CN102864800A - Horizontal pushing control method and control device of excavator and excavator - Google Patents

Abstract

The invention provides a horizontal pushing control method and device of an excavator and the excavator. The horizontal pushing control method of the excavator comprises the following steps: controlling a bucket rod oil cylinder to push a bucket to operate according to a control instruction of an operator; acquiring the attitude change of the bucket rod in real time; and feeding back and controlling the oil inlet amount of the movable arm oil cylinder according to the posture change of the bucket rod, so that the bucket is at the preset height. When the horizontal pushing operation is carried out, an excavator operator sends out an oil cylinder extending command to an arm oil cylinder through an operating device for controlling the arm, a movable arm oil cylinder is controlled by utilizing attitude feedback of the arm measured in real time, so that the included angle between a movable arm and the horizontal plane and the included angle between the movable arm and the arm are matched and changed, the change of the movable arm is utilized to coordinate the change of the arm, the bucket is guaranteed to be horizontally pushed, the height stability of the bucket is kept, the fatigue degree of the operator is reduced, and partial excavating work is automatically completed.

Description

Horizontal pushing control method and control device of excavator and excavator

technical field

The invention relates to the field of engineering machinery, in particular to a method and control device for horizontally pushing an excavator, and the excavator.

Background technique

Excavators, especially face shovels, require constant push operations. When the excavator completes the leveling operation, it is necessary to keep the height of the bucket stable.

Fig. 1 is the schematic diagram of the operation executive mechanism of the excavator of prior art, as shown in Fig. , as can be seen in the figure, the height of the bucket 11 is determined by the attitude of the stick 12 and the boom 13. And the posture of bucket rod 12 and boom 13 is jointly determined by the expansion and contraction of boom cylinder 14 and boom cylinder 15. When the excavator is performing horizontal push operation, the excavator operator needs to control the boom cylinder 14 and the stick cylinder 15 based on experience at the same time, so that the boom cylinder 14 coordinates with the push of the stick cylinder 15 to ensure that the bucket 11 The height is constant at a predetermined height.

In the prior art, the horizontal push control of the excavator needs to rely on the operator to operate the two hydraulic control mechanisms at the same time according to experience, the workload is heavy, and it is easy to get tired, and the control accuracy is greatly affected by the personal experience of the operator.

Aiming at the problem in the prior art that the horizontal pushing control of the excavator causes a large workload of the operator, no effective solution has been proposed yet.

Contents of the invention

The present invention aims to provide an excavator horizontal pushing control method and control device and the excavator, so as to solve the problem in the prior art that the horizontal pushing control of the excavator leads to a large workload of operators.

In order to achieve the above purpose, according to one aspect of the present invention, a method for controlling horizontal pushing of an excavator is provided. The horizontal push control method of the excavator includes: controlling the arm cylinder to push the bucket according to the control instructions of the operator; acquiring the attitude change of the arm in real time; and controlling the oil intake of the boom cylinder according to the attitude change of the arm, so that the shovel The bucket is at the preset height.

Further, the real-time acquisition of the attitude change of the stick includes: real-time acquisition of any two angles among the angle α1 between the boom and the horizontal plane, the angle α3 between the boom and the stick, and the angle α2 between the stick and the horizontal plane; The attitude change of the arm is calculated according to the above-mentioned arbitrary two angles, the length L1 of the boom, and the length L2 of the arm.

Further, the calculation of the attitude change of the stick according to the above-mentioned arbitrary two angles, the length L1 of the boom, and the length L2 of the stick includes: calculating the height H of the stick according to the calculation formula H=L1·sinα1-L2·sinα2, wherein, α1, α2 and α3 satisfy the following relationship: α1+α2+α3=180°; according to the calculated height H of the stick, the attitude change of the stick is obtained.

Further, controlling the oil intake of the boom cylinder includes: using the PID algorithm to feed back and output the control current of the main pump proportional valve in the hydraulic oil circuit where the boom cylinder is located according to the posture change of the stick.

Further, controlling the operation of the arm cylinder to push the bucket according to the control instructions of the operator includes: receiving the control signal for starting the horizontal push operation; obtaining the attitude of the arm at the moment when the control signal is received, and recording the connection point between the arm and the bucket at this moment and set the altitude as the target altitude of the feedback control.

Further, obtaining the attitude of the stick at the time when the control signal is received includes: acquiring the angle between the boom and the horizontal plane, the angle between the boom and the stick, and the angle between the stick and the horizontal plane at the time when the control signal is received any two angles; according to any two angles at the time of receiving the control signal, the length of the boom, and the length of the stick, calculate the attitude of the stick at the time of receiving the control signal.

According to another aspect of the present invention, a horizontal push control device for an excavator is also provided. The horizontal pushing control device includes: a stick cylinder control module, which is used to control the stick cylinder to push the bucket according to the control instructions of the operator; a stick attitude acquisition module, which is used to acquire the attitude change of the stick in real time; a boom cylinder control module , which is used to feed back the oil intake of the boom oil cylinder according to the posture change of the stick so that the bucket is at a preset height.

Further, the above-mentioned horizontal pushing control device also includes: a start signal receiving module, used to receive the control signal for starting the horizontal pushing operation; a control target acquisition module, used to obtain the attitude of the stick at the moment when the control signal is received, and record the The height of the connection point between the rod and the bucket, and set the height as the target height of the feedback control.

According to another aspect of the present invention, an excavator is also provided. The excavator includes a bucket, a stick, and a boom, wherein the first end of the stick is connected to the bucket, the second end of the stick is connected to the boom, the stick is driven by a stick cylinder, and the boom is driven by a moving arm. The arm cylinder is driven, the stick attitude measuring device is used to obtain the stick attitude; and any one of the above-mentioned horizontal pushing control devices.

Further, the above stick attitude measuring device includes: any two of the three angle sensors of the first angle sensor, the first angle sensor and the third angle sensor, wherein the first angle sensor is arranged on the boom for Measure the angle between the boom and the horizontal plane; the second angle sensor is set at the connection point between the boom and the stick for measuring the angle between the boom and the stick; the third angle sensor is set on the stick, Used for the angle between the stick and the horizontal plane.

Applying the technical scheme of the present invention, during the horizontal push operation, the excavator operator sends an oil cylinder extension command to the stick cylinder through the operating device of the control stick, and controls the boom cylinder by using the attitude feedback of the stick obtained through real-time measurement , so that the angle between the boom and the horizontal plane and the angle between the boom and the stick are matched and changed, and the change of the boom is used to coordinate the change of the stick, so as to ensure that the height of the bucket is stable while pushing the bucket flat. This reduces operator fatigue and automates some excavation work.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is the schematic diagram of the work execution mechanism of the excavator of prior art;

Fig. 2 is a schematic diagram of the geometric structure of the work executing mechanism of the excavator according to the embodiment of the present invention;

3 is a schematic diagram of a boom hydraulic system of an excavator according to an embodiment of the present invention;

Fig. 4 is a schematic diagram of the control data flow of the excavator according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of a horizontal pushing control device of an excavator according to an embodiment of the present invention;

Fig. 6 is a schematic diagram of a method for controlling horizontal pushing of an excavator according to an embodiment of the present invention.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

The embodiment of the present invention provides an excavator. Fig. 2 is a schematic diagram of the geometric structure of the excavator according to the embodiment of the present invention. As shown in Fig. 2, the angle between the arm 12 and the horizontal plane is The included angle between the horizontal planes is α1, and the included angle between the stick 12 and the boom 13 is α3. It can be seen from the figure that the three included angles satisfy the relationship: α1+α2+α3=180°, so we get Any two of the above three angles can be used to obtain the remaining angle according to the above relationship. When the lengths of the boom 13 and the arm 12 are fixed, the height of the bucket 11 can be calculated. Assuming that the distance between the hinge points at both ends of the boom 13 is L1, and the distance between the two ends of the arm 12 hinge point is L2, then the height H of the bucket 11 is calculated according to the formula H=L1·sinα1-L2·sinα2 can be calculated. That is to say, the posture of the stick 12 can be calculated according to the above angles.

The excavator of the embodiment of the present invention includes a bucket 11, a stick 12, and a boom 13, wherein the first end of the stick 12 is connected to the bucket 11, the second end of the stick is connected to the boom 13, and the bucket The rod 12 is driven by the stick cylinder 15, and the boom 13 is driven by the boom cylinder 14. In addition, it also includes: stick posture measuring device, which is used to obtain the posture of the stick 12, and then obtain the measurement bucket height of 11; the controller 36 is connected with the stick attitude measuring device, and is used to control the stick cylinder 15 to push the bucket 11 to work according to the control instructions of the operator, and obtain the attitude of the stick 12 in real time to obtain the attitude of the stick 12 The change feedback controls the boom cylinder 14 according to the attitude change of the high rod 12 , so that the attitude change of the boom 13 matches the attitude change of the stick 12 . It can be seen from FIG. 2 that the height H of the bucket 11 is determined by the attitude of the boom 13 and the attitude of the stick 12 , so that the height H of the bucket 11 can be kept within a certain range during the horizontal pushing process.

Wherein, the stick attitude measuring device may include any two groups of the following three groups of sensors: a first angle sensor for measuring α1, a second angle sensor for measuring α3, and a third angle sensor for measuring α2. Wherein, the first angle sensor can be arranged on the boom 13, the second angle sensor can be arranged at the connection point between the boom 13 and the stick 12, the third angle sensor can be set on the stick 12, the first angle sensor and The specific form of the third angle sensor may be an inclination sensor, and the second angle sensor may use an encoder or the like. According to the structural characteristics of the actual excavator, the angle that the first sensor can actually measure is the angle between the boom 13 and the upper vehicle; and the second sensor senses the angle between the boom 13 and the stick 12, It is relatively better to measure, so it is preferable to use the first sensor and the second sensor, and α2 is correspondingly obtained by α1 and α3.

The bucket height measuring device in the embodiment of the present invention can also install the above three groups of sensors at the same time, thereby using the measured values of the three groups of sensors to verify the measurement accuracy of the sensors according to the relationship of α1+α2+α3=180°, and perform self-checking. Improve reliability.

Applying the excavator of the embodiment of the present invention, when performing horizontal push operation, the operator of the excavator sends an oil cylinder extension command to the oil cylinder of the arm 12 by manipulating the arm extension handle and other operating devices. The angle of α3 changes accordingly. In order to ensure that the height H of the bucket 11 remains stable and the excavator realizes the horizontal push operation, the controller controls the corresponding change of the boom cylinder 14 according to the attitude change of the stick 12, so as to ensure the change of α3 and adjust α1. That is, the change of the boom 13 is used to coordinate the change of the stick 12 to ensure that the height of the bucket 11 remains stable while pushing it horizontally. This reduces operator fatigue and automates some excavation work.

Fig. 3 is a schematic diagram of the boom hydraulic system of the excavator according to the embodiment of the present invention. As shown in the figure, the boom hydraulic system of the excavator of the embodiment of the present invention includes an engine 31 and a gearbox 32 coaxially connected with the engine 31 , hydraulic pump 33, electronically controlled main valve 34, main valve proportional valve 35, controller 36, boom oil cylinder 14. The engine 31 is used to provide raw power, and the hydraulic pump 33 is driven through the gearbox 32 , and the controller outputs corresponding control current to the proportional valve 35 of the electronically controlled main valve 34 according to the variation of the height H of the bucket 11 .

The above boom hydraulic system changes the oil intake of the boom cylinder 14 by controlling the opening of the proportional valve, and can also use other control means for feedback adjustment, such as adjusting the flow rate of the variable pump and other methods to change the boom cylinder 14. of oil intake.

Fig. 4 is the schematic diagram of the control data flow of the excavator according to the embodiment of the present invention, as shown in Fig. The controller 36 simultaneously obtains α1 and α3 at this moment, and calculates the current initial height of the bucket 11, which is recorded as the height target value, that is, the height that the bucket 11 needs to maintain during the horizontal pushing process. Then the operator manipulates the stick to extend the handle to control the range of the flat push, and the controller 36 obtains α1 and α3 in real time to calculate the height of the current bucket 11 and calculates the difference between the real-time height value and the height target value, and uses the difference as The feedback signal is used to control the proportional solenoid valve 35 installed on the electronically controlled main valve 34 to adjust the oil intake of the boom cylinder 14, so that the changes of α3 and α1 are adapted, so that the height of the bucket 11 is always stable at the height target value Within a certain range, achieve the purpose of flat pushing. Wherein, the control signal of the horizontal push operation can be that when the operator presses the "Push Start" button, a rising edge of the electrical signal is sent.

The embodiment of the present invention also provides a horizontal pushing control device of an excavator. The above-mentioned controller 36 can be used as a part of the horizontal pushing control device of the embodiment of the present invention. The control device includes the above controller 36 in excavation for controlling The excavator of the above-mentioned embodiment performs horizontal pushing control. Fig. 5 is a schematic diagram of the horizontal pushing control device of the excavator according to the embodiment of the present invention. As shown in Fig. The control command of the personnel controls the stick cylinder 15 to push the bucket 11 to work; the stick attitude acquisition module 43 is used to obtain the change of the stick attitude in real time, that is, to calculate the height change of the bucket 11; the boom cylinder control module 45 is used to Feedback controls the oil intake of the boom cylinder 14 according to the attitude change of the stick 12 , so that the bucket 11 is at a preset height.

Wherein, the stick attitude acquisition module 43 can acquire any two of the three angles of the angle α1 between the boom 13 and the horizontal plane, the angle α3 between the boom 13 and the stick 12 and the angle α2 between the stick 12 and the horizontal plane in real time. angle; according to any two angles, the length L1 of the boom 13, and the length L2 of the arm 12, calculate the current posture of the arm to obtain the height H of the bucket 11.

The working mode of the boom cylinder control module 45 can be to use the PID algorithm to feedback and adjust the oil intake of the boom cylinder 14 according to the attitude change of the stick 12 , and the specific method of controlling the oil intake can be according to the attitude change of the stick 12 The PID algorithm is used to feed back and output the control current of the main pump proportional valve in the hydraulic oil circuit where the boom cylinder 14 is located. PID (Proportional Integraland Derivative, proportional, integral, differential) control algorithm is a common closed-loop feedback control algorithm, and the control parameters can be preset according to the test data. The control algorithm of the embodiment of the present invention preferably uses the PID method, but is not limited thereto, and other closed-loop control methods can be used if the control precision and speed allow.

Preferably, the horizontal pushing control device of the excavator may also include: a start signal receiving module (not shown in the figure), for receiving a control signal for starting the horizontal pushing operation; a target height acquisition module (not shown in the figure), for The attitude of the stick 12 at the moment when the control signal is received is obtained, and the height of the connection point between the stick 12 and the bucket 11 is recorded at that moment, and the height is set as the target height of the feedback control. Wherein, the specific working steps of the bucket target height acquisition module may be to obtain the angle between the boom 13 and the horizontal plane, the angle between the boom 13 and the stick 12, and the angle between the stick 12 and the horizontal plane when the control signal is received. Any two angles in the three angles; according to any two angles, the length L1 of the boom 13, and the length L2 of the stick 12, calculate the height of the bucket 11 at the time when the control signal is received as the target value of the feedback control.

The embodiment of the present invention also provides a method for controlling the horizontal pushing of the excavator. The method for controlling the horizontal pushing of the excavator can be executed by any one of the control devices for the horizontal pushing of the excavator provided in the above-mentioned embodiments of the present invention, and, The excavator's horizontal push control method can be applied to an excavator including the above control device. Fig. 5 is a schematic diagram of the excavator's horizontal push control method according to an embodiment of the present invention. As shown in Fig. 5, the excavator's horizontal push Control methods include:

Step S51, controlling the arm cylinder 15 to push the bucket 11 according to the operator's control instruction;

Step S53, acquiring the posture change of the stick 12 in real time;

Step S55 , according to the attitude change of the arm 12 , the oil intake of the boom cylinder 14 is feedback-controlled, so that the bucket 11 is at a preset height.

Wherein, step S51 may include: obtaining in real time any two angles among the angle α2 between the boom 13 and the horizontal plane, the angle α3 between the boom 13 and the stick 12, and the angle α1 between the stick 12 and the horizontal plane; The height of the bucket 11 is calculated from any two angles, the length L1 of the boom 13 , and the length L2 of the arm 12 . The three angles satisfy the relationship of α1+α2+α3=180°. The formula for calculating the height of the bucket 11 is H=L1·sin α1−L2·sin α2. Therefore, the height of the stick 12 can be calculated, and the attitude change of the stick can be further obtained.

In the case where the main pump uses a proportional electromagnetic control valve, the oil intake of the controlled boom cylinder 14 can be specifically: according to the height change, use the PID algorithm to feed back the output of the proportional valve of the main pump in the hydraulic oil circuit where the boom cylinder 14 is located. control current.

The method for obtaining the target height of the bucket 11 may also include before step S51: receiving the control signal for starting the horizontal pushing operation; obtaining the attitude of the arm 12 at the time when the control signal is received, and recording the position of the arm 12 and the bucket at this moment. 11 The height of the connection point, and set this height value as the target height of the feedback control.

Preferably, the above-mentioned specific method for acquiring the posture of the stick at the moment when the control signal is received may be: acquiring the angle between the boom 13 and the horizontal plane, the angle between the boom 13 and the stick 12, the angle between the boom 13 and the stick 12 at the moment when the control signal is received any two of the three angles between the rod 12 and the horizontal plane; according to any two angles, the length of the boom 13, and the length of the stick 12, calculate the attitude of the stick 12 at the moment when the control signal is received, so as to determine the shovel bucket 11 height.

Applying the technical scheme of the present invention, during the horizontal push operation, the excavator operator sends an oil cylinder extension command to the stick cylinder through the operating device of the control stick, and controls the boom cylinder by using the attitude feedback of the stick obtained through real-time measurement , so that the angle between the boom and the horizontal plane and the angle between the boom and the stick are matched and changed, and the change of the boom is used to coordinate the change of the stick, so as to ensure that the height of the bucket is stable while pushing the bucket flat. This reduces operator fatigue and automates some excavation work.

Obviously, those skilled in the art should understand that each module or each step of the above-mentioned present invention can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network formed by multiple computing devices Optionally, they can be implemented with program codes executable by a computing device, so that they can be stored in a storage device and executed by a computing device, or they can be made into individual integrated circuit modules, or they can be integrated into Multiple modules or steps are fabricated into a single integrated circuit module to realize. As such, the present invention is not limited to any specific combination of hardware and software.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. the horizontal sliding control method of an excavator is characterized in that, comprising:

Control instruction control bucket arm cylinder according to operating personnel promotes the scraper bowl operation;

Real-time Obtaining dipper attitude changes;

Change the oil inlet quantity of FEEDBACK CONTROL boom cylinder according to the attitude of described dipper, so that described scraper bowl is in preset height.

2. the horizontal sliding control method of excavator according to claim 1 is characterized in that, the variation of Real-time Obtaining dipper attitude comprises:

Any two angles in 2 three angles of the angle α of angle α 3, dipper and the horizontal plane of angle α 1, swing arm and the dipper of Real-time Obtaining swing arm and horizontal plane;

Calculate described dipper attitude variation according to the length L 1 of described any two angles, described swing arm and the length L 2 of described dipper.

3. the horizontal sliding control method of excavator according to claim 2 is characterized in that, comprises according to the length L 1 of described any two angles, described swing arm and the described dipper attitude variation of length L 2 calculating of described dipper:

Design formulas according to H=L1sin α 1-L2sin α 2 is calculated described dipper height H, and wherein, described α 1, α 2 and α 3 satisfy following relation: 3=180 ° of α 1+ α 2+ α;

Drawing described dipper attitude according to the described dipper height H of calculating gained changes.

4. the horizontal sliding control method of excavator according to claim 3 is characterized in that, the oil inlet quantity that changes the FEEDBACK CONTROL boom cylinder according to the attitude of described dipper comprises:

Change the control electric current of main pump proportioning valve in the hydraulic circuit that uses the described boom cylinder of pid algorithm feedback output place according to the attitude of described dipper.

5. the horizontal sliding control method of each described excavator in 4 according to claim 1 is characterized in that, promotes the scraper bowl operation according to operating personnel's control instruction control bucket arm cylinder and comprises:

Receive the control signal that starts the horizontal sliding operation;

Obtain and receive described control signal dipper attitude constantly, and record the height of this moment dipper and scraper bowl tie point, and described height is set to the object height of FEEDBACK CONTROL.

6. the horizontal sliding control method of excavator according to claim 5 is characterized in that, obtains the dipper attitude that receives the described control signal moment and comprises:

Obtain receive described control signal constantly swing arm and any two angles in three angles of angle of angle, dipper and the horizontal plane of angle, swing arm and the dipper of horizontal plane;

Receive described control signal dipper attitude constantly according to receiving described control signal described any two angles, the length of described swing arm and the length computation of described dipper constantly.

7. the horizontal sliding control device of an excavator is characterized in that, comprising:

The bucket arm cylinder control module is used for promoting the scraper bowl operation according to operating personnel's control instruction control bucket arm cylinder;

Dipper attitude acquisition module is used for Real-time Obtaining dipper attitude and changes;

The boom cylinder control module is used for the oil inlet quantity according to the attitude variation FEEDBACK CONTROL boom cylinder of described dipper, so that described scraper bowl is in preset height.

8. the horizontal sliding control device of excavator according to claim 8 is characterized in that, also comprises:

The enabling signal receiver module is used for receiving the control signal that starts the horizontal sliding operation;

Control Target Acquisition module is used for obtaining the dipper attitude that receives the described control signal moment, and records the height of this moment dipper and scraper bowl tie point, and described height is set to the object height of FEEDBACK CONTROL.

9. excavator, comprise scraper bowl, dipper and swing arm, wherein, the first end of described dipper is connected with described scraper bowl, and the second end of described dipper is connected with described swing arm, and described dipper is driven by bucket arm cylinder, described swing arm is driven by boom cylinder, it is characterized in that, also comprise: the dipper attitude measuring is used for obtaining the dipper attitude; And the horizontal sliding control device described in power 7 or 8.

10. excavator according to claim 9 is characterized in that, described dipper attitude measuring comprises: in the first angular transducer, the first angular transducer, three angular transducers of third angle degree sensor any two, wherein,

The first angular transducer is arranged on the described swing arm, is used for measuring the angle between described swing arm and horizontal plane;

The second angular transducer is arranged at the tie point of described swing arm and described dipper, is used for measuring the angle between described swing arm and described dipper;

Third angle degree sensor is arranged on the described dipper, is used for the angle between described dipper and horizontal plane.

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