CN110984267A - Pressure control method and device for excavator, controller and readable storage medium - Google Patents
Pressure control method and device for excavator, controller and readable storage medium Download PDFInfo
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- CN110984267A CN110984267A CN201911333153.7A CN201911333153A CN110984267A CN 110984267 A CN110984267 A CN 110984267A CN 201911333153 A CN201911333153 A CN 201911333153A CN 110984267 A CN110984267 A CN 110984267A
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- Prior art keywords
- excavator
- pressure
- angle
- bucket rod
- sensor
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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
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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
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
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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
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
Abstract
The invention provides a pressure control method and device of an excavator, a controller and a readable storage medium, and relates to the technical field of engineering machinery. The method comprises the following steps: acquiring state parameters of an excavator, wherein the state parameters of the excavator comprise pilot operation signals, main pump pressure signals and detection signals detected by a sensor in the rod cavity; determining the working angle of the bucket rod according to the detection signal; according to the working angle of the arm, the pilot operation signal and the main pump pressure signal, the valve core opening of a priority valve or the opening of the main valve core of the arm in the priority valve group is adjusted to adjust the oil supply quantity of the arm cylinder, so that the oil supply quantity of hydraulic oil in the arm cylinder is adjusted according to the power required by the arm, excessive hydraulic oil does not need to be distributed to the arm cylinder, the hydraulic oil distributed to the arm cylinder can not be distributed to other components of the excavator, power is provided for other components of the excavator, and the operation efficiency of the excavator is improved.
Description
The present application claims priority from chinese patent application filed on 29/06/29/2019 under the name of "excavator stick cylinder pressure control system and method" on the filing date of chinese patent office, application No. 201910581262.4, the entire contents of which are incorporated herein by reference.
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a pressure control method and device of an excavator, a controller and a readable storage medium.
Background
With the continuous development of engineering machinery, the excavator is widely applied to engineering operation scenes, and in the process of excavator operation, different powers can be provided for different mechanical structures of the excavator by controlling the oil supply amount of hydraulic oil flowing through each valve, so that the excavator can normally operate.
In the related art, during the process of performing combined operation (such as boom lifting + arm unloading, swing + arm unloading, boom lifting + swing + arm unloading) by an excavator, a pilot operation signal and a main pump pressure signal can be acquired, and the oil supply amount of an arm cylinder can be adjusted by adjusting the valve core opening of a priority valve in a priority valve group according to the pilot operation signal and the main pump pressure signal.
However, in the process of the combined operation of the excavator, the valve core opening of the valve group is adjusted only according to the pilot operation signal and the main pump pressure signal to adjust the oil supply amount of the arm cylinder, so that the oil supply amounts of the arm cylinder and the main pump are not accurately distributed, and the operation efficiency of the excavator is low.
Disclosure of Invention
The present invention is directed to provide a pressure control method, device, controller and readable storage medium for an excavator, which overcome the disadvantages of the prior art, and solve the problem of low operation efficiency of the excavator due to inaccurate oil supply distribution of an arm cylinder and a main pump.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a pressure control method for an excavator, where a sensor is provided in an oil path of a rod chamber of an arm cylinder of the excavator, the method including:
acquiring state parameters of an excavator, wherein the state parameters of the excavator comprise pilot operation signals, main pump pressure signals and detection signals detected by a sensor in the rod cavity;
determining the working angle of the bucket rod according to the detection signal;
and adjusting the opening of a valve core of a priority valve or the opening of a main valve core of the bucket rod in the priority valve group according to the working angle of the bucket rod, the pilot operation signal and the main pump pressure signal so as to adjust the oil supply quantity of the bucket rod oil cylinder.
Optionally, the sensor is a pressure sensor, and the detection signal is a pressure signal of a rod cavity of the dipper;
the determining the working angle of the bucket rod according to the detection signal comprises the following steps:
if the pressure indicated by the pressure signal of the rod cavity of the bucket rod is smaller than or equal to a first pressure threshold value, determining that a first angle between the bucket rod and the horizontal ground is a working angle, wherein the first angle is smaller than a preset included angle;
according to the working angle of the dipper, the pilot operation signal and the main pump pressure signal, the case aperture of the priority valve in the priority valves group or the aperture of the main valve core of the dipper is adjusted to adjust the oil supply quantity of the dipper oil cylinder, including:
and according to the first angle, reducing the opening degree of a valve core of a priority valve or the opening degree of a main valve core of the bucket rod in the priority valve group so as to increase the oil supply amount of the bucket rod oil cylinder.
Optionally, the sensor is a pressure sensor, and the detection signal is a pressure signal of a rod cavity of the dipper;
the determining the working angle of the bucket rod according to the detection signal comprises the following steps:
if the pressure indicated by the pressure signal of the rod cavity of the bucket rod is greater than or equal to a second pressure threshold value, determining that a second angle between the bucket rod and the horizontal ground is a working angle, wherein the second angle is greater than or equal to a preset included angle;
according to the working angle of the dipper, the pilot operation signal and the main pump pressure signal, the case aperture of the priority valve in the priority valves group or the aperture of the main valve core of the dipper is adjusted to adjust the oil supply quantity of the dipper oil cylinder, including:
and increasing the opening degree of a valve core of a priority valve or the opening degree of a main valve core of the bucket rod in the priority valve group according to the second angle so as to reduce the oil supply amount of the bucket rod oil cylinder.
Optionally, the method further includes:
and controlling the power distribution of an electromagnetic proportional pressure reducing valve of the main pump according to the working angle of the bucket rod.
Optionally, the acquiring the state parameter of the excavator includes:
acquiring the pilot operation signal acquired by a pilot pressure sensor;
acquiring a main pump pressure signal acquired by a main pump pressure sensor;
and acquiring the detection signal acquired by a sensor in an oil circuit of a rod cavity of the bucket rod oil cylinder.
Optionally, the priority valve group includes: a boom stick priority valve, and/or a swing stick priority valve.
Optionally, each priority valve in the priority valve group is: a logic control valve or an electrically controlled main valve.
In a second aspect, an embodiment of the present invention further provides a pressure control device for an excavator, where a sensor is provided in an oil path of a rod chamber of an arm cylinder of the excavator, the pressure control device including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring state parameters of the excavator, and the state parameters of the excavator comprise pilot operation signals, main pump pressure signals and detection signals detected by a sensor in a rod cavity;
the determining module is used for determining the working angle of the bucket rod according to the detection signal;
and the adjusting module is used for adjusting the opening of a valve core of a priority valve or the opening of a main valve core of the bucket rod in the priority valve group according to the working angle of the bucket rod, the pilot operation signal and the main pump pressure signal so as to adjust the oil supply amount of the bucket rod oil cylinder.
Optionally, the sensor is a pressure sensor, and the detection signal is a pressure signal of a rod cavity of the dipper;
the determining module is further configured to determine a first angle between the dipper and the horizontal ground as a working angle if the pressure indicated by the dipper cavity pressure signal is less than or equal to a first pressure threshold, where the first angle is less than a preset included angle;
the adjusting module is further used for reducing the opening degree of a valve core of a priority valve or the opening degree of a main valve core of the bucket rod in the priority valve group according to the first angle so as to increase the oil supply amount of the bucket rod oil cylinder.
Optionally, the sensor is a pressure sensor, and the detection signal is a pressure signal of a rod cavity of the dipper;
the determining module is further configured to determine a second angle between the dipper and the horizontal ground as a working angle if the pressure indicated by the dipper cavity pressure signal is greater than or equal to a second pressure threshold, where the second angle is greater than or equal to a preset included angle;
and the adjusting module is further used for increasing the valve core opening of a priority valve or the opening of a main valve core of the bucket rod in the priority valve group according to the second angle so as to reduce the oil supply amount of the bucket rod oil cylinder.
Optionally, the apparatus further comprises:
and the control module is used for controlling the power distribution of the electromagnetic proportional pressure reducing valve of the main pump according to the working angle of the bucket rod.
Optionally, the obtaining module is further configured to obtain the pilot operation signal collected by a pilot pressure sensor; acquiring a main pump pressure signal acquired by a main pump pressure sensor; and acquiring the detection signal acquired by a sensor in an oil circuit of a rod cavity of the bucket rod oil cylinder.
Optionally, the priority valve group includes: a boom stick priority valve, and/or a swing stick priority valve.
Optionally, each priority valve in the priority valve group is: a logic control valve or an electrically controlled main valve.
In a third aspect, an embodiment of the present invention further provides a controller for an excavator, including: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the controller is running, the processor executing the machine-readable instructions to perform the steps of the method of pressure control of an excavator according to any one of the first aspect.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to execute the steps of the pressure control method of the excavator according to any one of the first aspect.
The invention has the beneficial effects that:
according to the embodiment of the invention, the state parameter of the excavator is obtained, the working angle of the bucket rod is determined according to the detection signal in the state parameter of the excavator, and the opening of the valve core of the priority valve in the priority valve group or the opening of the main valve core of the bucket rod is adjusted according to the working angle of the bucket rod, the pilot operation signal in the state parameter of the excavator and the pressure signal of the main pump so as to adjust the oil supply amount of the oil cylinder of the bucket rod. The oil supply quantity of the arm cylinder is accurately controlled, too much hydraulic oil does not need to be distributed to the arm cylinder, the hydraulic oil distributed to the arm cylinder can be distributed to other components of the excavator, power is provided for the other components of the excavator, and the operation efficiency of the excavator is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a pressure control system of an excavator according to a pressure control method of an excavator according to the present invention;
fig. 2 is a schematic flow chart illustrating a pressure control method of an excavator according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating a method for controlling pressure of an excavator according to another embodiment of the present invention;
fig. 4 is a schematic view of a pressure control device of an excavator according to an embodiment of the present invention;
fig. 5 is a schematic view of a pressure control apparatus of an excavator according to another embodiment of the present invention;
fig. 6 is a schematic structural diagram of a controller of an excavator according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention.
Fig. 1 is a schematic structural diagram of a pressure control system of an excavator according to a pressure control method of the excavator provided by the present invention; as shown in fig. 1, the system includes: the controller 110, the arm cylinder 120, the pilot pressure sensor 130, the main pump pressure sensor 140, the sensor 150 located in the rod cavity of the arm cylinder, each priority valve 160 in the priority valve bank, and the main pump electro-magnetic proportional pressure reducing valve 170.
The controller 110 is connected to a pilot pressure sensor 130, a main pump pressure sensor 140, a sensor 150 located in an oil passage of a rod chamber of the arm cylinder, a priority valve 160, an arm main spool 180, and a main pump electromagnetic proportional pressure reducing valve 170, respectively, and the arm cylinder is connected in parallel to each priority valve.
In order to accurately determine the position of the bucket rod of the excavator, a sensor can be arranged in an oil path with a rod cavity of the bucket rod oil cylinder, the working angle of the bucket rod can be determined according to a detection signal collected by the sensor in the rod cavity of the bucket rod oil cylinder, the working angle can be an angle between the bucket rod and the horizontal ground, the power required by the bucket rod is further determined, the oil supply quantity of the bucket rod oil cylinder is further accurately controlled according to the power required by the bucket rod, a pilot operation signal and the pressure signal of the main pump, and the pressure control of the excavator is realized.
Specifically, the pilot pressure sensor, the main pump pressure sensor, and the sensor located in the oil line of the rod cavity of the arm cylinder may respectively collect the pilot operation signal, the main pump pressure signal, and the detection signal collected by the sensor in the oil line of the rod cavity in real time, and send the collected signals to the controller.
Correspondingly, the controller can receive the pilot operation signal, the main pump pressure signal and the detection signal, determine the current working angle of the arm according to the detection signal, and adjust the valve core opening of each priority valve or the opening of the main valve core of the arm according to the working angle of the arm, the pilot operation signal and the main pump pressure signal, so that the adjustment of the oil supply quantity of the arm cylinder is realized, the arm can execute different actions under the condition of different oil supply quantities, the accurate control of the oil supply quantity of the arm cylinder is realized, and the pressure control of the arm cylinder is realized.
For the hydraulic control system, the valve core opening degree of each priority valve is adjusted; for an electronic control system, the opening of the main spool of the bucket rod is adjusted, and here, the valve of the electronic control system can be a logic valve. The excavator may only have a hydraulic control system or an electric control system, or the hydraulic control system and the electric control system may exist simultaneously, and the embodiment of the present invention is not limited.
It should be noted that, in practical application, different types of sensors may be disposed in an oil path of a rod cavity of the arm cylinder, so that the position of the arm is determined in different ways according to detection signals acquired by the different sensors.
For example, if the sensor in the rod chamber is a pressure sensor, the detection signal acquired by the pressure sensor may be a pressure signal in an oil path of the rod chamber of the arm. Correspondingly, the sensor can compare the pressure indicated by the pressure signal in the oil circuit of the rod cavity of the arm with a preset pressure threshold value to obtain a comparison result to determine the working angle of the arm.
Of course, the sensor arranged in the oil path of the rod cavity of the arm cylinder may also be an angle sensor for detecting the working angle of the arm, an acceleration sensor for detecting the acceleration of the arm, or another sensor for determining the working angle of the arm, which is not limited in the embodiment of the present invention.
Fig. 2 is a schematic flow chart of a pressure control method of an excavator according to an embodiment of the present invention, applied to the controller shown in fig. 1, and as shown in fig. 2, the method may include:
In order to realize accurate control of the bucket rod of the excavator, the power required by the bucket rod, namely the oil supply quantity of the bucket rod oil cylinder, can be determined according to the working angle of the bucket rod, and the working angle of the bucket rod is determined through detection signals collected by a sensor arranged in an oil circuit of a rod cavity of the bucket rod oil cylinder. The excavator state parameters may be acquired before the working angle of the stick is confirmed.
In an optional implementation manner, the controller may acquire a pilot operation signal acquired by a pilot pressure sensor preset on the excavator, acquire a main pump pressure signal acquired by a main pump pressure sensor, and acquire a detection signal acquired by a sensor in an oil path of a rod chamber of the arm cylinder. After the pilot pressure sensor, the main pump pressure sensor and the sensors in the oil circuit of the rod cavity of the bucket rod oil cylinder acquire signals, the sensors can respectively send the acquired signals to the controller, so that the state parameters of the excavator can be acquired.
It should be noted that the state parameter of the excavator may be a parameter obtained in real time, and then the oil supply amount in the arm cylinder may be adjusted in real time according to the power required by the arm based on the parameter obtained in real time. Of course, the state parameters of the excavator can also be periodically collected, which is not limited in the embodiment of the present invention.
And step 202, determining the working angle of the bucket rod according to the detection signal.
After the state parameters of the excavator are obtained, the working angle of the bucket rod can be determined according to detection signals collected by a sensor in an oil circuit of a rod cavity of the bucket rod oil cylinder, and the working angle can be the size of an included angle between the bucket rod and the horizontal ground.
The sensor arranged in the oil passage of the rod cavity of the arm cylinder may be a pressure sensor, an acceleration sensor, an angle sensor for detecting the working angle of the arm, or another sensor capable of detecting the working angle of the arm, which is not limited in the embodiment of the present invention.
If the sensor in the oil circuit of the rod cavity of the bucket rod oil cylinder is a pressure sensor, the acquired detection signal can be a pressure signal of the rod cavity of the bucket rod, and correspondingly, the working angle of the bucket rod can be determined according to the size of the parameter of the pressure signal of the rod cavity of the bucket rod and the size relation between the preset pressure threshold value.
And step 203, adjusting the opening of a valve core of a priority valve or the opening of a main valve core of the bucket rod in the priority valve group according to the working angle of the bucket rod, the pilot operation signal and the main pump pressure signal so as to adjust the oil supply amount of the bucket rod oil cylinder.
After the working angle of the bucket rod is determined, the power required by the bucket rod can be determined according to the preset corresponding relation between the angle and the power of the bucket rod, the oil supply quantity of the bucket rod oil cylinder is controlled according to the power required by the bucket rod, the power provided by the oil supply quantity of the bucket rod oil cylinder is matched with the power required by the bucket rod, the accurate control of the oil supply quantity is realized, and the accurate control of the pressure control of the excavator is realized.
In an optional embodiment, the controller may determine the power required by the arm according to the working angle of the arm in combination with a preset corresponding relationship between an angle and the arm power, and then adjust the opening of the spool of each priority valve or the opening of the main spool of the arm in the priority valve group in combination with the pilot operation signal and the main pump pressure signal, so that the oil supply amount of the hydraulic oil flowing through each priority valve is changed, the oil supply amount of the arm cylinder is changed, and the oil supply amount of the arm cylinder is adjusted.
In summary, in the pressure control method for an excavator according to the embodiments of the present invention, the state parameter of the excavator is obtained, the working angle of the arm is determined according to the detection signal in the state parameter of the excavator, and then the opening degree of the valve core of the priority valve in the priority valve group or the opening degree of the main valve core of the arm is adjusted according to the working angle of the arm, the pilot operation signal in the state parameter of the excavator, and the main pump pressure signal, so as to adjust the oil supply amount of the arm cylinder. The oil supply quantity of the arm cylinder is accurately controlled, too much hydraulic oil does not need to be distributed to the arm cylinder, the hydraulic oil distributed to the arm cylinder can be distributed to other components of the excavator, power is provided for the other components of the excavator, and the operation efficiency of the excavator is improved.
On the basis of the pressure control method of the excavator shown in fig. 2, another pressure control method of the excavator can be provided according to the embodiment of the present invention. Fig. 3 is a schematic flow chart of a pressure control method of an excavator according to another embodiment of the present invention, which is applied to the controller shown in fig. 1, and as shown in fig. 3, the method may include:
301, acquiring state parameters of the excavator, wherein the state parameters of the excavator comprise pilot operation signals, main pump pressure signals and detection signals detected by a sensor in a rod cavity.
The controller in the excavator can distribute different oil supply amounts of the hydraulic oil for different components according to different actions executed by the excavator, so that the different components can normally work under the power provided by the hydraulic oil.
Before the controller distributes the hydraulic oil, the signals collected by the sensors arranged at different positions can be obtained, namely the state parameters of the excavator collected by the sensors are obtained, so that different oil supply quantities can be distributed to different assemblies according to the state parameters of the excavator in the subsequent steps.
Correspondingly, in the process of acquiring state parameters of the excavator, pilot operation signals acquired by the pilot pressure sensor can be acquired, main pump pressure signals acquired by the main pump pressure sensor can be acquired, and detection signals acquired by a sensor in a rod cavity of the bucket rod oil cylinder can be acquired.
The pilot operation signal is a signal obtained by detecting the operation of a user on the excavator through a preset pilot pressure sensor; the main pump pressure signal is obtained by detecting the pressure of a main pump by a main pump pressure sensor arranged at the main pump electromagnetic proportional pressure reducing valve; the detection signal is acquired by a sensor arranged in a rod cavity of the bucket rod oil cylinder.
In addition, the detection signals are different when the sensors arranged in the oil passages of the rod cavities of the bucket rod oil cylinders are different. For example, if the sensor is a pressure sensor, the detection signal may be a pressure signal of a rod cavity of the arm; if the sensor is an acceleration sensor, the detection signal can be an angular acceleration signal of the bucket rod; if the sensor is an angle sensor, the detection signal can be the working angle of the bucket rod, and the embodiment of the invention does not limit the sensor and the detection signal which are arranged in the rod cavity of the bucket rod oil cylinder.
And step 302, determining the working angle of the bucket rod according to the detection signal.
After the state parameters of the excavator are obtained, the working angle of the arm can be determined according to detection signals in the state parameters of the excavator, so that the oil supply amount of the arm oil cylinder can be adjusted according to the working angle of the arm in the subsequent steps.
In practical applications, the sensor provided in the oil passage of the rod chamber of the arm cylinder is any type of sensor, and for simplicity of description, the embodiment of the present invention is described only by taking the sensor as a pressure sensor and taking the detection signal as an arm rod chamber pressure signal as an example.
In the process of determining the working angle of the arm according to the arm chamber pressure signal, the arm chamber pressure signal may be compared with a first pressure threshold and a second pressure threshold, which are preset, respectively, and then this step 302 may be implemented by any one of the following steps 302a or 302 b:
step 302a, if the pressure indicated by the pressure signal of the rod cavity of the bucket rod is smaller than or equal to the first pressure threshold, determining that a first angle between the bucket rod and the horizontal ground is a working angle, wherein the first angle is smaller than a preset included angle.
The controller can compare the arm cavity pressure signal with a first pressure threshold, and determine whether a pressure parameter indicated by the arm cavity pressure signal is less than or equal to the first pressure threshold, and if the pressure indicated by the arm cavity pressure signal is less than or equal to the first pressure threshold, it can be determined that a first angle between the arm and the ground is a working angle, that is, the first angle is less than a preset included angle.
For example, if the pressure corresponding to the rod cavity pressure signal of the arm is 3MPa (megapascals) and the first pressure threshold is 5MPa, the pressure indicated by the rod cavity pressure signal of the arm is smaller than the first pressure threshold, and it may be determined that the first angle is smaller than the preset included angle, and the preset included angle may be 90 degrees.
Step 302b, if the pressure indicated by the pressure signal of the rod cavity of the bucket rod is greater than or equal to the second pressure threshold value, determining that a second angle between the bucket rod and the horizontal ground is a working angle, wherein the second angle is greater than or equal to a preset included angle.
The controller can compare the pressure signal of the rod cavity of the bucket rod with a second pressure threshold value, and judge whether the pressure parameter indicated by the pressure signal of the rod cavity of the bucket rod is greater than or equal to the second pressure threshold value, if the pressure indicated by the pressure signal of the rod cavity of the bucket rod is greater than or equal to the second pressure threshold value, the second angle between the bucket rod and the horizontal ground can be determined to be a working angle, namely, the second angle of the bucket is greater than or equal to a preset included angle.
For example, if the pressure corresponding to the pressure signal of the rod cavity of the arm is 11MPa and the second pressure threshold is 10MPa, the pressure indicated by the pressure signal of the rod cavity of the arm is greater than the second pressure threshold, and it may be determined that the second angle is greater than or equal to a preset included angle, where the preset included angle may be 90 degrees.
It should be noted that the first pressure threshold in step 302a and the second pressure threshold in step 302b are preset, and the first pressure threshold is smaller than the second pressure threshold.
And 303, adjusting the opening of a valve core of a priority valve or the opening of a main valve core of the bucket rod in the priority valve group according to the working angle of the bucket rod, the pilot operation signal and the main pump pressure signal so as to adjust the oil supply amount of the bucket rod oil cylinder.
Wherein, can include in the priority valves: a boom stick priority valve, and/or a swing stick priority valve.
Corresponding to step 302, if the magnitude relationship between the pressure signal of the rod cavity of the arm and the first pressure threshold and the magnitude relationship between the pressure signal of the rod cavity of the arm and the second pressure threshold are different in step 302, and the working angle of the arm is also different, in this step 303, different adjustment operations may be performed according to different working angles of the arm. This step 303 may be implemented by either step 303a or step 303b described below.
If the operating angle of the arm is determined by executing step 302a, step 303 may be implemented by S303a described below.
And step 303a, according to the first angle, reducing the opening degree of a valve core of a priority valve or the opening degree of a main valve core of the bucket rod in the priority valve group so as to increase the oil supply amount of the bucket rod oil cylinder.
If the first angle is smaller than the preset included angle, the power required by the bucket rod can be determined to be large, the valve core opening of each priority valve in the priority valve group or the opening of the main valve core of the bucket rod can be reduced, the oil supply amount of the bucket rod oil cylinder is increased, and the oil supply amount of the rod cavity of the bucket rod is sufficient.
For example, each priority valve may be closed so that hydraulic oil no longer flows through each priority valve, thereby providing a sufficient amount of oil supply to the arm cylinder.
In practical application, the oil supply amount in the arm cylinder may be controlled according to the corresponding relationship between the working angle of the arm and the oil supply amount, and according to different working angles.
If it is determined that the second angle is the operating angle of the arm by executing step 302b, step 303 may be implemented by S303b described below.
And step 303b, increasing the valve core opening of a priority valve in the priority valve group according to the second angle so as to reduce the oil supply amount of the arm cylinder.
If the second angle of the bucket is larger than or equal to the preset included angle, the power required by the bucket rod can be determined to be small, the valve core opening of each priority valve in the priority valve group or the opening of the main valve core of the bucket rod can be increased, and the oil supply amount of the bucket rod oil cylinder is relatively reduced.
For example, if the second angle is greater than or equal to the preset included angle, it may be determined that the excavator is performing the swing and boom lifting actions at this time, and the oil supply output needs to be increased for the swing and boom lifting.
It should be noted that, in practical applications, each priority valve in the priority valve group may be: the movable arm is a boom priority valve, and/or the swing boom priority valve, which is not limited in the embodiments of the present invention.
And step 304, controlling the power distribution of the electromagnetic proportional pressure reducing valve of the main pump according to the working angle of the bucket rod.
In the process of adjusting the opening degree of the valve core of each priority valve, the controller of the excavator can also adjust the electromagnetic proportional pressure reducing valve of the main pump, so that the power output by the excavator can be matched with the power required by the operation of the excavator.
In summary, according to the pressure control method for the excavator provided by the embodiment of the present invention, the state parameter of the excavator is obtained, the working angle of the arm is determined according to the detection signal in the state parameter of the excavator, and then the working angle of the opening of the valve core of the priority valve in the priority valve group is adjusted according to the working angle of the arm, the pilot operation signal in the state parameter of the excavator and the pressure signal of the main pump, so as to adjust the oil supply amount of the arm cylinder, so as to accurately control the oil supply amount of the arm cylinder, and the hydraulic oil that is not distributed to the arm cylinder can be distributed to other components of the excavator without distributing too much hydraulic oil to the arm cylinder, so as to provide power to other components of the excavator, thereby improving the operation efficiency of the excavator.
Furthermore, according to different working angles of the bucket rod, different oil supply quantities are distributed for the bucket rod oil cylinder, so that different power is provided for the bucket rod, the oil supply quantity of the bucket rod oil cylinder can be accurately adjusted, and the accuracy of adjusting the oil supply quantity of the bucket rod oil cylinder is improved.
Fig. 4 is a schematic diagram of a pressure control device of an excavator according to an embodiment of the present invention, in which a sensor is provided in an oil path of a rod chamber of an arm cylinder of the excavator, and as shown in fig. 4, the pressure control device specifically includes:
an obtaining module 401, configured to obtain excavator state parameters, where the excavator state parameters include a pilot operation signal, a main pump pressure signal, and a detection signal detected by a sensor in the rod cavity;
a determining module 402, configured to determine a working angle of the arm according to the detection signal;
and an adjusting module 403, configured to adjust a valve core opening of a priority valve in the priority valve group or an opening of a main valve core of the arm according to the working angle of the arm, the pilot operation signal, and the main pump pressure signal, so as to adjust an oil supply amount of the arm cylinder.
Optionally, the sensor is a pressure sensor, and the detection signal is a pressure signal of a rod cavity of the bucket rod;
the determining module 402 is further configured to determine a first angle between the arm and the horizontal ground as a working angle if the pressure indicated by the arm cavity pressure signal is less than or equal to a first pressure threshold, where the first angle is less than a preset included angle;
the adjusting module 403 is further configured to reduce, according to the first angle, a valve core opening of a priority valve in the priority valve group or an opening of a main valve core of the arm, so as to increase an oil supply amount of the arm cylinder.
Optionally, the sensor is a pressure sensor, and the detection signal is a pressure signal of a rod cavity of the bucket rod;
the determining module 402 is further configured to determine a second angle between the dipper and the horizontal ground as a working angle if the pressure indicated by the dipper cavity pressure signal is greater than or equal to a second pressure threshold, where the second angle is greater than or equal to a preset included angle;
the adjusting module 403 is further configured to increase, according to the second angle, a valve core opening of a priority valve in the priority valve group or an opening of a main valve core of the arm, so as to reduce an oil supply amount of the arm cylinder.
Optionally, referring to fig. 5, the apparatus further includes:
and the control module 404 is used for controlling the power distribution of the electromagnetic proportional pressure reducing valve of the main pump according to the working angle of the bucket rod.
Optionally, the obtaining module 401 is further configured to obtain the pilot operation signal collected by the pilot pressure sensor; acquiring a main pump pressure signal acquired by a main pump pressure sensor; and acquiring the detection signal acquired by a sensor in an oil circuit of a rod cavity of the bucket rod oil cylinder.
Optionally, the priority valve group includes: a boom stick priority valve, and/or a swing stick priority valve.
Optionally, each priority valve in the priority valve group is: a logic control valve or an electrically controlled main valve.
In summary, the pressure control apparatus for an excavator according to the embodiments of the present invention obtains the state parameter of the excavator, determines the working angle of the arm according to the detection signal in the state parameter of the excavator, and then adjusts the opening of the valve core of the priority valve or the opening of the main valve core of the arm in the priority valve group according to the working angle of the arm, the pilot operation signal in the state parameter of the excavator, and the main pump pressure signal, so as to adjust the oil supply amount of the arm cylinder. The oil supply quantity of the arm cylinder is accurately controlled, too much hydraulic oil does not need to be distributed to the arm cylinder, the hydraulic oil distributed to the arm cylinder can be distributed to other components of the excavator, power is provided for the other components of the excavator, and the operation efficiency of the excavator is improved.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 6 is a schematic structural diagram of a controller of an excavator according to an embodiment of the present invention. The controller may be provided on the excavator. The controller includes: a processor 601, a storage medium 602, and a bus 603.
The storage medium 602 stores machine-readable instructions executable by the processor 601, when the terminal runs, the processor 601 and the storage medium 602 communicate with each other through the bus 603, and the processor 601 executes the machine-readable instructions to perform the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, performs the above-mentioned method embodiments.
Optionally, the present invention further provides an excavator, including the controller shown in fig. 1 or fig. 6. The controller may be configured to execute the embodiment of the pressure control method of the excavator shown in fig. 2 to fig. 3, and the specific implementation manner and the technical effect are similar, which are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (16)
1. A pressure control method of an excavator, characterized in that a sensor is provided in an oil passage of a rod chamber of an arm cylinder of the excavator, the method comprising:
acquiring state parameters of an excavator, wherein the state parameters of the excavator comprise pilot operation signals, main pump pressure signals and detection signals detected by a sensor in the rod cavity;
determining the working angle of the bucket rod according to the detection signal;
and adjusting the opening of a valve core of a priority valve or the opening of a main valve core of the bucket rod in the priority valve group according to the working angle of the bucket rod, the pilot operation signal and the main pump pressure signal so as to adjust the oil supply quantity of the bucket rod oil cylinder.
2. The method of claim 1, wherein the sensor is a pressure sensor and the detection signal is a stick cavity pressure signal;
the determining the working angle of the bucket rod according to the detection signal comprises the following steps:
if the pressure indicated by the pressure signal of the rod cavity of the bucket rod is smaller than or equal to a first pressure threshold value, determining that a first angle between the bucket rod and the horizontal ground is a working angle, wherein the first angle is smaller than a preset included angle;
according to the working angle of the dipper, the pilot operation signal and the main pump pressure signal, the case aperture of the priority valve in the priority valves group or the aperture of the main valve core of the dipper is adjusted to adjust the oil supply quantity of the dipper oil cylinder, including:
and according to the first angle, reducing the opening degree of a valve core of a priority valve or the opening degree of a main valve core of the bucket rod in the priority valve group so as to increase the oil supply amount of the bucket rod oil cylinder.
3. The method of claim 1, wherein the sensor is a pressure sensor and the detection signal is a stick cavity pressure signal;
the determining the working angle of the bucket rod according to the detection signal comprises the following steps:
if the pressure indicated by the pressure signal of the rod cavity of the bucket rod is greater than or equal to a second pressure threshold value, determining that a second angle between the bucket rod and the horizontal ground is a working angle, wherein the second angle is greater than or equal to a preset included angle;
according to the working angle of the dipper, the pilot operation signal and the main pump pressure signal, the case aperture of the priority valve in the priority valves group or the aperture of the main valve core of the dipper is adjusted to adjust the oil supply quantity of the dipper oil cylinder, including:
and increasing the opening degree of a valve core of a priority valve or the opening degree of a main valve core of the bucket rod in the priority valve group according to the second angle so as to reduce the oil supply amount of the bucket rod oil cylinder.
4. The method of claim 1, wherein the method further comprises:
and controlling the power distribution of an electromagnetic proportional pressure reducing valve of the main pump according to the working angle of the bucket rod.
5. The method of claim 1, wherein the obtaining excavator state parameters comprises:
acquiring the pilot operation signal acquired by a pilot pressure sensor;
acquiring a main pump pressure signal acquired by a main pump pressure sensor;
and acquiring the detection signal acquired by a sensor in an oil circuit of a rod cavity of the bucket rod oil cylinder.
6. The method of any of claims 1 to 5, wherein the priority valve block comprises: a boom stick priority valve, and/or a swing stick priority valve.
7. The method of any of claims 1 to 5, wherein each priority valve in the set of priority valves is: a logic control valve or an electrically controlled main valve.
8. A pressure control apparatus of an excavator, characterized in that a sensor is provided in an oil passage of a rod chamber of an arm cylinder of the excavator, the apparatus comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring state parameters of the excavator, and the state parameters of the excavator comprise pilot operation signals, main pump pressure signals and detection signals detected by a sensor in a rod cavity;
the determining module is used for determining the working angle of the bucket rod according to the detection signal;
and the adjusting module is used for adjusting the opening of a valve core of a priority valve or the opening of a main valve core of the bucket rod in the priority valve group according to the working angle of the bucket rod, the pilot operation signal and the main pump pressure signal so as to adjust the oil supply amount of the bucket rod oil cylinder.
9. The apparatus of claim 8, wherein the sensor is a pressure sensor and the detection signal is a stick cavity pressure signal;
the determining module is further configured to determine a first angle between the dipper and the horizontal ground as a working angle if the pressure indicated by the dipper cavity pressure signal is less than or equal to a first pressure threshold, where the first angle is less than a preset included angle;
the adjusting module is further used for reducing the opening degree of a valve core of a priority valve or the opening degree of a main valve core of the bucket rod in the priority valve group according to the first angle so as to increase the oil supply amount of the bucket rod oil cylinder.
10. The apparatus of claim 8, wherein the sensor is a pressure sensor and the detection signal is a stick cavity pressure signal;
the determining module is further configured to determine a second angle between the dipper and the horizontal ground as a working angle if the pressure indicated by the dipper cavity pressure signal is greater than or equal to a second pressure threshold, where the second angle is greater than or equal to a preset included angle;
and the adjusting module is further used for increasing the valve core opening of a priority valve or the opening of a main valve core of the bucket rod in the priority valve group according to the second angle so as to reduce the oil supply amount of the bucket rod oil cylinder.
11. The apparatus of claim 8, wherein the apparatus further comprises:
and the control module is used for controlling the power distribution of the electromagnetic proportional pressure reducing valve of the main pump according to the working angle of the bucket rod.
12. The apparatus of claim 8, wherein the obtaining module is further configured to obtain the pilot operation signal collected by a pilot pressure sensor; acquiring a main pump pressure signal acquired by a main pump pressure sensor; and acquiring the detection signal acquired by a sensor in an oil circuit of a rod cavity of the bucket rod oil cylinder.
13. The apparatus of any of claims 8 to 12, wherein the priority valve block comprises: a boom stick priority valve, and/or a swing stick priority valve.
14. The apparatus of any one of claims 8 to 12, wherein each priority valve in the set of priority valves is: a logic control valve or an electrically controlled main valve.
15. A controller for an excavator, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the controller is operating, the processor executing the machine-readable instructions to perform the steps of the pressure control method of the excavator of any one of claims 1 to 7.
16. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, performs the steps of the pressure control method of an excavator according to any one of claims 1 to 7.
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