CN205116261U - Excavator controlling device based on position control - Google Patents
Excavator controlling device based on position control Download PDFInfo
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- CN205116261U CN205116261U CN201520656549.6U CN201520656549U CN205116261U CN 205116261 U CN205116261 U CN 205116261U CN 201520656549 U CN201520656549 U CN 201520656549U CN 205116261 U CN205116261 U CN 205116261U
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- displacement sensor
- bucket
- dipper
- swing arm
- angular displacement
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Abstract
The utility model provides an excavator controlling device based on position control, bucket angle displacement sensor, dipper angle displacement sensor, swing arm angle displacement sensor measure bucket angle displacement sensor respectively and measure the angle, dipper angle displacement sensor measures angle and swing arm angle displacement sensor measurement angle, display controller receives the mode that the driver selected to show to the driver and cross handle, bucket angle displacement sensor, dipper angle displacement sensor, swing arm angle displacement sensor's position calculate and obtain the control command to guide's solenoid valve of bucket, dipper and swing arm, and then control corresponding guide's solenoid valve. The utility model discloses make the driver only need a simple operation just can carry out compound control to dipper and swing arm for bucket hinge point realization level keeps or vertically keeps, perhaps keeps the contained angle of bucket bucket tooth and baseplane, has simplified the manipulation step when the excavator driver carries out complicated action greatly.
Description
Technical field
The present invention relates to a kind of operating device of excavator.
Background technology
As shown in Figure 1, conventional excavator comprises six equipments, is respectively bucket 1, dipper 2, swing arm 3, slewing equipment 4, left lateral walking apparatus 5 and right lateral walking apparatus 6, as shown in Figure 2, driver is controlled above-mentioned six equipments respectively by operation two capstan handles and two foot rests, left capstan handle 11 tilt for control slewing equipment 4 rotate around gyroaxis 7, the motion tilted forward and back for controlling dipper 2 of left capstan handle 11, right capstan handle 12 tilt for control bucket 1 move around bucket hinge 9, the motion tilted forward and back for controlling swing arm 3 of right capstan handle 12, left lateral is walked pedal 13 and right lateral and is walked tilting forward and back of pedal 14 and be used for respectively controlling left lateral walking apparatus 5 and right lateral walking apparatus 6 moves on baseplane 8.Current excavator operating grip and pedal are all the control based on speed to the control of each equipment, namely when capstan handle or foot rest tilt in one direction, pilot solenoid valve below capstan handle or foot rest will be opened, the larger pilot solenoid valve of angle that capstan handle or foot rest tilt is opened larger, it is also larger that the banked direction control valves main valve plug of corresponding branch road opens area, and the movement velocity of corresponding controlled device will be faster.
An incline direction due to each control stick only correspond to the motion of an equipment, if when therefore excavator needs to carry out a complicated action, driver needs the multiple directions of an operation control stick, or the multiple directions of multiple control stick just can complete, three mechanical arms (bucket, dipper and swing arm) such as " putting down " excavator during action need to seesaw in phase and the ground in front could be flattened simultaneously, namely need three directions handling two control sticks in phase just can complete.
Traditional excavator maneuverability pattern is that steering of left capstan handle controls dipper, and right capstan handle two direction of operating control bucket and swing arm respectively, but these three equipments of bucket, dipper and swing arm are actually at a move in plane.Such maneuverability pattern is that the two-dimensional motion three-dimensional motion of control stick being mapped to equipment has got on, this is not for very directly perceived a beginner: if just single action time also all right, if driver is very difficult during composite move, several coordination is completed.
Described on total, traditional excavator maneuverability pattern is directly perceived, and driver is difficult to the control simultaneously coordinated several device; But the nearly all action of excavator is all need several equipment to be compounded in a job, this maneuverability pattern just needing simplification traditional.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides the excavator control system that a kind of position-based controls, after entering specific operation mode by artificial selection, driver only needs a shirtsleeve operation just can carry out complex controll to dipper and swing arm, the angle making bucket hinge realize level to keep or longitudinally keep or keep bucket bucket tooth and baseplane, enormously simplify maneuvering sequence when excavator driving person carries out compound action.
The technical solution adopted for the present invention to solve the technical problems is: comprise two capstan handles with electrical feedback signal, bucket angular displacement sensor, dipper angular displacement sensor, swing arm angular displacement sensor and display controllers, described bucket angular displacement sensor, dipper angular displacement sensor, swing arm angular displacement sensor measure bucket angular displacement sensor measured angular, dipper angular displacement sensor measured angular and swing arm angular displacement sensor measured angular respectively; Shown display controller receives the mode of operation that driver selects, and the position of capstan handle, bucket angular displacement sensor, dipper angular displacement sensor, swing arm angular displacement sensor is shown to driver, calculate the control instruction of the pilot solenoid valve to bucket, dipper and swing arm, and then control corresponding pilot solenoid valve.
When driver keeps function by display controller selection level, bucket hinge speed in the horizontal direction
with the movement velocity in longitudinal direction
meet following matrix:
Wherein, a is boom length, and b is bucket arm length, and α is swing arm angular displacement sensor measured angular, and β is dipper angular displacement sensor measured angular, and bucket hinge is in the movement velocity of longitudinal direction
angle θ is tilted forward and back due to left capstan handle
armscope is 0 ° ~ 20 °, and bar dead band is 2 °, bucket hinge horizontal movement speed
scope be 0 ~ 500cm/s, then
calculate above-mentioned matrix to solve
about θ
armequation, simultaneously
be directly proportional, by θ to the pilot solenoid valve control instruction of dipper and swing arm
armobtain dipper and swing arm pilot solenoid valve control instruction.
When driver selects longitudinally to keep function by display controller, bucket hinge speed in the horizontal direction
with the movement velocity in longitudinal direction
meet following matrix:
Wherein, bucket hinge movement velocity in the horizontal direction
angle θ is tilted forward and back due to right capstan handle
boomscope is 0 ° ~ 20 °, and bar dead band is 2 °, bucket hinge longitudinal velocity
scope be 0 ~ 500cm/s, then
calculate above-mentioned matrix to solve
about θ
boomequation, simultaneously
with
be directly proportional, by θ to the pilot solenoid valve control instruction of dipper and swing arm
boomobtain the pilot solenoid valve control instruction of dipper and swing arm.
When driver selects bucket maintenance function by display controller, angle Δ=2 π-alpha-beta-the γ of bucket bucket tooth and excavator baseplane is obtained by measurement α, β and bucket angular displacement sensor measured angular γ, keep Δ constant, when dipper and swing arm motion, namely α and β is when changing, calculate γ in real time, namely bucket pilot solenoid valve opens the integration of area to the time; Obtain bucket pilot solenoid valve control instruction thus.
The invention has the beneficial effects as follows: driver only needs a shirtsleeve operation just can carry out complex controll to dipper and swing arm, when needs carry out " putting down " action, driver only needs the horizontal Holdover mode of startup and bucket Holdover mode, then handles left capstan handle and seesaws and just can complete; When needs carry out " repairing slope " pattern, driver only needs to start longitudinal Holdover mode and bucket Holdover mode, then handles right capstan handle and seesaws and just can complete.Greatly reduce operating difficulty when excavator driving person carries out compound action.
Accompanying drawing explanation
Fig. 1 is the structural representation of existing excavator;
Fig. 2 is the operating means schematic diagram of existing excavator;
Fig. 3 is dredger control system composition structure
Fig. 4 dredger control system level keeps function and longitudinally keeps the signal of functional realiey effect
Fig. 5 dredger control system level keeps function and longitudinally keeps functional realiey principle analysis figure
Inclination angle theta before and after the left capstan handle of Fig. 6
armwith the corresponding relation figure of kh
In figure, 1-bucket; 2-dipper; 3-swing arm; 4-slewing equipment; 5-left lateral walking apparatus; 6-right lateral walking apparatus; 7-gyroaxis; 8-baseplane; 9-bucket hinge; The left guide's capstan handle of 11-; The right guide's capstan handle of 12-; 13-left lateral walks pedal; 14-right lateral walks pedal; 21-bucket hinge is at the movement locus of level; 22-bucket hinge is at the movement locus of longitudinal direction; 23-swing arm angular displacement sensor measured angular; 24-dipper angular displacement sensor measured angular; 25-swing arm hinge; 26-dipper hinge; 28-boom length; 29-bucket arm length; 30-bucket angular displacement sensor measured angular; 31-bucket pilot solenoid valve; 32-dipper guide proportion electromagnetic valve; 33-swing arm guide proportion electromagnetic valve; The left electric capstan handle of 34-; The right electric capstan handle of 35-; 36-bucket angular displacement sensor; 37-dipper angular displacement sensor; 38-swing arm angular displacement sensor; 39-display controller; 40-controller.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described, the present invention includes but be not limited only to following embodiment.
As shown in Figure 3, the effect of controller 40 gathers the signal of telecommunication from left electric capstan handle 34, right electric capstan handle 35, bucket angular displacement sensor 36, dipper angular displacement sensor 37 and swing arm angular displacement sensor 38, controlled them by the control instruction calculating bucket pilot solenoid valve 31, dipper guide proportion electromagnetic valve 32 and swing arm guide proportion electromagnetic valve 33 of software.
The effect of display controller 39 carries out alternately with driver: driver selects mode of operation by display controller, comprises horizontal Holdover mode, longitudinal Holdover mode and bucket Holdover mode; Display controller, to the duty of driver's display system, comprises the position of angular displacement sensor and the position of electric capstan handle.
After entering certain mode of operation by artificial selection, driver only needs the direction operating a certain handle just can carry out complex controll to dipper 2 and swing arm 3, the level realizing bucket hinge 9 keeps or longitudinally keeps, or the maintenance to bucket position, as shown in Figure 4.Enormously simplify maneuvering sequence when excavator driving person carries out compound action.
The present invention adopts two capstan handles with electrical feedback signal to replace traditional left and right guide's capstan handle 7 and 8, use three angular displacement sensors with electrical feedback signal to measure swing arm angular displacement sensor measured angular 23, dipper angular displacement sensor measured angular 24 and bucket angular displacement sensor measured angular 30 respectively, as shown in Figure 5 simultaneously.Basic functional principle is: controller gathers the angle that two capstan handles rotate in the acclivitous angle of each side and three angular displacement sensors, calculate the control instruction to bucket, dipper and swing arm pilot solenoid valve by controller software again, then go to control corresponding pilot solenoid valve.
Suppose that bucket hinge 9 coordinate position is for (x, y), boom length 28 is a, bucket arm length 29 is b, and swing arm angular displacement sensor measured angular 23 is α, and dipper angular displacement sensor measured angular 24 is β, bucket angular displacement sensor measured angular 30 is γ, so can obtain following equation:
So controller software achieves three functions:
Level keeps function: tilt forward and back angle θ by what measure left capstan handle
arm, can know the speed of bucket hinge 9 movement velocity in the horizontal direction, reflection is exactly bucket hinge 9 speed in the horizontal direction in a coordinate system
speed, namely
bucket hinge 9 is 0 in the movement velocity of longitudinal direction simultaneously, namely
therefore following matrix form can be obtained:
Wherein k
hsize depend on the requirement of driver to bucket hinge 9 horizontal movement speed speed.Suppose the tilt angle theta of capstan handle
armscope is 0 ° ~ 20 °, and to arrange bar dead band be 2 °, bucket hinge 9 horizontal movement speed
scope be 0 ~ 500cm/s, then k
hvalue as follows, be drawn as curve as Fig. 6:
Can solve from matrix above by calculating
with
about θ
armequation, simultaneously
with
be directly proportional to the pilot solenoid valve control instruction of dipper and swing arm, therefore can by θ
armobtain dipper and swing arm pilot solenoid valve control instruction.
Longitudinally keep function: tilt forward and back angle θ by what measure right capstan handle
boom, can know the speed of bucket hinge 9 in the vertical direction movement velocity, reflection is exactly the speed of bucket hinge coordinate 9 in the vertical direction in a coordinate system
speed, namely
simultaneously bucket hinge 9 in the horizontal direction movement velocity be 0, namely
therefore following matrix form can be obtained:
Wherein k
vsize depend on the requirement of driver to bucket hinge 9 longitudinal velocity speed.Suppose the tilt angle theta of capstan handle
boomscope is 0 ° ~ 20 °, and to arrange bar dead band be 2 °, bucket hinge 9 longitudinal velocity
scope be 0 ~ 500cm/s, then k
vvalue as follows, be drawn as curve as Fig. 6:
Can solve from matrix above by calculating
with
about θ
boomequation, simultaneously
with
be directly proportional to the pilot solenoid valve control instruction of dipper and swing arm, therefore can by θ
boomobtain the pilot solenoid valve control instruction of dipper and swing arm.
Bucket keeps function: by measuring swing arm angular displacement alpha, dipper angular displacement beta and bucket angular displacement γ, can calculate the angle Δ of now bucket bucket tooth and excavator baseplane:
Δ＝2π-α-β-γ
In order to keep Δ constant, when dipper and swing arm motion, namely α and β is when changing, and can calculate the value of γ in real time, namely bucket pilot solenoid valve opens the integration of area to the time.The bucket pilot solenoid valve control instruction represented by α and β can be obtained thus.
When needs carry out " putting down " action, driver only needs the horizontal Holdover mode of startup and bucket Holdover mode, then handles left capstan handle and seesaws and just can complete; When needs carry out " repairing slope " pattern, driver only needs to start longitudinal Holdover mode and bucket Holdover mode, then handles right capstan handle and seesaws and just can complete.Greatly reduce operating difficulty when excavator driving person carries out compound action.
Illustrate that level keeps function below:
Suppose that the swing arm angular displacement sensor measured angular 23 of current excavator is for α=30 °, dipper angular displacement sensor measured angular 24 is β=90 °, left capstan handle fore-and-aft direction tilt angle theta
arm=20 °, boom length a=500cm, bucket arm length b=400cm, then can obtain:
By calculating:
Due to
with
be directly proportional to the pilot solenoid valve control instruction of dipper and swing arm, therefore can design the instruction gradient of dipper and swing arm pilot solenoid valve according to the demand of driver, thus the pilot solenoid valve control instruction obtaining dipper and swing arm sent by controller.
Claims (1)
1. the operating device of excavator of a position-based control, comprise two capstan handles with electrical feedback signal, bucket angular displacement sensor, dipper angular displacement sensor, swing arm angular displacement sensor and display controllers, it is characterized in that: described bucket angular displacement sensor, dipper angular displacement sensor, swing arm angular displacement sensor measure bucket angular displacement sensor measured angular, dipper angular displacement sensor measured angular and swing arm angular displacement sensor measured angular respectively; Shown display controller receives the mode of operation that driver selects, and the position of capstan handle, bucket angular displacement sensor, dipper angular displacement sensor, swing arm angular displacement sensor is shown to driver, calculate the control instruction of the pilot solenoid valve to bucket, dipper and swing arm, and then control corresponding pilot solenoid valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520656549.6U CN205116261U (en) | 2015-08-27 | 2015-08-27 | Excavator controlling device based on position control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520656549.6U CN205116261U (en) | 2015-08-27 | 2015-08-27 | Excavator controlling device based on position control |
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| CN205116261U true CN205116261U (en) | 2016-03-30 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105350595A (en) * | 2015-08-27 | 2016-02-24 | 中国航空工业集团公司西安飞行自动控制研究所 | Excavator control device based on position control |
| CN112639298A (en) * | 2019-03-06 | 2021-04-09 | 日立建机株式会社 | Construction machine |
| CN113073703A (en) * | 2021-04-09 | 2021-07-06 | 上海三一重机股份有限公司 | Excavator control method, system and device |
| CN113825880A (en) * | 2019-05-13 | 2021-12-21 | 卡特彼勒公司 | Control map for hydraulic machine |
| CN114753433A (en) * | 2022-05-30 | 2022-07-15 | 江苏朗禾控制系统有限公司 | Novel excavator single-handle control system and control method thereof |
-
2015
- 2015-08-27 CN CN201520656549.6U patent/CN205116261U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105350595A (en) * | 2015-08-27 | 2016-02-24 | 中国航空工业集团公司西安飞行自动控制研究所 | Excavator control device based on position control |
| CN105350595B (en) * | 2015-08-27 | 2017-08-29 | 中国航空工业集团公司西安飞行自动控制研究所 | The operating device of excavator controlled based on position |
| CN112639298A (en) * | 2019-03-06 | 2021-04-09 | 日立建机株式会社 | Construction machine |
| CN112639298B (en) * | 2019-03-06 | 2023-02-21 | 日立建机株式会社 | Construction machine |
| CN113825880A (en) * | 2019-05-13 | 2021-12-21 | 卡特彼勒公司 | Control map for hydraulic machine |
| CN113073703A (en) * | 2021-04-09 | 2021-07-06 | 上海三一重机股份有限公司 | Excavator control method, system and device |
| CN114753433A (en) * | 2022-05-30 | 2022-07-15 | 江苏朗禾控制系统有限公司 | Novel excavator single-handle control system and control method thereof |
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