arranged at the outlet of the hydraulic pump, and a rotary motor pressure sensor is arranged at the oil inlet of the rotary motor; the hydraulic pump pressure sensor, the rotary motor pressure sensor, the second rotary motor pressure sensor, the electromagnetic proportional valve, the electromagnetic on-off valve and the bidirectional electromagnetic on-off valve are connected to an excavator controller together;
the control method of the intelligent rotation energy-saving control system of the excavator comprises the following steps:
the rotation angle signal is input to the excavator controller through the handle, and the excavator controller outputs a continuous electric signal to the electromagnetic proportional valve through matching parameters of an excavator rotation hydraulic system to realize the action of rotating the rotary platform to a target angle;
when the excavator is decelerated and braked, an oil way from the hydraulic pump is cut off at the moment, the hydraulic motor continues to work under the action of the inertia moment of the rotary table, the braking moment acting on the rotary table is equal to the inertia moment at the moment, and the rotary table rotating angle theta in the braking process can be obtained according to the rotating speed before the deceleration and braking, the rotary table rotating inertia and the rotary table braking moment;
when the difference between the target angle and the angle fed back to the system is equal to theta, the controller closes an electromagnetic directional valve controlling the rotary motor and opens a bidirectional electromagnetic on-off valve, oil is supplemented from an oil tank by virtue of a one-way valve, the rotary table is continuously rotated to reach the target angle by virtue of inertia moment serving as driving moment, and at the moment, the controller closes the bidirectional electromagnetic on-off valve and controls an electromagnetic switch of a brake of the rotary speed reducer, so that the rotary platform is completely braked;
the energy-saving hydraulic brake system is characterized in that an oil path is connected between the rotary motor and two oil paths of the electromagnetic directional valve for controlling the rotary motion, the oil path comprises a bidirectional electromagnetic on-off valve and a one-way valve, the bidirectional electromagnetic on-off valve is connected with an oil path at one end, and the oil inlet end of the one-way valve is connected with the other end of the oil tank and is connected with the bidirectional electromagnetic on-off valve in parallel to reduce the hydraulic brake torque;
the excavator working devices are all provided with inclination angle sensors, the bucket oil cylinder is provided with a pressure sensor which is jointly input into an excavator controller, the positions of the working devices are determined through a movable arm inclination angle sensor, a bucket rod inclination angle sensor and a bucket inclination angle sensor, and bucket loads are measured through the bucket sensors, so that the current rotary inertia of the rotary platform is calculated.
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| CN201910230562.8A CN109914517B (en) | 2019-03-26 | 2019-03-26 | Intelligent rotation energy-saving control system of excavator |
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| CN201910230562.8A CN109914517B (en) | 2019-03-26 | 2019-03-26 | Intelligent rotation energy-saving control system of excavator |
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| CN109914517B true CN109914517B (en) | 2022-03-11 |
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| CN111335392B (en) * | 2020-03-09 | 2022-03-01 | 三一重机有限公司 | Control system and method for auxiliary device of excavator |
| WO2022099802A1 (en) * | 2020-11-12 | 2022-05-19 | 中铁工程机械研究设计院有限公司 | Rotary driving mechanism and construction device |
| CN115450278B (en) * | 2022-09-16 | 2023-09-22 | 江苏电子信息职业学院 | Auxiliary shoveling control method for loader bucket |
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| JP3902085B2 (en) * | 2002-07-15 | 2007-04-04 | 日立建機株式会社 | Swivel control device for construction machinery |
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