CN211472638U - Energy-saving excavator control system - Google Patents
Energy-saving excavator control system Download PDFInfo
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- CN211472638U CN211472638U CN201921866369.5U CN201921866369U CN211472638U CN 211472638 U CN211472638 U CN 211472638U CN 201921866369 U CN201921866369 U CN 201921866369U CN 211472638 U CN211472638 U CN 211472638U
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Abstract
The utility model relates to an energy-conserving excavator control system, including controlling means and hydraulic pressure adjusting device, controlling means includes support arm operating switch, the counter weight arm operating switch, hydraulic pressure adjusting device includes the support arm solenoid valve, the counter weight arm solenoid valve, support arm switching-over valve, the counter weight arm switching-over valve, the control end connection support arm solenoid valve of support arm switching-over valve, the counter weight arm solenoid valve is connected to the control end of counter weight arm switching-over valve, support arm operating switch is connected with the support arm solenoid valve electricity, realize the support arm operating switch control excavator swing arm support arm's support angle, counter weight arm operating switch is connected with the counter weight arm solenoid valve electricity, realize the contained angle between counter weight arm operating switch control counter. The utility model discloses an energy-conserving excavator control system has the security height, and the maintenance cost is low, easily realizes automated control, convenient operation, the obvious characteristics of energy-conserving effect.
Description
Technical Field
The utility model relates to an excavator field specifically is an energy-conserving excavator control system that has swing arm supporting mechanism and the swing arm afterbody is equipped with energy-conserving counter weight.
Background
The excavator is an important constructional engineering machine and is widely applied to various engineering projects such as engineering construction, mine excavation and the like, and when the excavator works, the movable arm mechanism needs to be continuously lifted and lowered to realize working conditions such as excavation, unloading and the like. The excavator has a boom support arm structure and an energy-saving counterweight arranged at the tail of an action arm, the boom mechanism is supported by the support arm, the energy-saving counterweight is arranged at the tail of the action arm, and the energy-saving counterweight and the boom form a lever type structure so as to offset the gravity at two ends of the action arm, but a specific control system is not disclosed in the excavator.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an energy-conserving excavator control system, through the optimal control to energy-conserving excavator, realize the best nature controlled.
The utility model provides a technical scheme that its technical problem adopted is:
an energy-saving excavator control system comprises a control device and a hydraulic adjusting device, wherein the control device comprises a support arm operating switch and a counterweight arm operating switch, the hydraulic adjusting device comprises a support arm electromagnetic valve, a counterweight arm electromagnetic valve, a support arm reversing valve and a counterweight arm reversing valve, the hydraulic input end of the support arm reversing valve is connected with an excavator hydraulic main pressure oil circuit and an oil return circuit, the hydraulic output end of the support arm reversing valve is connected with a support arm adjusting oil cylinder, the control end of the support arm reversing valve is connected with the support arm electromagnetic valve, the hydraulic input end of the counterweight arm reversing valve is connected with the excavator hydraulic main pressure oil circuit and the oil return circuit, the hydraulic output end of the counterweight arm reversing valve is connected with a counterweight arm angle adjusting oil cylinder, the control end of the counterweight arm reversing valve is connected with the counterweight arm electromagnetic valve, the support arm operating switch is electrically connected with the support, and the counterweight arm operating switch is electrically connected with the counterweight arm electromagnetic valve, so that the counterweight arm operating switch controls an included angle between the counterweight arm and the movable arm large arm.
Adopt above-mentioned technical scheme the utility model discloses, beneficial effect is:
the safety is high, the maintenance cost is low, the automatic control is easy to realize, the operation is convenient, and the energy-saving effect is obvious.
Preferably, the present invention further provides:
the control device further comprises a counterweight arm limit switch, the hydraulic adjusting device further comprises a movable arm large arm pilot electromagnetic valve, a hydraulic port of the movable arm large arm pilot electromagnetic valve is connected with a movable arm large arm control oil way of the excavator hydraulic distributor, and the counterweight arm limit switch is electrically connected with the movable arm large arm pilot electromagnetic valve to control the action state of the movable arm large arm through the counterweight arm limit switch.
The control device also comprises an electronic control unit, the counterweight arm limit switch is connected with the input end of the electronic control unit, the output end of the electronic control unit is connected with and controls the boom big arm pilot electromagnetic valve, the support arm operating switch is connected with the input end of the electronic control unit, the output end of the electronic control unit is connected with and controls the support arm electromagnetic valve, the counterweight arm operating switch is connected with the input end of the electronic control unit, and the output end of the electronic control unit is connected with and controls the counterweight arm electromagnetic valve.
The excavator support arm inclination angle detection device comprises an angle sensor, and the angle sensor is used for detecting the gradient of the excavator, the support arm inclination angle, the movable arm large arm inclination angle and the counterweight arm inclination angle.
The hydraulic adjusting device further comprises a counterweight arm unloading electromagnetic valve, the hydraulic input end of the counterweight arm unloading electromagnetic valve is connected with the counterweight arm angle adjusting oil cylinder oil circuit, the hydraulic output end of the counterweight arm unloading electromagnetic valve is connected with the excavator hydraulic oil return circuit, the control end of the counterweight arm unloading electromagnetic valve is electrically connected with the output end of the control device, and the control device detects information and the state of a counterweight arm limit switch through the information acquisition device and correspondingly controls the counterweight arm unloading electromagnetic valve.
The hydraulic adjusting device also comprises an explosion-proof valve which is connected with each oil cylinder hydraulic pipeline.
The counterweight arm limit switch is a mechanical switch or an inductive switch, such as a travel switch, a photoelectric inductive switch and a proximity switch.
The information detection device further comprises a pressure sensor, and the pressure sensor is used for detecting the pressure of the excavator system.
The angle sensor is an inclination angle sensor or an angular displacement sensor.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a hydraulic control system according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of the explosion-proof valve of the present invention;
fig. 4 is a schematic structural diagram of embodiment 2 of the present invention;
FIG. 5 is a schematic diagram of the pilot hydraulic control of the boom of the present invention;
fig. 6 is a schematic structural diagram of embodiment 3 of the present invention;
fig. 7 is a schematic diagram of a hydraulic control system according to embodiment 3 of the present invention;
FIG. 8 is a schematic diagram of the optimized hydraulic control of the directional control valve of the present invention;
FIG. 9 is a structural diagram of an exemplary energy saving excavator of the present invention;
FIG. 10 is a structural diagram of an exemplary energy saving excavator of the present invention;
in the figure: 1-energy-saving counterweight; 2-a movable arm big arm main pin shaft; 3-a movable arm big arm; 4-a movable arm and small arm oil cylinder; 5-a counterweight arm; 6-counterweight arm angle adjusting oil cylinder; 7-a boom cylinder; 8-a boom support arm; 8 a-a lower section of the movable arm supporting arm; 8 b-a boom support arm upper section; 9-supporting arm adjusting oil cylinder; 9 a-a lower section supporting arm adjusting oil cylinder; 9 b-an upper section supporting arm adjusting oil cylinder; 10-an angle sensor; 10 a-an angular displacement sensor; 10 b-a tilt sensor; 11-counterweight arm limit switch; 12-a cab; 13-counterweight arm stop blocks; 14-a running gear; 15-a vehicle body; 16-an explosion-proof valve; 17-a boom big arm pilot solenoid valve; 18-support arm directional control valve; 18 a-lower support arm reversing valve; 18 b-upper support arm reversing valve; 19-counterweight arm reversing valve; 20-a control device; 21-a support arm operating switch; 22-counterweight arm operating switch; 23-hydraulic adjustment means; 24-a bucket cylinder; 25-a boom forearm; 26-a bucket; 27-a pressure sensor; 28-overload valve; 29-relief valve; 30-a hydraulic distributor; 31-proportional pressure reducing solenoid valve; 32-a pilot pump; 33-counterweight arm unloading solenoid valve; 34-alarm and display means; 35-an electronic control unit; 36-an information acquisition device; s1, S2-support arm solenoid valve; s5, S6-counterweight arm solenoid valve.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
To better describe the embodiment, taking fig. 9 and 10 as an example of an energy-saving excavator, the energy-saving excavator includes an actuator, an energy-saving counterweight mechanism, and an actuator arm 8, the actuator includes a large actuator arm 3, a small actuator arm 25, a bucket 26, and the like, the energy-saving counterweight mechanism includes an energy-saving counterweight 1, a counterweight arm 5, and the like, the energy-saving counterweight mechanism and the actuator form a lever-type structure by using a large actuator arm main pin shaft 2 as a fulcrum, so that the gravity at two ends of the large actuator arm balance each other, the actuator arm 8 includes a lower actuator arm support arm section 8a and an upper actuator arm support arm section 8b, and the actuator arm 8 plays a role in adjusting the support height of the actuator.
In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention, but it will be appreciated by those skilled in the art that the invention may be practiced without these specific details. In the embodiments, well-known methods, procedures, components, circuits, and techniques for excavating machines, as well as component names, have not been described in detail so as not to unnecessarily obscure the embodiments.
Example 1:
referring to fig. 1, the energy-saving excavator control system comprises a control device 20 and a hydraulic adjusting device 23, wherein the control device 20 comprises a support arm operating switch 21 and a counterweight arm operating switch 22, the hydraulic adjusting device 23 comprises support arm electromagnetic valves S1 and S2, a support arm reversing valve 18, counterweight arm electromagnetic valves S5 and S6 and a counterweight arm reversing valve 19, the support arm operating switch 21 is connected with and controls the support arm electromagnetic valves S1 and S2 for the purpose of controlling the support arm reversing valve 18 by the support arm operating switch 21, and the counterweight arm operating switch 22 is connected with and controls the counterweight arm electromagnetic valves S5 and S6 for the purpose of controlling the counterweight arm reversing valve 19 by the counterweight arm operating switch 22.
Referring to fig. 2, a schematic diagram of a hydraulic control system includes a counterweight arm angle adjusting cylinder 6, a support arm adjusting cylinder 9, a support arm reversing valve 18, a counterweight arm reversing valve 19, an overload valve 28, and an overflow valve 29, where the support arm reversing valve 18, the counterweight arm reversing valve 19, and the overflow valve 29 are connected to a reserved spare hydraulic accessory interface of an excavator hydraulic distributor 30, the spare hydraulic accessory interface is a self-contained interface of the excavator distributor and is specially used for providing hydraulic power for some spare hydraulic accessories, a P interface provides high-pressure oil, a T interface is oil return, the support arm reversing valve 18 and the counterweight arm reversing valve 19 are three-position four-way reversing valves, output oil ports of the support arm reversing valve 18 are respectively connected to oil ports at two ends of the support arm adjusting cylinder 9, output oil ports of the counterweight arm reversing valve 19 are respectively connected to two ends of the counterweight arm angle adjusting cylinder 6, a control end of the support arm reversing valve 18 is connected to a support arm electromagnetic valve S1, an, S2, the control end of the counterweight arm directional valve 19 is connected with counterweight arm electromagnetic valves S5, S6, certainly, the support arm directional valve 18, the counterweight arm directional valve 19 can also utilize a reversing electromagnetic valve integrated by a reversing valve and an electromagnetic valve, the integrated three-position four-way reversing electromagnetic valve is adopted in figure 2, the reversing electromagnetic valve can adopt a direct-acting electromagnetic valve or a pilot electromagnetic valve, in the figure, an overload valve 28 is connected with an oil cylinder oil way in parallel to prevent a hydraulic system from being overloaded, and meanwhile, in order to prevent the oil cylinder from being rapidly retracted and seriously collided due to accidental bursting of the oil pipeline of the counterweight arm angle adjusting oil cylinder 6 and the support arm adjusting oil cylinder 9, an explosion-proof valve 16 can be added in the oil cylinder pipeline, and figure 3 is a hydraulic schematic diagram of the explosion-proof valve 16.
Referring to fig. 2 and 9, the support arm operating switch 21 controls the support arm directional control valve 18, and correspondingly controls the support arm to adjust the extension and retraction of the cylinder 9, so as to change the support angle of the movable arm support arm 8 and achieve the purpose of adjusting the height of the movable arm mechanism from the vehicle body 15; the counterweight arm reversing valve 19 is correspondingly controlled through the counterweight arm operating switch 22, so that the extension or locking of the counterweight arm angle adjusting oil cylinder 6 is controlled, the counterweight arm angle adjusting oil cylinder 6 not only has the function of adjusting the angle of the counterweight arm 5 relative to the movable arm large arm 3, the counterweight arm angle adjusting oil cylinder 6 is locked by the counterweight arm reversing valve 19 being in the middle position, the counterweight arm 5 and the movable arm large arm 3 are fixed by the counterweight arm angle adjusting oil cylinder 6, and the movable arm mechanism and the energy-saving counterweight mechanism form a lever structure with the movable arm large arm main pin shaft 2 as a fulcrum.
Example 2:
referring to fig. 4, in embodiment 1, a counterweight arm limit switch 11 is added to the control device 20, a boom arm pilot solenoid valve 17 is added to the hydraulic pressure adjusting device 23, and the counterweight arm limit switch 11 is connected to and controls the boom arm pilot solenoid valve 17.
Referring to fig. 5, which is a hydraulic control schematic diagram of a boom big arm pilot solenoid valve 17, pilot valves of excavator control actions are respectively connected with corresponding action pilot pressure control ends of a hydraulic distributor 30, the boom big arm pilot solenoid valve 17 is connected between a boom big arm lifting action pilot valve therein and a hydraulic pipeline of a boom big arm control valve lifting action control end of the hydraulic distributor 30, because the control pressure and flow of the excavator pilot valve are relatively small, the boom big arm pilot solenoid valve 17 directly adopts a two-position two-way switch solenoid valve, a counterweight arm limit switch 11 connects and controls the boom big arm pilot solenoid valve 17, when the counterweight arm limit switch 11 is in a closed normal state, the boom big arm pilot solenoid valve 17 is in an energized state, the boom big arm lifting action pilot valve can directly control the lifting action of the boom big arm 3, and when the counterweight arm limit switch 11 is triggered, the switch is turned off, the boom arm pilot solenoid valve 17 is powered off, the pilot oil path for the lifting action of the boom arm 3 is cut off, and the boom arm 3 cannot realize the lifting action, that is, the on-off state of the boom arm pilot solenoid valve 17 is controlled by the counterweight arm limit switch 11, so that the control pressure of the boom arm of the excavator hydraulic distributor 30 is controlled, and the purpose of controlling whether the boom arm 3 can implement the lifting action is realized, of course, the boom arm pilot solenoid valve 17 can also be powered off to conduct the oil path, and the purpose of controlling or stopping the lifting action of the boom arm 3 is realized by switching on the oil path in a control mode opposite to that in the figure.
The counterweight arm limit switch 11 may be a mechanical switch or an inductive switch, referring to fig. 9 and 10, the counterweight arm limit switch 11 is a travel switch, the counterweight arm limit switch 11 is installed on the counterweight arm 5, or on the vehicle body 15 facing the counterweight arm 5, and when the distance between the counterweight arm 5 and the vehicle body 15 is too short, the counterweight arm limit switch 11 is triggered, in this embodiment, after the counterweight arm limit switch 11 is triggered, the state is changed from a closed normal state to an open state, the boom big arm pilot solenoid valve 17 is powered off, and the lifting action of the boom big arm 3 is stopped, so as to prevent the counterweight arm 5 from excessively descending and touching the vehicle body 15 due to the continuous lifting of the boom big arm 3.
Example 3:
referring to fig. 6, in order to prolong the service life and improve the safety of the switches, the control device 20 further includes an electronic control unit 35, the counterweight arm limit switch 11, the support arm operation switch 21, and the counterweight arm operation switch 22 are connected to the input end of the electronic control unit 35, the electronic control unit 35 correspondingly connects and controls the corresponding boom arm pilot solenoid valve 17, the support arm solenoid valves S1 and S2, and the counterweight arm solenoid valves S5 and S6 in the hydraulic adjusting device 23, and in order to improve the automation control of the system, the input end of the control device 20 is connected to an excavator information collecting device 36, the information collecting device 36 includes an angle sensor 10 for detecting the angles of the excavator and a pressure sensor 27 for detecting the pressure of the excavator hydraulic system, the angle sensor 10 and the pressure sensor 27 are connected to the input end of the electronic control unit 35, the counterweight arm unloading solenoid valve 33 is added to the hydraulic adjusting device 23, the output end of the electronic control unit 35 is connected with the counterweight arm unloading electromagnetic valve 33.
Referring to fig. 9, the angle sensor 10 may adopt an angle displacement sensor 10a or an inclination sensor 10b, the signal interference rejection capability of the angle displacement sensor 10a is strong, the angle sensor 10 in fig. 9 adopts an angle displacement sensor 10a, an angle displacement sensor 10a is installed between the movable arm support arm 8 and the vehicle body 15 and is used for detecting an included angle between the movable arm support arm 8 and the vehicle body 15, the support arm angle displacement sensor 10a inputs detected angle data into an electronic control unit 35 in the control device 20, and the electronic control unit 35 obtains the attitude angle of the movable arm support arm 8 according to the detected information, so as to obtain the height of the movable arm large main arm pin shaft 2 from the vehicle body 15; an angle displacement sensor 10a is installed between the movable arm large arm 3 and the movable arm supporting arm 8 and is used for detecting an included angle between the movable arm large arm 3 and the movable arm supporting arm 8, the angle detection data is input into an electronic control unit 35 in the control device 20, and the electronic control unit 35 obtains an attitude angle of the movable arm large arm 3 relative to the vehicle body 15, a moving direction of the movable arm large arm 3 and a moving speed according to continuous change data of the included angle between the movable arm large arm 3 and the movable arm supporting arm 8; the counterweight arm 5 is provided with an angular displacement sensor 10a for detecting the included angle between the counterweight arm 5 and the boom arm 3, the angle detection data is input into an electronic control unit 35 in the control device 20, and the electronic control unit 35 obtains the attitude angle of the counterweight arm 5 relative to the vehicle body 15, the motion direction and the motion speed of the counterweight arm 5 according to the angle continuous change data; the electronic control unit 35 can determine information such as the angular postures, the moving directions, the moving speeds, the heights from the vehicle body 15 and the like of the current boom 3 and the current counterweight arm 5 relative to the vehicle body 15 by integrating the angle detection data.
Referring to fig. 10, the angle sensor 10 in the figure adopts an inclination angle sensor 10b, the inclination angle sensor 10b has the advantages of convenience in installation, long service life and the like, and can detect the gradient of the vehicle body 15, the inclination angle sensor 10b is installed on the vehicle body 15, the movable arm supporting arm 8, the movable arm large arm 3 and the counterweight arm 5, and the electronic control unit 35 in the control device 20 senses the inclination of the excavator through the inclination angle sensor 10b installed on the vehicle body 15, and then obtains the current information of the angle posture, the motion direction, the motion speed, the height from the vehicle body 15 and the like according to the inclination angle data of the detection points on each movable arm and the continuous variation data of the inclination angle of the vehicle body 15.
The angular displacement sensor 10a may be completely replaced by the inclination sensor 10b, and the operation and effect thereof are the same, but the inclination sensor can detect the slope on which the excavator is located, and the installation is convenient, so the inclination sensor 10b is preferred in the above embodiment.
The pressure sensor 27 is installed in the hydraulic system of the excavator to sense the pressure of each hydraulic system of the excavator, in this embodiment, the pressure sensor 27 is installed in the pipeline of the boom arm cylinder 7 to sense the pressure at both ends of the boom arm cylinder 7, the electronic control unit 35 derives the load of the boom mechanism from the pressure signal, the pressure sensor 27 is also installed in the pilot oil circuit controlled by each action arm of the excavator to sense the pilot control pressure of each action arm, the electronic control unit 35 can accurately sense the current operating state of the excavator according to the pilot control pressure of each action arm, and is convenient for quickly responding to the operation change of the control system.
The electronic control unit 35 integrates information such as angle, pressure and the like and the state of the counterweight arm limit switch 11, can more accurately obtain the optimal included angle between the counterweight arm 5 and the movable arm big arm 3 of the excavator and the safe movement range of the counterweight arm 5, and judges when the counterweight arm 5 needs to be unloaded or stops unloading.
Referring to fig. 7, a schematic diagram of the hydraulic control system of this embodiment is shown, and the energy saving excavator in fig. 10 is taken as an example for explanation, and includes a counterweight arm angle adjusting cylinder 6, a lower support arm adjusting cylinder 9a, an upper support arm adjusting cylinder 9b, a support arm directional control valve 18, a counterweight arm directional control valve 19, an overload valve 28, and an overflow valve 29, where the support arm directional control valve 18 includes a lower support arm directional control valve 18a and an upper support arm directional control valve 18b, an input pressure oil path P port of the lower support arm directional control valve 18a, the upper support arm directional control valve 18b, the counterweight arm directional control valve 19, and the overflow valve 29 is connected to a backup hydraulic accessory main pressure oil port of an excavator hydraulic distributor 30, an oil return path T port of the lower support arm directional control valve 18a, the upper support arm directional control valve 18b, the counterweight arm directional control valve 19, and the overflow valve 29 is connected to an oil return path, and the lower support arm directional control valve 18a, a, The upper section supporting arm reversing valve 18b and the counterweight arm reversing valve 19 can adopt an integrated pilot three-position four-way reversing solenoid valve, the output oil ports of the lower section supporting arm reversing valve 18a and the upper section supporting arm reversing valve 18b are respectively connected with supporting arm adjusting oil cylinders 9a and 9b, the overload valve 28 is connected with the oil inlet and outlet passages of each oil cylinder in parallel to prevent overload and protect a hydraulic system, and the explosion-proof valve 16 is connected with each oil cylinder to prevent the oil cylinders from falling back quickly; the oil passages at two ends of the counterweight arm angle adjusting oil cylinder 6 are connected with a hydraulic input port of a counterweight arm unloading electromagnetic valve 33, a hydraulic output port of the counterweight arm unloading electromagnetic valve 33 is connected with return oil of the excavator, the counterweight arm unloading electromagnetic valve 33 can adopt a two-position four-way electromagnetic valve, when the excavator is in a normal working state, the counterweight arm unloading electromagnetic valve 33 is closed, the counterweight arm angle adjusting oil cylinder 6 is in a locking state, when the counterweight arm unloading electromagnetic valve 33 is controlled to be electrified, oil passages at two ends of the counterweight arm angle adjusting oil cylinder 6 are all connected with the return oil of the excavator, and the counterweight arm angle adjusting.
In the above structure, the electronic control unit 35 controls the support arm directional control valve 18 and the counterweight arm directional control valve 19 according to the switch commands of the support arm operation switch 21 and the counterweight arm operation switch 22, so as to correspondingly control the extension and retraction of the support arm adjustment cylinder 9 and the counterweight arm angle adjustment cylinder 6, and correspondingly adjust the height of the boom main arm pin shaft 2 from the vehicle body 15 and the included angle between the counterweight arm 5 and the boom main arm 3, for the energy-saving excavator shown in fig. 10, the support arm operation switch 21 may adopt two-way directional control switches, and the electronic control unit 35 correspondingly controls the lower support arm directional control valve 18a and the upper support arm directional control valve 18b to adjust the extension and retraction of the lower support arm adjustment cylinder 9a or the upper support arm adjustment cylinder 9 b.
Meanwhile, the electronic control unit 35 controls the counterweight arm unloading electromagnetic valve 33 according to the trigger state of the counterweight arm limit switch 11, if the counterweight arm 5 descends to the counterweight arm limit block 13 of the vehicle body 15, the counterweight arm limit switch 11 is triggered, the electronic control unit 35 judges the moving direction of the boom arm 3 according to the angle change of the boom arm 3 and the boom arm operation state detected by the pressure sensor 27, when the boom arm 3 is judged to be still in the lifting action, the electronic control unit 35 controls the counterweight arm unloading electromagnetic valve 33 to be powered on, so that the counterweight arm angle adjusting cylinder 6 is in the oil return state, the counterweight arm 5 is unloaded from the counterweight arm angle adjusting cylinder 6 at the position of the counterweight arm limit block 13, the stop is kept, the counterweight arm 5 does not descend continuously along with the upward movement of the boom arm 3 any more, but stays at the position of the counterweight arm limit block 13, when the movable arm big arm 3 descends, the electronic control unit 35 timely controls the counterweight arm unloading electromagnetic valve 33 to be in a hydraulic stop state according to an optimal included angle between the counterweight arm 5 and the movable arm big arm 3 and a safe movement range of the counterweight arm 5, if the counterweight arm 5 and the movable arm big arm 3 reach the optimal included angle, the electronic control unit 35 switches off the counterweight arm unloading electromagnetic valve 33, an oil way of the counterweight arm unloading electromagnetic valve 33 is closed, the counterweight arm angle adjusting oil cylinder 6 is in a locking state, the counterweight arm 5 and the movable arm big arm 3 are fixed by the counterweight arm angle adjusting oil cylinder 6, so that the counterweight arm 5 and the movable arm big arm 3 keep the optimal included angle, and an energy-saving lever type structure taking the movable arm big arm main pin shaft 2 as a fulcrum is formed, wherein in the unloading state of the counterweight arm unloading electromagnetic valve 33, only when the electronic control unit 35 triggers according to the counterweight arm limit switch 11 and monitors that the movable arm big arm 3 still performs lifting operation, unloading control of the weight arm unloading solenoid valve 33.
The output end of the electronic control unit 35 can be connected with an alarm and display device 34, when the electronic control unit 35 judges that the input signal logic has errors, in order to avoid collision of the counterweight arm 5 with the vehicle body 15 caused by continuous operation, the electronic control unit 35 controls the movable arm big arm pilot electromagnetic valve 17 to stop the lifting action of the movable arm big arm 3, and informs an excavator operator through the alarm and display device 34 to timely handle problems and correct errors.
The control system of the embodiment is convenient to operate, the lifting angle of the movable arm large arm 3 is not limited any more, the optimal angle formed by the counterweight arm 5 and the movable arm large arm 3 can be kept all the time, an optimal energy-saving lever type structure is formed, the energy-saving effect of the excavator is greatly improved, angle monitoring is carried out through all detection points of the electronic control unit 35, the safe movement range of the counterweight arm 5 is judged, and therefore automatic control of the excavator is facilitated, and the operation intensity of a driver is reduced.
Referring to fig. 8, a hydraulic control schematic diagram is optimized for the support arm directional control valve 18 and the counterweight arm directional control valve 19, the control ends of the support arm directional control valve 18 and the counterweight arm directional control valve 19 are connected with the proportional pressure reducing solenoid valve 31, that is, the support arm solenoid valves S1 and S2 and the counterweight arm solenoid valves S5 and S6 can adopt common hydraulic switch type solenoid valves or proportional pressure reducing solenoid valves 31, the pilot pump 32 is connected with the proportional pressure reducing solenoid valves 31 to provide pilot pressure for the proportional pressure reducing solenoid valves 31, and the control mode is favorable for the electronic control unit 35 to accurately control the current of the proportional pressure reducing solenoid valves 31 so as to realize stable reversing of the oil cylinder, reduce working impact of the oil cylinder and regulate and control the movement speed of the oil cylinder; in addition, in order to increase the function expandability of some excavators, a backup directional control valve for installing hydraulic accessories is reserved in the hydraulic distributor 30, and a control interface and an output interface of the backup valve are reserved, so that the backup directional control valve provided by the hydraulic distributor 30 can be used by both the support arm directional control valve 18 and the counterweight arm directional control valve 19, and the electronic control unit 35 precisely controls the backup directional control valve of the hydraulic distributor 30 by the control mode, thereby achieving the purpose of energy saving control of the excavators.
It should be noted that, in the case of the excavator with the electric control handle, the excavator is provided with a pilot proportional pressure reducing solenoid valve for controlling each operation state of the hydraulic distributor 30, and therefore, the electronic control unit 35 can connect and control the boom raising operation pilot proportional pressure reducing solenoid valve provided in the excavator, that is, the solenoid valve replaces the boom pilot solenoid valve 17 in this embodiment.
The utility model discloses still can use the excavator that the multiple movable arm is equipped with counterweight arm and energy-conserving counter weight mechanism, to the control mode of above-mentioned control counterweight arm and movable arm, control its counterweight arm, movable arm.
The angle sensor is adopted by the sensor, the angle sensor comprises an angle displacement sensor and an inclination angle sensor, and the angle or the inclination angle of a measured object is mainly detected, so that the linear distance between the measured objects is obtained, of course, the purpose of measuring the angle of the object can be achieved by measuring the linear distance between the objects, therefore, in the following specific embodiment, the angle sensor, the inclination angle sensor, the linear displacement sensor and the distance measuring sensor can be replaced with each other, and the purpose of detecting the angle and the distance of the object is achieved, but the angle sensor is convenient to install, small in influence of external environmental factors, long in service life, free of interference to the daily maintenance of the excavator, and the angle sensor is preferably used in practical application.
The above description is only a preferred and practical embodiment of the present invention, and not intended to limit the scope of the present invention, and all structural equivalents made by using the contents of the specification and drawings are included in the scope of the present invention.
Claims (9)
1. The utility model provides an energy-conserving excavator control system, includes controlling means and hydraulic pressure adjusting device, its characterized in that: the control device comprises a support arm operating switch and a counterweight arm operating switch, the hydraulic adjusting device comprises a support arm electromagnetic valve, a counterweight arm electromagnetic valve, a support arm reversing valve and a counterweight arm reversing valve, the hydraulic input end of the support arm reversing valve is connected with a hydraulic main pressure oil circuit and an oil return circuit of the excavator, the hydraulic output end of the support arm reversing valve is connected with a support arm adjusting oil cylinder, the control end of the support arm reversing valve is connected with the support arm electromagnetic valve, the hydraulic input end of the counterweight arm reversing valve is connected with a hydraulic main pressure oil circuit and the oil return circuit of the excavator, the hydraulic output end of the counterweight arm reversing valve is connected with a counterweight arm angle adjusting oil cylinder, the control end of the counterweight arm reversing valve is connected with the counterweight arm electromagnetic valve, the support arm operating switch is electrically connected with the support arm electromagnetic valve, the support arm operating switch, and the control of the included angle between the counterweight arm and the movable arm large arm by the counterweight arm operation switch is realized.
2. The energy saving excavator control system of claim 1, wherein: the control device further comprises a counterweight arm limit switch, the hydraulic adjusting device further comprises a movable arm large arm pilot electromagnetic valve, a hydraulic port of the movable arm large arm pilot electromagnetic valve is connected with a movable arm large arm control oil way of the excavator hydraulic distributor, and the counterweight arm limit switch is electrically connected with the movable arm large arm pilot electromagnetic valve to control the action state of the movable arm large arm through the counterweight arm limit switch.
3. The energy saving excavator control system of claim 1, wherein: the control device also comprises an electronic control unit, the counterweight arm limit switch is connected with the input end of the electronic control unit, the output end of the electronic control unit is connected with and controls the boom big arm pilot electromagnetic valve, the support arm operating switch is connected with the input end of the electronic control unit, the output end of the electronic control unit is connected with and controls the support arm electromagnetic valve, the counterweight arm operating switch is connected with the input end of the electronic control unit, and the output end of the electronic control unit is connected with and controls the counterweight arm electromagnetic valve.
4. The energy saving excavator control system of claim 1, wherein: the excavator support arm inclination angle detection device comprises an angle sensor, and the angle sensor is used for detecting the gradient of the excavator, the support arm inclination angle, the movable arm large arm inclination angle and the counterweight arm inclination angle.
5. The energy saving excavator control system of claim 1, wherein: the hydraulic adjusting device further comprises a counterweight arm unloading electromagnetic valve, the hydraulic input end of the counterweight arm unloading electromagnetic valve is connected with the counterweight arm angle adjusting oil cylinder oil circuit, the hydraulic output end of the counterweight arm unloading electromagnetic valve is connected with the excavator hydraulic oil return circuit, the control end of the counterweight arm unloading electromagnetic valve is electrically connected with the output end of the control device, and the control device detects information and the state of a counterweight arm limit switch through the information acquisition device and correspondingly controls the counterweight arm unloading electromagnetic valve.
6. The energy saving excavator control system of claim 1, wherein: the hydraulic adjusting device also comprises an explosion-proof valve which is connected with each oil cylinder hydraulic pipeline.
7. The energy saving excavator control system of claim 2, wherein: the counterweight arm limit switch is a mechanical switch or an inductive switch, such as a travel switch, a photoelectric inductive switch and a proximity switch.
8. The energy saving excavator control system of claim 4, wherein: the information detection device further comprises a pressure sensor, and the pressure sensor is used for detecting the pressure of the excavator system.
9. The energy saving excavator control system of claim 4, wherein: the angle sensor is an inclination angle sensor or an angular displacement sensor.
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| CN110777863A (en) * | 2019-11-01 | 2020-02-11 | 董志强 | Energy-saving excavator control system |
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