CN112832319A - Excavator remote control system based on vibration runway test - Google Patents
Excavator remote control system based on vibration runway test Download PDFInfo
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- CN112832319A CN112832319A CN202011631777.XA CN202011631777A CN112832319A CN 112832319 A CN112832319 A CN 112832319A CN 202011631777 A CN202011631777 A CN 202011631777A CN 112832319 A CN112832319 A CN 112832319A
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- 238000004590 computer program Methods 0.000 description 7
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- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- Engineering & Computer Science (AREA)
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- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses an excavator remote control system based on a vibration runway test, which comprises a remote control end, a control terminal and an operation and control actuating mechanism, wherein the remote control end is connected with the control terminal; the remote control end comprises a remote controller, an operation input module and a wireless communication module, the control terminal comprises a terminal controller and a wireless communication module which are installed on the excavator, and the terminal controller is connected with the remote controller for communication through the wireless communication module; the operation of the control actuating mechanism can drive the excavator operating handle to move linearly, so that the excavator is driven to run in a reciprocating manner; the remote controller sends an operation command to the terminal controller according to the external operation signal, and the terminal controller controls the operation of the operation executing mechanism according to the received operation command. The invention can remotely control the excavator in the test, avoids physical and psychological damage to a driver, does not need to greatly change the structure of the test excavator, and has simple, convenient and safe test process.
Description
Technical Field
The invention relates to the technical field of remote control of engineering machinery, in particular to an excavator remote control system based on a vibration runway test.
Background
With the continuous development of excavator technology, the requirements for the reliability of the excavator from the inside to the outside are gradually improved, and the excavator reliability strengthening technology comes along with the development. At present, a method for reliability test of an excavator is generally that a driver drives the excavator to walk in a high-speed walking mode on a walking vibration runway test platform in a reciprocating mode over layer-by-layer obstacle piers so as to detect performance change conditions of all parts of the excavator, excite faults and expose weak links in product design, and therefore reliability of product design is evaluated. However, vibration and noise generated when the excavator runs on the walking vibration runway test platform greatly affect the body and mind of a driver; in addition, vibration causes unstable operation of a driver to impact a vehicle hydraulic operation system, and the safety of the driver is also seriously affected.
In the traditional excavator walking vibration runway test, a driver drives the excavator to climb over various obstacles on a special runway and to travel back and forth, so that certain damage and risk are caused to the body and safety of the driver. The existing market provides a walking vibration test scheme of an excavator, an execution part of the scheme is directly connected with a hydraulic system of the excavator, the change amount of a testing machine is large, and the installation and the disassembly are inconvenient.
Disclosure of Invention
The invention aims to provide an excavator remote control system based on a vibration runway test, which can remotely control an excavator in the test, avoid physical and psychological damage to a driver, simultaneously does not need to greatly change the structure of the test excavator, and is simple, convenient and safe in the test process.
The technical scheme adopted by the invention is as follows: a remote control system of an excavator based on a vibration runway test comprises a remote control end, a control terminal and an operation and control executing mechanism;
the remote control end comprises a remote controller, an operation input module and a wireless communication module, the control terminal comprises a terminal controller and a wireless communication module which are installed on the excavator, and the terminal controller is connected with the remote controller for communication through the wireless communication module; the operation of the control actuating mechanism can drive the excavator operating handle to move linearly, so that the excavator is driven to run in a reciprocating manner;
the remote controller sends an operation command to the terminal controller according to the external operation signal, and the terminal controller controls the operation of the operation executing mechanism according to the received operation command.
Optionally, the control input module includes a handle control unit for simulating an excavator operating handle and a data acquisition module, and the data acquisition module acquires a handle control action analog signal of the handle control unit, converts the handle control action analog signal into a digital signal, and transmits the digital signal to the remote controller; and the remote controller analyzes the received digital signal of the handle control action to obtain a control instruction corresponding to the handle control action.
In the scheme, the control input mode of simulating actual operation is adopted, so that the excavator driver can skillfully control the excavator in the test according to the driving experience, the control process is safer, and the test efficiency is improved.
Optionally, the control actuator comprises a handle control actuator, which comprises a first electric cylinder, a first mounting seat and a connecting rod; the connecting rod at least comprises two transmission rods which are rotatably connected, and the free ends of the two transmission rods positioned at the two ends of the connecting rod are respectively connected with an excavator operating handle and a first mounting seat in a rotating connection manner; the first mounting seat is detachably and fixedly mounted in the cab of the excavator, the cylinder body of the first electric cylinder is mounted on the mounting seat, and the piston rod is rotatably connected with the middle of a transmission rod connected with the first mounting seat in the connecting rod.
Optionally, the first mounting seat is a magnetic seat body and is fixedly mounted on a bottom plate of a cab of the excavator;
the connecting rod is two connecting rods, and the end part of a transmission rod of the connecting rod is fixedly or rotatably connected with an operating handle of the excavator.
Optionally, the control input module further includes an emergency stop control unit, and the external control signal further includes an emergency stop signal sent by the emergency stop control unit from the outside; the operation of the emergency stop mechanism can trigger the emergency stop device of the engine of the excavator to operate, so that the engine of the excavator stops operating;
the remote controller responds to the fact that the received external control signal is an emergency stop signal, sends a control command for controlling the excavator engine to stop to the terminal controller, and the terminal controller responds to the control command and controls the emergency stop mechanism to operate.
In the scheme, the emergency stop control unit can also simulate the arrangement of an emergency stop control mechanism of an actual excavator.
Optionally, the emergency stop mechanism includes a second electric cylinder, a second mounting seat and a pull wire; the second mounting seat is detachably and fixedly mounted on the engine frame, the cylinder body of the second electric cylinder is mounted on the second mounting seat, and the free end of the piston rod is connected with the engine emergency stop device through a stay wire. The piston rod of the second electric cylinder contracts to pull the engine sudden stop device, so that the engine stops running.
Optionally, the control input module includes a human-computer interface, and a control button/button area for external input of a control signal is provided on the human-computer interface; the control key/key area comprises a plurality of handle control keys/key areas corresponding to different gears of an excavator operating handle and an engine control key/key area corresponding to the starting and stopping of an excavator engine; when the handle control key/key area is selected and pressed, the control input module sends a handle control signal to the remote controller, and when the engine control key/key area is selected and pressed, the control input module sends an engine control signal to the remote controller; and the remote controller correspondingly sends a handle control instruction or an engine control instruction to the terminal controller according to the received handle control signal or the engine control signal.
The scheme is that the control input module can simulate the control mechanism of the actual excavator, and can also realize the input of control signals through a human-computer interface or keys.
Advantageous effects
The invention can remotely control the excavator in the vibration runway test, avoids the damage to the body and the mind of an onboard driver caused by vibration and noise generated in the vibration running test process of the excavator, and also avoids the impact on a vehicle hydraulic operation system caused by unstable operation of the driver due to vibration. Moreover, the control actuating mechanism can be conveniently disassembled and assembled, the original structure of the excavator to be tested does not need to be greatly modified, and higher test efficiency can be ensured.
Drawings
FIG. 1 is a schematic diagram of the schematic architecture of the remote control system of the excavator according to the present invention;
FIG. 2 is a schematic view of a handle-operated actuator;
fig. 3 is a schematic structural diagram of the emergency stop mechanism.
Detailed Description
The following further description is made in conjunction with the accompanying drawings and the specific embodiments.
Referring to fig. 1, the invention provides a remote control system of an excavator based on a vibration runway test, which comprises a remote control end, a control terminal and a control execution mechanism;
the remote control end comprises a remote controller, an operation input module and a wireless communication module, the control terminal comprises a terminal controller and a wireless communication module which are installed on the excavator, and the terminal controller is connected with the remote controller for communication through the wireless communication module; the operation of the control actuating mechanism can drive the excavator operating handle to move linearly, so that the excavator is driven to run in a reciprocating manner;
the remote controller sends an operation command to the terminal controller according to the external operation signal, and the terminal controller controls the operation of the operation executing mechanism according to the received operation command.
Example 1
As shown in fig. 1, in the remote control system of the excavator according to the embodiment, the control input module includes the handle control unit and the emergency stop control unit, the handle control unit and the emergency stop control unit can simulate the control handle and the emergency stop device of the excavator, and the control handle and the emergency stop device are closer to the actual driving environment of the excavator, so that a tester can conveniently control the excavator in a test according to the conventional driving experience. In this embodiment, the control input module of the remote control end further comprises a data acquisition module, and the data acquisition module is used for acquiring analog signals operated by the handle operation unit and the emergency stop control unit, converting the analog signals into digital signals and transmitting the digital signals to the remote controller.
The remote controller analyzes and obtains a control instruction corresponding to the handle control action or the emergency stop control operation according to the received handle control action digital signal or the emergency stop signal, and transmits the control instruction to the terminal controller of the control terminal through the wireless communication module and the wireless signal transmitter.
The control actuating mechanism comprises a handle control mechanism and an emergency stop mechanism, the handle control mechanism is connected with the excavator operating handle and can drive the excavator operating handle to move linearly, and therefore the excavator is driven to run in a reciprocating mode. The operation of the emergency stop mechanism can trigger the operation of the emergency stop device of the engine of the excavator, so that the engine of the excavator stops operating.
And the terminal controller controls the handle to control the execution mechanism or the emergency stop mechanism to operate according to the received control instruction, and controls the excavator to move on the test bed or to stop emergently when a dangerous situation is met.
As shown in fig. 2, the handle control actuator comprises a first electric cylinder 2, a first mounting seat 1 and a connecting rod 3; the connecting rod 3 at least comprises two transmission rods which are rotatably connected, and the free ends of the two transmission rods 32/31 positioned at the two ends of the connecting rod are respectively connected with the excavator operating handle 02 and the first mounting seat 1 in a rotating connection manner; first mount pad 1 can dismantle fixed mounting on excavator driver's cabin bottom plate 01 in the driver's cabin, and the cylinder body of first electric jar 2 is installed on first mount pad 1, and the piston rod rotates the transfer line 31 middle part of connecting first mount pad in the connecting rod of connecting.
The first mounting seat 1 is preferably a seat body with magnetism; the connecting rod 3 is two connecting rods, and the end part of a transmission rod of the connecting rod is fixedly or rotatably connected with an operating handle of the excavator. The first mounting seat is provided with a first support 11 and a second support 12, the cylinder body of the first electric cylinder is rotatably or fixedly connected with the first support, and the end part of the transmission rod 31 is rotatably connected with the second support.
The emergency stop mechanism comprises a second electric cylinder 4, a second mounting seat 5 and a pull wire 6; the second mounting seat is detachably and fixedly mounted on the engine frame 03, the cylinder body of the second electric cylinder is mounted on the second mounting seat, and the free end of the piston rod is connected with the engine emergency stop device through a stay wire. The piston rod of the second electric cylinder contracts to pull the engine sudden stop device, so that the engine stops running.
When the excavator handle control device is used, the end part of a connecting rod of the handle control mechanism in the operation execution mechanism can be respectively connected and fixed with the left operation handle and the right operation handle of the excavator, the magnetic first installation seat is adsorbed on the bottom plate of the cab, and meanwhile, the first installation seat can be fixed in other modes. And connecting a piston rod of an emergency stop electric cylinder-a second electric cylinder in the emergency stop mechanism with an emergency stop device of an excavator engine through a pull wire. The wireless communication module-wireless receiving part of the control terminal can be adsorbed at the top end of the cab through the magnetic seat. The tester realizes the input of the control signal through a handle control unit or an emergency stop control unit of a control input module of the remote control end, the data acquisition module acquires the control analog signal and converts the control analog signal into a digital signal to transmit the digital signal to the remote controller, and the remote controller performs internal operation to obtain a control instruction corresponding to the control signal and sends the control instruction through the wireless signal transmitter. The wireless receiving part at the top end of the cab receives the wireless signal, the terminal controller analyzes the control instruction, and sends a control signal to the control executing mechanism according to the analysis result, and the method comprises the following steps: the electric cylinder of the control mechanism acts to push the left and right operating handles to move forward or backward, and the excavator runs forward or backward; in addition, when a danger is met in the test process, the emergency stop control unit can start the second electric cylinder of the emergency stop mechanism to contract, so that the emergency stop device of the engine is triggered through the pull wire, and the engine is forced to stop.
The hydraulic excavator can be directly installed and fixed on the existing hydraulic excavator for testing, and has the advantages of simple structure, low cost and convenience in installation and disassembly. The method can play good stability and safety in the walking vibration runway test process of the excavator, and avoids the harm of strong vibration and noise to the body and mind of a driver.
Example 2
Different from the embodiment 1, in the embodiment, the control input module includes a human-machine interface, and a control key/key area for inputting a control signal from outside is arranged on the human-machine interface; the control key/key area comprises a plurality of handle control keys/key areas corresponding to different gears of an excavator operating handle and an engine control key/key area corresponding to the starting and stopping of an excavator engine; when the handle control key/key area is selected and pressed, the control input module sends a handle control signal to the remote controller, and when the engine control key/key area is selected and pressed, the control input module sends an engine control signal to the remote controller; and the remote controller correspondingly sends a handle control instruction or an engine control instruction to the terminal controller according to the received handle control signal or the engine control signal.
That is, the control input module can simulate the control mechanism of the actual excavator according to embodiment 1, and can also realize the input of the control signal through a human-computer interface or a key, so that the control is simple and convenient.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A remote control system of an excavator based on a vibration runway test is characterized by comprising a remote control end, a control terminal and an operation and control execution mechanism;
the remote control end comprises a remote controller, an operation input module and a wireless communication module, the control terminal comprises a terminal controller and a wireless communication module which are installed on the excavator, and the terminal controller is connected with the remote controller for communication through the wireless communication module; the operation of the control actuating mechanism can drive the excavator operating handle to move linearly, so that the excavator is driven to run in a reciprocating manner;
the remote controller sends an operation command to the terminal controller according to the external operation signal, and the terminal controller controls the operation of the operation executing mechanism according to the received operation command.
2. The remote control system of the excavator according to claim 1, wherein the control input module comprises a handle control unit simulating an operating handle of the excavator and a data acquisition module, and the data acquisition module acquires a handle control action analog signal of the handle control unit, converts the handle control action analog signal into a digital signal and transmits the digital signal to the remote controller; and the remote controller analyzes the received digital signal of the handle control action to obtain a control instruction corresponding to the handle control action.
3. The remote control system of claim 2, wherein said actuation actuator comprises a handle actuation actuator comprising a first electric cylinder, a first mounting block, and a linkage; the connecting rod at least comprises two transmission rods which are rotatably connected, and the free ends of the two transmission rods positioned at the two ends of the connecting rod are respectively connected with an excavator operating handle and a first mounting seat in a rotating connection manner; the first mounting seat is detachably and fixedly mounted in the cab of the excavator, the cylinder body of the first electric cylinder is mounted on the mounting seat, and the piston rod is rotatably connected with the middle of a transmission rod connected with the first mounting seat in the connecting rod.
4. The remote control system of the excavator of claim 3 wherein the first mounting seat is a magnetic seat body fixedly mounted on a floor of a cab of the excavator;
the connecting rod is two connecting rods, and the end part of a transmission rod of the connecting rod is fixedly connected with the operating handle of the excavator.
5. The remote control system of the excavator according to claim 2 or 3 wherein the manipulation input module further comprises an emergency stop control unit, and the external manipulation signal further comprises an emergency stop signal externally transmitted through the emergency stop control unit; the operation of the emergency stop mechanism can trigger the emergency stop device of the engine of the excavator to operate, so that the engine of the excavator stops operating;
the remote controller responds to the fact that the received external control signal is an emergency stop signal, sends a control command for controlling the excavator engine to stop to the terminal controller, and the terminal controller responds to the control command and controls the emergency stop mechanism to operate.
6. The remote control system of an excavator of claim 5 wherein the emergency stop mechanism comprises a second electric cylinder, a second mounting base and a pull wire; the second mounting seat is detachably and fixedly mounted on the engine frame, the cylinder body of the second electric cylinder is mounted on the second mounting seat, and the free end of the piston rod is connected with the engine emergency stop device through a stay wire.
7. The piston rod of the second electric cylinder contracts to pull the engine sudden stop device, so that the engine stops running.
8. The remote control system of claim 1, wherein the manipulation input module comprises a man-machine interface, and the man-machine interface is provided with a manipulation key/key area for inputting a manipulation signal from outside; the control key/key area comprises a plurality of handle control keys/key areas corresponding to different gears of an excavator operating handle and an engine control key/key area corresponding to the starting and stopping of an excavator engine; when the handle control key/key area is selected and pressed, the control input module sends a handle control signal to the remote controller, and when the engine control key/key area is selected and pressed, the control input module sends an engine control signal to the remote controller; and the remote controller correspondingly sends a handle control instruction or an engine control instruction to the terminal controller according to the received handle control signal or the engine control signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011631777.XA CN112832319A (en) | 2020-12-31 | 2020-12-31 | Excavator remote control system based on vibration runway test |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011631777.XA CN112832319A (en) | 2020-12-31 | 2020-12-31 | Excavator remote control system based on vibration runway test |
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| CN112832319A true CN112832319A (en) | 2021-05-25 |
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| CN202011631777.XA Pending CN112832319A (en) | 2020-12-31 | 2020-12-31 | Excavator remote control system based on vibration runway test |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113622911A (en) * | 2021-08-06 | 2021-11-09 | 北斗天地股份有限公司 | Heading machine control method and system, movable intelligent terminal and heading machine |
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| CN101121263A (en) * | 2006-08-11 | 2008-02-13 | 克拉克设备公司 | 'off-board' control for a power machine or vehicle |
| CN102433909A (en) * | 2011-12-07 | 2012-05-02 | 三一重机有限公司 | Excvavtor remote control system, fault-tolerant processing method and excvavtor comprising system |
| CN206286305U (en) * | 2016-11-17 | 2017-06-30 | 浙江国自机器人技术有限公司 | A kind of haulage equipment and the cleaning device with the haulage equipment |
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2020
- 2020-12-31 CN CN202011631777.XA patent/CN112832319A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007107305A (en) * | 2005-10-14 | 2007-04-26 | Hitachi Constr Mach Co Ltd | Remote control system of construction machine |
| CN101121263A (en) * | 2006-08-11 | 2008-02-13 | 克拉克设备公司 | 'off-board' control for a power machine or vehicle |
| CN102433909A (en) * | 2011-12-07 | 2012-05-02 | 三一重机有限公司 | Excvavtor remote control system, fault-tolerant processing method and excvavtor comprising system |
| CN206286305U (en) * | 2016-11-17 | 2017-06-30 | 浙江国自机器人技术有限公司 | A kind of haulage equipment and the cleaning device with the haulage equipment |
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| CN113622911A (en) * | 2021-08-06 | 2021-11-09 | 北斗天地股份有限公司 | Heading machine control method and system, movable intelligent terminal and heading machine |
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Application publication date: 20210525 |