CN110777876A - Work control system and method for electric loader - Google Patents

Work control system and method for electric loader Download PDF

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Publication number
CN110777876A
CN110777876A CN201911216694.1A CN201911216694A CN110777876A CN 110777876 A CN110777876 A CN 110777876A CN 201911216694 A CN201911216694 A CN 201911216694A CN 110777876 A CN110777876 A CN 110777876A
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CN
China
Prior art keywords
motor
control unit
valve
pilot valve
motor controller
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.)
Pending
Application number
CN201911216694.1A
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Chinese (zh)
Inventor
董雯雯
李松
李寒光
张安民
黄二静
邱楚然
杜爽
陈立仁
孙红宝
李夏宇
王苏东
侯璐
侯卓磊
王伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Technology Branch of XCMG Engineering Machinery Co Ltd
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Technology Branch of XCMG Engineering Machinery Co Ltd
Priority date (The priority date 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 date listed.)
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Application filed by Technology Branch of XCMG Engineering Machinery Co Ltd filed Critical Technology Branch of XCMG Engineering Machinery Co Ltd
Priority to CN201911216694.1A priority Critical patent/CN110777876A/en
Publication of CN110777876A publication Critical patent/CN110777876A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; 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
    • E02F3/36Component parts
    • E02F3/42Drives for dippers, buckets, dipper-arms or bucket-arms
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/2004Control mechanisms, e.g. control levers
    • E02F9/2012Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/22Hydraulic or pneumatic drives
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/22Hydraulic or pneumatic drives
    • E02F9/2264Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267Valves or distributors

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention discloses a work control system and a work control method of an electric loader. The hydraulic pump is powered by the electric motor; the hydraulic pump outputs an oil source to the priority valve and the multi-way valve; the priority valve is connected with a steering gear, and the steering gear is connected with a steering oil cylinder; the multi-way valve is connected with the movable arm oil cylinder and the bucket oil cylinder; the multi-way valve is connected with a pilot valve, and the pilot valve is connected with a multifunctional handle; the signal acquisition mechanism is connected to the pilot valve; the system control unit is electrically connected with the motor controller, the multifunctional handle and the signal acquisition mechanism. The hydraulic system confirms the working function through the multifunctional handle, the system control unit, the motor controller and the motor; the signal acquisition mechanism acquires relatively stable signals by using the pressure sensor, and then realizes the adaptive adjustment of the hydraulic system according to the actual working condition through the system control unit, the motor controller and the motor; the system has the advantages of simple structure, low cost, strong anti-interference capability and higher reliability, avoids energy waste in the working process and reduces energy consumption.

Description

Work control system and method for electric loader
Technical Field
The invention relates to the technical field of shoveling engineering machinery vehicles, in particular to a work control system and a control method of an electric loader.
Background
The loader is used for loading, unloading, pushing, construction and other operations of bulk materials such as soil, gravel, coal and the like, and is widely applied to various construction places. With the continuous adjustment of the environmental protection policy in China, the electric loader is more and more favored by users due to low noise and zero pollution, and the market demand of loading mechanical electromotion is higher and higher; the current loader is driven by an internal combustion engine, the steering of the whole loader is hydraulic steering, and under the working condition of standby loading of the whole loader, the idling of the engine still drives a hydraulic system to work, so that the requirement of steering flow is ensured, and the energy waste is caused; meanwhile, the mainstream control mode of the current working device is still a pilot handle, and although the electronic intelligent handle control is applied to some high-end products, the electronic intelligent handle control has a complex structure, high requirements on a hydraulic system and extremely high cost.
Disclosure of Invention
In view of the existing technical problems, the invention provides a work control system and a control method of an electric loader.
The invention is realized by the following technical scheme: a work control system of an electric loader comprises a hydraulic pump, wherein the hydraulic pump is powered by an electric motor which is connected with a motor controller; the hydraulic pump outputs an oil source to a priority valve and a multi-way valve; the priority valve is connected with a steering gear, and the steering gear is connected with a steering oil cylinder; the multi-way valve is connected with a movable arm oil cylinder and a bucket oil cylinder;
the system also comprises a system control unit and a signal acquisition mechanism;
the multi-way valve is connected with a pilot valve, and the pilot valve is connected with a multifunctional handle; the signal acquisition mechanism is connected to the pilot valve and is used for acquiring a pressure signal of a pressure port of the pilot valve;
the system control unit is electrically connected with the motor controller, the multifunctional handle and the signal acquisition mechanism.
It further comprises the following steps: the multifunctional handle comprises a three-gear switch for controlling the gear of the whole vehicle, an enabling switch for confirming the working requirement of the hydraulic system and a horn switch for controlling the electric horn.
The pilot valve is connected with the multifunctional handle through a pipeline; when the multifunctional handle is pushed to generate certain displacement, the position of a valve rod of the pilot valve is changed and certain pressure change is generated;
the signal acquisition mechanism comprises a structural block, and four pressure sensors are mounted on the structural block; the first pressure sensor is used for collecting analog quantity signals of the change of the pilot valve pressure port when the movable arm is lifted, the second pressure sensor is used for collecting analog quantity signals of the change of the pilot valve pressure port when the movable arm is lowered, the third pressure sensor is used for collecting analog quantity signals of the change of the pilot valve pressure port when the bucket needs to be closed, and the fourth pressure sensor is used for collecting analog quantity signals of the change of the pilot valve pressure port when the bucket is unloaded.
The hydraulic pump is connected with the motor by a flange; the hydraulic pump is connected with the priority valve by a pipeline, the priority valve is connected with the steering gear by a pipeline, and the steering gear is connected with the steering oil cylinder by a pipeline and used for controlling the steering of the whole vehicle; the hydraulic pump is connected with the multi-way valve through a pipeline, and the multi-way valve is connected with the movable arm oil cylinder and the bucket oil cylinder through pipelines to provide power for a whole vehicle working system.
A control method of an electric loader work control system,
the system control unit and the motor controller are in information communication through a CAN bus to realize signal intercommunication;
the system control unit confirms that the hydraulic system needs to work after receiving an enabling switch signal on the multifunctional handle; then, the system control unit transmits the enabling switch signal to the motor controller in a CAN bus communication mode; after receiving the enabling switch signal, the motor controller sends an instruction to the motor, so that the motor runs at a certain rotating speed in an idling mode, and the flow requirement of a steering system is met;
the system control unit receives the analog quantity signal of the signal acquisition mechanism, performs logic calculation, calculates the torque and rotating speed requirements required by the working system corresponding to the pressure analog quantity signal, and transmits the torque and rotating speed requirements required by the working system to the motor controller in a CAN bus communication mode; and then, the motor controller logically calculates and converts the received torque and rotating speed demand signals required by the working system, sends an instruction to the motor, and the motor outputs a certain rotating speed and torque according to the instruction.
It further comprises the following steps: the system control unit controls the running gear of the whole vehicle after receiving a three-gear switch signal on the multifunctional handle;
and the system control unit controls the electric horn to work after receiving the horn switch signal on the multifunctional handle.
Compared with the prior art, the invention has the beneficial effects that:
1, a hydraulic system confirmation work function is realized through a multifunctional handle, a system control unit, a motor controller and a motor;
2, the signal acquisition mechanism acquires relatively stable signals by using the pressure sensor, and then the adaptability adjustment of the hydraulic system according to the actual working condition is realized through the system control unit, the motor controller and the motor;
the system has the advantages of simple structure, low cost, strong anti-interference capability and higher reliability, avoids energy waste in the working process and reduces energy consumption.
Drawings
FIG. 1 is a schematic diagram of a structure provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of the structure of the signal acquisition mechanism;
in the figure: 1. a first pressure sensor; 2. a second pressure sensor; 3. a third pressure sensor; 4. a fourth pressure sensor; 5. and (5) a structural block.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
Example one
As shown in fig. 1, an electric loader operation control system,
the hydraulic pump is connected with the priority valve by a pipeline, the priority valve is connected with the steering gear by a pipeline, and the steering gear is connected with the steering oil cylinder by a pipeline and used for controlling the steering of the whole vehicle;
the hydraulic pump is connected with the multi-way valve through a pipeline, and the multi-way valve is connected with the movable arm oil cylinder and the bucket oil cylinder through pipelines to provide power for a whole vehicle working system;
the multifunctional handle is connected with the pilot valve through a pipeline, the pilot valve is connected with the multi-way valve through a pipeline, the control of a working system is achieved, and the lifting, descending and the like of the working device of the loader can be controlled.
The system control unit is electrically connected with the motor controller, the multifunctional handle and the signal acquisition mechanism; the signal acquisition mechanism is used for acquiring a pressure signal of the pilot valve pressure port, and the multifunctional handle and the signal acquisition mechanism transmit the signal to the system control unit and output the signal to the motor controller after calculation by the system control unit. The motor controller is connected with the motor in a control mode, the motor is connected with the hydraulic pump through a flange, and the motor provides power for the hydraulic pump.
The multifunctional handle comprises a three-gear switch for controlling the gear of the whole vehicle, an enabling switch for confirming the working requirement of a hydraulic system and a horn switch for controlling the electric horn.
When the whole vehicle needs to control the working device to work, the multifunctional handle is operated to move up and down and left and right, the multifunctional handle is pushed to generate certain displacement, the displacement causes the position change of the valve rod of the pilot valve, the change of the position of the valve rod generates certain pressure change, and the signal acquisition mechanism is used for acquiring the pressure change signal.
Specifically, the method comprises the following steps: as shown in figure 2 of the drawings, in which,
the signal acquisition mechanism comprises a structural block 5, and four pressure sensors are arranged on the structural block; the first pressure sensor 1 is used for collecting analog quantity signals of the change of a pilot valve pressure port when a movable arm is lifted, the second pressure sensor 2 is used for collecting analog quantity signals of the change of the pilot valve pressure port when the movable arm is lowered, the third pressure sensor 3 is used for collecting analog quantity signals of the change of the pilot valve pressure port when a bucket needs to be closed, and the fourth pressure sensor 4 is used for collecting analog quantity signals of the change of the pilot valve pressure port when the bucket is unloaded.
Example two
A control method of an electric loader work control system, which is based on the first embodiment,
the system control unit and the motor controller are in information communication through a CAN bus to realize signal intercommunication;
when in work:
the system control unit confirms that the hydraulic system needs to work after receiving an enabling switch signal on the multifunctional handle; then, the system control unit transmits the enabling switch signal to the motor controller in a CAN bus communication mode; after receiving the enabling switch signal, the motor controller sends an instruction to the motor, so that the motor runs at a certain rotating speed in an idling mode, and the flow requirement of a steering system is met;
the system control unit receives the analog quantity signal of the signal acquisition mechanism, performs logic calculation, calculates the torque and rotating speed requirements required by the working system corresponding to the pressure analog quantity signal, and transmits the torque and rotating speed requirements required by the working system to the motor controller in a CAN bus communication mode; then, the motor controller logically calculates and converts the received torque and rotating speed demand signals required by the working system, and sends an instruction to the motor, and the motor outputs a certain rotating speed and torque according to the instruction;
the system control unit controls the running gear of the whole vehicle after receiving a three-gear switch signal on the multifunctional handle;
and the system control unit controls the electric horn to work after receiving the horn switch signal on the multifunctional handle.
In the embodiment, the pilot type multifunctional handle with the highest integration level and the most application of the current loading machinery is adopted, and when the whole vehicle is just started to be hot or is in a loading standby state, the whole vehicle does not need a hydraulic motor to work. Only when the enable switch of the multifunctional handle is pressed, the instruction can be sent to the system control unit, certain rotating speed and torque requirements are provided for the motor to meet the flow requirement of the steering system, and the motor can rotate at a certain rotating speed at the moment, so that the energy waste is avoided.
In this embodiment, when the system control unit receives the analog quantity signal of the pressure sensor and performs logic calculation, different pressure signal values meet different requirements of the working system on torque and rotating speed, so that the system requirement instruction obtained by logically calculating the model quantity signal is transmitted to the motor controller through the CAN bus, and the motor controller controls the motor to output corresponding rotating speed and torque according to the instruction.
In this embodiment, hydraulic components such as a steering system and a working cylinder are common components in the hydraulic field, and the type selection, installation, control and the like are common knowledge and conventional technical means in the field, which are not described in detail in this embodiment.
According to the embodiment, the hydraulic system confirms the working function through the multifunctional handle, the system control unit, the motor controller and the motor; the signal acquisition mechanism acquires relatively stable signals by using the pressure sensor, and then the adaptability adjustment of the hydraulic system according to actual working conditions is realized by the system control unit, the motor controller and the motor. The system has the advantages of simple structure, low cost, strong anti-interference capability and higher reliability, avoids energy waste in the working process and reduces energy consumption.

Claims (6)

1. A work control system of an electric loader comprises a hydraulic pump, wherein the hydraulic pump is powered by an electric motor which is connected with a motor controller; the hydraulic pump outputs an oil source to a priority valve and a multi-way valve; the priority valve is connected with a steering gear, and the steering gear is connected with a steering oil cylinder; the multi-way valve is connected with a movable arm oil cylinder and a bucket oil cylinder;
the method is characterized in that:
the system also comprises a system control unit and a signal acquisition mechanism;
the multi-way valve is connected with a pilot valve, and the pilot valve is connected with a multifunctional handle; the signal acquisition mechanism is connected to the pilot valve and is used for acquiring a pressure signal of a pressure port of the pilot valve;
the system control unit is electrically connected with the motor controller, the multifunctional handle and the signal acquisition mechanism.
2. The work control system of an electric loader according to claim 1, characterized in that: the multifunctional handle comprises a three-gear switch for controlling the gear of the whole vehicle, an enabling switch for confirming the working requirement of the hydraulic system and a horn switch for controlling the electric horn.
3. The work control system of an electric loader according to claim 1, characterized in that: the pilot valve is connected with the multifunctional handle through a pipeline; when the multifunctional handle is pushed to generate certain displacement, the position of a valve rod of the pilot valve is changed and certain pressure change is generated;
the signal acquisition mechanism comprises a structural block, and four pressure sensors are mounted on the structural block; the first pressure sensor is used for collecting analog quantity signals of the change of the pilot valve pressure port when the movable arm is lifted, the second pressure sensor is used for collecting analog quantity signals of the change of the pilot valve pressure port when the movable arm is lowered, the third pressure sensor is used for collecting analog quantity signals of the change of the pilot valve pressure port when the bucket needs to be closed, and the fourth pressure sensor is used for collecting analog quantity signals of the change of the pilot valve pressure port when the bucket is unloaded.
4. The work control system of an electric loader according to claim 1, characterized in that: the hydraulic pump is connected with the motor by a flange; the hydraulic pump is connected with the priority valve by a pipeline, the priority valve is connected with the steering gear by a pipeline, and the steering gear is connected with the steering oil cylinder by a pipeline and used for controlling the steering of the whole vehicle; the hydraulic pump is connected with the multi-way valve through a pipeline, and the multi-way valve is connected with the movable arm oil cylinder and the bucket oil cylinder through pipelines to provide power for a whole vehicle working system.
5. A control method of a work control system of an electric loader, comprising the work control system of the electric loader according to any one of claims 1 to 4;
the system control unit and the motor controller are in information communication through a CAN bus to realize signal intercommunication;
the system control unit confirms that the hydraulic system needs to work after receiving an enabling switch signal on the multifunctional handle; then, the system control unit transmits the enabling switch signal to the motor controller in a CAN bus communication mode; after receiving the enabling switch signal, the motor controller sends an instruction to the motor, so that the motor runs at a certain rotating speed in an idling mode, and the flow requirement of a steering system is met;
the system control unit receives the analog quantity signal of the signal acquisition mechanism, performs logic calculation, calculates the torque and rotating speed requirements required by the working system corresponding to the pressure analog quantity signal, and transmits the torque and rotating speed requirements required by the working system to the motor controller in a CAN bus communication mode; and then, the motor controller logically calculates and converts the received torque and rotating speed demand signals required by the working system, sends an instruction to the motor, and the motor outputs a certain rotating speed and torque according to the instruction.
6. The control method of the work control system of the electric loader according to claim 5, characterized in that: the system control unit controls the running gear of the whole vehicle after receiving a three-gear switch signal on the multifunctional handle;
and the system control unit controls the electric horn to work after receiving the horn switch signal on the multifunctional handle.
CN201911216694.1A 2019-12-03 2019-12-03 Work control system and method for electric loader Pending CN110777876A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201911216694.1A CN110777876A (en) 2019-12-03 2019-12-03 Work control system and method for electric loader

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112709283A (en) * 2020-12-29 2021-04-27 徐工集团工程机械股份有限公司科技分公司 Hydraulic control system and control method for pure electric loader
CN115506443A (en) * 2022-09-28 2022-12-23 徐工集团工程机械股份有限公司科技分公司 Multi-mode control device and control method for motor of electric loader

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112709283A (en) * 2020-12-29 2021-04-27 徐工集团工程机械股份有限公司科技分公司 Hydraulic control system and control method for pure electric loader
CN115506443A (en) * 2022-09-28 2022-12-23 徐工集团工程机械股份有限公司科技分公司 Multi-mode control device and control method for motor of electric loader
CN115506443B (en) * 2022-09-28 2023-12-12 徐工集团工程机械股份有限公司科技分公司 Multi-mode control device and control method for motor loader motor

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Application publication date: 20200211