CN115262672A

CN115262672A - Excavator and slope operation method of excavator

Info

Publication number: CN115262672A
Application number: CN202211046526.4A
Authority: CN
Inventors: 廖昊; 侯志强; 于友斌; 徐玉兵
Original assignee: Xuzhou XCMG Excavator Machinery Co Ltd; Jiangsu XCMG Guozhong Laboratory Technology Co Ltd
Current assignee: Xuzhou XCMG Excavator Machinery Co Ltd; Jiangsu XCMG Guozhong Laboratory Technology Co Ltd
Priority date: 2022-08-30
Filing date: 2022-08-30
Publication date: 2022-11-01

Abstract

The application discloses an excavator and a slope operation method of the excavator. The excavator comprises an excavator body, a movable arm, an arm, a movable arm oil cylinder, an arm oil cylinder, a working mechanism and a controller. The first end of the movable arm is rotatably connected with the machine body, and the second end of the movable arm is rotatably connected with the bucket rod. The end part of the bucket rod is rotationally connected with the operating mechanism. The first end of the movable arm oil cylinder is rotationally connected with the machine body, and the second end of the movable arm oil cylinder is rotationally connected with the movable arm. The first end of the bucket rod oil cylinder is rotatably connected with the movable arm, and the second end of the bucket rod oil cylinder is rotatably connected with the bucket rod. One of the boom cylinder and the arm cylinder is an active cylinder and is configured to be extended and contracted by a manual operation. The other of the boom cylinder and the arm cylinder is a slave cylinder and is configured to be automatically controlled to extend and retract by a controller. The controller is configured to acquire a target slope angle and a real-time stretching amount of the driving oil cylinder and control the follow-up oil cylinder to stretch. The operation difficulty of slope operation is simplified, and the efficiency of slope operation is improved.

Description

Excavator and slope operation method of excavator

Technical Field

The application relates to the technical field of excavators, in particular to an excavator and a slope operation method of the excavator.

Background

Excavators are widely used in construction such as construction, road building, water conservancy, electric power, mining, oil, natural gas and national defense construction. Among them, the slope operation is one of the common working conditions.

The working device of the excavator mainly comprises a movable arm, an arm and a bucket, and the adjustment of the excavating posture is realized through a movable arm oil cylinder, an arm oil cylinder and a bucket oil cylinder, so that various operation modes are completed. At present, in the conventional slope operation, a manipulator performs slope operation by manually adjusting a boom cylinder under the condition of visual observation, and simultaneously, a boom cylinder is continuously and manually adjusted according to experience so as to enable a tip of a bucket to linearly move along a preset slope as much as possible. The above-mentioned adjustment process depends very much on the operation experience and skill of the manipulator, and the manipulator is easy to generate fatigue even working for a long time under such conditions, resulting in a reduction in work efficiency. Therefore, the excavator has low slope operation efficiency and the problem that the excavator is easy to fatigue is urgently needed to be solved at the present stage.

It is noted herein that the statements in this background section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Disclosure of Invention

The application provides an excavator and a slope operation method of the excavator, which aim to improve the efficiency of slope operation.

The application provides an excavator in a first aspect, and the excavator comprises an excavator body, a movable arm, an arm, a movable arm oil cylinder for driving the movable arm to move, an arm oil cylinder for driving the arm to move, a working mechanism and a controller. The first end of the movable arm is rotatably connected with the machine body, and the second end of the movable arm is rotatably connected with the bucket rod. The end part of the bucket rod is rotationally connected with the operating mechanism. The first end of the movable arm oil cylinder is rotationally connected with the machine body, and the second end of the movable arm oil cylinder is rotationally connected with the movable arm. The first end of the bucket rod oil cylinder is rotatably connected with the movable arm, and the second end of the bucket rod oil cylinder is rotatably connected with the bucket rod. The excavator has a slope work mode. In the slope working mode, one of the boom cylinder and the arm cylinder is a master cylinder and is configured to be extended and contracted by a manual operation of a manipulator. The other of the boom cylinder and the arm cylinder is a slave cylinder and is configured to be automatically controlled to extend and retract by a controller. The controller is configured to obtain a target slope angle and a real-time stretching amount of the driving oil cylinder, obtain a target stretching amount of the follow-up oil cylinder according to the target slope angle and the real-time stretching amount of the driving oil cylinder and control stretching of the follow-up oil cylinder according to the target stretching amount of the follow-up oil cylinder.

In some embodiments, the excavator further comprises a cylinder displacement sensor. The oil cylinder displacement sensor is in signal connection with the controller. The oil cylinder displacement sensor is used for detecting the real-time stretching amount of the driving oil cylinder and transmitting the real-time stretching amount of the driving oil cylinder to the controller.

In some embodiments, the controller includes a library of gestures. The attitude library is used for storing the corresponding relation between the telescopic amount of the movable arm oil cylinder and the telescopic amount of the arm oil cylinder under different slope angles. The controller is configured to obtain a target expansion amount of the slave cylinder from the attitude library according to the target slope angle and the real-time expansion amount of the master cylinder.

In some embodiments, the correspondence relationship includes a functional relationship between the amount of extension and retraction of the master cylinder and the amount of extension and retraction of the slave cylinder. The functional relation is configured to enable the working mechanism to move along the target slope angle through manual tests, obtain the stretching amount of the boom cylinder and the stretching amount of the arm cylinder at different moments, and fit the stretching amount of the boom cylinder and the stretching amount of the arm cylinder at different moments to obtain the functional relation.

In some embodiments, the excavator further includes a control valve for controlling a flow rate of hydraulic oil of the slave cylinder. The control valve is in signal connection with the controller to act according to the command signal of the controller.

In some embodiments, the control valve comprises an electro-hydraulic proportional valve.

In some embodiments, the excavator further comprises an operator panel and a control handle. The operation panel is in signal connection with the controller and is configured to receive a target slope angle input by a manipulator. The control handle is connected with the driving oil cylinder and is configured to act under the control of a manipulator to control the driving oil cylinder to stretch and retract.

In some embodiments, the work implement comprises a bucket. The excavator further includes a bucket cylinder for driving the bucket to rotate. The first end of the bucket oil cylinder is rotationally connected with the bucket rod, and the second end of the bucket oil cylinder is rotationally connected with the bucket. Prior to the slope work mode, the bucket cylinder is configured to actuate such that the tip of the bucket contacts the slope surface. In the slope operating mode, the bucket cylinder is configured to be deactivated.

The second aspect of the application provides a slope working method of an excavator, wherein the excavator comprises an excavator body, a movable arm, an arm, a movable arm oil cylinder for driving the movable arm to change the amplitude, an arm oil cylinder for driving the arm to rotate and a working mechanism. The first end of the movable arm is rotatably connected with the machine body, and the second end of the movable arm is rotatably connected with the bucket rod. The end part of the bucket rod is rotationally connected with the operating mechanism. The first end of the movable arm oil cylinder is rotatably connected with the machine body, and the second end of the movable arm oil cylinder is rotatably connected with the movable arm. The first end of the bucket rod oil cylinder is rotatably connected with the movable arm, and the second end of the bucket rod oil cylinder is rotatably connected with the bucket rod. The slope operating method of the excavator comprises the following steps: acquiring a target slope angle; enabling a driving oil cylinder in the boom oil cylinder and the bucket rod oil cylinder to stretch and retract under the manual operation of a manipulator; and controlling the extension of a follow-up oil cylinder in the movable arm oil cylinder and the bucket rod oil cylinder according to the target slope angle and the real-time extension amount of the driving oil cylinder.

In some embodiments, the excavator further comprises a cylinder displacement sensor. The real-time flexible volume based on target slope angle and initiative hydro-cylinder controls follow-up hydro-cylinder in movable arm hydro-cylinder and the dipper hydro-cylinder and stretches out and draws back includes: and acquiring the real-time stretching amount of the driving oil cylinder through an oil cylinder displacement sensor.

In some embodiments, the excavator further comprises a pose library. The attitude library is used for storing the corresponding relation between the telescopic amount of the movable arm oil cylinder and the telescopic amount of the arm oil cylinder under different slope angles. The real-time flexible volume based on target slope angle and initiative hydro-cylinder controls follow-up hydro-cylinder in movable arm hydro-cylinder and the dipper hydro-cylinder and stretches out and draws back includes: and acquiring the target expansion amount of the follow-up oil cylinder from the attitude library according to the target slope angle and the real-time expansion amount of the driving oil cylinder and controlling the expansion of the follow-up oil cylinder.

In some embodiments, the excavator further comprises a control valve for controlling the flow rate of the hydraulic oil of the slave cylinder. The following oil cylinder target stretching amount is obtained from the attitude library and the stretching of the following oil cylinder is controlled to comprise: and converting the target expansion amount of the follow-up oil cylinder into an instruction signal of the control valve, and controlling the expansion of the follow-up oil cylinder by the control valve based on the instruction signal.

In some embodiments, the working mechanism comprises a bucket. The excavator further includes a bucket cylinder for driving the bucket to rotate. The slope working method of the excavator further comprises the following steps: before the digging operation, the tip of the bucket is controlled to contact the slope surface, and then the bucket cylinder is kept not to act.

Based on the technical scheme provided by the application, the excavator comprises an excavator body, a movable arm, an arm, a movable arm oil cylinder for driving the movable arm to act, an arm oil cylinder for driving the arm to act, a working mechanism and a controller. The first end of the movable arm is rotatably connected with the machine body, and the second end of the movable arm is rotatably connected with the bucket rod. The end part of the bucket rod is rotationally connected with the operating mechanism. The first end of the movable arm oil cylinder is rotatably connected with the machine body, and the second end of the movable arm oil cylinder is rotatably connected with the movable arm. The first end of the bucket rod oil cylinder is rotatably connected with the movable arm, and the second end of the bucket rod oil cylinder is rotatably connected with the bucket rod. The excavator has a slope work mode. In the slope working mode, one of the boom cylinder and the arm cylinder is a master cylinder and is configured to be extended and contracted by a manual operation of a manipulator. The other of the boom cylinder and the arm cylinder is a slave cylinder and is configured to be automatically controlled to extend and retract by a controller. The controller is configured to obtain a target slope angle and a real-time stretching amount of the driving oil cylinder, obtain a target stretching amount of the follow-up oil cylinder according to the target slope angle and the real-time stretching amount of the driving oil cylinder and control stretching of the follow-up oil cylinder according to the target stretching amount of the follow-up oil cylinder. When the excavator works on the slope, the driving oil cylinder only needs to be manually operated to stretch, the follow-up oil cylinder can automatically stretch under the control of the controller so that the motion trail of the working mechanism is a straight line taking an included angle with the horizontal plane as a target slope angle, the operation difficulty of the excavator in the slope working process is greatly simplified, the requirements on the operation experience and proficiency of the excavator are reduced, and the efficiency of slope working is improved.

Further features of the present application and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which is to be read in connection with the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic structural diagram of an excavator according to an embodiment of the present application.

Fig. 2 is a flowchart of a slope operating method of an excavator according to an embodiment of the present application.

Fig. 3 is a schematic diagram of a geometric relationship required for deriving a relationship between a boom cylinder expansion and contraction amount and an arm cylinder expansion and contraction amount in the slope working method of the excavator according to the embodiment of the present application.

Fig. 4 is a diagram illustrating a relationship between a distance between two hinge points of a boom cylinder and a longitudinal coordinate of a bucket tip according to an embodiment of a slope work method of an excavator according to the present invention.

Fig. 5 is a diagram illustrating a relationship between a distance between two hinge points of a stick cylinder and a vertical coordinate of a bucket tip in the slope working method of the excavator according to the embodiment of the present invention.

FIG. 6 is a graph showing the relationship between the distance between the two hinge points of the boom cylinder and the distance between the two hinge points of the arm cylinder.

In the figure:

11. a movable arm; 12. a bucket rod; 13. a bucket; 14. a boom cylinder; 15. a bucket rod cylinder; 16. and a bucket cylinder.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

For ease of description, spatially relative terms such as "over 8230," "upper surface," "above," and the like may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may also be positioned in other different ways and the spatially relative descriptors used herein interpreted accordingly.

The present application provides an excavator, which includes a machine body (not shown in the drawings), a boom 11, an arm 12, a boom cylinder 14 for driving the boom 11 to operate, an arm cylinder 15 for driving the arm 12 to operate, a work mechanism, and a controller, with reference to fig. 1. The first end of the movable arm 11 is rotatably connected with the machine body, and the second end of the movable arm 11 is rotatably connected with the arm 12. The end of the arm 12 is rotatably connected to the working mechanism. A first end of the boom cylinder 14 is rotatably connected to the body, and a second end of the boom cylinder 14 is rotatably connected to the boom 11. A first end of the arm cylinder 15 is rotatably connected to the boom 11, and a second end of the arm cylinder 15 is rotatably connected to the arm 12. The excavator has a slope work mode. In the slope work mode, one of the boom cylinder 14 and the arm cylinder 15 is a master cylinder and is configured to be expanded and contracted by a manual operation of a manipulator. The other of the boom cylinder 14 and the arm cylinder 15 is a slave cylinder and is configured to be automatically controlled to extend and retract by a controller. The controller is configured to obtain a target slope angle alpha and a real-time stretching amount of the driving oil cylinder, obtain a target stretching amount of the follow-up oil cylinder according to the target slope angle alpha and the real-time stretching amount of the driving oil cylinder and control stretching of the follow-up oil cylinder according to the target stretching amount of the follow-up oil cylinder.

According to the excavator provided by the embodiment of the application, in the slope operation mode, the driving oil cylinder stretches under the manual operation of the excavator driver, and the follow-up oil cylinder is automatically controlled to stretch by the controller. Therefore, when the excavator works on the slope, the driving oil cylinder only needs to be manually operated to stretch, the follow-up oil cylinder can automatically stretch under the control of the controller, so that the motion trail of the working mechanism is a straight line taking an included angle with the horizontal plane as a target slope angle alpha, the operation difficulty of the excavator in the slope working process is greatly simplified, the requirements on the operation experience and proficiency of the excavator are reduced, and the efficiency of the slope working is improved.

In some embodiments, boom cylinder 14 is a master cylinder and arm cylinder 15 is a slave cylinder. In other embodiments, boom cylinder 14 is a slave cylinder and arm cylinder 15 is a master cylinder. In other words, the manipulator may select the boom cylinder 14 to be manually controlled to drive the boom 11 and cause the arm 12 to perform the adaptive operation by the controller to perform the slope work, or may select the boom cylinder 15 to be manually controlled to drive the arm 12 and cause the boom 11 to perform the adaptive operation by the controller to perform the slope work.

In order to detect the real-time stretching amount of the driving oil cylinder, the controller can obtain the target stretching amount of the follow-up oil cylinder according to the real-time stretching amount of the driving oil cylinder, and further can control the stretching of the follow-up oil cylinder according to the target stretching amount. In some embodiments, the excavator further comprises a cylinder displacement sensor. The oil cylinder displacement sensor is in signal connection with the controller. The oil cylinder displacement sensor is used for detecting the real-time stretching amount of the driving oil cylinder and transmitting the real-time stretching amount of the driving oil cylinder to the controller. That is to say, in the process that the driving oil cylinder acts under the manual operation of the manipulator, the oil cylinder displacement sensor can detect the real-time expansion and contraction amount of the driving oil cylinder and transmit the real-time expansion and contraction amount to the controller.

After the controller obtains the target expansion amount, the controller needs to control the expansion and contraction of the servo oil cylinder according to the target expansion amount. In order to improve the control precision of the excavator in the slope operation process, in some embodiments, the controller needs to obtain the real-time stretching amount of the follow-up oil cylinder in addition to the real-time stretching amount of the driving oil cylinder, and the real-time stretching amount of the follow-up oil cylinder is transmitted to the controller to form the feedback of the stretching control of the follow-up oil cylinder. In some embodiments, the excavator includes a boom cylinder displacement sensor and an arm cylinder displacement sensor. The boom cylinder displacement sensor is configured to detect a real-time telescopic amount of the boom cylinder 14 and transmit the real-time telescopic amount of the boom cylinder 14 to the controller. The displacement sensor of the bucket rod oil cylinder is used for detecting the real-time stretching amount of the bucket rod oil cylinder 15 and transmitting the real-time stretching amount of the bucket rod oil cylinder 15 to the controller. When boom cylinder 14 is the master cylinder, the controller corrects the real-time expansion amount of arm cylinder 15 based on the target expansion amount of arm cylinder 15. When arm cylinder 15 is the master cylinder, the controller corrects the real-time expansion amount of boom cylinder 14 based on the target expansion amount of boom cylinder 14.

In some embodiments, the excavator further comprises a control valve for controlling the flow rate of the hydraulic oil of the slave cylinder. The control valve is in signal connection with the controller to act according to the command signal of the controller. Specifically, the controller can detect the real-time stretching amount of the follow-up oil cylinder, and if the real-time stretching amount of the follow-up oil cylinder does not meet the requirement, the controller can send a feedback signal to the control valve to further adjust the flow of the follow-up oil cylinder so that the real-time stretching amount of the follow-up oil cylinder meets the requirement.

In some embodiments, the control valve comprises an electro-hydraulic proportional valve. Specifically, the excavator comprises a boom cylinder electro-hydraulic proportional valve and an arm cylinder electro-hydraulic proportional valve. The boom cylinder electro-hydraulic proportional valve is used for controlling the flow of hydraulic oil in the boom cylinder 14. And the electro-hydraulic proportional valve of the bucket rod oil cylinder is used for controlling the flow of hydraulic oil in the bucket rod oil cylinder 15. When the boom cylinder 14 is an active cylinder, the controller converts the acquired target expansion amount of the arm cylinder 15 into a command signal of the arm cylinder electro-hydraulic proportional valve. The arm cylinder electro-hydraulic proportional valve distributes the flow rate of hydraulic oil in the arm cylinder 15 based on the instruction signal. When the arm cylinder 15 is an active cylinder, the controller converts the acquired target expansion amount of the boom cylinder 14 into a command signal of the boom cylinder electro-hydraulic proportional valve. The boom cylinder electro-hydraulic proportional valve distributes the flow rate of the hydraulic oil in the boom cylinder 14 based on the instruction signal.

In some embodiments, the controller includes a library of gestures. The attitude library is used to store the corresponding relationship between the amount of extension and retraction of the boom cylinder 14 and the amount of extension and retraction of the arm cylinder 15 at different slope angles. The controller is configured to obtain a target expansion amount of the slave cylinder from the attitude library according to the target slope angle alpha and the real-time expansion amount of the master cylinder. Specifically, the attitude library is stored in the controller in advance.

In some embodiments, the correspondence relationship includes a functional relationship between the amount of extension and retraction of the master cylinder and the amount of extension and retraction of the slave cylinder. The functional relationship is configured to move the working mechanism along the target slope angle α through a manual test and obtain the amount of extension and retraction of the boom cylinder 14 and the amount of extension and retraction of the arm cylinder 15 at different times, and to fit the amount of extension and retraction of the boom cylinder 14 and the amount of extension and retraction of the arm cylinder 15 at different times. Specifically, if arm cylinder 15 is set as the master cylinder, the amount of extension and retraction of boom cylinder 14 is a function of the target slope angle α and the amount of extension and retraction of arm cylinder 15, i.e., B = f (α, C), where B is the amount of extension and retraction of the boom cylinder and C is the amount of extension and retraction of arm cylinder 15. Of course, if the boom cylinder 14 is set as the master cylinder, the amount of expansion and contraction of the arm cylinder 15 may be reversely pushed according to the formula.

In some embodiments, the correspondence between the amount of extension and retraction of boom cylinder 14 and the amount of extension and retraction of arm cylinder 15 when moving the work implement tip along target slope angle α is calculated in advance from a geometric relationship, that is, the function B = f (α, C).

The following describes a detailed derivation principle of the above embodiment with reference to fig. 3 to 6. After the working mechanism is placed at a higher position on the target slope, the controller calculates the coordinates (X) of the F point at the tip end of the working mechanism based on the current expansion and contraction quantity of each oil cylinder _F ，Y _F ). Coordinate change value (Delta X) of F point at the tip of the working mechanism under the condition of determining the target slope angle alpha _F ，△Y _F ) Is also known, i.e. Δ Y _F ＝△X _F * tan α. Further, it is easy to calculate the correspondence between the amount of extension and contraction B of boom cylinder 14 and the coordinates of work implement point F, and the correspondence between the amount of extension and contraction C of arm cylinder 15 and the coordinates of work implement point F. On the basis, the corresponding relation between the expansion amount B of the boom cylinder 14 and the expansion amount C of the arm cylinder 15 can be fitted. Specifically, as shown in fig. 3, a coordinate system is established with point a as the origin, and the coordinates of point F at the bucket tip are (X) _F ，Y _F ) The cross-sectional line equation of the slope is y = tan α (X-X) _F )+Y _F . The distances among the movable arms 11, A, B, C, D and the like are constant values, and the angle BAD, the angle OAX and the angle ADC are also constant values. For the arm 12 and the bucket 13Under the condition that the bucket cylinder 16 is locked, the bucket 13 and the bucket rod 12 can be regarded as a whole, the distances among points D, E, F and the like are constant values, and the angle EDF is also constant values. According to the geometric relationship of less than BAO less than BAD + less than DAF + less than FAX + less than XAO, the distance between two hinged points of the boom cylinder 14 can be deduced by combining the cosine law of triangle, wherein

∠FAX＝arctan(Y _F /X _F )，

Fig. 4 shows the relationship between the ordinate of the OB and F points. The expansion and contraction amount B of the boom cylinder 14 is OB-B ₀ ，B ₀ The minimum mounting distance (constant value) of the boom cylinder is obtained. The angle CDE =2 pi-EDF + ADC-FDA can be known according to the geometrical relation, and the distance between two hinge points of the bucket rod oil cylinder 15 can be deduced by combining the cosine law of triangle, wherein

Therefore, it is not only easy to use

Fig. 5 shows the relationship between CE and F-point ordinate. The expansion amount C of the bucket rod oil cylinder 15 is CE-C, C ₀ The minimum mounting distance (fixed value) of the bucket rod oil cylinder is obtained. Finally, a function B = f (α, C) as shown in fig. 6 can be fitted according to the above two formulas. It should be noted that the above calculation formula is embedded in the controller, and only the target slope angle α needs to be input after the bucket tip is placed on the slope during actual operation. For different models of excavators, the constants in the formula need to be modified correspondingly.

Of course, in some other embodiments, displacement sensors may be built in the boom cylinder 14 and the arm cylinder 15 to obtain the cylinder stretching amount of the boom cylinder 14 and the cylinder stretching amount of the arm cylinder 15 at different times in a manual test process, and then store the cylinder stretching amounts according to a plurality of stretching amounts.

In some embodiments, after the data sets of the expansion amount of boom cylinder 14 and the expansion amount of arm cylinder 15 at different times are obtained, the data sets may be directly stored in the controller, and the controller may obtain the data sets by looking up a table.

In some embodiments, the excavator further comprises an operator panel and a control handle. The operation panel is in signal connection with the controller and is configured to receive the target slope angle alpha input by a manipulator. The control handle is connected with the master cylinder and is configured to act under the control of a manipulator to control the master cylinder to stretch and retract. Specifically, the operation panel and the control handle are both disposed in the cab of the excavator.

In some embodiments, the control handles include a boom cylinder handle connected to boom cylinder 14 and an arm cylinder handle connected to arm cylinder 15. The manipulator can flexibly control one of the boom cylinder 14 and the arm cylinder 15 to extend and retract according to the working condition, and the controller correspondingly controls the other one of the boom cylinder 14 and the arm cylinder 15 to extend and retract.

Still referring to fig. 1, in some embodiments, the work implement includes a bucket 13. The excavator further includes a bucket cylinder 16 for driving the bucket 13 to rotate. A first end of bucket cylinder 16 is pivotally coupled to arm 12, and a second end of bucket cylinder 16 is pivotally coupled to bucket 13. Prior to the slope work mode, bucket cylinder 16 is configured to actuate such that the tip of bucket 13 contacts the slope surface, and in the slope work mode, bucket cylinder 16 is configured to not actuate. Specifically, the end of the arm is rotatably connected to the bucket 13 by a four-bar linkage. The control handle also comprises a bucket cylinder handle. A switch of a slope operation mode is further arranged in the cab. When the switch is turned on, the excavator enters a slope work mode in which the bucket cylinder 16 cannot be extended or retracted. When the switch is turned off, the manipulator can autonomously control the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16, so that the excavator can be flexibly controlled.

In some embodiments, the excavator further includes a bucket cylinder displacement sensor for detecting a real-time amount of extension and retraction of the bucket cylinder 16 and transmitting the real-time amount of extension and retraction to the controller. Specifically, a display is further provided in the cab, and the controller can calculate the current working posture of the excavator based on the expansion and contraction amounts of the boom cylinder 14, the arm cylinder 15 and the bucket cylinder 16 and show the current working posture through the display, so that the operator can more intuitively know the working state of the excavator.

The present application also provides a slope working method of an excavator, and referring to fig. 1 and 2, the slope working method of the excavator includes the following steps:

s1, acquiring a target slope angle alpha;

s2, enabling the driving oil cylinders in the boom oil cylinder 14 and the arm oil cylinder 15 to stretch and retract under the manual operation of a manipulator; and

and S3, controlling the expansion and contraction of the follow-up oil cylinder in the movable arm oil cylinder 14 and the arm oil cylinder 15 according to the target slope angle alpha and the real-time expansion and contraction amount of the driving oil cylinder.

In some embodiments, controlling the follow-up cylinder telescopic movement in the boom cylinder 14 and the arm cylinder 15 according to the target slope angle α and the real-time telescopic movement amount of the master cylinder includes: and acquiring the real-time stretching amount of the driving oil cylinder through an oil cylinder displacement sensor.

In some embodiments, controlling the following cylinder expansion and contraction in the boom cylinder 14 and the arm cylinder 15 according to the target slope angle α and the real-time expansion and contraction amount of the master cylinder includes: and acquiring the target expansion amount of the servo oil cylinder from the attitude library according to the target slope angle alpha and the real-time expansion amount of the driving oil cylinder and controlling the expansion of the servo oil cylinder.

In some embodiments, obtaining the target expansion amount of the slave cylinder from the posture library and controlling the expansion of the slave cylinder includes: converting the target expansion amount of the follow-up oil cylinder into an instruction signal of a control valve, and controlling the follow-up oil cylinder to expand and contract by the control valve based on the instruction signal.

Referring to fig. 1, in some embodiments, the slope working method of the excavator further includes: before the excavation work, the tip of the bucket 13 is controlled to contact the slope surface, and then the bucket cylinder 16 is kept inactive.

The slope working process of the excavator will be described in detail with reference to fig. 1. First, the boom cylinder 14, arm cylinder 15, and bucket cylinder 16 of the excavator are controlled by the robot, and the posture of the excavator is adjusted so that the tip of the bucket just touches the slope surface. The switch for the hill work mode is then turned on, at which time the excavator enters the hill work mode and the bucket cylinder 16 is no longer actuated. The manipulator inputs the target slope angle alpha into the controller through the operation panel according to the construction requirements, then controls the bucket rod oil cylinder 15 to stretch through the bucket rod oil cylinder control handle, the controller calls a corresponding functional relation from the attitude library based on the target slope angle alpha, and the real-time stretching amount of the bucket rod oil cylinder 15 is converted into the target stretching amount of the boom oil cylinder 14 according to the functional relation. The controller further converts the target telescopic amount of the boom cylinder 14 obtained by conversion into an instruction signal of a boom cylinder electro-hydraulic proportional valve, and the boom cylinder electro-hydraulic proportional valve controls the flow of hydraulic oil in the boom cylinder 14 according to the instruction signal so as to enable the real-time telescopic amount of the boom cylinder 14 to meet the target telescopic amount, so that the tip of the bucket draws a straight line with an angle alpha along the slope surface to complete slope operation.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present application and not to limit them; although the present application has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will understand that: modifications to the specific embodiments of the application or equivalent replacements of some of the technical features may still be made; without departing from the spirit of the claims, it is intended to cover all modifications within the scope of the claims.

Claims

1. The excavator is characterized by comprising an excavator body, a movable arm (11), an arm (12), a movable arm oil cylinder (14) used for driving the movable arm (11) to move, an arm oil cylinder (15) used for driving the arm (12) to move, a working mechanism and a controller, wherein a first end of the movable arm (11) is rotatably connected with the excavator body, a second end of the movable arm (11) is rotatably connected with the arm (12), the end part of the arm (12) is rotatably connected with the working mechanism, a first end of the movable arm oil cylinder (14) is rotatably connected with the excavator body, a second end of the movable arm oil cylinder (14) is rotatably connected with the movable arm (11), a first end of the arm oil cylinder (15) is rotatably connected with the movable arm (11), the second end of arm cylinder (15) with arm (12) rotate to be connected, the excavator has the slope mode of operation, boom cylinder (14) with one hydro-cylinder in arm cylinder (15) is the initiative hydro-cylinder and is configured as and stretches out and draws back under the manual operation of machine hand, boom cylinder (14) with another hydro-cylinder in arm cylinder (15) is the slave cylinder and is configured as by controller automatic control is flexible, the controller is configured as and obtains target slope angle (alpha) and the real-time flexible volume of initiative hydro-cylinder, according to target slope angle (alpha) with the real-time flexible volume of initiative hydro-cylinder obtains the target flexible volume of slave cylinder and according to the flexible volume of real-time of slave cylinder And controlling the expansion and contraction of the servo oil cylinder by the target expansion and contraction quantity.

2. The excavator of claim 1 further comprising a cylinder displacement sensor in signal connection with the controller, the cylinder displacement sensor being configured to detect a real-time amount of extension and retraction of the master cylinder and to transmit the real-time amount of extension and retraction of the master cylinder to the controller.

3. The excavator according to claim 1, wherein the controller includes an attitude library for storing correspondence between the amount of extension and contraction of the boom cylinder (14) and the amount of extension and contraction of the arm cylinder (15) at different slope angles, and the controller is configured to obtain a target amount of extension and contraction of the slave cylinder from the attitude library based on the target slope angle (α) and the real-time amount of extension and contraction of the master cylinder.

4. The excavator according to claim 3, wherein the correspondence relationship comprises a functional relationship between the amount of extension and retraction of the master cylinder and the amount of extension and retraction of the slave cylinder, and the functional relationship is configured to move the work mechanism along the target slope angle (α) by manual experiment and obtain the amount of extension and retraction of the boom cylinder (14) and the amount of extension and retraction of the arm cylinder (15) at different times, and fit the amount of extension and retraction of the boom cylinder (14) and the amount of extension and retraction of the arm cylinder (15) at the different times.

5. The excavator of claim 1 further comprising a control valve for controlling the flow of hydraulic oil to the slave cylinder, the control valve being in signal communication with the controller for actuation in response to command signals from the controller.

6. The excavation machine of claim 5, wherein the control valve comprises an electro-hydraulic proportional valve.

7. The excavator of claim 1 further comprising an operator panel in signal communication with the controller and configured to receive the target slope angle (a) input by a manipulator, and a control handle in communication with the master cylinder and configured to be actuated under the control of the manipulator to control the master cylinder to extend and retract.

8. The excavator of any one of claims 1 to 7, wherein the work mechanism comprises a bucket (13), the excavator further comprising a bucket cylinder (16) for driving the bucket (13) to rotate, a first end of the bucket cylinder (16) being rotationally connected to the arm (12), and a second end of the bucket cylinder (16) being rotationally connected to the bucket (13), the bucket cylinder (16) being configured to actuate prior to the hill work mode so that a tip of the bucket (13) contacts a slope surface, and the bucket cylinder (16) being configured to not actuate in the hill work mode.

9. A slope working method of an excavator, the excavator comprises an excavator body, a movable arm (11), an arm (12), a movable arm cylinder (14) for driving the movable arm (11) to change amplitude, an arm cylinder (15) for driving the arm (12) to rotate and a working mechanism, a first end of the movable arm (11) is rotatably connected with the excavator body, a second end of the movable arm (11) is rotatably connected with the arm (12), an end of the arm (12) is rotatably connected with the working mechanism, a first end of the movable arm cylinder (14) is rotatably connected with the excavator body, a second end of the movable arm cylinder (14) is rotatably connected with the movable arm (11), a first end of the arm cylinder (15) is rotatably connected with the movable arm (11), and a second end of the arm cylinder (15) is rotatably connected with the arm (12), and the slope working method of the excavator is characterized by comprising the following steps:

acquiring a target slope angle (alpha);

making a driving cylinder of the boom cylinder (14) and the arm cylinder (15) extend and retract under the manual operation of a manipulator; and

controlling the stretching of a follow-up oil cylinder in the movable arm oil cylinder (14) and the arm oil cylinder (15) according to the target slope angle (alpha) and the real-time stretching amount of the driving oil cylinder.

10. The slope working method of an excavator according to claim 9, wherein the excavator further comprises a cylinder displacement sensor, and the controlling of the extension and retraction of the slave cylinder in the boom cylinder (14) and the arm cylinder (15) based on the target slope angle (α) and the real-time extension and retraction amount of the master cylinder comprises: and acquiring the real-time stretching amount of the driving oil cylinder through the oil cylinder displacement sensor.

11. The slope working method of an excavator according to claim 9, wherein the excavator further comprises an attitude repository for storing a correspondence relationship between the amount of extension and retraction of the boom cylinder (14) and the amount of extension and retraction of the arm cylinder (15) at different slope angles, and the controlling of the extension and retraction of the slave cylinder in the boom cylinder (14) and the arm cylinder (15) based on the target slope angle (α) and the real-time extension and retraction amount of the master cylinder comprises: and acquiring the target expansion amount of the follow-up oil cylinder from the attitude library according to the target slope angle (alpha) and the real-time expansion amount of the driving oil cylinder and controlling the expansion of the follow-up oil cylinder.

12. The slope working method of an excavator according to claim 11, wherein the correspondence relationship comprises a functional relationship between the amount of extension and retraction of the master cylinder and the amount of extension and retraction of the slave cylinder, and the functional relationship is configured to move the working mechanism along the target slope angle by a manual test and obtain the amount of extension and retraction of the boom cylinder (14) and the amount of extension and retraction of the arm cylinder (15) at different times, and to fit the amount of extension and retraction of the boom cylinder (14) and the amount of extension and retraction of the arm cylinder (15) at the different times.

13. The slope working method of an excavator according to claim 11, wherein the excavator further comprises a control valve for controlling a flow rate of hydraulic oil of the slave cylinder, and the acquiring of the target expansion and contraction amount of the slave cylinder from the attitude bank and the controlling of the expansion and contraction of the slave cylinder comprise: converting the target expansion amount of the follow-up oil cylinder into a command signal of the control valve, and controlling the follow-up oil cylinder to expand and contract by the control valve based on the command signal.

14. The slope working method of an excavator according to claim 9, wherein the working mechanism comprises a bucket (13), the excavator further comprises a bucket cylinder (16) for driving the bucket (13) to rotate, the slope working method of an excavator further comprises: before the excavation operation, the tip of the bucket (13) is controlled to contact a slope surface, and then the bucket cylinder (16) is kept inactive.