CN113107912A - Constant-speed walking control method and device and excavator - Google Patents

Constant-speed walking control method and device and excavator Download PDF

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Publication number
CN113107912A
CN113107912A CN202110468595.3A CN202110468595A CN113107912A CN 113107912 A CN113107912 A CN 113107912A CN 202110468595 A CN202110468595 A CN 202110468595A CN 113107912 A CN113107912 A CN 113107912A
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China
Prior art keywords
walking
hydraulic oil
oil flow
excavator
speed
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CN202110468595.3A
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CN113107912B (en
Inventor
卢建涛
兰中涛
宋阳
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Sany Heavy Machinery Ltd
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Sany Heavy Machinery 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • 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
    • E02F9/2037—Coordinating the movements of the implement and of the frame
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • 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
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • 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
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • 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
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • 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
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/255—Flow control functions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention provides a constant-speed walking control method, a constant-speed walking control device and an excavator, wherein the method comprises the following steps: acquiring real-time hydraulic oil flow of a traveling motor in an excavator; adjusting the opening of a main valve core based on the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow; and the set hydraulic oil flow is the hydraulic oil flow corresponding to the position of the walking handle when the excavator starts walking at a constant speed. According to the method, the device and the excavator, the speed of the excavator is controlled through the flow of the hydraulic oil, the walking speed of the excavator is controlled by manpower instead, the workload of a driver is reduced, and the operation experience of the driver is improved.

Description

Constant-speed walking control method and device and excavator
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a constant-speed walking control method and device and an excavator.
Background
The conventional excavator constant-speed walking control function is used for a wheel type excavator and is realized by the combination of a walking motor and a gearbox in the wheel type excavator, specifically, the constant-speed walking is started when an accelerator reaches the maximum, a main valve core of the walking motor is controlled by an electromagnetic proportional valve, and the main valve core is kept to be opened maximally. The controller adjusts the actual speed according to real-time feedback from a speed sensor arranged inside the gearbox.
The conventional constant-speed walking control method is mainly used for a wheel type excavator, is not suitable for a crawler type excavator, and can directly influence the walking function of a whole vehicle once an electromagnetic proportional valve is broken, so that the whole vehicle cannot move.
Disclosure of Invention
The invention provides a constant-speed walking control method and device and an excavator, and aims to solve the technical problem of how to realize constant-speed walking control of a crawler excavator.
The invention provides a constant-speed walking control method, which comprises the following steps:
acquiring real-time hydraulic oil flow of a traveling motor in an excavator;
adjusting the opening of a main valve core based on the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow;
and the set hydraulic oil flow is the hydraulic oil flow corresponding to the position of the walking handle when the excavator starts walking at a constant speed.
According to the constant-speed walking control method provided by the invention, the step of acquiring the real-time hydraulic oil flow of the walking motor in the excavator comprises the following steps:
continuously detecting the state of a constant-speed walking button of the excavator;
when the state of the constant-speed walking button is detected to be opened, controlling an electro-hydraulic conversion valve of the excavator, and switching the control mode of a walking motor of the excavator from hydraulic control to electric control;
the hydraulic control is to control the walking motor through a walking handle, and the electric control is to control the walking motor through a walking controller.
According to the constant-speed travel control method provided by the present invention, the adjusting the opening degree of the main valve spool based on the real-time hydraulic oil flow rate and the set hydraulic oil flow rate of the travel motor includes:
determining a hydraulic oil flow difference value of the walking motor based on the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor;
determining an electric control signal of an electromagnetic proportional valve based on the hydraulic oil flow difference value and the flow control characteristic of the electromagnetic proportional valve in the walking motor;
and adjusting the opening of the valve core of the main valve based on the electric control signal of the electromagnetic proportional valve.
According to the constant-speed walking control method provided by the invention, the real-time hydraulic oil flow is acquired based on a flow sensor arranged between a central rotary interface and a walking motor of the excavator.
According to the constant-speed walking control method provided by the invention, the flow sensor is at least one of a vortex shedding flowmeter, a turbine flowmeter, an ultrasonic flowmeter and an elliptic gear flowmeter.
The present invention also provides a constant-speed walking control device, comprising:
the acquiring unit is used for acquiring the real-time hydraulic oil flow of a traveling motor in the excavator;
the control unit is used for adjusting the opening of a main valve core based on the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor so as to keep the real-time hydraulic oil flow consistent with the set hydraulic oil flow;
and the set hydraulic oil flow is the hydraulic oil flow corresponding to the position of the walking handle when the excavator starts walking at a constant speed.
The constant-speed walking control device provided by the invention further comprises:
the detection unit is used for continuously detecting the state of a constant-speed walking button of the excavator;
the switching unit is used for controlling an electro-hydraulic switching valve of the excavator and switching the control mode of the excavator walking motor from hydraulic control to electric control when the state of the constant-speed walking button is detected to be opened;
the hydraulic control is to control the walking motor through a walking handle, and the electric control is to control the walking motor through a walking controller.
According to the constant-speed walking control device provided by the invention, the control unit comprises:
a difference determining subunit, configured to determine a hydraulic oil flow difference of the traveling motor based on the real-time hydraulic oil flow and a set hydraulic oil flow of the traveling motor;
the electric control signal determining subunit is used for determining an electric control signal of the electromagnetic proportional valve based on the hydraulic oil flow difference and the flow control characteristic of the electromagnetic proportional valve in the walking motor;
and the opening adjusting subunit is used for adjusting the opening of the main valve core based on the electric control signal of the electromagnetic proportional valve.
The present invention also provides an excavator, comprising:
the constant-speed walking control device;
and the flow sensor is electrically connected with the constant-speed walking control device, is arranged between the central rotary interface of the excavator and the walking motor, and is used for acquiring the real-time hydraulic oil flow of the walking motor.
According to the excavator provided by the invention, the excavator is a crawler excavator.
The invention has the following technical effects:
first, according to the method and the device for controlling constant-speed walking and the excavator provided by the embodiment of the invention, the real-time hydraulic oil flow of the walking motor in the excavator is obtained, the opening of the main valve core is adjusted according to the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow, the speed of the excavator is controlled through the hydraulic oil flow, the walking speed of the excavator is controlled by replacing manual work, the workload of a driver is reduced, and the operation experience of the driver is improved.
The excavator can walk at a constant speed at any position where the handle is located, so that the excavator can walk at the constant speed at any speed, the applicability of the excavator is improved, and the workload of a driver is further reduced.
And thirdly, arranging a flow sensor between a central rotary interface and a walking motor of the excavator, and acquiring the real-time hydraulic oil flow. Compared with the mode that a speed sensor is arranged on the inner side of the gearbox to feed back the actual speed, the flow sensor is arranged between the central rotary interface and the walking motor of the excavator, the installation is convenient, and the cost is low. Meanwhile, the flow sensor can directly detect the flow value of the hydraulic oil, and the flow value is directly compared and analyzed with the set hydraulic flow value without conversion again, so that the operation program is simplified, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a constant-speed walking control method provided by the present invention;
FIG. 2 is a schematic structural view of a constant-speed walking control device provided by the present invention;
FIG. 3 is a schematic structural diagram of a constant-speed walking control system of a crawler excavator provided by the invention;
FIG. 4 is a logic diagram of a constant speed travel control for a crawler excavator according to the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Excavators, also known as excavating machines, excavators, are earth moving machines that excavate material above or below a load bearing surface with a bucket and load it into a transport vehicle or unload it to a stockyard. Excavators can be classified into wheel type excavators and crawler type excavators according to the traveling mode.
Fig. 1 is a schematic flow chart of a constant-speed walking control method provided by the present invention, and as shown in fig. 1, the method includes:
and 110, acquiring the real-time hydraulic oil flow of a walking motor in the excavator.
Specifically, the real-time hydraulic oil flow rate is a hydraulic oil flow rate flowing into the travel motor from a hydraulic oil system of the excavator.
The walking motor is a key component for controlling the walking of the excavator. For example, the weight of a medium-and-large-sized crawler excavator is generally more than 20 tons, the inertia is large, and a relatively large impact is brought to a hydraulic system in the starting and stopping processes, so that a traveling motor in a traveling control system needs to adapt to the working condition. The traveling motor generally adopts a high-speed motor and a planetary speed reducer or a cycloidal pinwheel speed reducer, and when a high-speed gear is hung, oil pushes a speed change valve to move left, so that the motor becomes small in displacement; if the running resistance is increased to cause the oil pressure to rise to a set value, the oil pushes the speed change valve to move right, and the motor automatically changes to a high-displacement low-speed gear to increase the torque.
Step 120, adjusting the opening of the main valve core based on the real-time hydraulic oil flow and the set hydraulic oil flow of the traveling motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow;
the set hydraulic oil flow is the hydraulic oil flow corresponding to the position of the walking handle when the excavator starts walking at a constant speed.
Specifically, the constant-speed walking is that the excavator moves according to a set speed so as to complete a transition or construction task. Generally, since an excavator mainly works in a fixed construction area, a walking function is used to assist in completing an excavation task, and a speedometer is not provided, the speed of the existing excavator is controlled manually.
The speed of the excavator is mainly determined by the valve core opening degree of a main valve in an excavator main oil path system, and the larger the valve core opening degree of the main valve is, the faster the traveling speed of the excavator is, and the smaller the valve core opening degree of the main valve is, the slower the traveling speed of the excavator is. In addition, the opening of the main valve core corresponds to the real-time hydraulic oil flow. Therefore, the speed of the excavator can be controlled by controlling the real-time hydraulic oil flow of the traveling motor.
The set hydraulic oil flow rate is the hydraulic oil flow rate corresponding to the traveling speed when the excavator travels at a constant speed. Here, the set traveling speed is a traveling speed set by the driver according to the actual road condition. When the driver manually controls the speed, the speed is controlled according to the walking handle. For example, by pushing or pulling back the travel handle, the travel handle can be pushed to move in the speed increasing direction when the driver is about to increase the travel speed of the excavator, and the travel handle can be pulled back to move in the speed decreasing direction when the driver is about to decrease the travel speed of the excavator.
Therefore, the set hydraulic oil flow rate can be the hydraulic oil flow rate corresponding to the position where the walking handle is located when the excavator starts walking at the constant speed, that is, when the driver operates the walking handle to a certain position according to the current road condition, if the current speed is determined to be the ideal walking speed, the excavator walking function at the constant speed can be started, the hydraulic oil flow rate corresponding to the position where the walking handle is located at the moment is taken as the set hydraulic oil flow rate, the opening degree of the valve core of the main valve is adjusted, so that the real-time hydraulic oil flow rate is consistent with the set hydraulic oil flow rate, and when the real-time hydraulic oil flow rate is consistent with the set hydraulic oil flow rate, the real-time walking speed of the excavator is also consistent.
The method for judging whether the real-time hydraulic oil flow is consistent with the set hydraulic oil flow can set a fluctuation range, when the real-time hydraulic oil flow is within the fluctuation range of the set hydraulic oil flow, the real-time hydraulic oil flow can be considered to be consistent with the set hydraulic oil flow, and when the real-time hydraulic oil flow is outside the fluctuation range of the set hydraulic oil flow, the real-time hydraulic oil flow can be considered to be inconsistent with the set hydraulic oil flow. In this case, the opening degree of the main valve spool may be adjusted based on a difference between the real-time hydraulic oil flow rate and the set hydraulic oil flow rate. For example, when the difference is positive, the real-time hydraulic oil flow is greater than the set hydraulic oil flow, which indicates that the real-time traveling speed of the excavator is greater than the set traveling speed and the speed should be reduced, and at this time, the reduction value of the opening degree of the main valve spool may be determined according to the magnitude of the difference; when the difference is negative, the real-time hydraulic oil flow is smaller than the set hydraulic oil flow, which indicates that the real-time traveling speed of the excavator is smaller than the set traveling speed and the acceleration should be performed, and at this time, the increase value of the opening of the main valve spool can be determined according to the difference.
According to the constant-speed walking control method provided by the embodiment of the invention, the opening degree of the main valve core is adjusted by acquiring the real-time hydraulic oil flow of the walking motor in the excavator and according to the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow, the speed of the excavator is controlled by the hydraulic oil flow, the walking speed of the excavator is controlled by replacing manpower, the workload of a driver is reduced, and the operation experience of the driver is improved.
Based on the above embodiment, step 110 includes:
continuously detecting the state of a constant-speed walking button of the excavator;
when the state of the constant-speed walking button is detected to be opened, controlling an electro-hydraulic conversion valve of the excavator, and switching the control mode of a walking motor of the excavator from hydraulic control to electric control;
the hydraulic control is to control the walking motor through the walking handle, and the electric control is to control the walking motor through the walking controller.
Specifically, the control mode of the walking motor of the excavator comprises hydraulic control and electric control. The hydraulic control controls the walking motor through the walking handle for the driver, for example, the driver determines the position of the walking handle according to the actual road condition, and the walking handle directly controls the opening of the valve core of the main valve, so that the speed of the excavator is controlled. The electric control is to control the travel motor by a travel controller, and for example, a separate travel controller may be provided in a control system of the excavator, or a travel control function may be realized by an existing controller, and a solenoid proportional valve is connected to a main valve spool of the travel motor, and the hydraulic oil flow rate is converted into a control signal of the solenoid proportional valve, and the opening degree of the main valve spool is controlled by the solenoid proportional valve, thereby realizing the control of the speed of the excavator.
The fixed-speed walking button can be arranged on an operation panel or an operation handle of the excavator. The control function of the fixed-speed walking of the excavator is turned on or off through the hardware switch. The state of the constant-speed-walking button can be continuously detected. The state of the constant-speed walking button comprises opening and closing, and the constant-speed walking function are correspondingly started and closed respectively. For example, if the constant velocity travel button is a switching element, whether the constant velocity travel button is on or off can be determined by turning on or off the switching element.
The control mode of the excavator walking motor can be realized by arranging an electro-hydraulic conversion valve. When the state of the constant-speed walking button is detected to be opened, the state indicates that the driver starts the constant-speed walking function, and at the moment, the control system of the excavator can control an electro-hydraulic conversion valve of the excavator to switch the control mode of the walking motor of the excavator from hydraulic control to electric control.
According to the method for controlling the constant-speed walking, provided by the embodiment of the invention, the control mode of the walking motor of the excavator is freely switched between hydraulic control and electrical control by arranging the electro-hydraulic conversion valve, so that the control function of the constant-speed walking of the excavator is increased, and the operation experience of a driver is improved.
Based on any of the above embodiments, step 120 includes:
determining a hydraulic oil flow difference value of the walking motor based on the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor;
determining an electric control signal of the electromagnetic proportional valve based on the hydraulic oil flow difference value and the flow control characteristic of the electromagnetic proportional valve in the walking motor;
and adjusting the opening of the valve core of the main valve based on an electric control signal of the electromagnetic proportional valve.
Specifically, the opening degree of the main valve element may be adjusted and controlled according to a difference between a real-time hydraulic oil flow rate of the traveling motor and a set hydraulic oil flow rate.
The electro-hydraulic proportional valve is a component which is used for outputting pressure and flow in proportion to input voltage by changing the size of a valve port when a proportional electromagnet in the valve inputs a voltage signal to generate corresponding action so as to enable a valve core of a working valve to generate displacement. The flow control characteristic of the electromagnetic proportional valve is the relationship between the relative flow of the medium through the regulating valve and the opening of the valve under the condition that the differential pressure across the valve is kept constant.
The opening degree of a main valve spool can be controlled by providing an electromagnetic proportional valve. And determining an electric control signal of the electromagnetic proportional valve according to the hydraulic oil flow difference and the flow control characteristic of the electromagnetic proportional valve in the walking motor, wherein the electric control signal can be a voltage signal. And then according to the electric control signal, control the electromagnetic proportional valve, adjust the opening of the main valve core.
According to the constant-speed walking control method provided by the embodiment of the invention, the electromagnetic proportional valve is arranged, the opening degree of the valve core of the main valve is adjusted, the control function of the excavator for constant-speed walking is added, and the operation experience of a driver is improved.
Based on any one of the embodiments, the real-time hydraulic oil flow is acquired based on a flow sensor arranged between a central rotary interface and a walking motor of the excavator.
Specifically, the traveling motor is connected to the central swivel joint through a hydraulic hose, and the central swivel joint functions to continuously supply hydraulic oil to the traveling motor when the upper vehicle portion of the excavator rotates relative to the lower vehicle portion. Therefore, the flow sensor can be arranged between the central rotary interface and the walking motor of the excavator and used for collecting the real-time hydraulic oil flow. Compared with the mode that a speed sensor is arranged on the inner side of the gearbox to feed back the actual speed, the flow sensor is arranged between the central rotary interface and the walking motor of the excavator, the installation is convenient, and the cost is low. Meanwhile, the flow sensor can directly detect the flow value of the hydraulic oil, and the flow value is directly compared and analyzed with the set hydraulic flow value without conversion again, so that the operation program is simplified, and the working efficiency is improved.
Based on any one of the above embodiments, the flow sensor is at least one of a vortex shedding flowmeter, a turbine flowmeter, an ultrasonic flowmeter and an elliptic gear flowmeter.
Specifically, for the flow measurement of the hydraulic oil, a vortex flow meter, a turbine flow meter, an ultrasonic flow meter, an elliptic gear flow meter and the like can be selected.
The turbine flowmeter works on the principle that the liquid flow is calculated by measuring the rotating speed of the impeller by utilizing the relation between the rotating angular speed of the impeller arranged in the liquid and the liquid flow speed, and is a mature high-precision instrument in the existing flow instruments.
The vortex shedding flowmeter is a flowmeter which is produced according to the Karman vortex shedding principle and is used for measuring the volume flow or the mass flow of gas, steam or liquid.
The ultrasonic flowmeter measures the flow through detecting the effect of fluid flow on ultrasonic beams or ultrasonic pulses, has high measurement accuracy, is hardly interfered by various parameters of a measured medium, and particularly can solve the flow measurement problem of strong corrosive, non-conductive, radioactive and flammable and explosive media which cannot be measured by other meters.
The elliptic gear flowmeter is a volume flow meter for continuously measuring the liquid flow in a pipeline, is widely applied to liquid flow control in various industrial fields, and is suitable for measuring various types of liquid, such as crude oil, diesel oil, gasoline and the like.
Based on any of the above embodiments, fig. 2 is a schematic structural diagram of a constant-speed walking control device provided by the present invention, as shown in fig. 2, the device includes:
an obtaining unit 210, configured to obtain a real-time hydraulic oil flow rate of a travel motor in an excavator;
a control unit 220, configured to adjust an opening of a main valve in the travel motor based on the real-time hydraulic oil flow and a set hydraulic oil flow of the travel motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow;
the set hydraulic oil flow is the hydraulic oil flow corresponding to the position of the walking handle when the excavator starts walking at a constant speed.
According to the constant-speed walking control device provided by the embodiment of the invention, the opening degree of the main valve core is adjusted by acquiring the real-time hydraulic oil flow of the walking motor in the excavator and according to the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow, the speed of the excavator is controlled by the hydraulic oil flow, the walking speed of the excavator is controlled by replacing manpower, the workload of a driver is reduced, and the operation experience of the driver is improved.
Based on any embodiment above, the apparatus further comprises:
the detection unit is used for continuously detecting the state of a constant-speed walking button of the excavator;
the switching unit is used for controlling an electro-hydraulic switching valve of the excavator and switching a control mode of an excavator walking motor from hydraulic control to electric control when the state of the constant-speed walking button is detected to be opened;
the hydraulic control is to control the walking motor through the walking handle, and the electric control is to control the walking motor through the walking controller.
Based on any embodiment above, the control unit includes:
the difference determining subunit is used for determining the hydraulic oil flow difference of the walking motor based on the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor;
the electric control signal determining subunit is used for determining an electric control signal of the electromagnetic proportional valve based on the hydraulic oil flow difference value and the flow control characteristic of the electromagnetic proportional valve in the walking motor;
and the opening adjusting subunit is used for adjusting the opening of the main valve in the walking motor based on the electric control signal of the electromagnetic proportional valve.
Based on any one of the above embodiments, the present invention provides an excavator, including:
a constant speed travel control device;
and the flow sensor is electrically connected with the constant-speed walking control device, is arranged between the central rotary interface of the excavator and the walking motor, and is used for acquiring the real-time hydraulic oil flow of the walking motor.
According to any of the embodiments, the excavator is a crawler excavator.
Specifically, fig. 3 is a schematic structural diagram of a constant-speed walking control system of a crawler excavator, as shown in fig. 3, the system includes: the system comprises a walking motor, a flow sensor, an electro-hydraulic conversion valve, an electromagnetic proportional valve, a controller, a main valve, a central rotary joint, a main pump and the like.
The walking motor is connected with the central rotary joint through a hydraulic hose, the central rotary joint is connected with a main valve through a hydraulic hose, the main valve is connected with a main pump through a hydraulic hose, the main pump is connected with an oil tank through a hydraulic hose, the main pump is connected with an engine, the electro-hydraulic conversion valve is connected with a pilot pump through a hydraulic hose, the electro-hydraulic conversion valve is connected with a walking handle through a hydraulic hose, the electro-hydraulic conversion valve is connected with an electromagnetic proportional valve through a hydraulic hose, the electromagnetic proportional valve is connected with the main valve, the electromagnetic proportional valve is connected with a controller, the controller is connected with a flow sensor, and the flow sensor is arranged between the central rotary.
Fig. 4 is a logic diagram of the constant speed walking control of the crawler excavator provided by the present invention, and as shown in fig. 4, the operation method including the control logic is as follows:
1. starting the excavator and opening the pilot handle.
2. Pushing or pulling back the walking handle to a designated position and keeping the position unchanged.
3. When a constant-speed walking button arranged on the inner side of the cab is pressed, the walking handle is temporarily disabled, and the walking main valve core keeps an open state.
4. The flow sensor arranged between the central rotary joint and the walking motor can feed back the actual flow condition of the walking motor in real time, so that the actual speed of the whole vehicle is fed back, the real-time electric signal of the electromagnetic proportional valve is determined according to the actual flow condition of the walking motor when the controller calculates the speed of the whole vehicle and the flow of the walking motor when the constant-speed walking button is pressed, the opening degree of the walking main valve core is controlled, and the constant-speed walking of the whole vehicle is ensured.
5. And when the constant-speed walking button is closed, the constant-speed walking is finished.
Specifically, the walking motor is connected with a central rotary joint through a hydraulic hose, when the vehicle gets on the vehicle and rotates relative to the vehicle getting off, the central rotary joint plays a role in continuously supplying oil to hydraulic oil, the central rotary joint is connected with a main valve through the hydraulic hose, the main valve comprises a valve core with various different functions, and the main valve core is used for walking or stopping. The opening degree of the main traveling valve core directly influences the oil quantity passing through the valve core, the opening state of the valve core is controlled by a pilot oil way, the control mode of the valve core is divided into an electric control mode and a hydraulic control mode, and the conversion of the two modes is controlled by an electro-hydraulic conversion valve.
When the electro-hydraulic conversion valve does not work, the walking of the whole vehicle is controlled by the walking handle, the speed of the whole vehicle is controlled by the deflection angle of the handle, the larger the angle is, the larger the opening degree of the walking main valve element is, the larger the flow passing through the valve element is, the faster the speed of the whole vehicle is, and on the contrary, the slower the speed of the whole vehicle is.
When the electro-hydraulic conversion valve works, the walking handle does not work temporarily, the opening of the walking main valve core is controlled by the electromagnetic proportional valve, and the controller controls the opening degree of the electromagnetic proportional valve.
The feedback of the speed is realized by the data feedback of a flow sensor arranged between the central rotary joint and the walking motor, and at the moment, the theoretical opening degree of the valve port is transmitted to the controller and is compared with the real-time opening degree of the valve port, so that an electric signal is given to the electromagnetic proportional valve to adjust the opening size of the main valve, and the constant speed of the whole vehicle is realized.
Based on any of the above embodiments, fig. 5 is a schematic structural diagram of an electronic device provided by the present invention, and as shown in fig. 5, the electronic device may include: a Processor (Processor)510, a communication Interface (Communications Interface)520, a Memory (Memory)530, and a communication Bus (Communications Bus)540, wherein the Processor 510, the communication Interface 520, and the Memory 530 communicate with each other via the communication Bus 540. Processor 510 may call logical commands in memory 530 to perform the following method:
acquiring real-time hydraulic oil flow of a traveling motor in an excavator;
adjusting the opening of a valve core of a main valve based on the real-time hydraulic oil flow and the set hydraulic oil flow of a traveling motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow;
the set hydraulic oil flow is the hydraulic oil flow corresponding to the position of the walking handle when the excavator starts walking at a constant speed.
In addition, the logic commands in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic commands are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of commands for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The processor in the electronic device provided in the embodiment of the present invention may call a logic instruction in the memory to implement the method, and the specific implementation manner of the method is consistent with the implementation manner of the method, and the same beneficial effects may be achieved, which is not described herein again.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method provided in the foregoing embodiments when executed by a processor, and the method includes:
acquiring real-time hydraulic oil flow of a traveling motor in an excavator;
adjusting the opening of a valve core of a main valve based on the real-time hydraulic oil flow and the set hydraulic oil flow of a traveling motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow;
the set hydraulic oil flow is the hydraulic oil flow corresponding to the position of the walking handle when the excavator starts walking at a constant speed.
When the computer program stored on the non-transitory computer readable storage medium provided in the embodiments of the present invention is executed, the method is implemented, and the specific implementation manner of the method is consistent with the implementation manner of the method, and the same beneficial effects can be achieved, which is not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes commands for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A constant-speed walking control method is characterized by comprising the following steps:
acquiring real-time hydraulic oil flow of a traveling motor in an excavator;
adjusting the opening of a main valve core based on the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor, so that the real-time hydraulic oil flow is consistent with the set hydraulic oil flow;
and the set hydraulic oil flow is the hydraulic oil flow corresponding to the position of the walking handle when the excavator starts walking at a constant speed.
2. The constant-speed walking control method according to claim 1, wherein the obtaining of the real-time hydraulic oil flow of the walking motor in the excavator comprises:
continuously detecting the state of a constant-speed walking button of the excavator;
when the state of the constant-speed walking button is detected to be opened, controlling an electro-hydraulic conversion valve of the excavator to switch the control mode of the walking motor of the excavator from hydraulic control to electric control;
the hydraulic control is to control the walking motor through a walking handle, and the electric control is to control the walking motor through a walking controller.
3. The constant-speed travel control method according to claim 1 or 2, wherein the adjusting the opening degree of the main valve spool based on the real-time hydraulic oil flow rate and a set hydraulic oil flow rate of the travel motor includes:
determining a hydraulic oil flow difference value of the walking motor based on the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor;
determining an electric control signal of an electromagnetic proportional valve based on the hydraulic oil flow difference value and the flow control characteristic of the electromagnetic proportional valve in the walking motor;
and adjusting the opening of the valve core of the main valve based on the electric control signal of the electromagnetic proportional valve.
4. The constant-speed walking control method according to claim 1 or 2, wherein the real-time hydraulic oil flow is acquired based on a flow sensor provided between a central swing interface and a walking motor of the excavator.
5. The constant-speed walking control method according to claim 4, wherein the flow sensor is at least one of a vortex shedding flowmeter, a turbine flowmeter, an ultrasonic flowmeter and an elliptical gear flowmeter.
6. A constant-speed walking control device is characterized by comprising:
the acquiring unit is used for acquiring the real-time hydraulic oil flow of a traveling motor in the excavator;
the control unit is used for adjusting the opening of a main valve core based on the real-time hydraulic oil flow and the set hydraulic oil flow of the walking motor so as to keep the real-time hydraulic oil flow consistent with the set hydraulic oil flow;
and the set hydraulic oil flow is the hydraulic oil flow corresponding to the position of the walking handle when the excavator starts walking at a constant speed.
7. The constant-speed walking control device according to claim 6, further comprising:
the detection unit is used for continuously detecting the state of a constant-speed walking button of the excavator;
the switching unit is used for controlling an electro-hydraulic switching valve of the excavator to switch the control mode of the excavator walking motor from hydraulic control to electric control when the state of the constant-speed walking button is detected to be opened;
the hydraulic control is to control the walking motor through a walking handle, and the electric control is to control the walking motor through a walking controller.
8. The constant-speed walking control device according to claim 6, wherein the control unit comprises:
a difference determining subunit, configured to determine a hydraulic oil flow difference of the traveling motor based on the real-time hydraulic oil flow and a set hydraulic oil flow of the traveling motor;
the electric control signal determining subunit is used for determining an electric control signal of the electromagnetic proportional valve based on the hydraulic oil flow difference and the flow control characteristic of the electromagnetic proportional valve in the walking motor;
and the opening adjusting subunit is used for adjusting the opening of the main valve core based on the electric control signal of the electromagnetic proportional valve.
9. An excavator, characterized in that the excavator comprises:
the constant-speed walking control device according to any one of claims 6 to 8;
and the flow sensor is electrically connected with the constant-speed walking control device, is arranged between the central rotary interface of the excavator and the walking motor, and is used for acquiring the real-time hydraulic oil flow of the walking motor.
10. The excavator of claim 9 wherein the excavator is a tracked excavator.
CN202110468595.3A 2021-04-28 2021-04-28 Constant-speed walking control method and device and excavator Active CN113107912B (en)

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CN117345707A (en) * 2023-04-10 2024-01-05 济宁山科工程机械有限公司 Quick walking hydraulic system of excavator

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CN201447729U (en) * 2009-05-13 2010-05-05 三一重机有限公司 Control device for improving walking operation stability of excavator
CN111173070A (en) * 2020-02-28 2020-05-19 上海三一重机股份有限公司 Excavator walking control system, electric control excavator and walking safety control method
CN111501869A (en) * 2020-05-20 2020-08-07 三一重机有限公司 Electric control hydraulic servo control system and method and electric excavator

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Publication number Priority date Publication date Assignee Title
US6618658B1 (en) * 1999-01-14 2003-09-09 Kobelco Construction Machinery Co., Ltd. Control apparatus for a hydraulic excavator
CN201447729U (en) * 2009-05-13 2010-05-05 三一重机有限公司 Control device for improving walking operation stability of excavator
CN111173070A (en) * 2020-02-28 2020-05-19 上海三一重机股份有限公司 Excavator walking control system, electric control excavator and walking safety control method
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Publication number Priority date Publication date Assignee Title
CN117345707A (en) * 2023-04-10 2024-01-05 济宁山科工程机械有限公司 Quick walking hydraulic system of excavator
CN117345707B (en) * 2023-04-10 2024-05-31 济宁山科工程机械有限公司 Quick walking hydraulic system of excavator

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