CN112128175B - Engineering machinery power adjusting method based on included angle detection and hydraulic power system - Google Patents

Engineering machinery power adjusting method based on included angle detection and hydraulic power system Download PDF

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Publication number
CN112128175B
CN112128175B CN202010878870.4A CN202010878870A CN112128175B CN 112128175 B CN112128175 B CN 112128175B CN 202010878870 A CN202010878870 A CN 202010878870A CN 112128175 B CN112128175 B CN 112128175B
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pressure
included angle
liquid supply
engineering machinery
bucket
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CN112128175A (en
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李文举
张磊
杨正维
李岳华
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Zoomlion Heavy Industry Science and Technology Co Ltd
Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2838—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT with out using position sensors, e.g. by volume flow measurement or pump speed

Abstract

The invention discloses an engineering machinery power adjusting method based on included angle detection, which comprises the following steps: detecting an included angle between the actuating mechanisms; detecting the work load of an actuating mechanism; and adjusting the liquid supply pressure of the engineering machinery hydraulic system according to the included angle state between the actuating mechanisms and the working load of the actuating mechanisms. The invention also discloses a hydraulic power system which is used for engineering machinery and comprises a main pump, a main control valve, an execution hydraulic cylinder, a controller, an included angle detection sensor and a pressure sensor; the main pump provides pressure liquid for the execution hydraulic cylinder through the main control valve, the included angle detection sensor is suitable for detecting an included angle between the execution mechanisms, the execution pressure sensor can detect the load pressure of the execution mechanisms, and the controller can adjust the liquid supply pressure of the main pump according to the included angle state between the execution mechanisms and the load pressure of the execution mechanisms. The hydraulic system can automatically adjust the liquid supply pressure of the hydraulic system according to the working state of the engineering machinery, has good dynamic adaptability, and is energy-saving and environment-friendly.

Description

Engineering machinery power adjusting method based on included angle detection and hydraulic power system
Technical Field
The invention relates to a hydraulic control system, in particular to an engineering machinery power adjusting method based on included angle detection. In addition, the invention also relates to a hydraulic power system.
Background
The engineering machinery refers to mechanical equipment used in earth and stone construction engineering, pavement construction and maintenance, hoisting, loading and unloading operation and mechanical construction of building engineering. The power required by the engineering machinery in different construction operation processes is often greatly different, so that the engineering machinery usually adopts different control modes under different construction working conditions so as to exert the optimal power of an engine and realize higher operation efficiency. During normal operating conditions, fuel economy is often emphasized; under some working conditions, attention needs to be paid to control coordination and operation accuracy.
A construction machine generally uses a hydraulic system as a power source, and an engine drives a hydraulic pump to rotate, and pressure oil output from the hydraulic pump is distributed to various actuators through a main control valve. The magnitude of the power of the engineering machinery is mainly determined by key factors such as an engine, an actuating mechanism (comprising an actuating hydraulic element), the pressure of a hydraulic system and the like. The parameters of an engine, an actuating mechanism, an actuating hydraulic element and the like of an excavator of one type are generally determined within a certain value range after accounting so as to adapt to certain working conditions. The pressure of the hydraulic system is adjusted to be the main means for adjusting the power of the engineering machinery. However, customers purchase the engineering machinery, and usually hope that the engineering machinery can be used under different working conditions to improve the economic benefit of the engineering machinery, so that urgent needs are provided for adjusting the power of the engineering machinery.
At present, in order to improve the applicability of the construction machine, several working modes are generally set for the construction machine. Various power control modes such as a light load mode, an economy mode, a heavy load mode, and a breaking hammer mode are generally provided to an existing excavator. However, the setting of multiple power control modes may put higher skill requirements on the selection of the power mode by the operator of the construction machine, and a wrong power mode may result in wrong power matching, which may affect the operability and the working effect of the construction machine. The matched power modes are selected according to different working conditions, so that the method has great subjectivity, and needs long-time experience accumulation of operators and continuous adjustment according to the change of the working conditions. Not only is the operation performance of the engineering machinery reduced, but also the engineering machinery can be caused to work in a wrong power mode frequently, the working efficiency of the engineering machinery is influenced, the waste of fuel oil is caused, and the environmental pollution is aggravated.
Disclosure of Invention
The invention aims to solve the technical problem of providing an engineering machinery power adjusting method based on included angle detection, which can automatically adjust the liquid supply pressure according to the working state of the engineering machinery, has high working efficiency, and is energy-saving and environment-friendly.
The technical problem to be solved by the invention is to provide a hydraulic power system which is convenient to operate and control, strong in adaptability and high in operation efficiency.
In order to achieve the above object, a first aspect of the present invention provides a method for adjusting engineering machinery power based on included angle detection, including the following steps: detecting an included angle between the actuating mechanisms; detecting the work load of an actuating mechanism; and adjusting the liquid supply pressure of the hydraulic system of the engineering machinery according to the state of the included angle between the actuating mechanisms and the working load of the actuating mechanisms.
Preferably, the state of the included angle between the actuators comprises the range of the included angle between the actuators and the change rate of the included angle between the actuators; and adjusting the liquid supply pressure according to the included angle range, the included angle change rate and the working load of the actuating mechanism. In the preferred technical scheme, the included angle between the actuating mechanisms determines the force transmission state between the actuating mechanisms of the engineering machinery, and further determines whether the power output by the actuating hydraulic cylinder can form moment for effectively driving the power output mechanism to work, so that the power can be efficiently converted into the working power of the engineering machinery. The change rate of the included angle between the actuating mechanisms can reflect the state of the hydraulic actuating cylinder of the engineering machinery and the load condition of the actuating mechanism. Therefore, whether the engineering machinery is suitable for large power output or not and whether large power output is needed or not can be judged according to the included angle range and the included angle change rate among the executing mechanisms and the working load of the executing mechanisms, and accordingly the liquid supply pressure is adjusted, the pertinence is stronger, and the adjusting effect is better.
Further preferably, the included angle range includes an effective execution range; when the included angle range is in the effective execution range and the included angle change rate is larger than a first set change rate and smaller than a second set change rate, adjusting the liquid supply pressure according to the working load of the execution mechanism; otherwise, the liquid supply pressure is the reference liquid supply pressure. In the preferred technical scheme, when the included angle range is in the effective execution range, the sine value of the included angle between the execution mechanisms is generally large, the moment formed by the acting force between the same execution mechanisms is also large, and the force output by the execution hydraulic cylinder can be better converted into the output power of the execution mechanisms. The proper change rate of the included angle between the executing mechanisms also indicates that the operating state of the executing mechanism of the engineering machinery is normal, under the condition, the working power for overcoming the working load can be better formed by adjusting the liquid supply pressure of the hydraulic system, and the adjusting effect for adjusting the output power and the operating efficiency of the executing mechanism of the engineering machinery is better. When the included angle between the executing mechanisms is out of the effective executing range or the executing mechanisms are in an abnormal working state, the engineering machinery is adjusted by the reference liquid supply pressure, so that the engineering machinery returns to the normal working state capable of carrying out effective torque transmission, and the situation that the hydraulic control system of the engineering machinery makes wrong reflection on the working load in the abnormal state to influence the controllability and the safety of the engineering machinery can be prevented.
Preferably, the work load of the actuator is detected by detecting a rodless chamber pressure of the actuator cylinder. Through the preferred technical scheme, the pressure of the rodless cavity of the execution hydraulic cylinder reflects the driving resistance of the execution mechanism and directly corresponds to the liquid supply pressure of the hydraulic system. The liquid supply pressure of the hydraulic system can be directly compared with the pressure of the rodless cavity of the execution hydraulic cylinder, and the liquid supply pressure of the hydraulic system is adjusted according to the comparison result, so that the adjustment is more convenient.
Further preferably, the liquid supply pressure further comprises a first upshift pressure, a second upshift pressure and a third upshift pressure from small to large; the method for adjusting the liquid supply pressure comprises the following steps: when the pressure of a rodless cavity of the execution hydraulic cylinder is smaller than the reference liquid supply pressure, the liquid supply pressure is adjusted to the reference liquid supply pressure; when the pressure of a rodless cavity of the execution hydraulic cylinder is larger than the reference liquid supply pressure and smaller than the first upshift pressure, the liquid supply pressure is adjusted to the first upshift pressure; when the rodless cavity pressure of the execution hydraulic cylinder is larger than the first upshift pressure and smaller than the second upshift pressure, the liquid supply pressure is adjusted to the second upshift pressure; when the rodless cavity pressure of the execution hydraulic cylinder is larger than the second upshift pressure and smaller than the third upshift pressure, the liquid supply pressure is adjusted to the third upshift pressure; and when the pressure of the rodless cavity of the execution hydraulic cylinder is greater than the third gear-up pressure, the execution pressure of the hydraulic system of the engineering machinery is cut off. In the preferred technical scheme, the liquid supply pressure of the hydraulic system comprises a reference liquid supply pressure and three upshifting pressures, and under the reference liquid supply pressure, the engineering machinery can meet the normal working requirement; when the work load of the actuating mechanism of the engineering machinery is large, the hydraulic system is gradually adjusted to different upshifting pressures according to the driving resistance of the actuating mechanism, so that the liquid supply pressure of the hydraulic system is always in a state matched with the operation resistance, the operation capability is ensured, and the output power of the main pump is prevented from being too high to cause energy waste. When the operation resistance is too high and exceeds the operation capacity of the excavator, the execution pressure of the hydraulic system is cut off, and the adverse effect of the overrun operation of the hydraulic system and the execution mechanism on the engineering machinery is prevented.
Preferably, the work load of the actuating mechanism is detected by detecting the stress of a pin shaft on the power arm of the engineering machinery. In the preferred technical scheme, the working load of the engineering mechanical actuating mechanism is usually reflected on the power arm, the power arm pin shaft stress reflects the force borne by the power arm, and the working load of the engineering mechanical actuating mechanism can be accurately reflected by detecting the power arm pin shaft stress. Meanwhile, the stress of the power arm pin shaft is detected simply and conveniently, and the cost is lower.
Further preferably, the liquid supply pressure further comprises a first upshift pressure, a second upshift pressure and a third upshift pressure from small to large; the method for adjusting the liquid supply pressure comprises the following steps: when the power arm pin shaft stress is smaller than a first set stress, the liquid supply pressure is adjusted to the reference liquid supply pressure; when the power arm pin shaft stress is greater than the first set stress and less than a second set stress, adjusting the liquid supply pressure to the first gear-up pressure; when the power arm pin shaft stress is greater than the second set stress and less than a third set stress, adjusting the liquid supply pressure to the second upshift pressure; when the power arm pin shaft stress is greater than the third set stress and less than a fourth set stress, adjusting the liquid supply pressure to the third upshift pressure; and when the stress of the power arm pin shaft is greater than the fourth set stress, cutting off the execution pressure of the hydraulic system of the engineering machinery. Through the preferred technical scheme, the set values of the stress of the four pin shafts are set, the set values correspond to the working loads of four different execution mechanisms, so that different liquid supply pressures can be output by the hydraulic system according to the different working loads of the execution mechanisms, the liquid supply pressure of the hydraulic system can be always in a state matched with the working resistance, the working capacity is guaranteed, and the phenomenon that the energy is wasted due to overhigh output power of a main pump is avoided. When the operation resistance is too high and exceeds the operation capacity of the excavator, the execution pressure of the hydraulic system is cut off, and the damage of the excavator caused by the overrun operation is prevented.
Preferably, the liquid supply pressure is adjusted by: the supply pressure is pulsed in such a way that the regulated pressure and the reference supply pressure alternately occur. Through the preferable technical scheme, the pulse type improvement of the liquid supply pressure of the hydraulic system can cause the pulse type improvement of the output force of the execution hydraulic cylinder, and the pulse type hydraulic system can form impact type power output and improve the working efficiency of corresponding engineering machinery when being applied to proper engineering machinery.
The invention provides a hydraulic power system in a second aspect, which comprises a main pump, a main control valve and an execution hydraulic cylinder, wherein the main pump provides pressure liquid for the execution hydraulic cylinder through the main control valve; the contained angle detects the sensor and is suitable for the contained angle that detects between the actuating mechanism, pressure sensor can detect engineering machine tool actuating mechanism's load pressure, the controller with main pump, main control valve, contained angle detect sensor and pressure sensor electricity are connected, with the basis contained angle state between the actuating mechanism with actuating mechanism's load pressure adjustment the operating condition of main pump and main control valve to adjustment hydraulic system's confession liquid pressure.
Preferably, the main pump comprises a variable pump, a variable pump control valve group and an electro proportional valve; the electro-proportional valve is connected between the variable pump and the variable pump control valve group and is electrically connected with the controller, and the electro-proportional valve is suitable for controlling the torque of the variable pump through the variable pump control valve group so as to control the output pressure of the variable pump; the main control valve comprises an electric proportional overflow valve, and the controller is electrically connected with the electric proportional overflow valve to control the overflow pressure of the electric proportional overflow valve. In this preferred embodiment, the controller can control the magnitude of the control current of the electro-proportional valve to control the output pressure of the electro-proportional valve, and further control the input torque of the variable pump by the variable pump control valve group to control the output flow rate and the output pressure of the variable pump. By controlling the overflow pressure of the electric proportional overflow valve, the liquid supply pressure of the output liquid path of the main pump can be limited within different overflow pressure level ranges of the electric proportional overflow valve, and the liquid supply pressure of the hydraulic system is limited.
Preferably, the engineering machinery is an excavator, and the execution hydraulic cylinder comprises a boom hydraulic cylinder and a bucket hydraulic cylinder; the included angle detection sensor comprises a bucket rod included angle sensor and a bucket included angle sensor, the bucket rod included angle sensor is suitable for detecting an included angle between the bucket rod hydraulic cylinder and a movable arm component, and the bucket included angle sensor is suitable for detecting an included angle between the bucket rod component and the bucket hydraulic cylinder, a rocker, a connecting rod or a bucket component; the pressure sensor comprises a bucket rod pressure sensor and a bucket pressure sensor, and the bucket rod pressure sensor is arranged on a bucket rod hydraulic cylinder pin shaft, a movable arm front fork pin shaft or a rodless cavity liquid path of the bucket rod hydraulic cylinder; the bucket pressure sensor is arranged on the bucket hydraulic cylinder pin shaft, the rocker pin shaft, the bucket pin shaft or a rodless cavity liquid path of the bucket hydraulic cylinder.
Further preferably, the hydraulic power system of the invention further comprises an engine for driving the variable displacement pump to work, and the controller is electrically connected with the engine to control the rotation speed of the engine. Through the preferred technical scheme, the rotating speed of the engine can be adjusted while the pressure of the output liquid path of the main pump is automatically adjusted, namely the output power of the engine is adjusted, the output power of the main pump is adjusted through the electro-proportional valve of the main pump, the output power of the engine is matched with the output power of the main pump, and the requirement for dynamically adjusting the power of the engineering machinery is met.
Through the technical scheme, the engineering machinery power adjusting method based on the included angle detection can adjust the liquid supply pressure of the engineering machinery hydraulic system according to the included angle state between the actuating mechanisms and the working load of the actuating mechanisms, realizes dynamic self-adaptive adjustment of the power of the engineering machinery, enables the power output by the engineering machinery to automatically adapt to the working condition, improves the output power of the engineering machinery, reduces the energy consumption, simplifies the operation program and reduces the dependence on the operation skill of operators. The hydraulic power system can detect the included angle state between the actuating mechanisms and the load pressure of the actuating mechanisms through the included angle detection sensor and the pressure sensor, and adjust the liquid supply pressure of the main pump so as to realize the adjustment of the output power of the engineering machinery, so that the output power of the engineering machinery is matched with the power requirements of the engineering machinery under different working conditions, the construction requirements of the engineering machinery under different working conditions are automatically adapted, and the energy consumption of the engineering machinery is reduced on the basis of improving the power of the engineering machinery.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a method for adjusting engineering machinery power based on included angle detection according to the present invention;
FIG. 2 is a flow chart of an embodiment of a method for adjusting the power of a construction machine based on angle detection according to the present invention;
FIG. 3 is a flow chart of another embodiment of a method for adjusting the power of a construction machine based on angle detection according to the present invention;
FIG. 4 is a block diagram of one embodiment of the hydraulic power system of the present invention;
FIG. 5 is a hydraulic schematic of one embodiment of the hydraulic power system of the present invention;
FIG. 6 is a control flow diagram of one embodiment of the hydraulic power system of the present invention.
Description of the reference numerals
1 main pump 11 variable displacement pump
12 variable pump control valve group 13 electric proportional valve
2 main control valve 21 electric proportional overflow valve
3-execution hydraulic cylinder 31 boom hydraulic cylinder
32 arm cylinder and 33 bucket cylinder
4 controller 5 included angle detection sensor
6 pressure sensor 61 bucket rod pressure sensor
62 bucket pressure sensor
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, and for example, the term "connected" may be a fixed connection, a detachable connection, or an integral connection; either directly or indirectly through intervening media, either internally or in any combination thereof. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
One embodiment of the method for adjusting the power of the engineering machinery based on the included angle detection, as shown in fig. 1, includes the following steps: and detecting an included angle between the actuating mechanisms. The actuating mechanism is a power output mechanism of the engineering machinery and comprises an actuating hydraulic cylinder, a power arm, a working device and the like. For example, a bucket cylinder, an arm cylinder, a boom, a rocker, a link, a bucket, and an arm of an excavator; a luffing hydraulic cylinder and a suspension arm of the crane; a bucket hydraulic cylinder, a boom, a rocker arm, a link, a bucket, and the like of the loader. The included angle between the actuating mechanisms can be an included angle between an actuating hydraulic cylinder and a power arm, an included angle between different power arms, an included angle between the actuating hydraulic cylinder and an operating device, an included angle between the power arm and the operating device and the like. The included angle between the actuators can reflect the stress and force transmission state of the actuators, so that whether the actuators are suitable for bearing or transmitting large output power can be judged. For example, when the angle θ between the actuator cylinder and the connected power arm is too small or close to a flat angle, the value of sin θ is small, and the moment M generated by the force F applied to the power arm by the actuator cylinder (where L represents the distance between the connecting point of the actuator cylinder and the power arm rotation axis) is also small, and at this time, the force output from the actuator cylinder cannot effectively generate the working moment on the power arm, and not only is the force output very low, but also the internal stress of the actuator is increased, and therefore, the actuator is not suitable for large power output in this state. The workload of the actuator is detected. The workload of the work machine can usually be reflected on the actuator, and the load of the work machine can usually be obtained or inferred by detecting the stress condition of the actuator. When the load of the engineering machinery is large, large power output is needed to overcome large load force, the working capacity of the engineering machinery is improved, the liquid supply pressure of a hydraulic system is improved at the moment, and the working capacity of the engineering machinery can be effectively improved. And adjusting the liquid supply pressure of the hydraulic system of the engineering machinery according to the detected included angle state between the actuating mechanisms and the detected working load of the actuating mechanisms. The magnitude of the liquid supply pressure of the hydraulic system can generally determine the magnitude of the output power of the hydraulic actuator, for example, when the liquid supply pressure of the hydraulic system is increased, the output power of the hydraulic pump and the hydraulic cylinder can be increased, which is beneficial to overcoming larger load force and improving the working capacity of the engineering machinery. The hydraulic system of the existing engineering machinery usually sets a fixed liquid supply pressure in a working state, when the liquid supply pressure is set to be higher, the high working load can be overcome, the working capacity is strong, but the same liquid supply pressure is output when the hydraulic system works under the working condition with a small working load, and the energy waste is caused; when the liquid supply pressure is set to be low, insufficient power output can be caused during operation under the working condition of large working load, and the operation capability of the engineering machinery is influenced. The method can automatically adjust the liquid supply pressure of the hydraulic system according to the size of the working load of the engineering machinery, so that the liquid supply pressure is always adaptive to the working load, and the method can output larger power under the working condition with larger working load, reduce the liquid supply pressure of the hydraulic system under the working condition with smaller working load and reduce the energy consumption of the engineering machinery.
In some embodiments of the method for adjusting the power of the construction machine based on the angle detection of the present invention, as shown in fig. 2 and 3, the state of the angle between the actuators includes the range of the angle between the actuators and the change rate of the angle between the actuators. The range of the included angle between the actuating mechanisms determines the range of the sine value sin theta of the included angle, and under a certain included angle range, the efficiency of forming the kinetic moment M by the force on the actuating mechanisms is within an acceptable range, so that the hydraulic system is suitable for improving the liquid supply pressure of the hydraulic system. In addition, the included angle range also determines the force bearing capacity of the actuating mechanism, and exceeding the included angle range may affect the stability of the engineering machinery or cause the engineering machinery to be damaged due to overlarge stress. The change rate of the included angle between the actuating mechanisms can reflect the current working state of the actuating mechanisms, and when the change rate of the included angle is low, the change rate can reflect that the work load of the engineering machinery is large, so that the work efficiency is reduced; when the change rate of the included angle is too low and is lower than the minimum change rate of effective operation, the engineering machinery meets the operation load which is difficult to overcome, and the normal operation state is difficult to recover when the liquid supply pressure of the hydraulic system is increased. The liquid supply pressure of the hydraulic system is adjusted according to different working conditions, the working efficiency of the engineering machinery is improved, and the influence of improper adjustment of the liquid supply pressure on normal operation of the engineering machinery is prevented, and even the damage to the engineering machinery is avoided. The size of the included angle between the actuating mechanisms of the engineering machinery and the change rate of the included angle between the actuating mechanisms can be respectively detected, only one of the two can be detected, and the other can be obtained by converting time factors.
In some embodiments of the method for adjusting the power of a construction machine based on angle detection of the present invention, as shown in fig. 2 and 3, the range of angles between the actuators includes an effective actuation range. When the included angle range between the actuating mechanisms is within a set range and the power output by the actuating mechanisms is subjected to torque transmission, the power output by the actuating mechanisms can form a large transmission torque M, the torque transmission efficiency is high, and therefore the set range is called as an effective actuating range. In the effective execution range, the output power can be effectively improved by increasing the liquid supply pressure of the hydraulic system, and outside the effective execution range, the liquid supply pressure of the hydraulic system cannot form the effective output power, and the internal stress of the execution mechanism is formed more, so that the liquid supply pressure of the hydraulic system is not suitable to be increased. The effective actuation range is usually determined from the sine of the angle between the actuators. In the method of the invention, a first set rate of change and a second set rate of change of the included angle between the actuators and a reference feed pressure of the hydraulic system may be provided. The first set change rate is usually set according to the minimum requirement that the engineering machinery can perform effective operation, when the change rate of the included angle between the executing mechanisms is larger than the first set change rate, the engineering machinery is generally considered to perform effective operation, otherwise, the executing mechanisms are considered to have signs of stagnation. The second set change rate is usually set according to a requirement for work efficiency of the construction machine, and when the change rate of the included angle between the actuators is smaller than the second set change rate, it is generally considered that the work load of the construction machine is excessive, resulting in a reduction in work efficiency. The reference liquid supply pressure is generally determined according to the relatively low work load of the engineering machinery, and under the reference liquid supply pressure, the engineering machinery can perform engineering operation with low load, adjustment and reset of an actuating mechanism and normal operation of a non-actuating mechanism. And when the included angle between the actuating mechanisms is out of the effective actuating range, the change rate of the included angle is smaller than a first set change rate or the change rate of the included angle is larger than a second set change rate, the pressure liquid pressure output by the hydraulic system of the engineering machinery is used as the reference liquid supply pressure. Under the reference liquid supply pressure, the construction machine can perform low-load operation, adjustment of the state of an actuating mechanism, operation of a non-actuating mechanism and the like. When the included angle between the actuating mechanisms is within an effective actuating range, the change rate of the included angle is greater than a first set change rate, and the change rate of the included angle is less than a second set change rate, the hydraulic system of the engineering machinery outputs pressure liquid with different pressures according to different sizes of working loads. The greater the workload, the higher the pressure of the output pressure fluid. Therefore, the power output by the engineering machinery under the proper working state can be guaranteed to be always greater than the working load of the engineering machinery, and the engineering machinery can have enough working power and higher working efficiency under different working conditions. And the energy waste or the damage of an actuating mechanism caused by outputting high-pressure liquid under the improper working state of the engineering machinery can be prevented.
As a specific embodiment of the method for adjusting the power of the construction machine based on the detection of the included angle, as shown in fig. 2, the workload of the actuator is detected by detecting the pressure of the rodless cavity of the actuating cylinder of the actuator, that is, the supply pressure of the hydraulic system is adjusted according to the pressure of the rodless cavity of the actuating cylinder. In general, the transmission of the work load of the actuator to the pressure fluid of the actuator cylinder is reflected, and the magnitude of the work load of the actuator can be accurately reflected by detecting the pressure of the rodless chamber of the actuator cylinder. And the liquid supply pressure of the hydraulic system is directly opposed to the pressure formed by the working load of the actuating mechanism in the actuating hydraulic cylinder, the liquid supply pressure of the hydraulic system is adjusted according to the rodless cavity pressure of the actuating hydraulic cylinder, the two pressures can be directly compared by reference, the adjustment mode is simple to set, and the adjustment result is direct and effective.
In some embodiments of the method for adjusting the power of a construction machine based on angle detection according to the present invention, as shown in fig. 2, a first upshift pressure, a second upshift pressure and a third upshift pressure are further provided, and the third upshift pressure is greater than the second upshift pressure which is greater than the first upshift pressure which is greater than a reference feed pressure of a hydraulic system. When the liquid supply pressure of the hydraulic system is adjusted, the detected rodless cavity pressure of the execution hydraulic cylinder can be compared with the third gear-up pressure, and when the rodless cavity pressure of the execution hydraulic cylinder is larger than the third gear-up pressure, the execution pressure of the hydraulic system is cut off. At this time, the actuating hydraulic cylinder of the construction machine is no longer supplied with pressure fluid, but the hydraulic system still keeps a certain pressure fluid output to meet the lubrication requirement of the hydraulic part. The third gear-up pressure is usually set as the maximum safe pressure that the hydraulic system can bear, when the pressure of the rodless cavity of the execution hydraulic cylinder is greater than the third gear-up pressure, the pressure of the hydraulic liquid exceeds the safety guarantee level of the hydraulic system, at this moment, the execution pressure of the hydraulic system is cut off, the operation process of the engineering machinery is interrupted, and the safe operation of the hydraulic system is guaranteed. When the pressure of the rodless cavity of the execution hydraulic cylinder is smaller than the third gear-up pressure, the pressure of the rodless cavity of the execution hydraulic cylinder is compared with the second gear-up pressure, and when the pressure of the rodless cavity of the execution hydraulic cylinder is larger than the second gear-up pressure, the liquid supply pressure of the hydraulic system is adjusted to the third gear-up pressure, so that the pressure of pressure liquid output by the hydraulic system can be ensured to be larger than the pressure of the rodless cavity of the execution hydraulic cylinder, the power output by the engineering machinery is larger than the working load of the execution mechanism, and the working capacity of the engineering machinery is ensured; and when the pressure of the rodless cavity of the execution hydraulic cylinder is smaller than the second gear-up pressure, comparing the pressure of the rodless cavity of the execution hydraulic cylinder with the first gear-up pressure. When the pressure of a rodless cavity of the execution hydraulic cylinder is greater than the first upshift pressure, the liquid supply pressure of the hydraulic system is adjusted to a second upshift pressure, so that the pressure of pressure liquid output by the hydraulic system is kept greater than the pressure of the rodless cavity of the execution hydraulic cylinder on a lower level, namely, the power output by the engineering machinery is reduced while being greater than the working load of an execution mechanism, and the working capacity of the engineering machinery is ensured while the power consumption of the engineering machinery is reduced; and when the pressure of the rodless cavity of the execution hydraulic cylinder is smaller than the first gear-up pressure, comparing the pressure of the rodless cavity of the execution hydraulic cylinder with the reference liquid supply pressure. When the pressure of a rodless cavity of the execution hydraulic cylinder is larger than the reference liquid supply pressure, the liquid supply pressure of the hydraulic system is adjusted to a first gear-up pressure, so that the pressure of pressure liquid output by the hydraulic system is kept larger than the pressure of the rodless cavity of the execution hydraulic cylinder on a lower level, namely the power output by the engineering machinery is more reduced while being larger than the working load of an execution mechanism, the working capacity of the engineering machinery is ensured, and meanwhile, the power consumption is lower; when the pressure of the rodless cavity of the execution hydraulic cylinder is smaller than the reference liquid supply pressure, the liquid supply pressure of the hydraulic system is adjusted to the reference liquid supply pressure, at the moment, the pressure of pressure liquid output by the hydraulic system is also larger than the pressure of the rodless cavity of the execution hydraulic cylinder, but the liquid supply pressure of the hydraulic system is lower, namely the engineering machinery ensures that the output power is larger than the working load of the execution mechanism on the basis of lower power consumption, and the engineering machinery can keep normal working capacity and further reduce the power consumption of the engineering machinery. Thus, the liquid supply pressure of the hydraulic system of the engineering machinery can be kept at a certain level capable of overcoming the load pressure, the working capacity of the engineering machinery corresponding to the working load is ensured by a simple method, and the energy consumption can be reduced when the working load is lower.
As a specific embodiment of the method for adjusting engineering machinery power based on included angle detection according to the present invention, as shown in fig. 3, the workload of the actuator is detected by detecting the stress of the pin on the power arm of the engineering machinery, that is, the liquid supply pressure of the hydraulic system is adjusted according to the magnitude of the stress of the pin on the power arm of the engineering machinery. The power arm refers to a mechanical arm connected to a working device of the construction machine, such as a boom of an excavator, a boom of a crane, or a boom of a loader. When the engineering machinery carries out engineering operation, the workload of the executing mechanism usually acts on a power arm of the engineering machinery, and the pin shafts on the power arm, including the pin shafts between the power arms, the pin shafts between the power arm and an operating device, the pin shafts between the power arm and an installation seat, and the stress generated after the pin shafts between the power arm and an executing hydraulic cylinder are stressed, can reflect the workload of the executing mechanism. And the pin shaft on the power arm is arranged on the mechanical part, and the pressure sensor is arranged on the pin shaft on the power arm, so that the operation is simpler and more convenient, and the cost is lower.
In some embodiments of the method for adjusting the power of a construction machine based on angle detection according to the present invention, as shown in fig. 3, a first upshift pressure, a second upshift pressure and a third upshift pressure are further provided to the hydraulic system in the method according to the present invention, and the third upshift pressure is greater than the second upshift pressure, which is greater than the first upshift pressure, which is greater than a reference feed pressure of the hydraulic system. And a first set stress to a fourth set stress from small to large are arranged on the power arm pin shaft. When the liquid supply pressure of the hydraulic system is adjusted, the detected stress of the pin shaft can be compared with the fourth set stress, and when the stress of the pin shaft is greater than the fourth set stress, the execution pressure of the hydraulic system is cut off. The fourth set stress is usually set as the stress of the pin shaft corresponding to the work load which can be overcome by the maximum safe pressure of the hydraulic system of the engineering machine, when the stress of the pin shaft is greater than the fourth set stress, the pressure of the hydraulic liquid corresponding to the fourth set stress exceeds the safe guarantee level of the hydraulic system, at the moment, the execution pressure of the hydraulic system is cut off, the operation process of the engineering machine is interrupted, and the safe operation of the hydraulic system is guaranteed. When the stress of the pin shaft is smaller than the fourth set stress, the stress of the pin shaft is compared with the third set stress, and when the stress of the pin shaft is larger than the third set stress, the liquid supply pressure of the hydraulic system is adjusted to a third upshifting pressure, so that the power output by the hydraulic system can be ensured to be larger than the working load of an actuating mechanism, and the working capacity of the engineering machinery is ensured; and when the stress of the pin shaft is smaller than the third set stress, comparing the stress of the pin shaft with the second set stress. When the stress of the pin shaft is greater than a second set stress, the liquid supply pressure of the hydraulic system is adjusted to a second gear-up pressure, so that the power output by the hydraulic system is greater than the working load of the actuating mechanism on a lower level, and the working capacity of the engineering machinery is ensured on the basis of reducing the power consumption of the engineering machinery; and when the stress of the pin shaft is smaller than the second set stress, comparing the stress of the pin shaft with the first set stress. When the stress of the pin shaft is greater than a first set stress, the liquid supply pressure of the hydraulic system is adjusted to a first gear-up pressure, so that the power output by the hydraulic system is greater than the working load of the actuating mechanism and is reduced to a lower level, and the working capacity of the engineering machinery is ensured with lower power consumption; when the stress of the pin shaft is smaller than the first set stress, the liquid supply pressure of the hydraulic system is adjusted to the reference liquid supply pressure, at the moment, the power output by the hydraulic system is also larger than the working load of the executing mechanism, but the liquid supply pressure of the hydraulic system is kept at a lower basic level, the power consumption of the engineering machinery is lower, and the engineering machinery can keep normal working capacity. By the method, the liquid supply pressure of the hydraulic system of the engineering machinery can be kept at a certain level capable of overcoming the load pressure, the working capacity of the engineering machinery corresponding to the working load is ensured by the limited liquid supply pressures, and the energy consumption can be reduced when the working load is lower.
As a specific embodiment of the method for adjusting engineering machinery power based on included angle detection according to the present invention, when the liquid supply pressure of the hydraulic system is adjusted to be greater than the reference liquid supply pressure, the liquid supply pressure of the hydraulic system is increased in a pulsed manner in which the adjusted liquid supply pressure and the reference liquid supply pressure alternately appear, the adjusted liquid supply pressure is a peak of a pulse, and the reference liquid supply pressure is a trough of the pulse. The pulsed increase of the hydraulic system feed pressure may be formed as a pulse wave of fixed frequency, which may have a waveform of rectangular pulses, sinusoidal pulses, sawtooth pulses, triangular pulses, etc. The impulse type change of the liquid supply pressure of the hydraulic system forms the impact type power output of the engineering machinery, and the working capacity of the engineering machinery can be effectively improved when the hydraulic system is used on the proper engineering machinery. It should be noted that the pulse type power output form is not suitable for all the working machines, and for example, the hoisting process of the crane is not suitable for the pulse type power output. The specific type of use may be determined by one skilled in the art based on the operational needs of the different work machines.
One embodiment of the hydraulic power system of the present invention, as shown in fig. 4, includes a main pump 1, a main control valve 2, an actuating cylinder 3, a controller 4, an angle detection sensor 5, and a pressure sensor 6. The main pump 1 can output pressure liquid under the driving of an engine, the pressure liquid is delivered to the actuating hydraulic cylinder 3 after being subjected to flow distribution and direction control through the main control valve 2, and the pressure liquid is converted into the working power of the actuating mechanism through the actuating hydraulic cylinder 3. The included angle detection sensor 5 is used for detecting an included angle between engineering machinery executing mechanisms. The actuating mechanism is a power output mechanism of the engineering machinery and comprises an actuating hydraulic cylinder 3, a power arm, a working device and the like. For example, a bucket cylinder, an arm cylinder, a boom, a rocker, a link, a bucket, and an arm of an excavator; a luffing hydraulic cylinder and a suspension arm of the crane; a bucket hydraulic cylinder, a boom, a rocker arm, a link, a bucket, and the like of the loader. The included angle between the actuating mechanisms can be an included angle between the actuating hydraulic cylinder 3 and the power arm, an included angle between different power arms, an included angle between the actuating hydraulic cylinder 3 and the operation device, an included angle between the power arm and the operation device and the like. The included angle detecting sensor 5 is a sensor capable of detecting the size of an included angle or angular displacement, such as an angle sensor or an angular displacement sensor, or a distance sensor or a displacement sensor arranged near a rotating shaft of the executing mechanism, and the included angle between the executing mechanisms is calculated through detected distance or displacement information. The pressure sensor 6 is used to detect the load pressure of the actuator, such as the pressure of the pressure fluid in the actuator cylinder 3, the load pressure to which the power arm and the working implement are subjected. When detecting different actuator pressures, the pressure sensor 6 may be disposed at different positions, such as in a rodless cavity of the actuator cylinder 3, on an oil path directly connected to the rodless cavity of the actuator cylinder 3, at a connection of the actuators, or on a pin between the actuators. The controller 4 is connected with the main pump 1, the main control valve 2, the included angle detection sensor 5 and the pressure sensor 6 through circuits. The controller 4 can acquire the state information of the included angle between the actuating mechanisms through the included angle detection sensor 5 and judge the working state of the actuating mechanisms according to the state information of the included angle; acquiring the load pressure of the actuating mechanism through a pressure sensor 6; the output power of the main pump 1 and the overflow pressure of the main control valve 2 can be adjusted according to the working state of the actuating mechanism and the load pressure of the actuating mechanism, so that the pressure of an output fluid path of the hydraulic system is controlled, and the power output by the actuating hydraulic cylinder 3 is finally controlled.
In some embodiments of the hydraulic power system of the present invention, as shown in fig. 4 and 5, the main pump 1 includes a variable pump 11, a variable pump control valve group 12, and an electro proportional valve 13. Variable displacement pump control valve set 12 may also include a PC valve, an LS valve, and a pressure shut-off valve. The electro proportional valve 13 is connected between the variable displacement pump 11 and the variable displacement pump control valve group 12, the input current of the electro proportional valve 13 can be controlled by the controller 4, and the pressure of the hydraulic oil output by the electro proportional valve 13 is different under different input currents. The hydraulic oil output by the electro proportional valve 13 controls the state of a hydraulic valve in the variable pump control valve group 12, and further controls the torque of the variable pump 11, so as to achieve the effect of controlling the output power of the variable pump 11. The electric proportional overflow valve 21 is arranged on the oil path of the main control valve 2, the electric proportional overflow valve 21 can be used for replacing a fixed differential pressure overflow valve on the traditional oil path of the main control valve 2, and the electric proportional overflow valve 21 can also be added on the basis of the fixed differential pressure overflow valve with the differential pressure being the maximum rated output pressure of the main pump 1. The electric proportional relief valve 21 can adjust the relief pressure by adjusting the magnitude of the control current, so that the working pressure of the hydraulic power system of the excavator can be adjusted by the controller 4.
In some embodiments of the hydraulic power system of the present invention, as shown in fig. 4 to 6, the working machine is an excavator, and the implement cylinder 3 includes a boom cylinder 31, an arm cylinder 32, and a bucket cylinder 33. The boom cylinder 31 is used to drive a boom of the excavator to move, the arm cylinder 32 is used to drive an arm of the excavator to move and generate a displacement motion of the bucket, and the bucket cylinder 33 is used to drive a bucket of the excavator to generate a rotation motion and generate an excavating motion in cooperation with the arm motion. The angle detection sensor 5 includes a stick angle sensor 51 and a bucket angle sensor 52. The arm included angle sensor 51 may be disposed at a connection of the arm hydraulic cylinder 32 and a boom part to detect an included angle between the arm hydraulic cylinder 32 and the boom part; the angle detection device is arranged at the joint of the arm hydraulic cylinder 32 and the arm part to detect the included angle between the arm hydraulic cylinder 32 and the arm part; the angle detection device can also be arranged at the joint of the movable arm part and the arm part to detect the included angle between the movable arm part and the arm part. A bucket included angle sensor 52 may be provided at a connection of the bucket cylinder 33 and the arm member to detect an included angle between the bucket cylinder 33 and the arm member; the angle detection device is arranged at the joint of the bucket hydraulic cylinder 33 and the rocker to detect the included angle between the bucket hydraulic cylinder 33 and the rocker; the device is arranged at the joint of the bucket rod component and the rocker to detect the included angle between the bucket rod component and the rocker; the connecting rod is arranged at the joint of the bucket rod component and the connecting rod so as to detect the included angle between the bucket rod component and the connecting rod; the angle between the arm member and the bucket member may be detected by a sensor disposed at a junction of the arm member and the bucket member. The pressure sensor 6 also includes a stick pressure sensor 61 and a bucket pressure sensor 62. The arm pressure sensor 61 may be provided on a head pin of the arm cylinder 32, or a boom front fork pin, or may be provided in another suitable place such as a rodless chamber fluid path of the arm cylinder 32, so as to be able to detect a work load applied to the arm member. The bucket pressure sensor 62 may be provided on a head pin of the bucket cylinder 33, a head pin, a rocker pin, or a bucket pin of the bucket cylinder 33, or may be provided in another suitable place such as a rodless cavity hydraulic path of the bucket cylinder 33, so as to be able to detect a work load applied to a bucket component. During the operation of the excavator, the load change of the movement of the boom of the excavator is usually small, and the change of the output force demand of the boom hydraulic cylinder 31 is not large when the excavator works under different working conditions, so that the power state of the boom hydraulic cylinder 31 does not need to be monitored and adjusted. When the working loads of the arm hydraulic cylinder 32 and the bucket hydraulic cylinder 33 of the excavator are changed greatly under different working conditions, and the output forces of the arm hydraulic cylinder 32 and the bucket hydraulic cylinder 33 are small, the excavator has insufficient excavating force and low excavating efficiency under the working conditions with large working loads; when the output forces of the arm cylinder 32 and the bucket cylinder 33 are large, the supply pressure of the hydraulic system is too high under the working condition with a small workload, which results in waste of energy of the excavator. The hydraulic system can automatically adjust the liquid supply pressure according to the workload of the arm component and the bucket component, so that the power output of the arm hydraulic cylinder 32 and the bucket hydraulic cylinder 33 can be adapted to the working condition of the excavator, the excavating efficiency of the excavator can be ensured, and the energy waste of the excavator can be prevented.
Specifically, the range of the included angle detected by the arm angle sensor 51 may be divided into a1 range segment at a smaller acute angle, a B1 range segment at a larger acute angle, a right angle and a smaller obtuse angle, and a C1 range segment at a larger obtuse angle according to the specific arrangement positions of the arm angle sensor 51 and the bucket angle sensor 52. When the included angle detected by the arm included angle sensor 51 is in the range of B1, the moment generated by the power output by the arm hydraulic cylinder 32 is large, which is referred to as the effective execution range of the arm included angle. The angle range detected by the bucket angle sensor 52 is divided into a section of a2 range at a smaller acute angle, a section of B2 range at a larger acute angle, a right angle and a smaller obtuse angle, and a section of C2 range at a larger obtuse angle. When the included angle detected by the bucket included angle sensor 52 is in the range of B2, the torque generated by the power output from the blade lever hydraulic cylinder 33 is large, which is called the effective execution range of the bucket included angle. The controller 4 may also calculate the corresponding angle change rate according to the change of the angle detected by the arm angle sensor 51 and the bucket angle sensor 52. The controller 4 stores a first set rate of change L of the armBucket 1And a second set rate of change L of the dipperBucket 2First set rate of change L of bucketShovel 1And a second set rate of change L of the bucketShovel 2. When the included angle detected by the arm included angle sensor 51 is located in the range segment of the effective execution range B1 of the arm included angle, the change rate of the included angle is greater than the first set change rate L of the armBucket 1And the rate of change of the included angle is less than a second set rate of change L of the dipperBucket 2In this case, the controller 4 can increase the output pressure of the main pump 1 and the relief pressure of the electric proportional relief valve 21 according to the magnitude of the work load of the arm member. Effective implementation when the angle detected by bucket angle sensor 52 is at the bucket angleThe line range B2 range section and the included angle change rate are larger than the first set change rate L of the bucketShovel 1And the rate of change of the included angle is less than a second set rate of change L of the bucketShovel 2In this case, the controller 4 can increase the output pressure of the main pump 1 and the relief pressure of the electric proportional relief valve 21 according to the magnitude of the work load of the bucket member. Otherwise, the controller 4 adjusts both the output pressure of the main pump 1 and the relief pressure of the electric proportional relief valve 21 to the reference feed pressure P0.
In some embodiments of the hydraulic power system of the present invention, the controller 4 is electrically connected to an engine that drives the main pump 1 to operate, to control the rotational speed and output power of the engine. When the motor is used as the engine, the rotating speed and the output power of the engine can be adjusted by adjusting the input current of the motor; when a diesel engine is used as the engine, the rotation speed and the output power of the engine can be adjusted by adjusting the fuel injection amount of the diesel engine. By adjusting the rotating speed and the output power of the engine, the output power of the engine can be adapted to the output power required by the main pump 1, so that the requirements of different power outputs of the engineering machinery are met.
In summary, the method for adjusting the power of the engineering machinery based on the included angle detection can adjust the liquid supply pressure of the hydraulic system of the engineering machinery according to the state of the included angle between the actuating mechanisms and the workload of the actuating mechanisms, thereby automatically adapting to different power requirements of the engineering machinery under different working conditions, improving the operating coordination of the engineering machinery, reducing the requirements on the operating technology and reducing the energy consumption of the engineering machinery. And the failure of the excavator caused by the excessive rise of the working pressure of the hydraulic system caused by the stagnation of the operating components or the overlarge working load of the engineering machinery can be prevented. When the state of the actuating mechanism of the engineering machinery is not suitable for high power output, lower reference liquid supply pressure is output, and the state of the actuating mechanism is conveniently adjusted while the actuating mechanism is protected. The pulse type liquid supply pressure can provide pulse type power output, and the operation capacity of the engineering machinery under the same output power is improved. The hydraulic power system can realize the engineering machinery power adjusting method based on the included angle detection, the included angle between the actuating mechanisms is detected through the included angle detection sensor 5 to judge the state of the actuating mechanisms, the working load of the actuating mechanisms is detected through the pressure sensor 6, and the liquid supply pressure of the hydraulic system is adjusted according to the state of the actuating mechanisms and the working load of the actuating mechanisms, so that the engineering machinery can automatically adapt to the working loads of different working conditions, the working efficiency of the engineering machinery is improved, and the operation requirement of the engineering machinery is simplified. When the work load of the construction machine is reduced, the output power of the main pump 1 can be automatically reduced, and the energy-saving effect of the construction machine is improved.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "a specific embodiment," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present disclosure, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, numerous simple modifications can be made to the technical solution of the invention, including combinations of the individual specific technical features in any suitable way. The invention is not described in detail in order to avoid unnecessary repetition. Such simple modifications and combinations should be considered within the scope of the present disclosure as well.

Claims (10)

1. An engineering machinery power adjusting method based on included angle detection is characterized by comprising the following steps:
detecting an included angle between the actuating mechanisms;
detecting the work load of an actuating mechanism;
adjusting the liquid supply pressure of the engineering machinery hydraulic system according to the included angle state between the actuating mechanisms and the working load of the actuating mechanisms, wherein the included angle state between the actuating mechanisms comprises the included angle range between the actuating mechanisms and the included angle change rate between the actuating mechanisms, and the included angle range comprises a set effective actuating range; when the included angle range is in the effective execution range and the included angle change rate is larger than a first set change rate and smaller than a second set change rate, adjusting the liquid supply pressure according to the working load of the execution mechanism; otherwise, the liquid supply pressure is the reference liquid supply pressure.
2. The method of claim 1, wherein the work load of the actuator is sensed by sensing a rodless chamber pressure of an actuator cylinder.
3. The method of claim 2, wherein the feed pressure further comprises a first, second, and third up-shift pressure from small to large; the method for adjusting the liquid supply pressure comprises the following steps: when the pressure of a rodless cavity of the execution hydraulic cylinder is smaller than the reference liquid supply pressure, the liquid supply pressure is adjusted to the reference liquid supply pressure; when the pressure of a rodless cavity of the execution hydraulic cylinder is larger than the reference liquid supply pressure and smaller than the first upshift pressure, the liquid supply pressure is adjusted to the first upshift pressure; when the rodless cavity pressure of the execution hydraulic cylinder is larger than the first upshift pressure and smaller than the second upshift pressure, the liquid supply pressure is adjusted to the second upshift pressure; when the rodless cavity pressure of the execution hydraulic cylinder is larger than the second upshift pressure and smaller than the third upshift pressure, the liquid supply pressure is adjusted to the third upshift pressure; and when the pressure of the rodless cavity of the execution hydraulic cylinder is greater than the third gear-up pressure, the execution pressure of the hydraulic system of the engineering machinery is cut off.
4. The method of claim 1, wherein the work load of the actuator is detected by detecting pin stress on the power arm of the work machine.
5. The method of claim 4, wherein the feed pressure further comprises a first upshift pressure, a second upshift pressure, and a third upshift pressure from small to large; the method for adjusting the liquid supply pressure comprises the following steps: when the power arm pin shaft stress is smaller than a first set stress, the liquid supply pressure is adjusted to the reference liquid supply pressure; when the power arm pin shaft stress is greater than the first set stress and less than a second set stress, adjusting the liquid supply pressure to the first gear-up pressure; when the power arm pin shaft stress is greater than the second set stress and less than a third set stress, adjusting the liquid supply pressure to the second upshift pressure; when the power arm pin shaft stress is greater than the third set stress and less than a fourth set stress, adjusting the liquid supply pressure to the third upshift pressure; and when the stress of the power arm pin shaft is greater than the fourth set stress, cutting off the execution pressure of the hydraulic system of the engineering machinery.
6. The method of any of claims 1 to 5, wherein the liquid supply pressure is adjusted by: the supply pressure is pulsed in such a way that the regulated pressure and the reference supply pressure alternately occur.
7. A hydraulic power system is used for engineering machinery and comprises a main pump (1), a main control valve (2) and an execution hydraulic cylinder (3), wherein the main pump (1) provides pressure liquid for the execution hydraulic cylinder (3) through the main control valve (2), and is characterized by further comprising a controller (4), an included angle detection sensor (5) and a pressure sensor (6); the included angle detection sensor (5) is suitable for detecting an included angle between actuating mechanisms, the pressure sensor (6) can detect the load pressure of the actuating mechanisms of the engineering machinery, the controller (4) is electrically connected with the main pump (1), the main control valve (2), the included angle detection sensor (5) and the pressure sensor (6) to adjust the working states of the main pump (1) and the main control valve (2) according to the included angle state between the actuating mechanisms and the load pressure of the actuating mechanisms so as to adjust the liquid supply pressure of a hydraulic system, and the engineering machinery power adjusting method based on the included angle detection can be achieved according to any one of claims 1 to 6.
8. The hydraulic power system as claimed in claim 7, characterized in that the main pump (1) comprises a variable pump (11), a variable pump control valve group (12) and an electro proportional valve (13); the electro proportional valve (13) is connected between the variable pump (11) and the variable pump control valve group (12) and is electrically connected with the controller (4), and the electro proportional valve (13) is suitable for controlling the torque of the variable pump (11) through the variable pump control valve group (12) so as to control the output pressure of the variable pump (11); the main control valve (2) comprises an electric proportional overflow valve (21), and the controller (4) is electrically connected with the electric proportional overflow valve (21) to control the overflow pressure of the electric proportional overflow valve (21).
9. The hydraulic power system of claim 7 or 8, wherein the work machine is an excavator, and the implement hydraulic cylinder (3) comprises a stick hydraulic cylinder (32) and a bucket hydraulic cylinder (33); the included angle detection sensor (5) comprises a bucket rod included angle sensor (51) and a bucket included angle sensor (52), the bucket rod included angle sensor (51) is suitable for detecting an included angle between the bucket rod hydraulic cylinder (32) and a movable arm component, and the bucket included angle sensor (52) is suitable for detecting an included angle between the bucket rod component and the bucket hydraulic cylinder (33), a rocker, a connecting rod or a bucket component; the pressure sensor (6) comprises a bucket rod pressure sensor (61) and a bucket pressure sensor (62), and the bucket rod pressure sensor (61) is arranged on a pin shaft of the bucket rod hydraulic cylinder (32), a pin shaft of a front fork of a movable arm or a liquid path without a rod cavity of the bucket rod hydraulic cylinder (32); the bucket pressure sensor (62) is arranged on a pin shaft of the bucket hydraulic cylinder (33), a rocker pin shaft, a bucket pin shaft or a no-rod cavity liquid path of the bucket hydraulic cylinder (33).
10. The hydraulic power system as claimed in claim 9, further comprising an engine for driving the main pump (1) to operate, wherein the controller (4) is electrically connected to the engine for controlling the rotation speed of the engine.
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