CN202273264U - Wireless remote teaching playback system of hydraulic excavator - Google Patents
Wireless remote teaching playback system of hydraulic excavator Download PDFInfo
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- CN202273264U CN202273264U CN 201120367585 CN201120367585U CN202273264U CN 202273264 U CN202273264 U CN 202273264U CN 201120367585 CN201120367585 CN 201120367585 CN 201120367585 U CN201120367585 U CN 201120367585U CN 202273264 U CN202273264 U CN 202273264U
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Abstract
The utility model discloses a wireless remote teaching playback system of a hydraulic excavator, belonging to the technical field of intelligent control of the excavator. The wireless remote teaching playback system comprises an accelerator actuator, an engine, a hydraulic pump, a multichannel main valve, a hydraulic executive component and a hydraulic guide handle; the wireless remote teaching playback system also comprises a controller, a storage, an electromagnetic proportional valve block, a pressure sensor, a remote receiver and a remote emitter; the hydraulic guide handle is connected with the controller through the pressure sensor; the controller is respectively connected with the remote receiver, the storage and the accelerator actuator; the controller is also connected with the multichannel main valve through the electromagnetic proportional valve block; and the accelerator actuator, the engine, the hydraulic pump, the multichannel main valve and the hydraulic executive component are sequentially connected. The wireless remote teaching playback system has the beneficial effects that the teaching playback function of the hydraulic excavator is realized, and for repetitive excavation operations, the excavator can automatically operate under the condition of manless driving, thereby the labor intensity of operators is reduced.
Description
Technical field
The utility model relates to a kind of wireless remote control hydraulic crawler excavator teaching playback system, belongs to the excavator field of intelligent control technology.
Background technology
At present, under some special operating modes, the movement locus curve of excavator is not had excessive demand; Only need the excavation action of repeatability, the operation of this moment does not have craftsmenship, if adopt manual work to accomplish; Then too single, mechanical, and manpower caused certain waste.Along with the continuous development and the application of microelectric technique and electromechanical integration, electronic control system is that the intellectuality of excavator is laid a good foundation, and through writing and field adjustable of director demon, can reach the Based Intelligent Control of excavator.Also do not occur excavator in the prior art under unpiloted situation, independently repeat to excavate action, to accomplish the design of site operation demand, so the kind technology remains further to be developed.
Summary of the invention
To above-mentioned existing technical problem, the utility model provides a kind of wireless remote control hydraulic crawler excavator teaching playback system, is intended to solve above-mentioned job safety and the problem that repeats to excavate.
The utility model is for realizing above-mentioned purpose; Realize through following technical scheme: a kind of wireless remote control hydraulic crawler excavator teaching playback system; Comprise throttle actuator, motor, hydraulic pump, multichannel main valve, hydraulic actuator and hydraulic pilot handle; It is characterized in that, also comprise controller, memory, electromagnetic proportional valve piece, pressure sensor, receiver of remote-control sytem and remote control transmitter; The hydraulic pilot handle connects controller through pressure sensor; Controller connects receiver of remote-control sytem, memory and throttle actuator respectively; Controller also connects the multichannel main valve through the electromagnetic proportional valve piece; Throttle actuator, motor, hydraulic pump, multichannel main valve are connected with hydraulic actuator successively.
Further, also comprise be installed on the digger revolving platform near switch.
Further, the pressure sensor guide that is installed in the hydraulic pilot handle controls on the hydraulic circuit.
Further, the electromagnetic proportional valve piece guide that is installed in the multichannel main valve controls on the hydraulic circuit.
Further, adopt CAN bus communication mode between controller and the memory.
Further, adopt CAN bus communication mode between controller and the receiver of remote-control sytem.
Operating principle: core technology is the electric-control system that comprises pressure sensor, controller, memory, electromagnetic proportional valve piece.
Pressure sensor can convert 12 operating pressure signals excavate going up 6 actuating mechanisms such as revolution, swing arm, dipper, scraper bowl, walking, dozer to voltage signal and send controller to, and voltage signal changes with the variation of the stroke of hydraulic pilot handle.
Controller also receives the signal of receiver of remote-control sytem through the CAN bus except that the voltage signal of the hydraulic pilot handle that receives the pressure sensor transmission, system is carried out remote control control; Simultaneously, store control also through CAN bus connected storage, and to system; In addition, controller is through the rotating speed of throttle actuator control motor; At last, controller utilizes each control information that the electromagnetic proportional valve piece of 12 actions accomplishing 6 actuating mechanisms such as revolution, swing arm, dipper, scraper bowl, walking, dozer in the excavator is controlled.
The electromagnetic proportional valve piece is an electromagnetic control type, under the control of controller electric current, and guide's hydraulic fluid pressure of each action of control, thereby the aperture and the switching-over of control multichannel main valve, and then control each hydraulic actuator.
In addition, under unpiloted situation, need carry out wireless remote control,, have people or nothing can use per capita in the driver's cabin so receiver of remote-control sytem and remote control transmitter are set to excavator.
Based on above-mentioned electric-control system, built out a kind of wireless remote control hydraulic crawler excavator teaching playback system.Thus; Entire work process is to accomplish entire exercise by operator; Let controller should overlap action and memorize fully, under unpiloted situation, cooperate the operation of completion wireless remote control then through receiver of remote-control sytem and remote control transmitter; Action by controller will memorize is before reproduced again, thereby constantly carries out excavating repeatedly.
The beneficial effect of the utility model is: the teaching representational role that has realized hydraulic crawler excavator; Excavation action for repeatability; Can under unpiloted situation, let excavator carry out operation automatically; Reduce the labour intensity of operator, and under dangerous operating mode, strengthened the personal safety of operator.Other has wireless distant control function to be used, and is simple and convenient.
Description of drawings
Fig. 1 is the theory diagram of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.
As shown in Figure 1; The utility model comprises throttle actuator, motor, hydraulic pump, multichannel main valve, hydraulic actuator and hydraulic pilot handle, also comprises controller, memory, electromagnetic proportional valve piece, pressure sensor, receiver of remote-control sytem and remote control transmitter; The hydraulic pilot handle connects controller through pressure sensor; Controller connects receiver of remote-control sytem, memory and throttle actuator respectively; Controller also connects the multichannel main valve through the electromagnetic proportional valve piece; Throttle actuator, motor, hydraulic pump, multichannel main valve are connected with hydraulic actuator successively.
Wherein, the utility model also comprise be installed on the digger revolving platform near switch.The guide that pressure sensor is installed in the hydraulic pilot handle controls on the hydraulic circuit.The guide that the electromagnetic proportional valve piece is installed in the multichannel main valve controls on the hydraulic circuit.Adopt CAN bus communication mode between controller and the memory.Adopt CAN bus communication mode between controller and the receiver of remote-control sytem.
During design, at first need carry out excavator circuit theory hardware designs, the design of excavator hydraulic principle, the establishment of the CAN communications protocol between memory and the controller, and controller software programming.Make operator when bridge operation, can realize the corresponding function that normal excavator is all; When unmanned, can realize the teaching representational role of excavator.Have two kinds of operator schemes in the software systems: (1) mode of learning: by skilled operator when driving the in-house operation excavator; Controller with the current signal of everything through CAN bus sequential storage in memory, can write down 12 actions and the sequence of movement thereof of 6 actuating mechanisms such as revolution, swing arm, dipper, scraper bowl, walking, dozer of excavator.(2) playback mode: operator leaves driver's cabin, promptly excavator under unpiloted situation, the current signal in the controller sequential read access to memory, and export to the electromagnetic proportional valve piece, thereby the action of the excavator under the mode of learning before reproducing.
During use,, excavate action and use this function to single repeatability according to the needs of site operation.At first, the breakdown action mode of learning, operator is accomplished the operation of the excavation action of corresponding standard in driver's cabin, and at this moment, memory has write down these actions.Then, operator leaves driver's cabin, and the breakdown action playback mode lets excavator carry out operation automatically, repeats the excavation action of writing down under the mode of learning just now, has reduced the labour intensity of operator.
Utilize above-mentioned wireless remote control hydraulic crawler excavator teaching playback system to operate, a kind of concrete steps of embodiment method are following:
A. carry out the preceding step of mode of learning:
A1. at first, the zone that will store of selection;
A2. then, open on the excavator or remote control transmitter on any guide switch;
B. get into the step of mode of learning:
B1. first kind of mode of learning: the opening action learn switch, after loudspeaker rang one, digging machine automatically reset, and when finishing when resetting, loudspeaker ring two, memory opening entry learning motion;
B2. second kind of mode of learning: pin SR, when digging machine reaches initial position, unclamp SR, opening action learn switch then, loudspeaker ring two, memory opening entry learning motion;
C. operator is being driven the in-house operation excavator;
D. closing motion learn switch, memory stop the recording learning action;
E. carry out the preceding step of playback mode:
E1. at first, select to want the storage area of playback;
E2. then, open on the excavator or remote control transmitter on any guide switch;
F. get into the step of playback mode:
F1. first kind of playback mode: the opening action playback switch, after loudspeaker rang one, digging machine automatically reset, and when finishing when resetting, loudspeaker ring three, the next excavator playback voluntarily of moving, after the playback release, loudspeaker ring one;
F2. second kind of playback mode: pin SR, when digging machine reaches initial position, unclamp SR, opening action playback switch then, loudspeaker ring three, the next excavator playback voluntarily of moving, after the playback release, loudspeaker ring one;
G. EO.
Claims (6)
1. wireless remote control hydraulic crawler excavator teaching playback system; Comprise throttle actuator, motor, hydraulic pump, multichannel main valve, hydraulic actuator and hydraulic pilot handle; It is characterized in that, also comprise controller, memory, electromagnetic proportional valve piece, pressure sensor, receiver of remote-control sytem and remote control transmitter; The hydraulic pilot handle connects controller through pressure sensor; Controller connects receiver of remote-control sytem, memory and throttle actuator respectively; Controller also connects the multichannel main valve through the electromagnetic proportional valve piece; Throttle actuator, motor, hydraulic pump, multichannel main valve are connected with hydraulic actuator successively.
2. wireless remote control hydraulic crawler excavator teaching playback system according to claim 1 is characterized in that, also comprise be installed on the digger revolving platform near switch.
3. wireless remote control hydraulic crawler excavator teaching playback system according to claim 1 is characterized in that the guide that described pressure sensor is installed in the hydraulic pilot handle controls on the hydraulic circuit.
4. wireless remote control hydraulic crawler excavator teaching playback system according to claim 1 is characterized in that the guide that described electromagnetic proportional valve piece is installed in the multichannel main valve controls on the hydraulic circuit.
5. wireless remote control hydraulic crawler excavator teaching playback system according to claim 1 is characterized in that, adopts CAN bus communication mode between described controller and the memory.
6. wireless remote control hydraulic crawler excavator teaching playback system according to claim 1 is characterized in that, adopts CAN bus communication mode between described controller and the receiver of remote-control sytem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120367585 CN202273264U (en) | 2011-10-01 | 2011-10-01 | Wireless remote teaching playback system of hydraulic excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120367585 CN202273264U (en) | 2011-10-01 | 2011-10-01 | Wireless remote teaching playback system of hydraulic excavator |
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| Publication Number | Publication Date |
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| CN202273264U true CN202273264U (en) | 2012-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201120367585 Expired - Lifetime CN202273264U (en) | 2011-10-01 | 2011-10-01 | Wireless remote teaching playback system of hydraulic excavator |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102748343A (en) * | 2012-06-21 | 2012-10-24 | 三一重机有限公司 | Hydraulic control system and method for engineering machine |
| CN102900122A (en) * | 2012-11-09 | 2013-01-30 | 中外合资沃得重工（中国）有限公司 | Rotary hydraulic system of excavator and control method |
| CN103114623A (en) * | 2013-02-28 | 2013-05-22 | 徐工集团工程机械股份有限公司道路机械分公司 | Remote control system of walking excavator |
| CN103243772A (en) * | 2013-05-08 | 2013-08-14 | 三一重机有限公司 | Engineering machine and operating control system thereof |
| CN104956006A (en) * | 2012-12-13 | 2015-09-30 | 现代重工业株式会社 | Automatic control system and method for joystick control-based construction equipment |
| CN105259888A (en) * | 2015-10-29 | 2016-01-20 | 上海华兴数字科技有限公司 | Teaching control system and method for excavator, and excavator |
| CN105544642A (en) * | 2015-12-29 | 2016-05-04 | 徐州赫思曼电子有限公司 | Remote control system and method for small excavator |
| CN106327991A (en) * | 2016-10-20 | 2017-01-11 | 湖南众航科技有限公司 | Intelligent excavator comprehensive experiment platform |
| CN112064711A (en) * | 2020-08-21 | 2020-12-11 | 中联重科股份有限公司 | Excavator remote control system, excavator remote control device and excavator |
| CN112095709A (en) * | 2020-09-27 | 2020-12-18 | 徐州徐工挖掘机械有限公司 | Electric control system, control method and device of excavator and storage medium |
| CN113006185A (en) * | 2021-02-08 | 2021-06-22 | 南京工程学院 | Automatic navigation operation method and system for excavator |
-
2011
- 2011-10-01 CN CN 201120367585 patent/CN202273264U/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102748343A (en) * | 2012-06-21 | 2012-10-24 | 三一重机有限公司 | Hydraulic control system and method for engineering machine |
| CN102748343B (en) * | 2012-06-21 | 2015-04-22 | 三一重机有限公司 | Hydraulic control system and method for engineering machine |
| CN102900122A (en) * | 2012-11-09 | 2013-01-30 | 中外合资沃得重工（中国）有限公司 | Rotary hydraulic system of excavator and control method |
| US9739036B2 (en) | 2012-12-13 | 2017-08-22 | Hyundai Construction Equipment Co., Ltd. | Automatic control system and method for joystick control-based construction equipment |
| CN104956006A (en) * | 2012-12-13 | 2015-09-30 | 现代重工业株式会社 | Automatic control system and method for joystick control-based construction equipment |
| CN103114623A (en) * | 2013-02-28 | 2013-05-22 | 徐工集团工程机械股份有限公司道路机械分公司 | Remote control system of walking excavator |
| CN103114623B (en) * | 2013-02-28 | 2014-10-08 | 徐工集团工程机械股份有限公司道路机械分公司 | Remote control system of walking excavator |
| CN103243772A (en) * | 2013-05-08 | 2013-08-14 | 三一重机有限公司 | Engineering machine and operating control system thereof |
| CN105259888A (en) * | 2015-10-29 | 2016-01-20 | 上海华兴数字科技有限公司 | Teaching control system and method for excavator, and excavator |
| CN105544642A (en) * | 2015-12-29 | 2016-05-04 | 徐州赫思曼电子有限公司 | Remote control system and method for small excavator |
| CN106327991A (en) * | 2016-10-20 | 2017-01-11 | 湖南众航科技有限公司 | Intelligent excavator comprehensive experiment platform |
| CN112064711A (en) * | 2020-08-21 | 2020-12-11 | 中联重科股份有限公司 | Excavator remote control system, excavator remote control device and excavator |
| CN112095709A (en) * | 2020-09-27 | 2020-12-18 | 徐州徐工挖掘机械有限公司 | Electric control system, control method and device of excavator and storage medium |
| CN113006185A (en) * | 2021-02-08 | 2021-06-22 | 南京工程学院 | Automatic navigation operation method and system for excavator |
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| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120613 |
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| CX01 | Expiry of patent term |