CN113482074B - Intelligent shallow-buried underground excavation hydraulic driving method, device, medium and equipment - Google Patents
Intelligent shallow-buried underground excavation hydraulic driving method, device, medium and equipment Download PDFInfo
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- CN113482074B CN113482074B CN202110610679.6A CN202110610679A CN113482074B CN 113482074 B CN113482074 B CN 113482074B CN 202110610679 A CN202110610679 A CN 202110610679A CN 113482074 B CN113482074 B CN 113482074B
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- 238000009412 basement excavation Methods 0.000 title claims abstract description 171
- 238000000034 method Methods 0.000 title claims abstract description 64
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 113
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims abstract description 18
- 210000000245 forearm Anatomy 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 9
- 238000010276 construction Methods 0.000 abstract description 27
- 230000008602 contraction Effects 0.000 abstract description 7
- 238000005553 drilling Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 7
- 239000002689 soil Substances 0.000 description 6
- 239000003921 oil Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
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- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000011049 filling Methods 0.000 description 1
- 238000011068 loading method Methods 0.000 description 1
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- 238000004904 shortening Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
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- Engineering & Computer Science (AREA)
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- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The application discloses a hydraulic driving method and device for intelligent shallow-buried underground excavation, a computer readable storage medium and intelligent shallow-buried underground excavation equipment, wherein the excavation position of a bucket is obtained; driving a large arm hydraulic oil cylinder to drive a large arm to do pitching motion to a first state position according to the excavation position; according to the excavation position, driving a small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position; driving a hydraulic oil cylinder of the telescopic arm to drive the telescopic arm to do stretching motion so as to push the bucket to cut into an excavation position; the hydraulic bucket cylinder is driven to drive the bucket to rotate downwards around a hinge point of the bucket and the telescopic arm, and the hydraulic telescopic arm cylinder is synchronously driven to drive the telescopic arm to perform contraction action so as to realize excavation operation; the hydraulic drive large torque is used for adapting to various construction environments, automatic positioning of the bucket is achieved by automatically controlling each hydraulic drive component, and meanwhile, the difficulty of excavation operation is reduced by using the combined action of the bucket and the telescopic arm.
Description
Technical Field
The application relates to the technical field of tunnel construction, in particular to a hydraulic driving method and device for intelligent shallow-buried underground excavation, a computer readable storage medium and intelligent shallow-buried underground excavation equipment.
Background
The shallow excavation method is a method for carrying out various underground cavern excavation constructions in the underground close to the ground surface. In the weak surrounding rock stratum of cities and towns, underground engineering is built under the shallow burying condition, the geological condition is improved as the premise, the control of surface subsidence is taken as the key point, and a grating (or other steel structures) and a spray anchor are taken as the primary support means.
The shallow buried subsurface excavation method has a good construction effect on underground engineering (such as subways, underground roads and the like) of weak strata (such as the strata of cities of Beijing, Shenzhen, Western Ann and the like in China). However, because of large territory and different construction environments in various regions in China, some ground construction difficulties are large, for example, the situation that a sandy gravel stratum is not drilled well exists.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a hydraulic driving method and device for intelligent shallow-buried underground excavation, a computer readable storage medium and intelligent shallow-buried underground excavation equipment, and solves the problem of high construction difficulty of the shallow-buried underground excavation method.
According to one aspect of the application, a hydraulic driving method for intelligent shallow-buried underground excavation is provided, and is applied to shallow-buried underground excavation equipment, wherein the shallow-buried underground excavation equipment comprises: the hydraulic shovel comprises a large arm, a small arm, a telescopic arm, a shovel and a large arm hydraulic oil cylinder, a small arm hydraulic oil cylinder, a telescopic arm hydraulic oil cylinder and a shovel hydraulic oil cylinder which are arranged below the large arm, the small arm, the telescopic arm and the shovel respectively, wherein the large arm hydraulic oil cylinder, the small arm hydraulic oil cylinder, the telescopic arm hydraulic oil cylinder and the shovel hydraulic oil cylinder respectively drive the large arm, the small arm, the telescopic arm and the shovel; the hydraulic driving method for the intelligent shallow-buried underground excavation comprises the following steps: acquiring the excavation position of the bucket; driving the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to a first state position according to the excavation position; driving the small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position according to the excavation position; driving the telescopic arm hydraulic oil cylinder to drive the telescopic arm to perform stretching action so as to push the bucket to cut into the excavation position; the hydraulic bucket cylinder is driven to drive the bucket to rotate downwards around a hinged point of the bucket and the telescopic arm, and the hydraulic telescopic arm cylinder is synchronously driven to drive the telescopic arm to contract so as to realize excavation operation; when the large arm is located at the first state position and the small arm is located at the second state position, the bucket and the excavation position are located at the same height.
In an embodiment, after the driving the boom hydraulic cylinder to drive the boom to perform the pitching motion to the first state position, the hydraulic driving method further includes: and locking the large arm hydraulic oil cylinder to maintain the large arm at the first state position.
In one embodiment, said locking said boom hydraulic ram to maintain said boom in said first state position comprises: calculating the digging resistance of the big arm transmitted to the big arm in the digging operation process; and adjusting the driving force of the large arm hydraulic oil cylinder according to the large arm excavating resistance.
In an embodiment, after the driving the small arm hydraulic cylinder to drive the small arm to swing around the hinge point of the small arm and the large arm to the second state position, the hydraulic driving method further includes: and locking the small arm hydraulic oil cylinder to maintain the small arm at the second state position.
In one embodiment, said locking said arm hydraulic ram to maintain said arm in said second state position comprises: calculating the forearm excavating resistance transmitted to the forearm in the excavating operation process; and adjusting the driving force of the forearm hydraulic cylinder according to the forearm excavation resistance.
In one embodiment, the large arm hydraulic cylinder is communicated with the small arm hydraulic cylinder; before the driving of the large arm hydraulic oil cylinder to drive the large arm to perform the pitching motion to the first state position, the hydraulic driving method further comprises the following steps: closing a communicating valve between the large arm hydraulic oil cylinder and the small arm hydraulic oil cylinder; after the driving of the small arm hydraulic cylinder drives the small arm to swing around the hinge point of the small arm and the large arm to a second state position, the hydraulic driving method further comprises the following steps: and opening the communication valve.
In one embodiment, the obtaining the excavation position of the bucket includes: acquiring position information to be excavated; the position information to be excavated comprises boundary information of an area to be excavated; and determining the excavation position of the bucket according to the boundary information of the area to be excavated and the excavation state of the excavation area.
According to another aspect of the present application, there is provided a hydraulic driving device for intelligent shallow excavation, wherein the shallow excavation equipment comprises: the hydraulic device comprises a large arm, a small arm, a telescopic arm, a bucket and a large arm hydraulic oil cylinder, a small arm hydraulic oil cylinder, a telescopic arm hydraulic oil cylinder and a bucket hydraulic oil cylinder which are arranged below the large arm, the small arm, the telescopic arm and the bucket respectively and sequentially connected, wherein the large arm hydraulic oil cylinder, the small arm hydraulic oil cylinder, the telescopic arm hydraulic oil cylinder and the bucket hydraulic oil cylinder respectively drive the large arm, the small arm, the telescopic arm and the bucket; shallow hydraulic drive device who digs that buries of intelligence includes: the position acquisition module is used for acquiring the excavation position of the bucket; the large arm driving module is used for driving the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to a first state position according to the excavation position; the small arm driving module is used for driving the small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position according to the excavation position; the telescopic arm driving module is used for driving the telescopic arm hydraulic oil cylinder to drive the telescopic arm to perform stretching action so as to push the bucket to cut into the excavation position; the excavation execution module is used for driving the bucket hydraulic oil cylinder to drive the bucket to rotate downwards around a hinged point of the bucket and the telescopic arm, and synchronously driving the telescopic arm hydraulic oil cylinder to drive the telescopic arm to contract so as to realize excavation operation; when the large arm is located at the first state position and the small arm is located at the second state position, the bucket and the excavation position are located at the same height.
According to another aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing any one of the hydraulic driving methods of intelligent shallow excavation described above.
According to another aspect of the application, an intelligent shallow-buried underground excavation equipment is provided, comprising: a processor; a memory for storing the processor-executable instructions; the processor is used for executing any one of the hydraulic driving methods for the intelligent shallow-buried excavation.
According to the hydraulic driving method and device for intelligent shallow-buried underground excavation, the computer readable storage medium and the intelligent shallow-buried underground excavation equipment, the excavation position of the bucket is obtained; driving a hydraulic oil cylinder of the large arm to drive the large arm to do pitching motion to a first state position according to the excavation position; according to the excavation position, driving the small arm hydraulic oil cylinder to drive the small arm to swing around the hinge point of the small arm and the large arm to a second state position; driving a hydraulic oil cylinder of the telescopic arm to drive the telescopic arm to do stretching action so as to push the bucket to cut into an excavation position; the hydraulic bucket cylinder is driven to drive the bucket to rotate downwards around a hinge point of the bucket and the telescopic arm, and the hydraulic telescopic arm cylinder is synchronously driven to drive the telescopic arm to perform contraction action so as to realize excavation operation; the hydraulic drive large torque is used for adapting to various construction environments, automatic positioning of the bucket is achieved by automatically controlling each hydraulic drive component, and meanwhile, the difficulty of excavation operation is reduced by using the combined action of the bucket and the telescopic arm.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic structural diagram of an intelligent shallow excavation device according to an exemplary embodiment of the present application.
Fig. 2 is a schematic flow chart of a hydraulic driving method for intelligent shallow excavation according to an exemplary embodiment of the present application.
Fig. 3 is a schematic flow chart of a hydraulic driving method for intelligent shallow excavation according to another exemplary embodiment of the present application.
Fig. 4 is a schematic flow chart of a hydraulic driving method of an intelligent shallow excavation according to another exemplary embodiment of the present application.
Fig. 5 is a schematic flow chart of a hydraulic driving method of an intelligent shallow excavation according to another exemplary embodiment of the present application.
Fig. 6 is a schematic structural diagram of a hydraulic driving device for an intelligent shallow excavation according to an exemplary embodiment of the present application.
Fig. 7 is a schematic structural diagram of an intelligent shallow excavation hydraulic driving device according to another exemplary embodiment of the present application.
Fig. 8 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Fig. 1 is a schematic structural diagram of an intelligent shallow excavation device according to an exemplary embodiment of the present application. As shown in fig. 1, the shallow excavation apparatus includes: big arm 1, forearm 2, flexible arm 3, scraper bowl 4 that connect gradually and set up respectively in big arm 1, forearm 2, flexible arm 3, the big arm hydraulic cylinder 5 of scraper bowl 4 below, forearm hydraulic cylinder 6, flexible arm hydraulic cylinder 7, scraper bowl hydraulic cylinder 8, big arm hydraulic cylinder 5, forearm hydraulic cylinder 6, flexible arm hydraulic cylinder 7, scraper bowl hydraulic cylinder 8 drive big arm 1, forearm 2, flexible arm 3, scraper bowl 4 respectively. Adjusting the space position of the bucket 4 by using the large arm 1, the small arm 2 and the telescopic arm 3 to move the bucket 4 to an excavation position, so as to realize excavation operation; and the position adjustment and the excavation operation of the bucket 4 are respectively realized by utilizing a large arm hydraulic oil cylinder 5, a small arm hydraulic oil cylinder 6, a telescopic arm hydraulic oil cylinder 7 and a bucket hydraulic oil cylinder 8, and the large hydraulic driving force is adapted to excavation scenes with various driving force requirements.
Fig. 2 is a schematic flow chart of a hydraulic driving method of an intelligent shallow excavation according to an exemplary embodiment of the present application. The hydraulic driving method for intelligent shallow-buried underground excavation is applied to the control device for the shallow-buried underground excavation equipment, and as shown in fig. 2, the hydraulic driving method for intelligent shallow-buried underground excavation comprises the following steps:
step 210: and acquiring the excavation position of the bucket.
In an embodiment, the specific implementation manner of step 210 may be: and acquiring information of the position to be excavated, wherein the information of the position to be excavated comprises boundary information of the area to be excavated, and determining the excavation position of the bucket according to the boundary information of the area to be excavated and the excavation state of the excavation area. After the boundary information of the to-be-excavated sample is determined, the excavation position is determined according to the boundary information and the excavation state of the to-be-excavated area, for example, the upper area of the to-be-excavated area is excavated, and at this time, the lower area of the to-be-excavated area is used as the excavation position.
Since the excavation construction length of a common tunnel is long, construction position information such as the length, direction and boundary coordinates of a construction area is preset, and many tunnels are not arranged along a straight line in order to adapt to urban environment. For accurate construction, construction position information of a construction area (i.e., area position information to be excavated) needs to be acquired before construction, and accurate construction can be realized and construction accuracy can be improved according to the preset construction position information. The embodiment of the application can arrange the advanced guide pipes along the 120-degree range of the boundary (namely the excavation contour line) of the construction area, namely the radian formed by all the advanced guide pipes arranged on the boundary of the construction area is 120 degrees. The length of the advanced conduit in the embodiment of the application can be the height of a step in a step method plus 2 meters, the diameter of the advanced conduit can be 38-50 millimeters, the front section of the advanced conduit can be made into a conical shape with the length of about 10 centimeters, and the tail end of the advanced conduit is welded with a steel bar hoop with the diameter of 6-8 millimeters. In one embodiment, the angle between the drilling direction and the perpendicular to the exterior wall surface of the construction area may be in the range of 10 ° to 15 °. In order to adapt to the whole extending direction of the tunnel, the drilling direction can be properly adjusted, but the excessive deviation of the drilling direction can cause the difficulty in driving the advanced guide pipe and the difficulty in controlling the direction of the advanced guide pipe to be increased, so that the drilling direction can be controlled, the requirement on the extending direction of the tunnel can be met, and the construction difficulty can be reduced. In further embodiment, when the bending angle of the current section of the construction area is greater than 15 degrees, the included angle between the drilling direction and the vertical direction of the outer wall surface of the construction area can be reduced by shortening the length of the advanced guide pipe, and the construction difficulty is prevented from increasing. Specifically, after the drilling position and the drilling direction are determined, the spatial position of the drilling machine can be adjusted to realize that the drill bit of the drilling machine corresponds to the drilling position and the advancing direction of the drill bit is consistent with the drilling direction, so that the accurate driving of the advanced guide pipe can be ensured. The specific implementation mode can be that the horizontal position of the drill arm is adjusted by utilizing structures such as a turntable between the drill and the machine body, the height position of the drill is adjusted by utilizing a luffing mechanism and the like at the drill arm, and the inclination angle of the drill is adjusted by utilizing a rotating mechanism between the drill arm and the drill, so that the requirements of drilling in all positions and directions are met.
Step 220: and driving the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to a first state position according to the excavation position.
After the excavation position is determined, according to the space coordinate information (namely the position information of the excavation point) of the excavation position, the large arm hydraulic oil cylinder 5 is driven to drive the large arm 1 to do pitching motion to the first state position, namely, according to the target position (excavation position), the large arm 1 is driven to do pitching motion to convey the bucket 4 to the excavation position.
Step 230: and driving the small arm hydraulic oil cylinder to drive the small arm to swing around the hinged point of the small arm and the large arm to a second state position according to the excavation position.
After the excavation position is determined, according to the space coordinate information (namely the position information of the excavation point) of the excavation position, the small arm hydraulic oil cylinder 6 is driven to drive the small arm 2 to swing around the hinge point of the small arm 2 and the large arm 1 to the second state position, namely, the small arm 2 is driven to swing according to the target position (excavation position) so as to convey the bucket 4 to the excavation position. When the boom 1 is located at the first state position and the boom 2 is located at the second state position, the bucket 4 is located at the same height as the excavation position, and the bucket 4 is transported to the position at the same height as the excavation position by the movement of the boom 1 and the boom 2.
Step 240: the hydraulic oil cylinder of the telescopic arm is driven to drive the telescopic arm to do stretching action so as to push the bucket to cut into the excavation position.
After the bucket 4 reaches the position with the same height as the excavation position, the telescopic arm 3 is driven by the telescopic arm hydraulic oil cylinder 7 to perform stretching action so as to push the bucket 4 to the excavation position, and therefore positioning work before the bucket 4 performs excavation operation is achieved.
Step 250: the bucket hydraulic oil cylinder is driven to drive the bucket to rotate downwards around a hinged point of the bucket and the telescopic arm, and the telescopic arm hydraulic oil cylinder is driven to drive the telescopic arm to do contraction movement synchronously, so that excavation operation is realized.
When the bucket 4 reaches the target position (i.e., the excavation position), the bucket 4 is driven to rotate downwards around the hinged point of the bucket 4 and the telescopic arm 3 by driving the bucket hydraulic oil cylinder 8 so as to realize the excavation operation, and the telescopic arm hydraulic oil cylinder 7 is synchronously driven to drive the telescopic arm 3 to do the contraction action so as to realize the extraction of the bucket 4 from the soil layer, thereby assisting the excavation operation.
According to the hydraulic driving method for the intelligent shallow-buried underground excavation, the excavation position of the bucket is obtained; driving a large arm hydraulic oil cylinder to drive a large arm to do pitching motion to a first state position according to the excavation position; according to the excavation position, driving the small arm hydraulic oil cylinder to drive the small arm to swing around the hinge point of the small arm and the large arm to a second state position; driving a hydraulic oil cylinder of the telescopic arm to drive the telescopic arm to do stretching motion so as to push the bucket to cut into an excavation position; the hydraulic bucket cylinder is driven to drive the bucket to rotate downwards around a hinge point of the bucket and the telescopic arm, and the hydraulic telescopic arm cylinder is synchronously driven to drive the telescopic arm to perform contraction action so as to realize excavation operation; the hydraulic drive large torque is used for adapting to various construction environments, automatic positioning of the bucket is achieved by automatically controlling each hydraulic drive component, and meanwhile, the difficulty of excavation operation is reduced by using the combined action of the bucket and the telescopic arm.
Fig. 3 is a schematic flow chart of a hydraulic driving method for intelligent shallow excavation according to another exemplary embodiment of the present application. As shown in fig. 3, after step 220, the hydraulic driving method may further include:
step 260: and locking the large arm hydraulic oil cylinder to maintain the large arm at the first state position.
After the boom 1 reaches the first state position (the position of the boom 1 corresponding to when the bucket 4 reaches the excavation position), the boom hydraulic cylinder 5 is locked to maintain the boom 1 at the first state position, so that the boom 1 is prevented from shaking during the excavation operation. Specifically, the implementation manner of step 260 may be: the large arm excavating resistance transmitted to the large arm in the excavating operation process is calculated, and then the driving force of the large arm hydraulic oil cylinder is adjusted according to the large arm excavating resistance so as to ensure that the large arm cannot shake due to the excavating resistance in the excavating operation process, so that the excavating effect is improved.
The excavation resistance mainly consists of the cutting resistance of soil, the friction force of soil layers to the bucket and the additional resistance of soil loading, and is related to factors such as cutting section, friction coefficient of soil layers, capacity and filling coefficient of the bucket, and the like, and the excavation resistance can be generally expressed as:
F i ＝σ w bc；
wherein, F i Is the excavation resistance (N); b is the bucket cutting width (m); sigma w For digging resistance ratio (N/m) 2 ) (ii) a c is the thickness (m) of the cut soil layer, and the specific calculation mode of c is as follows:
wherein R is D Cutting radius (m) for the rotating bucket;
the bucket angle (rad) at the moment of bucket excavation.
When the excavating arm rotates the bucket to the lowest position in the rotating bucket excavating engineering, the bucket hydraulic cylinder obtains the smallest acting force arm, and the excavating resistance and the force arm thereof are kept unchanged in the rotating bucket excavating process. The hydraulic cylinder must now provide the maximum force to complete the bucket excavation process.
The bucket cylinder force can be calculated by the following formula:
wherein, F 1 Is excavation resistance; l is 1 Is F 1 A force arm to a bucket hinge point; l is a radical of an alcohol c The acting force of the hydraulic cylinder of the bucket and the force arm of the hinged point of the bucket.
In the excavating operation process, other hydraulic oil cylinders of the excavating arm are in a locking state, the locking force of the hydraulic oil cylinder of the telescopic arm only needs to meet the self weight of the maintaining mechanism, and the reaction force of the hydraulic oil cylinder from other mechanisms is extremely small and negligible. In the process of rotating bucket excavation, the excavation resistance of the bucket is the largest to the arm of force of the hinged point of each excavating arm, the locking force required by each hydraulic cylinder is also the largest, and at the moment, the locking force of the large-arm oil cylinder needs to meet the formula:
wherein L is d The force arm of the locking force of the large arm hydraulic cylinder to the hinge point of the large arm and the connecting seat; l is 3 Is F 1 The force arm of the hinge point of the large arm and the connecting seat; l' d Is F 1 The force arm for the hinge point of the large arm and the frame.
Fig. 4 is a schematic flow chart of a hydraulic driving method of an intelligent shallow excavation according to another exemplary embodiment of the present application. As shown in fig. 4, after step 230, the hydraulic driving method may further include:
step 270: and locking the small arm hydraulic oil cylinder to maintain the small arm to be positioned at the second state position.
After the boom 2 reaches the first state position (the position of the boom 2 corresponding to when the bucket 4 reaches the excavation position), the boom hydraulic cylinder 6 is locked to maintain the boom 2 at the first state position, so that the boom 2 is prevented from shaking during the excavation operation. Specifically, the implementation manner of step 270 may be: and calculating the digging resistance of the small arm transmitted to the small arm in the digging operation process, and then adjusting the driving force of the hydraulic cylinder of the small arm according to the digging resistance of the small arm.
In the excavating operation process, other hydraulic oil cylinders of the excavating arm are in a locking state, the locking force of the hydraulic oil cylinder of the telescopic arm only needs to meet the self weight of the maintaining mechanism, and the reaction force of the hydraulic oil cylinder from other mechanisms is extremely small and negligible. In the process of rotating bucket excavation, the excavation resistance of the bucket is the largest from the hinged point force arm of each excavating arm, the locking force required by each hydraulic cylinder is also the largest, and at the moment, the locking force of the small arm oil cylinder needs to meet the formula:
wherein L is x The force arm is the locking force of the small arm hydraulic cylinder to the hinge point of the small arm and the large arm; l is 2 Is F 1 The force arm of the hinge point of the small arm and the large arm; l' x Is F 1 The moment arm of the hinge point of the small arm and the large arm; f 1 ' As a normal component of the excavating resistance, 0.15F is taken 1 。
Fig. 5 is a schematic flow chart of a hydraulic driving method for intelligent shallow excavation according to another exemplary embodiment of the present application. The large arm hydraulic oil cylinder 5 is communicated with the small arm hydraulic oil cylinder 6; as shown in fig. 5, before step 220, the hydraulic driving method may further include:
step 280: and closing a communicating valve between the large arm hydraulic oil cylinder and the small arm hydraulic oil cylinder.
Through setting up big arm hydraulic cylinder 5 and forearm hydraulic cylinder 6 intercommunication, can utilize same hydraulic circuit (including an oil tank) to realize the hydraulic drive of big arm 1 and forearm 2 to can utilize big arm hydraulic cylinder 5 and forearm hydraulic cylinder 6's oil circuit connectivity, realize the power interconnection, improve holistic drive power and stability.
Also, after step 230, the hydraulic driving method may further include:
step 290: and opening the communication valve.
After the large arm 1 and the small arm 2 reach the first state position and the second state position respectively, the large arm hydraulic oil cylinder 5 and the small arm hydraulic oil cylinder 6 need to be locked to fix the states of the large arm 1 and the small arm 2, and at the moment, the communication valve is opened to realize the power communication of the large arm hydraulic oil cylinder 5 and the small arm hydraulic oil cylinder 6, so that the stability of the large arm 1 and the small arm 2 is improved.
Fig. 6 is a schematic structural diagram of an intelligent shallow excavation hydraulic driving device according to an exemplary embodiment of the present application. The hydraulic driving device may include the control device of the shallow excavation equipment, as shown in fig. 6, the hydraulic driving device 60 includes: the position acquisition module 61 is used for acquiring the excavation position of the bucket; the large arm driving module 62 is used for driving a large arm hydraulic oil cylinder to drive the large arm to do pitching motion to a first state position according to the excavation position; the small arm driving module 63 is used for driving the small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position according to the excavation position; the telescopic arm driving module 64 is used for driving a telescopic arm hydraulic oil cylinder to drive the telescopic arm to do stretching action so as to push the bucket to cut into an excavation position; the excavation execution module 65 is used for driving the bucket hydraulic cylinder to drive the bucket to rotate downwards around a hinge point of the bucket and the telescopic arm, and synchronously driving the telescopic arm hydraulic cylinder to drive the telescopic arm to perform contraction action so as to realize excavation operation; when the big arm is located at the first state position and the small arm is located at the second state position, the bucket and the excavation position are located at the same height.
According to the intelligent hydraulic driving device for shallow excavation, the excavation position of the bucket is obtained through the position obtaining module 61; the large arm driving module 62 drives the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to a first state position according to the excavation position; the small arm driving module 63 drives the small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position according to the excavation position; the telescopic arm driving module 64 drives the telescopic arm hydraulic oil cylinder to drive the telescopic arm to do stretching action so as to push the bucket to cut into an excavation position; the excavation execution module 65 drives the bucket hydraulic cylinder to drive the bucket to rotate downwards around a hinge point of the bucket and the telescopic arm, and synchronously drives the telescopic arm hydraulic cylinder to drive the telescopic arm to perform contraction action so as to realize excavation operation; the hydraulic drive large torque is used for adapting to various construction environments, automatic positioning of the bucket is achieved by automatically controlling each hydraulic drive component, and meanwhile, the difficulty of excavation operation is reduced by using the combined action of the bucket and the telescopic arm.
In an embodiment, the position obtaining module 61 may be further configured to: and acquiring information of the position to be excavated, wherein the information of the position to be excavated comprises boundary information of the area to be excavated, and determining the excavation position of the bucket according to the boundary information of the area to be excavated and the excavation state of the excavation area.
Fig. 7 is a schematic structural diagram of an intelligent shallow excavation hydraulic driving device according to another exemplary embodiment of the present application. As shown in fig. 7, the hydraulic drive apparatus 60 may further include: and a boom lock module 66 for locking the boom hydraulic cylinder to maintain the boom in the first state position.
In one embodiment, as shown in fig. 7, the hydraulic driving device 60 may further include: and the small arm locking module 67 is used for locking the small arm hydraulic oil cylinder to maintain the small arm to be positioned at the second state position.
In one embodiment, as shown in fig. 7, the hydraulic driving device 60 may further include: and the valve control module 68 is used for closing a communication valve between the large arm hydraulic oil cylinder and the small arm hydraulic oil cylinder before the large arm and the small arm are driven, and opening the communication valve after the large arm and the small arm respectively reach the first state position and the second state position.
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 8. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.
FIG. 8 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 8, the electronic device 10 includes one or more processors 11 and memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the hydraulic drive method of intelligent shallow excavation of the various embodiments of the present application described above and/or other desired functions. Various content such as an input signal, signal components, noise components, etc. may also be stored in the computer readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 8, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the hydraulic drive method of intelligent shallow excavation according to various embodiments of the present application described in the "exemplary methods" section above of this specification.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the hydraulic drive method of intelligent shallow excavation according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by one skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (9)
1. The utility model provides a shallow hydraulic drive method who buries undercut of intelligence, is applied to shallow undercut equipment, wherein, shallow undercut equipment includes: the hydraulic shovel comprises a large arm, a small arm, a telescopic arm, a shovel and a large arm hydraulic oil cylinder, a small arm hydraulic oil cylinder, a telescopic arm hydraulic oil cylinder and a shovel hydraulic oil cylinder which are arranged below the large arm, the small arm, the telescopic arm and the shovel respectively, wherein the large arm hydraulic oil cylinder, the small arm hydraulic oil cylinder, the telescopic arm hydraulic oil cylinder and the shovel hydraulic oil cylinder respectively drive the large arm, the small arm, the telescopic arm and the shovel; the hydraulic driving method for the intelligent shallow-buried underground excavation is characterized by comprising the following steps:
acquiring the excavation position of the bucket;
driving the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to a first state position according to the excavation position;
driving the small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position according to the excavation position;
the hydraulic oil cylinder of the telescopic arm is driven to drive the telescopic arm to extend so as to push the bucket to cut into the excavation position, and when the large arm is located at the first state position and the small arm is located at the second state position, the bucket and the excavation position are located at the same height; and
the hydraulic bucket cylinder is driven to drive the bucket to rotate downwards around a hinged point of the bucket and the telescopic arm, and the hydraulic telescopic arm cylinder is synchronously driven to drive the telescopic arm to contract so as to realize excavation operation;
after the driving of the large arm hydraulic oil cylinder drives the large arm to perform the pitching motion to the first state position, the method further comprises the following steps:
and locking the large arm hydraulic oil cylinder to maintain the large arm at the first state position.
2. The hydraulic drive method of claim 1 wherein said locking the boom hydraulic ram to maintain the boom in the first state position comprises:
calculating a boom excavation resistance transmitted to the boom during an excavation operation; and
and adjusting the driving force of the large arm hydraulic oil cylinder according to the large arm excavating resistance.
3. The hydraulic driving method according to claim 1, further comprising, after driving the small arm hydraulic cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position:
and locking the small arm hydraulic oil cylinder to maintain the small arm at the second state position.
4. The hydraulic drive method of claim 3, wherein the locking the arm hydraulic ram to maintain the arm in the second state position comprises:
calculating the forearm excavating resistance transmitted to the forearm in the excavating operation process; and
and adjusting the driving force of the small arm hydraulic oil cylinder according to the small arm excavating resistance.
5. The hydraulic drive method of claim 1, wherein the large arm hydraulic ram is in communication with the small arm hydraulic ram;
before driving the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to the first state position, the method further comprises the following steps:
closing a communicating valve between the large arm hydraulic oil cylinder and the small arm hydraulic oil cylinder;
after the driving the small arm hydraulic oil cylinder drives the small arm to swing around the hinge point of the small arm and the large arm to a second state position, the driving device further comprises:
and opening the communication valve.
6. The hydraulic drive method of claim 1, wherein the obtaining the excavation position of the bucket comprises:
acquiring position information to be excavated; the position information to be excavated comprises boundary information of an area to be excavated; and
and determining the excavation position of the bucket according to the boundary information of the area to be excavated and the excavation state of the excavation area.
7. The utility model provides a shallow hydraulic drive device who buries undercut of intelligence, wherein, shallow undercut equipment that buries includes: the hydraulic shovel comprises a large arm, a small arm, a telescopic arm, a shovel and a large arm hydraulic oil cylinder, a small arm hydraulic oil cylinder, a telescopic arm hydraulic oil cylinder and a shovel hydraulic oil cylinder which are arranged below the large arm, the small arm, the telescopic arm and the shovel respectively, wherein the large arm hydraulic oil cylinder, the small arm hydraulic oil cylinder, the telescopic arm hydraulic oil cylinder and the shovel hydraulic oil cylinder respectively drive the large arm, the small arm, the telescopic arm and the shovel; its characterized in that, shallow hydraulic drive device who digs that buries of intelligence includes:
the position acquisition module is used for acquiring the excavation position of the bucket;
the large arm driving module is used for driving the large arm hydraulic oil cylinder to drive the large arm to do pitching motion to a first state position according to the excavation position;
the small arm driving module is used for driving the small arm hydraulic oil cylinder to drive the small arm to swing around a hinge point of the small arm and the large arm to a second state position according to the excavation position;
the telescopic arm driving module is used for driving the telescopic arm hydraulic oil cylinder to drive the telescopic arm to perform stretching action so as to push the bucket to cut into the excavation position;
the excavation execution module is used for driving the bucket hydraulic oil cylinder to drive the bucket to rotate downwards around a hinged point of the bucket and the telescopic arm, and synchronously driving the telescopic arm hydraulic oil cylinder to drive the telescopic arm to contract so as to realize excavation operation; and
the large arm locking module is used for locking the large arm hydraulic oil cylinder so as to maintain the large arm to be positioned at the first state position;
when the large arm is located at the first state position and the small arm is located at the second state position, the bucket and the excavation position are located at the same height.
8. A computer-readable storage medium storing a computer program for executing the hydraulic driving method of intelligent shallow excavation according to any one of claims 1 to 6.
9. The utility model provides a shallow undercut equipment that buries of intelligence, shallow undercut equipment that buries of intelligence includes:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for executing the hydraulic driving method of the intelligent shallow excavation according to any one of the claims 1 to 6.
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| CN202110610679.6A CN113482074B (en) | 2021-06-01 | 2021-06-01 | Intelligent shallow-buried underground excavation hydraulic driving method, device, medium and equipment |
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| GB1074120A (en) * | 1964-12-31 | 1967-06-28 | Bamford Excavators Ltd | Improvements in or relating to excavators |
| JP2000096599A (en) * | 1998-09-21 | 2000-04-04 | Matsuda Asutekku Kk | Bucket device for shovel system excavator |
| CN104594405A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Controllable excavating mechanism capable of keeping posture of big arm through active metamorphic function |
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