CN112127400B - Excavator bucket follow-up control system and method - Google Patents
Excavator bucket follow-up control system and method Download PDFInfo
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- CN112127400B CN112127400B CN202011072011.2A CN202011072011A CN112127400B CN 112127400 B CN112127400 B CN 112127400B CN 202011072011 A CN202011072011 A CN 202011072011A CN 112127400 B CN112127400 B CN 112127400B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 abstract description 18
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- 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
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- Engineering & Computer Science (AREA)
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a follow-up control system and a follow-up control method for a bucket of an excavator, wherein the follow-up control system comprises a movable arm oil cylinder and a bucket rod oil cylinder which are arranged on the excavator, the movable arm oil cylinder is connected with a movable arm, the end part of the movable arm is connected with a bucket rod, the top of the bucket rod is connected with the bucket rod oil cylinder, the bottom of the bucket rod is connected with a bucket, one side of the bucket rod is provided with the bucket oil cylinder, the excavator is provided with a vehicle-mounted controller and a hydraulic valve group, an operating handle is arranged in a cab of the excavator, a vehicle speed sensor is arranged on a driving transmission chain of the excavator, the bucket is connected with an inclination angle sensor, and the inclination angle sensor, the vehicle speed sensor and the operating handle are all connected with the vehicle-mounted controller; the hydraulic valve group is connected with the movable arm oil cylinder, the bucket rod oil cylinder and the bucket oil cylinder. When the excavator is used for transporting materials to run, the follow-up leveling of the bucket is controlled according to the inclination angle of the bucket, so that the hysteresis and the leveling deviation caused by the experience leveling are reduced, the material scattering is reduced, and the operation efficiency is improved.
Description
Technical Field
The invention relates to a follow-up control system and a follow-up control method, in particular to a follow-up control system and a follow-up control method for an excavator bucket.
Background
An excavator is an earthwork machine that excavates materials such as soil, coal, silt and the like with a bucket and transfers the materials to a stock yard, a transport vehicle and the like. The bucket is a key device for excavating materials and carrying the materials by the excavator, and in the prior art, after the materials are excavated, a driver of the excavator relies on observation and operation experience to control working devices such as a bucket oil cylinder and a bucket rod oil cylinder through a control handle to level the bucket, so that the materials are not easy to spill in a transferring process.
However, the prior art has two disadvantages: firstly, after a bucket excavates materials, before the excavator runs, a control handle is used for controlling working devices such as a bucket oil cylinder and a bucket rod oil cylinder to level the bucket, and due to different experiences of excavator drivers, observation visual errors and the like, the bucket leveling difference is large, and the control process is complex; secondly, after the materials are dug by the bucket, the bucket can incline due to the uneven running road surface of the excavator in the running process of the excavator, so that the materials are scattered. In conclusion, the prior art has high requirements on the skill of an excavator driver, is complex to operate, seriously spills materials and restricts the use efficiency of the excavator.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a servo control system and a servo control method for a bucket of an excavator, which are used for controlling the bucket to be automatically leveled according to the inclination angle of the bucket when the excavator transports materials to drive, reducing hysteresis quality and leveling deviation caused by leveling according to experience, reducing material scattering and improving the operation efficiency.
The technical scheme is as follows: the hydraulic excavator comprises a movable arm oil cylinder and a bucket rod oil cylinder which are arranged on an excavator, wherein the movable arm oil cylinder is connected with a movable arm, the end part of the movable arm is connected with a bucket rod, the top of the bucket rod is connected with the bucket rod oil cylinder, the bottom of the bucket rod is connected with a bucket, one side of the bucket rod is provided with the bucket oil cylinder, the excavator is provided with an onboard controller and a hydraulic valve group, an operating handle is arranged in a cab of the excavator, a driving transmission chain of the excavator is provided with a vehicle speed sensor, the bucket is connected with an inclination angle sensor, and the inclination angle sensor, the vehicle speed sensor and the operating handle are all connected with the onboard controller; the hydraulic valve group is connected with the movable arm oil cylinder, the bucket rod oil cylinder and the bucket oil cylinder.
The control handle comprises a left control handle and a right control handle, and the control handle is an electric proportional handle.
The tilt sensor is a single-axis sensor.
The speed sensor is arranged at the output end of the driving motor.
The hydraulic valve group comprises a plurality of electromagnetic valves, and the electromagnetic valves adopt electro-hydraulic proportional control valves, switch electromagnetic valves or electro-hydraulic servo valves.
A method for controlling the follow-up of a bucket of an excavator comprises the following steps:
(1) the vehicle-mounted controller reads a real-time inclination angle value of the bucket, the current speed, other motion attitude variables and other operation parameters which can reflect the excavator;
(2) starting a bucket follow-up working mode;
(3) judging whether the bucket needs to be automatically leveled according to the current bucket inclination angle when the excavator is in a running state;
(4) and controlling the first actuator or/and the second actuator to level the bucket.
The method for judging whether to start the automatic leveling in the step (3) is that the excavator passes through the current bucket inclination angle alpha under the driving state1Comparing with a set value delta alpha of a bucket leveling error threshold value:
1) if | α1If the | is more than the delta alpha, the bucket needs to be automatically leveled;
2) if | α1If the | is less than or equal to the delta alpha, the bucket is leveled, and the bucket does not need to be leveled again.
The automatic leveling of the bucket in the step (4) comprises the following steps:
1) according to the inclination angle of the bucket, the movement direction of the automatic leveling of the bucket and the angle which is less than or equal to delta alpha and needs to be adjusted are judged;
2) the leveling is carried out and the inclination angle alpha of the bucket is2And automatically adjusting the value of the front rake angle alpha1By comparison, if | α1|＞|α2Controlling a first actuating mechanism to effectively level the bucket until the inclination angle of the bucket is less than or equal to a set value delta alpha or the excavator stops running;
3) if | α1|≤|α2And controlling the first actuating mechanism to be ineffective in leveling the bucket, and starting the second actuating mechanism to level the bucket until the inclination angle of the bucket is less than or equal to a set value delta alpha or the excavator stops running.
And (4) enabling the first executing mechanism to be a bucket oil cylinder and enabling the second executing mechanism to be a bucket rod oil cylinder.
Has the advantages that:
(1) the invention can measure the inclination angle of the bucket according to the inclination angle sensor and control the bucket to automatically level, and the excavator does not need to pay attention to whether the bucket is leveled or not and the bucket leveling operation when running, thereby avoiding the visual deviation brought by the manual observation of an excavator driver and the leveling deviation of manual experience leveling, reducing the labor intensity and improving the material handling efficiency of the excavator;
(2) no matter the excavator runs on the rough ground or the movable arm is operated, the system controls the bucket to follow and automatically level all the time, the excavator is not required to disperse attention, the running system is operated while the bucket is operated to level, the material scattering is reduced, the requirement on the skill of an excavator driver is low, the operation is simple, and the applicability is wide.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a control flow diagram of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the excavator comprises a boom cylinder 3 and an arm cylinder 6 which are arranged on the excavator, wherein the boom cylinder 3 is connected with a boom 4, an arm 7 is connected with the end part of the boom 4, the top part of the arm 7 is connected with the arm cylinder 6, the bottom part is connected with a bucket 10, and a bucket cylinder 8 is arranged on one side of the arm 7. The excavator is provided with a vehicle-mounted controller 5 and a hydraulic valve group 12, an operating handle is arranged in a cab of the excavator and comprises a left operating handle 1 and a right operating handle 2, a vehicle speed sensor 11 is mounted on a driving transmission chain of the excavator, and a bucket 10 is connected with an inclination angle sensor 9, wherein the inclination angle sensor 9, the vehicle speed sensor 11 and the operating handle are all connected with the vehicle-mounted controller 5; the hydraulic valve group 12 is connected to the boom cylinder 3, the arm cylinder 6, and the bucket cylinder 8.
The left control handle 1 and the right control handle 2 arranged in the cab of the excavator are combined with the vehicle-mounted controller 5 to control the hydraulic valve group 12 through the analysis of signals of the tilt angle sensor 9, the vehicle speed sensor 11 and the like, and then the excavator is controlled to run and operate. The extension and contraction of the boom cylinder 3 can realize the lifting or the lowering of the boom 4, and then change the spatial positions of the arm 7 and the bucket 10. The tilt angle of arm 7 can be controlled by controlling the extension and retraction of arm cylinder 6, and the spatial position and tilt angle of bucket 10 can be changed accordingly. The tilt angle and the excavation force of bucket 10 can be changed by extending and retracting bucket cylinder 8.
Wherein, left control handle 1 and right control handle 2 are electric proportional handle, use mechanical control handle, liquid accuse control handle, also can reach similar control effect. Each handle double-shaft (X-axis and Y-axis) outputs (output signals are 0.5-4.5 VDC) to control two actions of the excavator, the working speed of the excavator can be changed by operating the inclination angle of the handle, and one handle can be operated to simultaneously complete one single action or two actions.
The vehicle-mounted controller 5 is a Programmable Logic Controller (PLC) which reads a signal of the vehicle speed sensor 11 through a counter input Port (PI), reads a signal of the tilt angle sensor 9 through an analog quantity signal input port (AI), and reads the left and right manipulation handles 1 and 2 as electrical proportional input signals through the analog quantity signal input port (AI). The on-board controller 5 can control the hydraulic valve group 12 by its pulse width modulation signal (PWM), and then change the moving speed and direction of the working devices such as the bucket 10 and the arm 7.
Because no hydraulic or electric mechanism can level the bucket of the excavator in the left-right direction, the tilt angle sensor 9 of the embodiment is a single-shaft sensor, measures the front and back tilt angles of the bucket, has the sensor range of 0-180 degrees and outputs 4-20 mA current type signals. The tilt sensor 9 has a physical protection structure for dust, water, and impact resistance in consideration of the severe working conditions of the excavator bucket 10. The tilt angle sensor 9 needs to be calibrated before the excavator product leaves a factory, or in the excavator using process, or after the sensor is replaced. The calibration method can be realized by means of a liquid crystal display screen on the excavator or by means of tool software such as a notebook computer and the like.
The vehicle speed sensor 11 is mounted on a drive chain of an excavator travel system and detects a travel speed of the excavator. In this embodiment, the vehicle speed sensor 11 is installed at the output end of the travel drive motor, and detects the rotation speed of the output shaft of the motor to calculate the current vehicle speed.
The hydraulic valve group 12 includes main solenoid valves for controlling the travel and operation of the excavator, and includes a bucket cylinder telescopic solenoid valve, a boom cylinder telescopic solenoid valve, a swing solenoid valve, and a travel motor solenoid valve, which are all electro-hydraulic proportional control valves capable of controlling not only the direction of the movement but also the speed of the movement. Besides the electro-hydraulic proportional control valve, the hydraulic valve group 12 can also achieve the same control effect by adopting a switch electromagnetic valve, an electro-hydraulic servo valve or a combination of the switch electromagnetic valve and a hydraulic valve.
As shown in fig. 2, a main flow chart of a program of the excavator bucket follow-up control method according to the embodiment of the present invention is mainly completed in the onboard controller 5, and mainly includes the following steps:
(1) the vehicle-mounted controller reads the attitude variables and the manipulation requirements of the excavator (step S502): calculating whether the excavator runs and the current actual speed according to the speed sensor 11; reading the inclination angle of the bucket according to the inclination angle sensor 9; an operation that the excavator driver desires the excavator to perform is determined based on the outputs of the left and right manipulation handles 1 and 2.
The bucket inclination angle value measured by the inclination angle sensor 9 may vary with unevenness of the traveling ground, a mechanism for operating the excavator, and the like during traveling of the excavator. In this embodiment, regardless of the state of the excavator, the inclination angle of the bucket can be measured and the automatic leveling can be performed.
(2) Determining whether the excavator driver desires bucket follow-up enabling (step S503): if the excavator driver does not want the bucket to follow up in the driving process, the program is ended; if the excavator driver wishes to follow the bucket during travel, the next operation is performed. The excavator driver operates the bucket follow-up to enable, the bucket follow-up can be set through a display on the excavator, and can also be set through a switch in the excavator driver's cabin.
(3) It is determined whether the excavator is traveling (step S504). In the present embodiment, the current actual vehicle speed is calculated based on the count value and the transmission ratio of the vehicle speed sensor 11. Considering that the excavator may move slowly in situ excavation and is not used as the excavator running condition, when the vehicle speed is greater than 0.5km/h in the embodiment, it is determined that the excavator runs, and step S505 is executed; and if the vehicle speed is not more than 0.5km/h, judging that the excavator works in situ, and ending the program.
(4) It is determined whether the current bucket tilt angle requires follow-up adjustment (step S505). Current bucket inclination angle alpha1Comparing with the set leveling target value Δ α:
1) if | α1If the angle is larger than delta alpha, the bucket inclination angle is large, further adjustment is needed, and step S506 is executed;
2) if it is not|α1And the inclination angle of the bucket is small and does not need to be further adjusted, and the program is ended.
Further, since the bucket inclination angle vibrates according to the work of the excavator during the work such as excavation, Δ α is set to 0.5 ° in the embodiment for the idle adjustment of the placement repeat.
(5) The first actuator is automatically controlled to level the bucket tilt angle (step S506). The vehicle-mounted controller 5 controls the working direction and speed of the first actuator, namely the bucket cylinder 8, according to the size and direction of the inclination angle of the bucket 10, and then controls the bucket 10 to move towards the direction of reducing the inclination angle.
(6) It is judged whether or not the operation of leveling the bucket by extending and retracting the bucket cylinder is effective (step S507). The vehicle-mounted controller 5 controls the current bucket inclination angle alpha2Alpha with pre-adjustment value1And (3) comparison:
1) if | α1|＞|α2Explaining that the operation of leveling the bucket 10 by extending and retracting the bucket cylinder 8 is effective, the inclination angle of the bucket 10 can be reduced, and the step S502 is executed in a circulating manner;
2) if | α1|≤|α2To explain that the operation of extending and retracting and leveling the bucket 10 by the bucket cylinder 8 is ineffective due to structural limitation, mechanism stroke, etc., and the inclination angle of the bucket 10 cannot be reduced, it is necessary to level the bucket by means of a device other than the bucket cylinder 8, and go to step S508.
(7) And controlling the second actuator to level the bucket (step S508). The on-board controller 5 controls the working direction and speed of the second actuator, which is the arm cylinder 6 in this embodiment, according to the size and direction of the inclination angle of the bucket 10, and then controls the bucket 10 to move in the direction of decreasing the inclination angle.
(8) The control routine performs loop control and jumps to step S502 until the bucket tilt angle is equal to or smaller than Δ α.
In addition, if the excavator cancels the operation mode halfway or the excavator is changed from moving to stopping or the bucket inclination angle is less than or equal to Δ α during the construction using the bucket following automatic control excavator, the bucket following leveling is terminated until the conditions from step S502 are all satisfied. When the excavator is used for transporting materials to run, the follow-up leveling of the bucket is controlled according to the inclination angle of the bucket, so that the hysteresis and the leveling deviation caused by the experience leveling are reduced, the material scattering is reduced, and the operation efficiency is improved.
Claims (5)
1. A method for controlling the follow-up of a bucket of an excavator is characterized by comprising the following steps:
firstly, constructing an excavator bucket follow-up control system, which comprises a movable arm oil cylinder (3) and a bucket rod oil cylinder (6) which are arranged on an excavator, wherein the movable arm oil cylinder (3) is connected with a movable arm (4), the end part of the movable arm (4) is connected with a bucket rod (7), the top of the bucket rod (7) is connected with the bucket rod oil cylinder (6), the bottom of the bucket rod is connected with a bucket (10), one side of the bucket rod (7) is provided with the bucket oil cylinder (8), the excavator is provided with an onboard controller (5) and a hydraulic valve group (12), a control handle is arranged in a cab of the excavator, a driving transmission chain of the excavator is provided with a vehicle speed sensor (11), the bucket (10) is connected with an inclination angle sensor (9), and the inclination angle sensor (9), the vehicle speed sensor (11) and the control handle are all connected with the onboard controller (5); the hydraulic valve group (12) is connected with the movable arm cylinder (3), the bucket rod cylinder (6) and the bucket cylinder (8);
step two, the vehicle-mounted controller reads a real-time inclination angle value of the bucket, the current speed and other motion attitude variables and operation parameters capable of reflecting the excavator;
step three, starting a bucket follow-up working mode;
step four, when the vehicle speed is greater than 0.5km/h, judging that the excavator runs, and judging whether the bucket needs to be automatically leveled according to the current bucket inclination angle when the excavator runs, wherein the method specifically comprises the following steps: the excavator passes through the current bucket inclination angle alpha in the running state1Comparing with a set value delta alpha of a bucket leveling error threshold value:
4.1 if | α1If the value is larger than delta alpha, the bucket needs to be automatically leveled;
4.2 if | α1If the | is less than or equal to delta alpha, the bucket is already leveled without leveling again；
Step five, carrying out bucket leveling by controlling a first executing mechanism or/and a second executing mechanism, wherein the first executing mechanism is a bucket oil cylinder (8), the second executing mechanism is an arm oil cylinder (6), and the method specifically comprises the following steps:
5.1, judging the movement direction of the automatic leveling of the bucket and the angle which is less than or equal to delta alpha and needs to be adjusted according to the inclination angle of the bucket;
5.2 bucket inclination angle α after this leveling implementation2And automatically adjusting the value of the front rake angle alpha1By comparison, if | α1|＞|α2Controlling a first actuating mechanism to effectively level the bucket until the inclination angle of the bucket is less than or equal to a set value delta alpha or the excavator stops running;
5.3 if | α1|≤|α2And controlling the first actuating mechanism to be ineffective in leveling the bucket, and starting the second actuating mechanism to level the bucket until the inclination angle of the bucket is less than or equal to a set value delta alpha or the excavator stops running.
2. The method as claimed in claim 1, wherein the control handle comprises a left control handle (1) and a right control handle (2), and the control handle is an electric proportional handle.
3. The excavator bucket follower control method as claimed in claim 1, wherein said tilt sensor (9) is a single axis sensor.
4. The shovel bucket follow-up control method according to claim 1, wherein the vehicle speed sensor (11) is installed at an output end of a travel driving motor.
5. The method as claimed in claim 1, wherein the hydraulic valve set (12) comprises a plurality of solenoid valves, and the solenoid valves are electro-hydraulic proportional control valves, on-off solenoid valves or electro-hydraulic servo valves.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011072011.2A CN112127400B (en) | 2020-10-09 | 2020-10-09 | Excavator bucket follow-up control system and method |
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| CN202011072011.2A CN112127400B (en) | 2020-10-09 | 2020-10-09 | Excavator bucket follow-up control system and method |
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| CN112127400B true CN112127400B (en) | 2022-06-14 |
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| CN114934552B (en) * | 2022-06-07 | 2023-12-19 | 徐州徐工矿业机械有限公司 | Energy-saving hydraulic system for working device of front shovel excavator |
| CN115110600B (en) * | 2022-08-16 | 2023-11-28 | 徐工集团工程机械股份有限公司科技分公司 | Self-adaptive force feedback shoveling control device and method for loader |
| CN115262672A (en) * | 2022-08-30 | 2022-11-01 | 江苏徐工国重实验室科技有限公司 | Excavator and slope operation method of excavator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6241826A (en) * | 1985-08-17 | 1987-02-23 | Hitachi Constr Mach Co Ltd | Bucket angle controller |
| KR960705994A (en) * | 1994-11-29 | 1996-11-08 | METHOD OF CONTROLLING BUCKET ANGLE OF HYDRAULIC SHOVEL | |
| CN102510922A (en) * | 2009-10-05 | 2012-06-20 | 株式会社小松制作所 | Device for suppressing travel vibration in a working vehicle |
| CN103321269A (en) * | 2013-06-26 | 2013-09-25 | 合肥振宇工程机械有限公司 | Method for controlling excavator in flat ground mode |
| CN110905031A (en) * | 2019-12-03 | 2020-03-24 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of excavator working device |
-
2020
- 2020-10-09 CN CN202011072011.2A patent/CN112127400B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6241826A (en) * | 1985-08-17 | 1987-02-23 | Hitachi Constr Mach Co Ltd | Bucket angle controller |
| KR960705994A (en) * | 1994-11-29 | 1996-11-08 | METHOD OF CONTROLLING BUCKET ANGLE OF HYDRAULIC SHOVEL | |
| CN102510922A (en) * | 2009-10-05 | 2012-06-20 | 株式会社小松制作所 | Device for suppressing travel vibration in a working vehicle |
| CN103321269A (en) * | 2013-06-26 | 2013-09-25 | 合肥振宇工程机械有限公司 | Method for controlling excavator in flat ground mode |
| CN110905031A (en) * | 2019-12-03 | 2020-03-24 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of excavator working device |
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