CN113293812A - Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment - Google Patents

Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment Download PDF

Info

Publication number
CN113293812A
CN113293812A CN202110734432.5A CN202110734432A CN113293812A CN 113293812 A CN113293812 A CN 113293812A CN 202110734432 A CN202110734432 A CN 202110734432A CN 113293812 A CN113293812 A CN 113293812A
Authority
CN
China
Prior art keywords
current
weight
proportional valve
loading mode
mode data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110734432.5A
Other languages
Chinese (zh)
Other versions
CN113293812B (en
Inventor
刘均华
王宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sany Heavy Machinery Ltd
Original Assignee
Sany Heavy Machinery Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sany Heavy Machinery Ltd filed Critical Sany Heavy Machinery Ltd
Priority to CN202110734432.5A priority Critical patent/CN113293812B/en
Publication of CN113293812A publication Critical patent/CN113293812A/en
Application granted granted Critical
Publication of CN113293812B publication Critical patent/CN113293812B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention provides a method and a device for preventing an arm from being sucked empty, a working machine and an electronic device, wherein the method for preventing the arm from being sucked empty comprises the following steps: obtaining a current weight of a work device of the work machine; based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted; and controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve. The method for preventing the bucket rod from being sucked empty can solve the problem of the suction empty of the bucket rod oil cylinder of the operation machine.

Description

Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment
Technical Field
The invention relates to the technical field of working machinery, in particular to a method and a device for preventing a bucket rod from being sucked empty, the working machinery and electronic equipment.
Background
When the existing operation machinery works, a valve core of a main valve is opened, if the weight of a bucket rod oil cylinder of the operation machinery is too large, the oil return back pressure is not enough to offset the action acceleration change of the oil cylinder caused by the self weight of a working device, and the oil inlet flow of a system cannot keep up with the required flow. At this time, the arm cylinder as the hydraulic actuator tends to be sucked. Suction is generally not apparent when the system flow is high, and is apparent when the system flow is low (e.g., when operating in a lower gear). Generally, the suction of the bucket rod of the working machine causes the operation to be stopped and blocked, and the use feeling and the working efficiency of a driver are influenced. Therefore, it is desirable to provide a method for preventing the arm from being sucked empty to solve the problem of the arm cylinder of the working machine.
Disclosure of Invention
The invention provides a method and a device for preventing an arm from being sucked empty, a working machine and electronic equipment, and aims to solve the problem of the suction empty of an arm oil cylinder of the working machine.
The invention provides a method for preventing a bucket rod from being sucked empty, which comprises the following steps:
obtaining a current weight of a work device of the work machine;
based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted;
and controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
According to the method for preventing the bucket rod from being sucked empty, the step of selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight comprises the following steps:
and when the working machine working device changes, selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight.
According to the method for preventing the bucket rod from being sucked empty, the current loading mode data of the proportional valve meet the following requirements:
and from the initial moment of controlling the proportional valve based on the proportional valve current loading mode data to the target moment, the proportional valve current is in a linear relation with time.
According to the method for preventing the bucket rod from being sucked empty, the current loading mode data of the proportional valve further meet the following requirements:
the proportional valve current after the target time is the same as the proportional valve current at the target time.
According to the method for preventing the bucket rod from being sucked empty, the step of selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight comprises the following steps:
selecting weight data closest to the current weight from the weight data in the weight-current relation table as target weight data;
and obtaining proportional valve current loading mode data corresponding to the current weight based on the target weight data and the weight-current relation table.
The invention also provides a device for preventing the bucket rod from being sucked empty, which comprises:
the acquisition module is used for acquiring the current weight of the working device of the working machine;
the processing module is used for selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table based on the current weight; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted;
and the control module is used for controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the proportional valve current loading mode data.
According to the device for preventing the bucket rod from being sucked empty, the processing module is further used for selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight when the working machine working device is changed.
The invention also provides a working machine which comprises the device for preventing the bucket rod from being sucked empty.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the method for preventing the bucket rod from being sucked empty.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of preventing stick suck as claimed in any one of the preceding claims.
According to the method, the device, the operation machine and the electronic equipment for preventing the bucket rod from being sucked empty, the current weight of the operation machine working device is firstly obtained; based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; and finally, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
When the working condition of the working machine changes, the working device of the working machine can be switched to cause the weight of the working device of the working machine to change. The method provided by the invention can automatically match the corresponding proportional valve current loading mode according to the weight change of the working device, thereby solving the problem of bucket rod suction.
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 method for preventing a bucket rod from being sucked empty according to the present invention;
FIG. 2 is a schematic diagram illustrating a manner of loading current to a proportional valve in the method for preventing the bucket arm from being sucked empty according to the present invention;
FIG. 3 is a second schematic diagram illustrating the current loading manner of the proportional valve in the method for preventing the bucket rod from being sucked empty according to the present invention;
FIG. 4 is a third schematic diagram illustrating the current loading manner of the proportional valve in the method for preventing the bucket rod from being sucked empty according to the present invention;
FIG. 5 is a schematic structural view of the device for preventing the bucket rod from being sucked empty according to the present invention;
fig. 6 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.
In the debugging process of the working machine, the oil return area of the valve core of the working machine is generally adjusted according to the common gear, so that the oil return back pressure of the valve core and the weight of a working device of the working machine keep a certain balance, and the condition that no obvious air suction condition exists in the common gear is ensured. The backpressure of a hydraulic control valve core of the operation machine is not adjustable, if the bucket rod is empty, the opening size of the main valve rod needs to be changed, the workload is large, and the debugging period of the operation machine is prolonged.
The existing electronic control hydraulic system adjusts oil return backpressure through a proportional pressure reducing valve on an oil return path of a bucket rod, and if the weight of a working device is fixed, the loading mode of the proportional pressure reducing valve is fixed when the machine is debugged in a factory.
On the other hand, the diversity of installation of conventional work machine tools is increasing, i.e., the same machine unit is usually equipped with a plurality of arms of different specifications, buckets of different bucket capacities, or different accessories (breaking hammers, hydraulic shears, pile drivers, etc.). The invention provides a method for preventing a bucket rod from being sucked empty, which aims to solve the problem that the suction phenomenon of the bucket rod is easy to occur due to the fact that the specifications of the bucket rod and the bucket are changed to cause corresponding weight change.
The method, apparatus, working machine, and electronic device for preventing the bucket arm from being sucked empty according to the present invention will be described with reference to fig. 1 to 6.
The invention provides a method for preventing an arm from being sucked empty, which comprises the following steps of:
step 110, obtain a current weight of the work machine implement.
The work machine may be an excavator, and the work implement may include an arm, a bucket, an attachment, or the like. The accessory comprises a breaking hammer, a hydraulic shear or a pile driver.
The weight data of the working device may include weight data of one device of the stick, the bucket, and the attachment, or weight data of a combination of a plurality of devices. The weight data of the bucket rod, the bucket and the accessory can be measured and stored in advance, and different working devices can be correspondingly used under different working conditions of the working machine. When the working machine is in a working state, the working condition of the working machine can be acquired first, and based on the working condition of the working machine, the weight data of the working device corresponding to the current working condition of the working machine, that is, the current weight of the working machine, can be acquired.
Step 120, based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table; wherein, the weight-current relation table comprises: and under the condition that the bucket rod of the working machine is not sucked to be empty, the current loading modes of the proportional valves corresponding to different working devices are adopted.
It should be noted that the proportional valve current loading manner data is data of a change in the current loaded by the proportional valve with time. The proportional valves in the invention are all proportional valves on the bucket rod oil return path, namely bucket rod back pressure proportional pressure reducing valves, for short bucket rod back pressure proportional valves.
The weight-current relationship table may be obtained in advance through experiments, in which in the experiments, when the boom of the work machine is not being sucked empty, a plurality of weight data of the work machine and a plurality of proportional valve currents are recorded, a plurality of corresponding proportional valve current loading manner data are obtained according to the plurality of proportional valve currents, and a corresponding relationship is established based on the plurality of weight data and the plurality of proportional valve current loading manner data to form the weight-current relationship table.
And step 130, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
It can be understood that after the proportional valve current loading mode data are obtained, the current of the proportional valve on the bucket rod oil return path is adjusted by utilizing the proportional valve current loading mode data, so that the current of the proportional valve on the bucket rod oil return path is matched with the proportional valve current loading mode data, the valve opening degree of the proportional valve meets the requirement, and the bucket rod can be prevented from being sucked empty.
In some embodiments, selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relationship table based on the current weight includes:
when the working machine working device changes, proportional valve current loading mode data corresponding to the current weight is selected from the weight-current relation table based on the current weight.
In some embodiments, the proportional valve current loading mode data satisfies:
from the initial moment of controlling the proportional valve based on the proportional valve current loading mode data to the target moment, the proportional valve current and the time are in a linear relation, and the proportional valve current at the initial moment is zero.
In some embodiments, the proportional valve current loading mode data further satisfies:
the proportional valve current after the target time is the same as the proportional valve current at the target time.
In some embodiments, the proportional valve current loading mode data satisfies:
I＝k×t+b
the proportional valve current loading mode data comprise a plurality of k values and a plurality of b values, wherein I is proportional valve current, t is time, the k values correspond to the proportional valve current loading mode data respectively, the k values are slopes corresponding to a linear relation, and the b values are longitudinal intercepts corresponding to the linear relation. The k values corresponding to different proportional valve current loading mode data can be the same or different; and the b values corresponding to the current loading mode data of different proportional valves can be the same or different.
Further, for the electrically controlled hydraulic system, if the excavator can be equipped with n sets of working devices, the corresponding weights of the n sets of working devices are Gx (G0, G1.. gtn).
In order to prevent the bucket rod from sucking air when the working device is switched, the relationship between the weight of the working device and the current of the bucket rod back pressure proportional valve is established as follows:
as shown in FIG. 2, if the weight of the working device is G0And then the current loading mode of the back pressure proportional pressure reducing valve is as follows:
Figure BDA0003141056200000071
as shown in FIG. 3, if the weight of the working device is G1And then the current loading mode of the back pressure proportional pressure reducing valve is as follows:
Figure BDA0003141056200000072
as shown in FIG. 4, if the weight of the working device is GnAnd then the current loading mode of the back pressure proportional pressure reducing valve is as follows:
Figure BDA0003141056200000073
wherein, txNamely, at the target moment, the controller of the working machine is provided with a corresponding proportional valve current loading mode in the controller according to the weight change of the working device.
When the work machine working device changes, the controller automatically detects the weight thereof. If the weight of the working device of the working machine is detected to be G, G is compared with Gx (G0, G1.. once.gn), and if G is close to a certain value of Gx, namely | G-Gx | < b (b is a constant and can be set by a user), the program automatically matches the proportional valve loading mode corresponding to the weight through logic control.
In some embodiments, selecting the proportional valve current loading mode data corresponding to the current weight from the weight-current relationship table based on the current weight includes:
selecting weight data closest to the current weight from the weight data in the weight-current relation table as target weight data;
and obtaining the current loading mode data of the proportional valve corresponding to the current weight based on the target weight data and the weight-current relation table.
In summary, the method for preventing the bucket rod from being sucked empty provided by the invention includes the steps of firstly obtaining the current weight of the working device of the working machine; based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; and finally, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
When the working condition of the working machine changes, the working device of the working machine can be switched to cause the weight of the working device of the working machine to change. The method provided by the invention can automatically match the corresponding proportional valve current loading mode according to the weight change of the working device, thereby solving the problem of bucket rod suction.
The device for preventing the bucket rod from being sucked empty provided by the invention is described below, and the device for preventing the bucket rod from being sucked empty and the method for preventing the bucket rod from being sucked empty described above can be correspondingly referred to.
As shown in fig. 5, the apparatus 500 for preventing the bucket rod from being sucked empty according to the present invention includes: an acquisition module 510, a processing module 520, and a control module 530.
The acquisition module 510 is used to acquire the current weight of the work implement of the work machine.
The processing module 520 is configured to select, based on the current weight, proportional valve current loading mode data corresponding to the current weight from the weight-current relationship table; wherein, the weight-current relation table comprises: and under the condition that the bucket rod of the working machine is not sucked to be empty, the current loading modes of the proportional valves corresponding to different working devices are adopted.
The control module 530 is configured to control the proportional valve on the bucket rod oil return path under the current weight of the working device based on the proportional valve current loading mode data.
In some embodiments, the processing module 520 is further configured to select, when the work machine implement changes, proportional valve current loading mode data corresponding to the current weight from the weight-current relationship table based on the current weight.
In some embodiments, the proportional valve current loading mode data satisfies:
from the initial moment of controlling the proportional valve based on the proportional valve current loading mode data to the target moment, the proportional valve current and the time are in a linear relation, and the proportional valve current at the initial moment is zero.
In some embodiments, the proportional valve current loading mode data further satisfies:
the proportional valve current after the target time is the same as the proportional valve current at the target time.
Further, the proportional valve current loading mode data satisfy:
I＝k×t+b
wherein, I is proportional valve current, t is time, and a plurality of values of k and a plurality of values of b respectively correspond to a plurality of data of the proportional valve current loading mode. The k values corresponding to different proportional valve current loading mode data can be the same or different; and the b values corresponding to the current loading mode data of different proportional valves can be the same or different.
In some embodiments, the processing module 520 includes: a first processing unit and a second processing unit.
The first processing unit is used for selecting the weight data closest to the current weight from the weight data in the weight-current relation table as the target weight data.
And the second processing unit is used for obtaining the proportional valve current loading mode data corresponding to the current weight based on the target weight data and the weight-current relation table.
The invention also provides a working machine which comprises the device 500 for preventing the bucket rod from being sucked empty.
Further, the work machine according to the present invention includes the device 500 for preventing the arm from being sucked empty as described above, and therefore, has various advantages as described above.
The electronic device and the storage medium provided by the present invention are described below, and the electronic device and the storage medium described below and the method for preventing the bucket rod from being sucked empty described above may be referred to correspondingly.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a method of preventing a stick from sucking empty, the method comprising:
step 110, obtaining the current weight of the working device of the working machine;
step 120, based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the operation machine is not sucked to be empty, proportional valve current loading modes corresponding to different working devices are adopted;
and step 130, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions 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 instructions for causing 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.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for preventing an arm from being sucked empty provided by the above methods, the method comprising:
step 110, obtaining the current weight of the working device of the working machine;
step 120, based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the operation machine is not sucked to be empty, proportional valve current loading modes corresponding to different working devices are adopted;
and step 130, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the method for preventing a stick from being sucked empty provided above, the method comprising:
step 110, obtaining the current weight of the working device of the working machine;
step 120, based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the operation machine is not sucked to be empty, proportional valve current loading modes corresponding to different working devices are adopted;
and step 130, controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
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-described 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 instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in 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 method of preventing a stick from being emptied, comprising:
obtaining a current weight of a work device of the work machine;
based on the current weight, selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted;
and controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the current loading mode data of the proportional valve.
2. The method of claim 1, wherein the selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relationship table based on the current weight comprises:
and when the working machine working device changes, selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight.
3. The method for preventing the bucket rod from being sucked empty as claimed in claim 1, wherein the proportional valve current loading mode data satisfies the following conditions:
and from the initial moment of controlling the proportional valve based on the proportional valve current loading mode data to the target moment, the proportional valve current is in a linear relation with time.
4. The method of claim 3, wherein the proportional valve current loading mode data further satisfies:
the proportional valve current after the target time is the same as the proportional valve current at the target time.
5. The method for preventing the bucket rod from being sucked to be empty as claimed in any one of claims 1 to 4, wherein the step of selecting the proportional valve current loading mode data corresponding to the current weight from a weight-current relation table based on the current weight comprises the following steps:
selecting weight data closest to the current weight from the weight data in the weight-current relation table as target weight data;
and obtaining proportional valve current loading mode data corresponding to the current weight based on the target weight data and the weight-current relation table.
6. A device for preventing a bucket rod from being sucked empty, comprising:
the acquisition module is used for acquiring the current weight of the working device of the working machine;
the processing module is used for selecting proportional valve current loading mode data corresponding to the current weight from a weight-current relation table based on the current weight; wherein, the weight-current relation table comprises: under the condition that a bucket rod of the working machine is not sucked to be empty, the proportional valve current loading modes corresponding to different working devices are adopted;
and the control module is used for controlling the proportional valve on the bucket rod oil return path under the current weight of the working device based on the proportional valve current loading mode data.
7. The apparatus of claim 6, wherein the device for preventing the stick from being sucked empty,
and the processing module is further used for selecting proportional valve current loading mode data corresponding to the current weight from the weight-current relation table based on the current weight when the working machine working device is changed.
8. A working machine comprising the apparatus for preventing the stick from being sucked empty of claim 6 or 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method of preventing stick suck-down as claimed in any one of claims 1 to 5.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the method of preventing a stick from sucking empty as claimed in any one of claims 1 to 5.
CN202110734432.5A 2021-06-30 2021-06-30 Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment Active CN113293812B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110734432.5A CN113293812B (en) 2021-06-30 2021-06-30 Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110734432.5A CN113293812B (en) 2021-06-30 2021-06-30 Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment

Publications (2)

Publication Number Publication Date
CN113293812A true CN113293812A (en) 2021-08-24
CN113293812B CN113293812B (en) 2023-01-10

Family

ID=77330001

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110734432.5A Active CN113293812B (en) 2021-06-30 2021-06-30 Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment

Country Status (1)

Country Link
CN (1) CN113293812B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108729479A (en) * 2018-05-28 2018-11-02 柳州柳工挖掘机有限公司 Bucket rod cylinder of excavator hydraulic control system and control method
CN109736373A (en) * 2018-12-30 2019-05-10 上海三一重机股份有限公司 A kind of energy-saving control device and control method of the decline of control excavator boom
CN110616770A (en) * 2019-09-23 2019-12-27 三一重机有限公司 Anti-suction control system and control method for bucket rod oil cylinder, bucket rod oil cylinder and excavator
CN211314698U (en) * 2020-01-01 2020-08-21 浙江鼎力机械股份有限公司 Balance valve group, variable amplitude oil cylinder and aerial work platform

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108729479A (en) * 2018-05-28 2018-11-02 柳州柳工挖掘机有限公司 Bucket rod cylinder of excavator hydraulic control system and control method
CN109736373A (en) * 2018-12-30 2019-05-10 上海三一重机股份有限公司 A kind of energy-saving control device and control method of the decline of control excavator boom
CN110616770A (en) * 2019-09-23 2019-12-27 三一重机有限公司 Anti-suction control system and control method for bucket rod oil cylinder, bucket rod oil cylinder and excavator
CN211314698U (en) * 2020-01-01 2020-08-21 浙江鼎力机械股份有限公司 Balance valve group, variable amplitude oil cylinder and aerial work platform

Also Published As

Publication number Publication date
CN113293812B (en) 2023-01-10

Similar Documents

Publication Publication Date Title
EP2600010A1 (en) Swirl flow control system for construction equipment and method of controlling the same
JP2006290561A (en) Crane operating control device
WO2019078077A1 (en) Shovel
CN113111006A (en) Debugging method and system for operating machine control system
WO2023174211A1 (en) Flow rate distribution method and apparatus, and operation machine
CN112943751A (en) Auxiliary work control method, auxiliary work control device, electronic equipment and storage medium
US20150033719A1 (en) Reducing Dig Force in Hydraulic Implements
CN113293812B (en) Method and device for preventing bucket rod from being sucked empty, operation machine and electronic equipment
CN113124988A (en) Automatic weighing calibration method and system for excavator
CN114572841A (en) Control method, controller and system for rotary operation and crane
EP4276048A1 (en) Crane super-lifting radius control method, apparatus, and crane
CN113158344A (en) Control method and device for auxiliary pipeline of excavator, working machine and electronic equipment
KR100395823B1 (en) Control apparatus for hydraulic excavator
US10808382B2 (en) Systems and methods of preventing a run-away state in an industrial machine
CN114294110B (en) Engine power detection method, device and system and working machine
CN112012836B (en) Control method and device for engineering machinery engine
CN108691329B (en) Oil mass control method of engineering machinery and system for executing same
US10640334B2 (en) Actuator control device and work vehicle
CN115387415A (en) Pose resetting control method, device and system and working machine
CN209482380U (en) The swing arm reduction of speed control device and excavator of excavator
CA2625565C (en) Method and apparatus for controlling a hydraulic system of a work machine
CN113503288A (en) Hydraulic cylinder buffer control method and device and hydraulic equipment
CN113187380A (en) Rotary drilling rig power head control method and system and rotary drilling rig
KR20120086061A (en) Hydraulic system for construction machinery
CN102575697B (en) Configurable active jerk control method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant