CN2900632Y - Electromechanical integrated digging machine - Google Patents
Electromechanical integrated digging machine Download PDFInfo
- Publication number
- CN2900632Y CN2900632Y CN 200620050330 CN200620050330U CN2900632Y CN 2900632 Y CN2900632 Y CN 2900632Y CN 200620050330 CN200620050330 CN 200620050330 CN 200620050330 U CN200620050330 U CN 200620050330U CN 2900632 Y CN2900632 Y CN 2900632Y
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- Prior art keywords
- inclination sensor
- excavator
- controller
- engine
- monitoring processor
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- Expired - Fee Related
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- 238000012544 monitoring process Methods 0.000 claims abstract description 27
- 238000002955 isolation Methods 0.000 claims abstract 8
- 230000009471 action Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000009412 basement excavation Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 238000012546 transfer Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000005693 optoelectronics Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000010705 motor oil Substances 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000010721 machine oil Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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- Operation Control Of Excavators (AREA)
Abstract
本实用新型公开了一种机电一体化挖掘机，包括监控处理器、存储器、看门狗、显出屏、语音报警器、光电隔离电路、高速光电隔离电路、计数器、滤波器、通信电路连接，监控处理器分别与存储器、看门狗、显出屏、语音报警器、计数器、滤波器、通信电路相连，光电隔离电路与滤波器相连，高速光电隔离电路与计数器相连；还包括运动控制器、动臂倾角传感器、斗杆倾角传感器、铲斗倾角传感器，动臂倾角传感器、斗杆倾角传感器、铲斗倾角传感器的输出接运动控制器的输入，运动控制器经通信电路与监控处理器相连。本机电一体化挖掘机机可实现预定轨迹的自动挖掘控制，并具有控制精度高、定位准、能耗低的优点。
The utility model discloses a mechanical and electrical integrated excavator, which comprises a monitoring processor, a memory, a watchdog, a display screen, a voice alarm, a photoelectric isolation circuit, a high-speed photoelectric isolation circuit, a counter, a filter, and a communication circuit connection. The monitoring processor is respectively connected with the memory, watchdog, display screen, voice alarm, counter, filter, communication circuit, the photoelectric isolation circuit is connected with the filter, and the high-speed photoelectric isolation circuit is connected with the counter; it also includes a motion controller, The boom inclination sensor, the arm inclination sensor, the bucket inclination sensor, the output of the boom inclination sensor, the arm inclination sensor, and the bucket inclination sensor are connected to the input of the motion controller, and the motion controller is connected to the monitoring processor through the communication circuit. The mechatronics excavator can realize the automatic excavation control of the predetermined trajectory, and has the advantages of high control precision, accurate positioning and low energy consumption.
Description
Technical field
The utility model relates to a kind of excavator, a kind of especially electromechanical integrated excavator
Background technology
Excavator is a kind of engineering machinery that is widely used in building operations, the construction maneuverability, and the efficiency of construction height, but in the excavator work progress, the problem of existence also can not be ignored, and the labour intensity of operation excavator operation is big; The human inconvenience of some adverse circumstances directly enters; The operator must train just for a long time can finish high-quality operation.Therefore improving the electromechanical integration degree of excavator, and then realize automation, the intellectuality of excavator, is to address the above problem optimal scheme.
The utility model content
The purpose of this utility model provides a kind of control device and control method of electromechanical integrated excavator, and existing excavator is operated and control accuracy is not enough, the location is inaccurate to solve, the too high problem of energy consumption.
For realizing above-mentioned purpose, the technical solution of the utility model: comprise monitoring processor, memory, house dog, show screen, phonetic alarm, photoelectric isolating circuit, high speed optoelectronic buffer circuit, counter, wave filter, telecommunication circuit, monitoring processor respectively with memory, house dog, show screen, phonetic alarm, counter, wave filter, telecommunication circuit and link to each other, photoelectric isolating circuit links to each other with wave filter, and the high speed optoelectronic buffer circuit links to each other with counter; Also comprise motion controller, boom angle sensor, dipper obliquity sensor, scraper bowl obliquity sensor, the output of boom angle sensor, dipper obliquity sensor, scraper bowl obliquity sensor connects the input of motion controller, and motion controller links to each other with monitoring processor through telecommunication circuit.
In the above-mentioned electromechanical integrated excavator, also comprise generating laser support, generating laser, height detecting instrument, generating laser props up near the place ahead that is placed on excavator, generating laser places on the generating laser support, the height detecting instrument is fixed on the excavator boom, and the output of height detecting instrument links to each other with monitoring processor.
In the above-mentioned electromechanical integrated excavator, also comprise energy-saving controller, mode selection switch, engine speed setting knob, be input to the engine controller in the energy-saving controller by mode selection switch, engine speed setting knob, and the detection of engine rotating speed enters engine controller formation feedback in real time, regulate the demand of engine throttle adaptation by the straight-line displacement electromagnet, the action of control motor to power; Δ P adjusting knob front pump controller, throttle position and engine speed enter controller, form effectively feedback, and output signal control pump adjuster is realized the control to pump.
Advantage of the present utility model: 1) utilize hard-wired generating laser emitting head rotation emission laser, be installed in the height detecting instrument on the excavator, receive the relative altitude of laser signal and the relative zero-bit of measurement laser beam, draw the positional information of excavator body, can regulate excavation depth in real time, the location position of bucket, thus reach accurate control.Simultaneously, based on elevation guidance information, after finishing the car body location,, can follow the tracks of and control digger operating device according to the equipment kinematics model.2) at excavator swing arm, dipper, scraper bowl obliquity sensor is set respectively, but the operating attitude of real-time monitored excavator provides the position and the attitude information of digger operating device, and the handled easily person compares accurate operation, raise labour productivity, and can realize blind operation.Simultaneously, adopt intelligent position PID to control, can overcome the big inertia of digger operating device according to the pose real time altering pid algorithm of equipment, the parameter uncertainty of the strong nonlinearity of hydraulic system and control model guarantees control accuracy.3) monitoring system can make the operator in time grasp the duty of excavator to monitoring, demonstration and the warning of system's major parameter.Fault diagnosis functions are the numerical value of display device each port of when work in real time, so that when machine breaks down, finds abort situation quickly and easily and keep in repair.4) adopt mode of operation selector switch and diesel speed setting knob to determine the expectation rotating speed of diesel engine jointly, by permanent power and the combination that becomes two kinds of control modes of power, regulate engine throttle and deacclimatize its demand power, reach the matched well of motor, hydraulic pump, load, realize energy-conservation.
Following machine is further described structure of the present utility model and operating principle in conjunction with specific embodiments.
Description of drawings
Fig. 1 is the mounting structure figure of sensor in the utility model.
Fig. 2 is a monitoring system structured flowchart of the present utility model.
Fig. 3 is the utility model automatic control system flow chart.
Fig. 4 is an Energy Saving Control theory diagram of the present utility model.
The specific embodiment
Referring to Fig. 1, the equipment swing arm 1 of excavator is provided with obliquity sensor 2, and dipper 3 is provided with obliquity sensor 4, the obliquity sensor 7 that scraper bowl 6 is provided with.Be provided with generating laser support 8 near the dipper 3 of excavator, generating laser 9 places on the generating laser support 8, and height detecting instrument 5 is fixed on the excavator boom 3, and the output of height detecting instrument 5 links to each other with monitoring processor.During excavator work, with generating laser support 8 level-ofves, laser head rotation on the generating laser 9 and emission laser, height detecting instrument 5 receives laser signal, measure the relative altitude of the relative zero-bit of laser beam, to the monitoring system central processing unit, on the display screen of monitoring system, show elevation by bus transfer, be transferred to motion controller by telecommunication circuit again.
Referring to Fig. 2, Fig. 2 is a monitoring system composition frame chart of the present utility model.Monitoring system of the present utility model comprises monitoring processor, memory, house dog, shows screen, phonetic alarm, photoelectric isolating circuit, high speed optoelectronic buffer circuit, counter, wave filter, telecommunication circuit, motion controller, boom angle sensor, dipper obliquity sensor, scraper bowl obliquity sensor, generating laser, height detecting instrument, monitoring processor respectively with memory, house dog, show screen, phonetic alarm, counter, wave filter, telecommunication circuit and link to each other.Photoelectric isolating circuit links to each other with wave filter, and the positional information of boom angle sensor, dipper obliquity sensor, scraper bowl obliquity sensor is delivered to motion controller through bus transfer, delivers to monitoring processor through telecommunication circuit again, send display screen to show after treatment.The laser signal that the height detecting instrument receives, the relative altitude of the relative zero-bit of measurement laser beam to monitoring processor, shows elevation by bus transfer on display screen.High-speed pulse signal from motor is delivered to counter through photoelectric isolating circuit, delivers to monitoring processor through rolling counters forward.Various switching signals are delivered to monitoring processor and are handled behind photoelectric isolating circuit, wave filter.
Pressure, temperature, the liquid level numerical value of each node also can be realized Based Intelligent Control to a certain extent during the utility model display device work in real time.Monitoring, demonstration and warning have been realized to system's major parameter, comprise: fuel liquid level, engine oil pressure, water temperature, oil temperature, battery voltage is low, engine water temperature is too high, fuel oil is low excessively, cleaner stops up, empty filter is unusual, the oily temperature of hydraulic oil is too high, engine oil pressure is low excessively, the oily temperature of machine oil is too high, water level is crossed low etc.Simultaneously, the fault diagnosis functions of monitoring processor are the numerical value of display device each port of when work in real time, so that when machine breaks down, finds abort situation quickly and easily and keep in repair.
Referring to Fig. 3, Fig. 3 is an excavator automatic control system flow chart in the utility model.The equipment of excavator is handled as the multiple degrees of freedom mechanical hand, utilization is installed in the obliquity sensor 2 on the equipment swing arm 1, obliquity sensor 4 on the dipper 3, obliquity sensor 7 on the scraper bowl 6 is determined the pose of equipment, the signal of three obliquity sensors is by the motion controller 11 of bus transfer to the excavator, utilize the online planning function of motion controller, at definite target trajectory (as straight line, oblique line, circular arc etc.) after, according to kinematics and kinetics planning acquisition equipment is swing arm 1, dipper 3, the motion sequence of scraper bowl 6, a point in the sequence is carried out the parameter setting and obtains pwm signal control guide electro-hydraulic proportional valve, again by guide's electro-hydraulic proportional valve control main valve, drive each hydraulic cylinder action, and the error that detects motion process in real time forms feedback, because digger operating device inertia is big, hydraulic system is non-linear strong, the control model parameter is uncertain, according to the pose of equipment and adopt self-adaptive PID algorithm real time altering controlling parameter, the controlled quentity controlled variable of being revised in real time through PWM output.The action of equipment can cause that the value of three obliquity sensors changes and transmits by bus in real time, form feedback in real time, so circulation is as above controlled each sequence of points, obtain accurate track, only need just can realize automatic control by a button.
Referring to Fig. 4, Fig. 4 is an Energy Saving Control theory diagram of the present utility model.By permanent power and the combination that becomes two kinds of control modes of power, be input to the engine controller in the energy-saving controller 12 by model selection, engine speed setting knob, and the detection of engine rotating speed enters engine controller formation feedback in real time, regulate the demand of engine throttle adaptation by the straight-line displacement electromagnet, the action of control motor to power; Δ P adjusting knob front pump controller, throttle position and engine speed enter controller, form effectively feedback, and output signal control pump adjuster is realized the control to pump; The energy-saving controller that engine controller and pump controller are formed is realized the matched well of motor, hydraulic pump and load jointly, reaches energy-conservation purpose.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620050330 CN2900632Y (en) | 2006-03-17 | 2006-03-17 | Electromechanical integrated digging machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620050330 CN2900632Y (en) | 2006-03-17 | 2006-03-17 | Electromechanical integrated digging machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2900632Y true CN2900632Y (en) | 2007-05-16 |
Family
ID=38084795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620050330 Expired - Fee Related CN2900632Y (en) | 2006-03-17 | 2006-03-17 | Electromechanical integrated digging machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2900632Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102677736A (en) * | 2012-06-11 | 2012-09-19 | 上海三一重机有限公司 | Overload protective system and method of excavator working devices and excavator |
| CN102713087A (en) * | 2009-12-23 | 2012-10-03 | 卡特彼勒公司 | System and method for limiting operator control of an implement |
| CN103938671A (en) * | 2013-04-10 | 2014-07-23 | 常州华达科捷光电仪器有限公司 | Excavator guiding system and method |
| CN104563178A (en) * | 2014-12-25 | 2015-04-29 | 徐工集团工程机械股份有限公司科技分公司 | Automatic adjusting system for lifting and transverse moving of loading machine |
| CN106836364A (en) * | 2017-01-17 | 2017-06-13 | 大连理工大学 | Automatic control system and optimal trajectory planning method of intelligent excavator |
-
2006
- 2006-03-17 CN CN 200620050330 patent/CN2900632Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102713087A (en) * | 2009-12-23 | 2012-10-03 | 卡特彼勒公司 | System and method for limiting operator control of an implement |
| CN102713087B (en) * | 2009-12-23 | 2014-11-26 | 卡特彼勒公司 | System and method for limiting operator control of an implement |
| CN102677736A (en) * | 2012-06-11 | 2012-09-19 | 上海三一重机有限公司 | Overload protective system and method of excavator working devices and excavator |
| CN103938671A (en) * | 2013-04-10 | 2014-07-23 | 常州华达科捷光电仪器有限公司 | Excavator guiding system and method |
| CN104563178A (en) * | 2014-12-25 | 2015-04-29 | 徐工集团工程机械股份有限公司科技分公司 | Automatic adjusting system for lifting and transverse moving of loading machine |
| CN104563178B (en) * | 2014-12-25 | 2017-01-18 | 徐工集团工程机械股份有限公司科技分公司 | Automatic adjusting system for lifting and transverse moving of loading machine |
| CN106836364A (en) * | 2017-01-17 | 2017-06-13 | 大连理工大学 | Automatic control system and optimal trajectory planning method of intelligent excavator |
| CN106836364B (en) * | 2017-01-17 | 2019-02-12 | 大连理工大学 | Automatic control system and optimal trajectory planning method of intelligent excavator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070516 Termination date: 20120317 |