CN112127411B - Excavator rotation control system, control method and excavator - Google Patents
Excavator rotation control system, control method and excavator Download PDFInfo
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- CN112127411B CN112127411B CN202010988970.2A CN202010988970A CN112127411B CN 112127411 B CN112127411 B CN 112127411B CN 202010988970 A CN202010988970 A CN 202010988970A CN 112127411 B CN112127411 B CN 112127411B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/225—Control of steering, e.g. for hydraulic motors driving the vehicle tracks
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The embodiment of the invention discloses an excavator rotation control system, an excavator rotation control method and an excavator. This excavator rotation control system is applicable to the excavator, and this rotation control system still includes: the first pressure sensor is arranged on the main oil way and used for detecting the pressure of the main oil way; the second pressure sensor is arranged on the control oil path and used for detecting the pressure of the control oil path; the on-off control valve is arranged on the control oil path and used for controlling the on-off of the control oil path; the controller is connected with first pressure sensor, second pressure sensor and on-off control valve respectively, and the controller is used for: determining whether the main oil passage is stuck based on an output signal of the first pressure sensor; determining whether the control oil path is stuck based on an output signal of the second pressure sensor; and when the clamping stagnation of the main oil way and/or the control oil way is determined, the on-off control valve is controlled to be closed so as to brake the rotary motor. The safe control of the rotation action of the excavator is realized.
Description
Technical Field
The embodiment of the invention relates to a hydraulic control system, in particular to an excavator rotation control system, a control method and an excavator.
Background
The rotation action of the excavator is hydraulic drive, elements in a rotation oil path are precise elements such as a safety locking electromagnetic valve, a pilot control handle, a main valve and the like, and once tiny foreign matters or abrasion impurities enter and cause valve clamping, the rotation oil path can be led to be communicated and rotated, and accidental injury can be caused.
The slewing motion of the excavator is full hydraulic drive at present, and the schematic diagram of the excavator refers to fig. 1 and fig. 2. The sequence of operation of the hydraulic drive system shown in fig. 1 is: when a driver enters a cab, the safety locking electromagnetic valve is in a locking state, the engine is started, when no person is confirmed around the engine, the safety locking electromagnetic valve is released, one path of pilot oil is supplied to a delay valve of the rotary motor, and the motor brake is released; one way is connected to a left control pilot handle, the control pilot handle and a control oil way are connected to a port Pa or a port Pb of a main valve rotation joint, a main valve core is pushed open, and a main oil way is communicated to a port A or a port B of a rotation motor to realize clockwise or anticlockwise rotation. In the hydraulic drive system shown in fig. 2, the pilot oil from the left control handle reaches the control oil path of the delay valve of the rotary motor after passing through the shuttle valve.
The existing rotary motion driving system has the following problems: firstly, after the safety locking electromagnetic valve is clamped, the oil output of the pilot pump can directly go to the motor to release the brake, and secondly, after the safety locking electromagnetic valve is unlocked, the rotary handle and the main valve can cause abnormal rotation under the condition that partial valve clamping occurs, or the brake can not be performed during the rotation.
Disclosure of Invention
The embodiment of the invention provides an excavator rotation control system, a control method and an excavator, which are used for realizing the safety control of rotation action.
In a first aspect, an embodiment of the present invention provides an excavator swing control system, which is suitable for an excavator, where the excavator at least includes a swing motor, the swing control system includes a main valve and a swing motor brake valve, the swing motor communicates with the main valve to form a main oil path, and the swing motor brake valve communicates with a control end of the main valve to form a control oil path; the swing control system further includes:
the first pressure sensor is arranged on the main oil way and used for detecting the pressure of the main oil way;
the second pressure sensor is arranged on the control oil path and used for detecting the pressure of the control oil path;
the on-off control valve is arranged on the control oil path and is used for controlling the on-off of the control oil path;
the controller is respectively connected with the first pressure sensor, the second pressure sensor and the on-off control valve, and is used for: determining whether the main oil passage is stuck based on an output signal of the first pressure sensor; determining whether the control oil passage is stuck based on an output signal of the second pressure sensor; and when the clamping stagnation of the main oil way and/or the control oil way is determined, controlling the on-off control valve to be closed so as to brake the rotary motor.
Optionally, the hydraulic control system further comprises a handle control valve arranged in the control oil path, and the handle control valve comprises a rotation control end and a bucket rod control end;
the first end of the on-off control valve is communicated with the rotary control end, the second end of the on-off control valve is communicated with the rotary motor brake valve, the third end of the on-off control valve is communicated with the bucket rod joint of the main valve, and the fourth end of the on-off control valve is communicated with the bucket rod control end; and the on-off control valve is also used for controlling the on-off of a bucket rod excavation control oil path of the excavator.
Optionally, the second pressure sensor is disposed in the control oil path communicated with the first end of the on-off control valve.
Optionally, the system further comprises a distance detection device;
the distance detection equipment is used for outputting a trigger signal to the controller when detecting that a person is in a preset operation range;
the controller is further configured to: and when a trigger signal output by the distance detection equipment is received, the on-off control valve is controlled to be closed so as to brake the rotary motor.
Optionally, the distance detection device includes a radar and/or a camera.
In a second aspect, an embodiment of the present invention further provides an excavator swing control method, which is applied to the excavator swing control system according to any embodiment of the present invention, where the method is executed by a controller, and the control method includes:
determining whether a main oil passage communicating with the swing motor is stuck based on an output signal of a first pressure sensor;
determining whether a control oil path communicated with the rotary motor brake valve is blocked or not based on an output signal of the second pressure sensor;
and when the clamping stagnation of the main oil path and/or the control oil path is determined, controlling the on-off control valve to be in an off state so as to brake the rotary motor.
Optionally, the determining whether a main oil passage communicating with the swing motor is stuck based on an output signal of the first pressure sensor includes:
if the first pressure sensor outputs a pressure signal, determining that a main valve communicated with the rotary motor is blocked;
and if the first pressure sensor does not output a pressure signal, determining that a main oil path communicated with the rotary motor is normal.
Optionally, the determining whether a control oil path communicated with the swing motor brake valve is stuck based on the output signal of the second pressure sensor includes:
if the second pressure sensor outputs a pressure signal, determining that a safety locking valve communicated with a brake valve of the rotary motor is blocked;
if the second pressure sensor does not output a pressure signal and outputs the pressure signal after the safety locking valve is opened, determining that a handle control valve of the rotary motor is clamped;
and if the second pressure sensor does not output pressure signals before and after the safety locking valve is opened, and the second pressure sensor outputs pressure signals after the rotary handle of the handle control valve acts, determining that the safety locking valve is blocked.
Optionally, the control system further includes a distance detection device, and the distance detection device is configured to output a trigger signal to the controller when detecting that a person is in a preset operation range; the control method further comprises the following steps:
and if the trigger signal output by the distance detection equipment is received, controlling the on-off control valve to be closed so as to brake the rotary motor.
In a third aspect, an embodiment of the present invention further provides an excavator, which includes the excavator swing control system according to any embodiment of the present invention.
In the excavator swing control system provided by the embodiment, the first pressure sensor is arranged in the main oil path communicated with the swing motor, so that the pressure of the main oil path is detected; a second pressure sensor is arranged on a control oil path communicated with the rotary motor brake valve, and pressure detection is carried out on the control oil path; the controller judges the operating states of the main oil way and the control oil way according to the output signals of the first pressure sensor and the second pressure sensor so as to judge whether the main oil way and the control oil way have the clamping stagnation problem or not. The on-off control valve is arranged on the control oil way, and the controller adjusts the running state of the on-off control valve according to the detection results of the main oil way and the control oil way so as to control the brake of the rotary motor, so that when the main oil way and/or the control oil way have the clamping stagnation problem, the rotary motor is braked, and the safety control of the rotary action of the excavator is realized. The embodiment carries out safety control through the gyration action to the excavator, has solved the gyration action because the hydraulic component case blocks and leads to unusual gyration to cause the problem of injury.
Drawings
FIG. 1 is a schematic diagram of the swing action of a prior art excavator;
FIG. 2 is a further schematic diagram of the swing action of a prior art excavator;
fig. 3 is a schematic structural diagram of an excavator swing control system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another excavator swing control system according to an embodiment of the present invention;
fig. 5 is a flowchart of an excavator swing control method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The excavator is an engineering machine with an upper platform capable of rotating 360 degrees, a driver can control a handle to rotate left and right in a cab, and if people enter an operation range, the driver can cause serious injury to the people under the condition that the driver does not observe the work range.
In addition, the rotation action of the excavator is hydraulic drive, and the elements in the rotation oil path are precise elements, such as a safety locking electromagnetic valve, a pilot control handle, a main valve and the like, so that once tiny foreign matters or abrasion impurities enter and cause valve clamping, the rotation oil path can be communicated and rotated, and accidental injury can be caused. The rotation control system provided by the embodiment of the invention is used for solving the problems.
Fig. 3 is a schematic structural diagram of a rotation control system of an excavator according to an embodiment of the present invention, the excavator is suitable for an excavator, the excavator at least includes a rotation motor 10, the rotation control system includes a main valve 20 and a rotation motor brake valve 13, the rotation motor 10 communicates with the main valve 20 to form a main oil path, the rotation motor brake valve 13 communicates with a control end of the main valve 20 to form a control oil path (corresponding to a dotted line portion in the drawing); it is characterized in that the rotation control system further comprises:
the first pressure sensor 1 is arranged on the main oil way and used for detecting the pressure of the main oil way;
the second pressure sensor 2 is arranged on the control oil path and used for detecting the pressure of the control oil path;
the on-off control valve 3 is arranged on the control oil path and is used for controlling the on-off of the control oil path;
the controller 4 is connected with the first pressure sensor 1, the second pressure sensor 2 and the on-off control valve 3 respectively, and the controller 4 is used for: determining whether the main oil passage is stuck based on an output signal of the first pressure sensor 1; determining whether the control oil path is stuck based on an output signal of the second pressure sensor 2; and when the clamping stagnation of the main oil way and/or the control oil way is determined, the on-off control valve 3 is controlled to be closed so as to brake the rotary motor 10.
After the engine of the excavator is started, the safety locking valve of the rotation control system is still in a locking state, the rotation brake is in a disconnection state, the excavator pump starts to supply oil along with the operation of the engine, and the first pressure sensor 1 and the second pressure sensor 2 automatically detect the oil. The first pressure sensor 1 detects the main oil passage, and the second pressure sensor 2 detects the pilot oil passage pressure. If the control valves in the main oil line and the pilot oil line are operating normally, the first pressure sensor 1 and the second sensor should both have no pressure. On the contrary, if the first pressure sensor 1 has a pressure output, it indicates that the main oil passage of the rotary motor 10 is stuck. Similarly, if the second pressure sensor 2 has a pressure output, it indicates that the control oil passage of the rotary motor 10 is stuck.
Based on this principle, the controller 4 can determine whether or not there is a jamming problem in the main oil passage and the control oil passage of the swing motor 10 based on the output signal of the first pressure sensor 1 and the output signal of the second pressure sensor 2.
It is to be noted that the number of the first pressure sensors 1 in the present embodiment may be laid out according to the type of the first pressure sensors 1. When the first pressure sensor 1 is a switching value sensor, the first pressure sensor 1 needs to be arranged on the main oil path communicated with the two ports of the rotary motor 10; when the first pressure sensor 1 is a digital quantity sensor, the first pressure sensor 1 may be provided in any one of the main oil passages communicating the two ports of the rotary motor 10. Fig. 3 illustrates an example in which only the second pressure sensor 2 is a switching value sensor.
The controller 4 may be, for example, an ECU (Electronic Control Unit) of the excavator, the controller 4 determines whether the main oil path of the swing motor 10 is stuck according to the output signal of the first pressure sensor 1, determines whether the Control oil path of the swing motor 10 is stuck according to the output signal of the second pressure sensor 2, and controls the on-off Control valve 3 to open the Control oil path when it is determined that the main oil path is stuck and/or the Control oil path is stuck, so as to Control the brake of the swing motor 10 to be in a braking state, thereby automatically performing braking Control on the swing motor 10 when the main oil path and/or the Control oil path of the swing motor 10 is stuck, and improving the operation safety of the swing Control system.
Optionally, a rotary brake switch 5 may be provided in the control loop of the on-off control valve 3, the rotary brake switch 5 may be a power-off reset switch, and the power supply of the rotary brake switch 5 is from the output end of the controller 4. When the turning brake switch 5 is powered off, the on-off control valve 3 is powered off, and the control oil path to the turning motor brake valve 13 is disconnected, thereby braking the turning motor 10. The advantage of this arrangement is that by providing the swing brake switch 5, manual braking or emergency braking of the swing brake can be achieved. For example, when the detection main oil passage and the control oil passage are normal and the environment is normal, the operator presses the rotary brake switch 5 to electrify the on-off control valve 3, so that the brake circuit is conducted and the rotary motor 10 works normally. Or when the work is finished, the operator closes the electric lock to enable the rotary brake switch 5 to be powered off and automatically reset to be disconnected. By arranging the rotary brake switch 5, the rotary control system provided by the embodiment of the invention integrates manual control and fault diagnosis functions, can safely and automatically control and acutely control the rotary action of rotary engineering machinery, and effectively reduces the damage caused by the rotary action.
In the excavator swing control system provided by the present embodiment, the first pressure sensor 1 is provided in the main oil passage communicating with the swing motor 10, and the pressure of the main oil passage is detected; a second pressure sensor 2 is arranged on a control oil path communicated with a rotary motor brake valve 13, so that the pressure of the control oil path is detected; the controller 4 judges the operating states of the main oil path and the control oil path according to the output signals of the first pressure sensor 1 and the second pressure sensor 2 so as to judge whether the main oil path and the control oil path have the clamping stagnation problem. The on-off control valve 3 is arranged on the control oil path, and the controller 4 adjusts the running state of the on-off control valve 3 according to the detection results of the main oil path and the control oil path so as to control the brake of the rotary motor 10, so that when the main oil path and/or the control oil path have the clamping stagnation problem, the rotary motor 10 is braked, and the safety control of the rotary action of the excavator is realized. The embodiment carries out safety control through the gyration action to the excavator, has solved the gyration action because the hydraulic component case blocks and leads to unusual gyration to cause the problem of injury.
Optionally, on the basis of the above-described embodiment, reference is continued to fig. 3. The rotary control system also comprises a handle control valve 6 arranged on the control oil way, wherein the handle control valve 6 comprises a rotary control end P1 and a bucket rod control end T1;
the first end of the on-off control valve 3 is communicated with a rotary control end P1, the second end is communicated with a rotary motor brake valve 13, the third end is communicated with an arm joint Pc of a main valve, and the fourth end is communicated with an arm control end T1; the on-off control valve 3 is also used for controlling the on-off of a bucket rod excavation control oil path of the excavator.
The handle control valve 6 is provided with a pilot control handle, and the operator can perform functions of left turning, right turning, digging and the like of the excavator through the pilot control handle.
In the case of braking the swing motor 10, if the arm excavation control oil passage of the handle control valve 6 is opened, it may break the swing motor 10 brake device, and thus in order to protect the machine, the present embodiment adjusts a partial control oil passage to connect the on-off control valve 3 to the swing control end P1 and the arm control end T1 of the handle control valve 6, so that the controller 4 can cut off the arm excavation control oil passage of the excavator to cut off the arm excavation function when the swing motor 10 is in a braking state. That is, in the present embodiment, by providing the on-off control valve 3, the braking control of the swing motor 10 is realized when the jamming failure of the main oil passage and/or the control oil passage is detected, and the control of the arm excavation function of the excavator is also realized, so that the situation that the arm excavation function is out of control and the brake device of the swing motor 10 is damaged when the swing motor 10 is in the braking state is avoided.
For example, the on-off control valve 3 may adopt a five-port on-off solenoid valve, a fifth port of the on-off solenoid valve is communicated with the oil tank 30 and serves as an oil return line of the on-off solenoid valve, and the other four ports of the on-off solenoid valve are correspondingly connected according to the above connection method, so that the braking control of the swing motor 10 and the bucket rod excavating control of the excavator are realized.
Alternatively, on the basis of the above embodiment, the second pressure sensor 2 is provided in the control oil passage communicating with the first end of the on-off control valve 3.
The swing motor 10 can swing in both left and right directions, which are controlled by two pilot oil paths, respectively. Through setting up second pressure sensor 2 in the control oil circuit of on-off control valve 3 first end to when rotary motor 10 rotated towards arbitrary direction, second pressure sensor 2 all can carry out pressure detection to the rotary control oil circuit, and controller 4 can judge whether there is the jamming in the control oil circuit of rotary motor 10 based on the output signal of second pressure sensor 2.
In a specific embodiment of this embodiment, the shuttle valve 11 and the delay valve 12 may be provided in the control oil path. Specifically, one pilot oil inlet end of the shuttle valve 11 is connected to the rotation control end P1 of the handle control valve 6, the other pilot oil inlet end of the shuttle valve 11 is connected to the rotation connection Pb of the main valve, the pilot oil outlet end of the shuttle valve 11 is connected to the on-off control valve 3, the second end of the on-off control valve 3 is connected to the pilot oil inlet end of the delay valve 12, and the pilot oil outlet end of the delay valve 12 is connected to the rotation motor brake valve 13. And the second pressure sensor 2 is arranged on a communication oil path between the pilot oil outlet end of the shuttle valve 11 and the on-off control valve 3, so that the pressure detection of the control oil path of the rotary motor 10 is realized.
Optionally, on the basis of the foregoing embodiment, fig. 4 is a schematic structural diagram of another excavator swing control system provided in the embodiment of the present invention. Referring to fig. 4, the swing control system further includes a distance detection device 7;
the distance detection device 7 is used for outputting a trigger signal to the controller 4 when detecting that a person is in a preset operation range;
the controller 4 is also configured to: when receiving the trigger signal output from the distance detection device 7, the on-off control valve 3 is controlled to close to brake the swing motor 10.
The number of the distance detection devices 7 can be adjusted according to construction requirements and the size of the excavator. The distance detection equipment 7 can automatically output a trigger signal to the controller 4 when a person enters the operation range, so that the controller 4 controls the on-off control valve 3 to act based on the trigger signal to brake the rotary motor 10, the excavator in work is guaranteed not to hurt the person entering the construction site, and safe operation is realized.
Optionally, on the basis of the above-described embodiment, the distance detection device 7 comprises a radar 8 and/or a camera 9.
The camera 9 may be, for example, an intelligent camera 9 equipped with an image processing chip, and after the intelligent camera 9 collects an image, image feature extraction is performed through the built-in image processing chip, and after operation is performed through a preset algorithm, whether a person enters a preset operation range in the current image is automatically determined.
Alternatively, it may be possible to configure an image processing device such as an AI chip in the controller 4, and perform feature extraction and comparison on the image output by the camera 9 to identify whether or not a person currently enters a preset work range. Of course, it may also be recognized whether a person enters the work area currently through other image recognition technologies, and the implementation manner of the image recognition technology is not limited in this embodiment.
The number of the radar 8 and/or the cameras 9 arranged in the present embodiment may be determined according to the monitored area of the work site. And the triggering priority of the radar 8 and/or the camera 9 can be set to be the highest, so that once the radar 8 and/or the camera 9 recognizes that a person enters the operation range, the controller 4 judges the abnormality and controls the on-off control valve 3 to be powered off to brake the rotary motor 10, thereby realizing the function of recognizing and controlling the operation environment and solving the problem that the driver cannot find the person in time to cause injury when the person enters the operation range carelessly in the prior art.
Optionally, on the basis of the above embodiment, reference is continued to fig. 4. A safety lock valve 14 is further included on the control oil line of the swing system, and the controller 4 detects whether the safety lock valve 14 is stuck based on the output signal of the second pressure sensor 2.
Before the excavator is started, a safety locking valve of a rotation control system is in a locking state, a rotation motor is in a braking state, and an engine can be started. After the excavator engine is started, the safety locking valve of the rotation control system is still in a locking state, the rotation brake is in a disconnection state, the excavator pump starts to supply oil along with the operation of the engine, and the first pressure sensor and the second pressure sensor automatically detect. The first pressure sensor detects a main oil passage, and the second pressure sensor detects a pilot oil passage pressure. If the control valves in the main oil path and the pilot oil path operate normally, the first pressure sensor and the second sensor both have no pressure. On the contrary, if the first pressure sensor has pressure output, it indicates that the main oil path of the rotary motor is stuck. Similarly, if the second pressure sensor has a pressure output, it indicates that the control oil passage of the rotary motor is stuck. The above is the core idea of the rotation control method of the present invention, and the rotation control method is specifically described below with reference to the accompanying drawings.
Optionally, fig. 5 is a flowchart of an excavator swing control method according to an embodiment of the present invention, where the excavator swing control method is applicable to an excavator swing control system according to any embodiment of the present invention. The method may be performed by a controller, which may be, for example, an ECU of an excavator. Referring to fig. 5, the method includes the steps of:
and S510, determining whether a main oil path communicated with the rotary motor is blocked or not based on an output signal of the first pressure sensor.
Wherein the main oil passage communicates the motor and the main valve, and thus the main oil passage seizure can be specifically determined as the main valve seizure. This step can be optimized as follows:
if the first pressure sensor outputs a pressure signal, determining that a main valve communicated with the rotary motor is blocked;
and if the first pressure sensor does not output a pressure signal, determining that a main oil path communicated with the rotary motor is normal.
Specifically, when the safety locking valve is locked, the valve body of the main valve cannot block the main oil passage if the main valve is stuck, and the oil passage forms a passage, so that the first pressure sensor at this time can detect the pressure. On the contrary, if the main valve is not stuck, the main oil passage is cut off, and at this time, the main oil passage has no pressure, so that the first pressure sensor has no pressure output. So that the controller can judge whether the main valve has jamming problem based on the output signal of the first pressure sensor.
And S520, determining whether a control oil path communicated with the rotary motor brake valve is blocked or not based on the output signal of the second pressure sensor.
Similarly, if the control oil passage is stuck, the control oil passage cannot be cut off, and thus a passage is formed, so that the second pressure sensor can detect the pressure and output a pressure signal. The control oil circuit relates to more than one control valve, and the pressure of the control oil circuit can present certain regularity when different control valves are jammed, and based on this, in order to specifically determine the jamming position of the control oil circuit, the following optimization can be made:
if the second pressure sensor outputs a pressure signal, determining that a safety locking valve communicated with a brake valve of the rotary motor is clamped;
if the second pressure sensor does not output a pressure signal and outputs the pressure signal after the safety locking valve is opened, determining that the handle control valve of the rotary motor is blocked;
and if the second pressure sensor does not output pressure signals before and after the safety locking valve is opened, and the second pressure sensor outputs pressure signals after the rotary handle of the handle control valve acts, the clamping stagnation of the safety locking valve is determined.
It should be noted that in some embodiments, the swing motor brake valve is configured with a time delay valve, i.e., pilot oil output through the swing control end of the handle control valve enters the motor brake valve through the time delay valve. Under the working condition, if the second pressure sensor outputs a pressure signal, the controller determines that the safety locking valve and the rotary control valve are clamped.
In some embodiments, when the controller detects a particular stuck position, the controller displays the corresponding stuck element via a display configured to alert an excavator operator.
In this embodiment, when the second pressure sensor outputs a pressure signal, the output end of the controller does not output a voltage signal, and at this time, even if the rotary brake switch provided in the on-off control valve control circuit is manually pressed, the on-off control valve is still in an off state, so that the on-off control valve is controlled to be in the off state, and the brake control of the rotary motor is realized.
And S530, when the clamping stagnation of the main oil way and/or the clamping stagnation of the control oil way are determined, controlling the on-off control valve to be in an off state so as to brake the rotary motor.
The controller determines whether the main oil path and the control oil path are blocked or not according to the output signal of the first pressure sensor and the output signal of the second pressure sensor, and controls the on-off control valve to be switched off when the main oil path and/or the control oil path are determined to be blocked or not, at the moment, the brake of the rotary motor is locked, and the rotary motor is braked.
Optionally, in this embodiment, the on-off control of the on-off control valve may be performed by providing a rotary brake switch in a control line of the on-off control valve. The rotary brake switch can supply power through the controller, and when the controller judges that the rotary main oil way and/or the control oil way have clamping stagnation faults, the controller stops supplying power to the rotary control switch, so that the rotary brake switch is powered off and reset, and the on-off control valve is controlled to be in an off state.
According to the excavator rotation control method provided by the embodiment of the invention, the pressure detection is carried out on the main oil circuit of the rotation system through the configured first pressure sensor, the pressure detection is carried out on the control oil circuit of the rotation system through the second pressure sensor, when the controller detects that the first pressure sensor has pressure output, the main oil circuit is determined to have the clamping stagnation fault, and when the controller detects that the second pressure sensor has pressure output, the controller determines that the control oil circuit has the clamping stagnation fault. Therefore, the automatic detection of the main oil path and the control oil path of the rotary system is realized through the arranged pressure sensors and the controller. When the clamping stagnation fault of the main oil path and/or the control oil path is detected, the controller controls the on-off control valve to disconnect the pilot oil path of the braking valve of the rotary motor so as to brake the rotary motor, and further, the automatic control of the rotary system is realized. The problem of among the prior art after safe locking valve card valve, the guide pump oil output probably directly reaches the motor and removes the braking is solved to and after the safe locking valve removes the locking, under the gyration handle, main valve appear some card valve circumstances, probably cause unusual gyration, or can not brake when gyration, realized safe gyration.
Optionally, on the basis of the above technical scheme, the control system further includes distance detection equipment, and the distance detection equipment is configured to output a trigger signal to the controller when detecting that a person is in a preset operation range; the excavator rotation control method further comprises the following steps:
and if a trigger signal output by the distance detection equipment is received, the on-off control valve is controlled to be closed so as to brake the rotary motor.
Specifically, the current swing control system cannot automatically perform the swing brake control when a person enters the working range. This embodiment is through setting up distance check out test set for the excavator, with distance check out test set's detected signal output to the controller to but distance check out test set automated inspection whether someone gets into the operation scope, and when detecting the operation within range personnel, on-off control valve is closed to the automatic trigger control ware, thereby in time brakies the swing motor, avoids the continuation operation of swing motor to cause the injury to personnel, has guaranteed the safe operation of excavator.
The distance detection device may include a radar and/or a camera, and the radar may output a corresponding trigger signal based on the detection result. The camera can be intelligent camera, and it discerns whether someone gets into through carrying out feature extraction to the image of gathering. The specific method of image processing can be referred to in the prior art, and the embodiment is not limited.
According to the embodiment, the distance detection equipment is configured for the excavator, the distance detection equipment is used for automatically detecting personnel entering the operation range, when the personnel entering the operation range are detected, the automatic trigger controller outputs corresponding control signals to control the on-off control valve to be on-off controlled, and then the braking control of the rotary motor is realized, so that the safety of the excavator is greatly improved.
Optionally, an embodiment of the present invention further provides an excavator, where the excavator includes the excavator swing control system described in any embodiment of the present invention. The excavator thus also has the advantages described in any of the embodiments above.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. An excavator swing control system is applicable to an excavator, the excavator at least comprises a swing motor, the swing control system comprises a main valve and a swing motor brake valve, the swing motor is communicated with the main valve to form a main oil path, and the swing motor brake valve is communicated with the control end of the main valve to form a control oil path; characterized in that, the gyration control system still includes:
the first pressure sensor is arranged on the main oil way and used for detecting the pressure of the main oil way;
the second pressure sensor is arranged on the control oil path and used for detecting the pressure of the control oil path;
the on-off control valve is arranged on the control oil path and is used for controlling the on-off of the control oil path;
the controller is respectively connected with the first pressure sensor, the second pressure sensor and the on-off control valve, and is used for: determining whether the main oil passage is stuck based on an output signal of the first pressure sensor; determining whether the control oil passage is stuck based on an output signal of the second pressure sensor; when the main oil way is determined to be clamped and/or the control oil way is determined to be clamped and blocked, the on-off control valve is controlled to be closed so as to brake the rotary motor;
the handle control valve is arranged on the control oil way and comprises a rotary control end and a bucket rod control end;
the first end of the on-off control valve is communicated with the rotary control end, the second end of the on-off control valve is communicated with the rotary motor brake valve, the third end of the on-off control valve is communicated with the bucket rod link of the main valve, and the fourth end of the on-off control valve is communicated with the bucket rod control end; and the on-off control valve is also used for controlling the on-off of a bucket rod excavation control oil path of the excavator.
2. The excavator swing control system of claim 1, wherein the second pressure sensor is provided in the control oil passage communicating with the first end of the on-off control valve.
3. The excavator swing control system of claim 1 further comprising a distance sensing device;
the distance detection equipment is used for outputting a trigger signal to the controller when detecting that a person is in a preset operation range;
the controller is further configured to: and when a trigger signal output by the distance detection equipment is received, the on-off control valve is controlled to be closed so as to brake the rotary motor.
4. The excavator swing control system of claim 3, wherein the distance detection apparatus comprises a radar and/or a camera.
5. An excavator swing control method applied to the excavator swing control system according to any one of claims 1 to 4, the method being executed by a controller, the control method comprising:
determining whether a main oil passage communicating with the swing motor is stuck based on an output signal of a first pressure sensor;
if the second pressure sensor outputs a pressure signal, determining that a safety locking valve communicated with a brake valve of the rotary motor is blocked;
if the second pressure sensor does not output a pressure signal and outputs a pressure signal after the safety locking valve is opened, determining that a handle control valve of the rotary motor is blocked;
if the second pressure sensor does not output pressure signals before and after the safety locking valve is opened, and the second pressure sensor outputs pressure signals after a rotary handle of the handle control valve acts, the clamping stagnation of the safety locking valve is determined;
and when the clamping stagnation of the main oil path and/or the control oil path is determined, controlling the on-off control valve to be in an off state so as to brake the rotary motor.
6. The excavator swing control method of claim 5, wherein the determining whether or not a main oil passage communicating with the swing motor is stuck based on the output signal of the first pressure sensor includes:
if the first pressure sensor outputs a pressure signal, determining that a main valve communicated with the rotary motor is blocked;
and if the first pressure sensor does not output a pressure signal, determining that a main oil path communicated with the rotary motor is normal.
7. The excavator rotation control method of claim 5, wherein the control system further comprises a distance detection device for outputting a trigger signal to the controller when a person is detected within a preset working range; the control method further comprises the following steps:
and if the trigger signal output by the distance detection equipment is received, controlling the on-off control valve to be closed so as to brake the rotary motor.
8. An excavator comprising an excavator slewing control system as claimed in any one of claims 1 to 4.
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| CN115013386B (en) * | 2022-05-30 | 2023-06-23 | 燕山大学 | Hydraulic system protection device control method and control device based on visual recognition |
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