CN114384957B - Intelligent control system and method for crushing working condition of excavator - Google Patents
Intelligent control system and method for crushing working condition of excavator Download PDFInfo
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Abstract
The invention discloses an intelligent control system and method for the crushing working condition of an excavator, which relate to the technical field of the excavator and comprise the following steps: and the information acquisition module is used for: the system is used for collecting working condition information and processing the working condition information to obtain working condition parameters; and a power parameter setting module: the power parameter is calculated and set according to the obtained working condition parameters; an overflow valve pressure matching module; the crushing and main pump flow detection module; an output power calculation module; a power judging module; the main pump outputs a flow regulation module; the invention can realize the adjustment of the pressure of the overflow valve control crushing system through integral improvement, so that the whole system can adjust and adjust the crushing pressure according to different working conditions, perfect matching of the pressure and the working conditions is realized, perfect use and production efficiency of power are ensured, and different working condition modes are set through programs, so that the pressure and the power are perfectly matched with the working conditions, and the purposes of high efficiency and energy saving are achieved.
Description
Technical Field
The invention relates to the technical field of excavators, in particular to an intelligent control system and method for the crushing working condition of an excavator.
Background
An excavator, also called an excavator, is an earth moving machine that excavates material above or below a face of a carrier with a bucket and loads the material into a transport vehicle or unloads the material to a storage yard. The excavator consists of a power device, a working device, a slewing mechanism, an operating mechanism, a transmission mechanism, a travelling mechanism and other structures, and is mainly used for excavating materials such as soil, coal, sediment and the like. The three most important parameters are operating weight, engine power and bucket capacity. From the appearance, the excavator consists of a working device, an upper rotary table and a travelling mechanism. Can be distinguished according to their construction and use: crawler type, tire type, walking type, full hydraulic, half hydraulic, full rotation, non-full rotation, general purpose type, special type, hinged type, telescopic arm type and other various types. The working device is a device for directly completing the excavating task. The movable arm is formed by hinging three parts of a movable arm, a bucket rod, a bucket and the like. The swing arm lifting, the arm stretching and the bucket rotating are controlled by a reciprocating double-acting hydraulic cylinder. The turning and walking device is a hydraulic excavator body, and a power device and a transmission system are arranged on the upper part of the turntable. The engine is a power source of the excavator, and most of the engine adopts diesel oil to be used in a convenient place, and can also be changed into a motor. The transmission mechanism transmits the power of the engine to the actuating elements such as the hydraulic motor, the hydraulic cylinder and the like through the hydraulic pump to push the working device to act, thereby completing various operations.
At present, when the breaking hammer is assembled by the excavator, the pressure of the breaking system is controlled by an overflow valve with a fixed pressure value, the pressure of the breaking system cannot be adjusted, and the breaking pressure cannot be adjusted according to different working conditions (such as stones, shale and asphalt pavement), so that the pressure cannot be perfectly matched with the working conditions, and the power waste or the production efficiency is low.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, when a breaking hammer is assembled by an excavator, the pressure of a breaking system is controlled by an overflow valve with a fixed pressure value, the pressure cannot be adjusted, and the breaking pressure cannot be adjusted according to different working conditions (such as stone, shale and asphalt pavement), so that the pressure cannot be perfectly matched with the working conditions, and the power waste or the production efficiency is low.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an intelligent control method for the crushing working condition of an excavator comprises the following steps:
collecting working condition information, and processing the working condition information to obtain working condition parameters;
calculating and setting power parameters according to the obtained working condition parameters;
matching the pressure parameter of the electric proportional overflow valve according to the set power;
working condition crushing is carried out after parameter setting is completed, and the flow of a main pump is detected to obtain the output flow parameter of the main pump;
calculating output power according to the pressure parameter of the electric proportional relief valve and the output flow parameter of the main pump;
comparing the output power with the set power, and judging whether the output power reaches the standard;
and adjusting the output flow of the main pump according to the judging result.
Preferably, the working condition information is collected and processed to obtain working condition parameters, and the steps for collecting the working condition information are as follows:
acquiring the ground surface components and the area to be crushed;
calculating the crushing depth of each time according to the earth surface components and the area;
and calculating the total crushing time according to the total crushing depth.
Preferably, according to the obtained working condition parameters, calculating and setting power parameters, wherein the step of setting the power parameters is as follows:
acquiring working condition information;
calculating according to the working condition information to obtain the type of the working condition load;
and setting a power parameter according to the type of the working condition load.
Preferably, after the parameter setting is completed, working condition crushing is performed, the flow of the main pump is detected, the output flow parameter of the main pump is obtained, and the calculation steps of the output flow parameter of the main pump are as follows:
acquiring the mass of a material passing through a certain section in unit time;
acquiring the density of the material;
and calculating by using a formula according to the obtained material mass and material density to obtain the volume flow of the material passing through the section in unit time.
Preferably, the output power is calculated according to the electric proportional relief valve pressure parameter and the main pump output flow parameter, and the calculation steps are as follows:
acquiring an electric proportional overflow valve pressure parameter;
acquiring a main pump output flow parameter;
and calculating the output power by using a formula according to the acquired parameter data.
Preferably, the output flow of the main pump is regulated according to the judging result, and when the judging result does not reach the standard, the output flow of the main pump is regulated;
when the judgment result reaches the standard, the output flow of the main pump is not regulated.
An intelligent control system for the crushing working condition of an excavator, comprising:
and the information acquisition module is used for: the system is used for collecting working condition information and processing the working condition information to obtain working condition parameters;
and a power parameter setting module: the power parameter is calculated and set according to the obtained working condition parameters;
and the overflow valve pressure matching module is used for: the pressure parameter of the electric proportional overflow valve is matched according to the set power;
crushing and main pump flow detection module: the method comprises the steps of carrying out working condition crushing after parameter setting is completed, and detecting the flow of a main pump to obtain the output flow parameter of the main pump;
and an output power calculation module: the method comprises the steps of calculating output power according to an electric proportional relief valve pressure parameter and a main pump output flow parameter;
and a power judging module: the power control unit is used for comparing the output power with the set power and judging whether the output power reaches the standard or not;
the main pump output flow regulation module: and the main pump output flow is adjusted according to the judging result.
Preferably, the output power calculation module includes:
a pressure parameter acquisition unit: the pressure parameter of the electric proportional overflow valve is obtained;
flow parameter acquisition unit: the method comprises the steps of obtaining a main pump output flow parameter;
an output power calculation unit: and the output power is calculated by using a formula according to the acquired parameter data.
Compared with the prior art, the invention has the beneficial effects that:
the invention can realize the adjustment of the pressure of the overflow valve control crushing system through integral improvement, so that the whole system can adjust and adjust the crushing pressure according to different working conditions, perfect matching of the pressure and the working conditions is realized, perfect use and production efficiency of power are ensured, and different working condition modes are set through programs, so that the pressure and the power are perfectly matched with the working conditions, and the purposes of high efficiency and energy saving are achieved.
Drawings
FIG. 1 is a schematic overall flow chart of an intelligent control method for the crushing working condition of an excavator;
FIG. 2 is a schematic flow chart of a method for intelligently controlling the crushing working condition of an excavator according to the present invention;
FIG. 3 is a schematic flow chart of a method for intelligently controlling the crushing working condition of an excavator according to the present invention;
FIG. 4 is a flow chart of a main pump output flow parameter calculation step of the intelligent control method for the crushing working condition of the excavator;
FIG. 5 is a schematic flow chart of the output power calculation steps of the intelligent control method for the crushing working condition of the excavator;
FIG. 6 is a schematic diagram showing the relationship between the output power flow and the pressure of an intelligent control method for the crushing working condition of an excavator;
fig. 7 is a schematic structural diagram of an intelligent computer device according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-6, an intelligent control method for the crushing working condition of an excavator comprises the following steps:
s1: working condition information is collected, the working condition information is processed, working condition parameters are obtained, and the working condition information is collected as follows:
s101: acquiring the ground surface components and the area to be crushed;
s102: calculating the crushing depth of each time according to the earth surface components and the area;
s103: calculating total crushing time according to the total crushing depth;
s2: according to the obtained working condition parameters, calculating and setting power parameters, wherein the step of setting the power parameters is as follows:
s201: acquiring working condition information;
s202: calculating according to the working condition information to obtain the type of the working condition load;
s203: setting a power parameter according to the type of the working condition load;
s3: matching the pressure parameter of the electric proportional overflow valve according to the set power;
s4: after parameter setting is completed, working condition crushing is carried out, the flow of the main pump is detected, the output flow parameter of the main pump is obtained, and the output flow parameter of the main pump is calculated as follows:
s401: acquiring the mass of a material passing through a certain section in unit time;
s402: acquiring the density of the material;
s403: according to the obtained material mass and material density, the material volume flow passing through the section in unit time is calculated by using the formula, and the formula is as follows: q=m/ρ
Wherein M is the mass of a material passing through a certain section in unit time; ρ is the density of the material; q is a material volume flow parameter passing through the section in unit time;
s5: calculating output power according to the pressure parameter of the electric proportional relief valve and the output flow parameter of the main pump, wherein the calculating steps are as follows:
s501: acquiring an electric proportional overflow valve pressure parameter;
s502: acquiring a main pump output flow parameter;
s503: according to the acquired parameter data, calculating to obtain output power by using a formula, wherein the formula is as follows: w (W) Output of ＝P*Q/600
In which W is Output of Is output power; p is the pressure parameter of the electric proportional overflow valve; q is the output flow parameter of the main pump;
s6: comparing the output power with the set power, and judging whether the output power reaches the standard;
s7: adjusting the output flow of the main pump according to the judging result, and adjusting the output flow of the main pump when the judging result does not reach the standard; when the judgment result reaches the standard, the output flow of the main pump is not regulated.
Example 1: when the output power reaches the set power standard:
s1: working condition information is collected, the working condition information is processed, working condition parameters are obtained, and the working condition information is collected as follows:
s101: acquiring the ground surface components and the area to be crushed;
s102: calculating the crushing depth of each time according to the earth surface components and the area;
s103: calculating total crushing time according to the total crushing depth;
s2: according to the obtained working condition parameters, calculating and setting power parameters, wherein the step of setting the power parameters is as follows:
s201: acquiring working condition information;
s202: calculating according to the working condition information to obtain the type of the working condition load;
s203: setting a power parameter according to the type of the working condition load;
s3: matching the pressure parameter of the electric proportional overflow valve according to the set power;
s4: after parameter setting is completed, working condition crushing is carried out, the flow of the main pump is detected, the output flow parameter of the main pump is obtained, and the output flow parameter of the main pump is calculated as follows:
s401: acquiring the mass of a material passing through a certain section in unit time;
s402: acquiring the density of the material;
s403: according to the obtained material mass and material density, the material volume flow passing through the section in unit time is calculated by using the formula, and the formula is as follows: q=m/ρ
Wherein M is the mass of a material passing through a certain section in unit time; ρ is the density of the material; q is a material volume flow parameter passing through the section in unit time;
s5: calculating output power according to the pressure parameter of the electric proportional relief valve and the output flow parameter of the main pump, wherein the calculating steps are as follows:
s501: acquiring an electric proportional overflow valve pressure parameter;
s502: acquiring a main pump output flow parameter;
s503: according to the acquired parameter data, calculating to obtain output power by using a formula, wherein the formula is as follows: w (W) Output of ＝P*Q/600
In which W is Output of Is output power; p is the pressure parameter of the electric proportional overflow valve; q is the output flow parameter of the main pump;
s6: comparing the output power with the set power, and judging whether the output power reaches the standard;
s7: and adjusting the output flow of the main pump according to the judging result, and not adjusting the output flow of the main pump when the judging result reaches the standard.
Real-time example 2: when the output power does not reach the set power standard:
s1: working condition information is collected, the working condition information is processed, working condition parameters are obtained, and the working condition information is collected as follows:
s101: acquiring the ground surface components and the area to be crushed;
s102: calculating the crushing depth of each time according to the earth surface components and the area;
s103: calculating total crushing time according to the total crushing depth;
s2: according to the obtained working condition parameters, calculating and setting power parameters, wherein the step of setting the power parameters is as follows:
s201: acquiring working condition information;
s202: calculating according to the working condition information to obtain the type of the working condition load;
s203: setting a power parameter according to the type of the working condition load;
s3: matching the pressure parameter of the electric proportional overflow valve according to the set power;
s4: after parameter setting is completed, working condition crushing is carried out, the flow of the main pump is detected, the output flow parameter of the main pump is obtained, and the output flow parameter of the main pump is calculated as follows:
s401: acquiring the mass of a material passing through a certain section in unit time;
s402: acquiring the density of the material;
s403: according to the obtained material mass and material density, the material volume flow passing through the section in unit time is calculated by using the formula, and the formula is as follows: q=m/ρ
Wherein M is the mass of a material passing through a certain section in unit time; ρ is the density of the material; q is a material volume flow parameter passing through the section in unit time;
s5: calculating output power according to the pressure parameter of the electric proportional relief valve and the output flow parameter of the main pump, wherein the calculating steps are as follows:
s501: acquiring an electric proportional overflow valve pressure parameter;
s502: acquiring a main pump output flow parameter;
s503: according to the acquired parameter data, calculating to obtain output power by using a formula, wherein the formula is as follows: w (W) Output of ＝P*Q/600
In which W is Output of Is output power; p is the pressure parameter of the electric proportional overflow valve; q is the output flow parameter of the main pump;
s6: comparing the output power with the set power, and judging whether the output power reaches the standard;
s7: and (3) adjusting the output flow of the main pump according to the judging result, and when the judging result does not reach the standard, adjusting the output flow of the main pump, repeating the step (4), and calculating again until the standard is reached.
An intelligent control system for the crushing working condition of an excavator, comprising:
and the information acquisition module is used for: the method is used for collecting working condition information and processing the working condition information to obtain working condition parameters, and comprises the following steps: acquiring the ground surface components and the area to be crushed; calculating the crushing depth of each time according to the earth surface components and the area; calculating total crushing time according to the total crushing depth;
and a power parameter setting module: the method is used for calculating and setting the power parameters according to the obtained working condition parameters, and the power parameter setting steps are as follows: acquiring working condition information; calculating according to the working condition information to obtain the type of the working condition load; setting a power parameter according to the type of the working condition load;
and the overflow valve pressure matching module is used for: the pressure parameter of the electric proportional overflow valve is matched according to the set power;
crushing and main pump flow detection module: the method is used for crushing working conditions after parameter setting is completed, detecting the flow of the main pump, obtaining the output flow parameter of the main pump, and calculating the output flow parameter of the main pump as follows: acquiring the mass of a material passing through a certain section in unit time; acquiring the density of the material; according to the obtained material mass and material density, the material volume flow passing through the section in unit time is calculated by using the formula, and the formula is as follows: q=m/ρ
Wherein M is the mass of a material passing through a certain section in unit time; ρ is the density of the material; q is a material volume flow parameter passing through the section in unit time;
and an output power calculation module: the method comprises the steps of calculating output power according to an electric proportional relief valve pressure parameter and a main pump output flow parameter;
and a power judging module: the power control unit is used for comparing the output power with the set power and judging whether the output power reaches the standard or not;
the main pump output flow regulation module: the main pump output flow is regulated according to the judgment result, and when the judgment result does not reach the standard, the main pump output flow is regulated; when the judgment result reaches the standard, the output flow of the main pump is not regulated.
Wherein, output power calculation module includes:
a pressure parameter acquisition unit: the pressure parameter of the electric proportional overflow valve is obtained;
flow parameter acquisition unit: the method comprises the steps of obtaining a main pump output flow parameter;
an output power calculation unit: the method is used for calculating the output power according to the acquired parameter data by using the formula, wherein the formula is as follows: w (W) Output of ＝P*Q/600
In which W is Output of Is output power; p is the pressure parameter of the electric proportional overflow valve; q is the output flow parameter of the main pump.
An intelligent computer device comprises a memory and a processor, wherein computer readable instructions are stored in the memory, and the processor realizes the steps of the intelligent control method of the crushing working condition of the excavator when executing the computer readable instructions;
the intelligent computer device comprises a memory, a processor and a network interface which are mutually connected in communication through a system bus. It should be noted that only a smart computer device having components is shown in fig. 7, but it should be understood that not all of the illustrated components are required to be implemented, and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the intelligent computer device herein is a device capable of automatically performing numerical calculations and/or information processing according to predetermined or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application specific integrated circuits (ApplicationSpecificIntegratedCircuit, ASIC), programmable gate arrays (Field-ProgrammableGateArray, FPGA), digital processors (DigitalSignalProcessor, DSP), embedded devices, and the like.
The intelligent computer equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The intelligent computer equipment can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
The memory includes at least one type of readable storage medium including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory may be an internal storage unit of the intelligent computer device, such as a hard disk or a memory of the intelligent computer device. In other embodiments, the memory may also be an external storage device of the smart computer device, such as a plug-in hard disk provided on the smart computer device, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard), or the like. Of course, the memory may also include both the internal storage unit and the external storage device of the intelligent computer device. In this embodiment, the memory is generally used to store an operating system and various application software installed in the intelligent computer device, for example, computer readable instructions of an intelligent control method for the crushing working condition of the excavator. In addition, the memory may be used to temporarily store various types of data that have been output or are to be output.
The processor may be a central processing unit (CentralProcessingUnit, CPU), a controller, a microcontroller, a microprocessor, or other data processing chip in some embodiments. The processor is typically used to control the overall operation of the intelligent computer device. In this embodiment, the processor is configured to execute computer readable instructions stored in the memory or process data, for example, execute computer readable instructions of the intelligent control method for the crushing working condition of the excavator.
The network interface may comprise a wireless network interface or a wired network interface, which is typically used to establish a communication connection between the intelligent computer device and other electronic devices.
A computer readable storage medium having stored thereon computer readable instructions which when executed by a processor perform steps such as a method for intelligently controlling the crushing conditions of an excavator.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. The intelligent control method for the crushing working condition of the excavator is characterized by comprising the following steps of:
collecting working condition information, and processing the working condition information to obtain working condition parameters;
calculating and setting power parameters according to the obtained working condition parameters;
matching the pressure parameter of the electric proportional overflow valve according to the set power;
working condition crushing is carried out after parameter setting is completed, and the flow of a main pump is detected to obtain the output flow parameter of the main pump;
calculating output power according to the pressure parameter of the electric proportional relief valve and the output flow parameter of the main pump;
comparing the output power with the set power, and judging whether the output power reaches the standard;
adjusting the output flow of the main pump according to the judging result;
collecting working condition information, processing the working condition information to obtain working condition parameters, wherein the working condition information collecting step comprises the following steps:
acquiring the ground surface components and the area to be crushed;
calculating the crushing depth of each time according to the earth surface components and the area;
calculating total crushing time according to the total crushing depth;
the working condition information is processed, and the working condition parameters are obtained by the following steps:
acquiring working condition information;
calculating according to the working condition information to obtain the type of the working condition load;
according to the obtained working condition parameters, the power parameter is calculated and set as follows:
and setting a power parameter according to the type of the working condition load.
2. The intelligent control method for the crushing working conditions of the excavator according to claim 1, wherein the working conditions are crushed after the parameter setting is completed, the flow of a main pump is detected, the output flow parameter of the main pump is obtained, and the calculation steps of the output flow parameter of the main pump are as follows:
acquiring the mass of a material passing through a certain section in unit time;
acquiring the density of the material;
and calculating by using a formula according to the obtained material mass and material density to obtain the volume flow of the material passing through the section in unit time.
3. The intelligent control method for the crushing working condition of the excavator according to claim 1, wherein the output power is calculated according to the pressure parameter of the electric proportional relief valve and the output flow parameter of the main pump, and the calculation steps are as follows:
acquiring an electric proportional overflow valve pressure parameter P;
acquiring a main pump output flow parameter Q;
calculating the output power W Output of According to formula W Output of Data were acquired =p×q/600.
4. The intelligent control method for the crushing working condition of the excavator according to claim 1, wherein the output flow of the main pump is adjusted according to the judging result, and when the judging result does not reach the standard, the output flow of the main pump is adjusted;
when the judgment result reaches the standard, the output flow of the main pump is not regulated.
5. An intelligent control system for an excavator crush condition for implementing the intelligent control method for an excavator crush condition as claimed in claim 1, comprising:
and the information acquisition module is used for: the system is used for collecting working condition information and processing the working condition information to obtain working condition parameters;
and a power parameter setting module: the power parameter is calculated and set according to the obtained working condition parameters;
and the overflow valve pressure matching module is used for: the pressure parameter of the electric proportional overflow valve is matched according to the set power;
crushing and main pump flow detection module: the method comprises the steps of carrying out working condition crushing after parameter setting is completed, and detecting the flow of a main pump to obtain the output flow parameter of the main pump;
and an output power calculation module: the method comprises the steps of calculating output power according to an electric proportional relief valve pressure parameter and a main pump output flow parameter;
and a power judging module: the power control unit is used for comparing the output power with the set power and judging whether the output power reaches the standard or not;
the main pump output flow regulation module: the main pump output flow is adjusted according to the judging result;
and the information acquisition module is used for: acquiring the ground surface components and the area to be crushed, and calculating the crushing depth of each time according to the ground surface components and the area; and calculating the total crushing time according to the total crushing depth.
6. The intelligent control system for crushing working conditions of an excavator according to claim 5, wherein the output power calculation module comprises:
a pressure parameter acquisition unit: the pressure parameter of the electric proportional overflow valve is obtained;
flow parameter acquisition unit: the method comprises the steps of obtaining a main pump output flow parameter;
an output power calculation unit: for using the formula W according to the acquired parameter data Output of The output power is calculated by =p×q/600.
7. An intelligent computer device comprising a memory and a processor, wherein the memory stores computer readable instructions that when executed by the processor implement the steps of the method for intelligently controlling the crushing condition of the excavator according to any one of claims 1 to 4.
8. A computer readable storage medium, wherein computer readable instructions are stored on the computer readable storage medium, and when the computer readable instructions are executed by a processor, the steps of the intelligent control method for the crushing working condition of the excavator are realized.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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