CN113550374B - Flow control method for excavator operation and method for improving lifting speed of movable arm - Google Patents
Flow control method for excavator operation and method for improving lifting speed of movable arm Download PDFInfo
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- CN113550374B CN113550374B CN202110737444.3A CN202110737444A CN113550374B CN 113550374 B CN113550374 B CN 113550374B CN 202110737444 A CN202110737444 A CN 202110737444A CN 113550374 B CN113550374 B CN 113550374B
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- flow
- bucket rod
- flow demand
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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
- E02F9/2221—Control of flow rate; Load sensing arrangements
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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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- 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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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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)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a flow control method for excavator operation and a method for improving the lifting speed of a movable arm, which comprises the following steps: acquiring control handle signals of the simultaneous actions of the lifting of a movable arm and a bucket rod; determining an initial value of the action flow demand of the bucket rod and the flow demand of lifting of the movable arm according to the control handle signal, and determining a bucket rod flow limiting coefficient according to the flow demand of lifting of the movable arm; calculating an end value of the action flow demand of the bucket rod according to the initial value of the action flow demand of the bucket rod and the flow limiting coefficient of the bucket rod; and calculating the sum of the final value of the action flow demand of the bucket rod and flow demand values of other actions of the excavator to obtain the final value of the action flow demand, determining the flow of the main pump according to the final value of the action flow demand, and determining the opening of the bucket rod selection valve according to the final value of the bucket rod flow demand. The advantages are that: when the rotary loading operation is carried out, the lifting speed of the movable arm can be increased under the condition that the oil consumption is not increased, and the working efficiency is further improved.
Description
Technical Field
The invention relates to a flow control method for excavator operation and a method for improving lifting speed of a movable arm, and belongs to the technical field of excavators.
Background
When the excavator is used for loading operation, the boom lifting working pressure is high, and when the arm and the boom lift simultaneously act, the main valve distributes too much flow of a hydraulic system to the arm, so that the problem that the boom does not move or acts slowly occurs.
At present, the problem that a movable arm does not move or slowly moves when the movable arm lifts and an arm moves due to unreasonable flow distribution during the rotation loading operation of an excavator is caused.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art, provide a flow control method for excavator operation and a method for improving the lifting speed of a movable arm, and solve the problem that the working efficiency is influenced because the movable arm of the excavator is not moved or acts slowly when the excavator rotates for loading operation.
In order to solve the above technical problem, the present invention provides a flow control method for excavator operation, including:
acquiring a control handle signal of simultaneous actions of movable arm lifting and a bucket rod;
determining an initial value of the action flow demand of the bucket rod and the flow demand of lifting of the movable arm according to the control handle signal, and determining a bucket rod flow limiting coefficient according to the flow demand of lifting of the movable arm;
and calculating a final value of the action flow demand of the bucket rod according to the initial value of the action flow demand of the bucket rod and the flow limiting coefficient of the bucket rod.
Further, the process of determining the bucket rod flow limiting coefficient according to the boom lift flow demand includes:
and acquiring a hydraulic working pressure limit value of the excavator action, and determining an arm flow limiting coefficient according to the boom lifting flow demand under the condition that the hydraulic working pressure limit value is lower than the hydraulic working pressure limit value.
Further, the final value of the bucket rod action flow demand is obtained by multiplying the initial value of the bucket rod action flow demand by the bucket rod flow limiting coefficient.
A flow control system for excavator work, comprising:
the acquisition module is used for acquiring a control handle signal of simultaneous actions of movable arm lifting and a bucket rod;
the determining module is used for determining an initial value of the action flow demand of the bucket rod and the flow demand of the lifting of the movable arm according to the control handle signal and determining a bucket rod flow limiting coefficient according to the lifting flow demand of the movable arm;
and the calculation module is used for calculating a final value of the action flow demand of the bucket rod according to the initial value of the action flow demand of the bucket rod and the flow limiting coefficient of the bucket rod.
Further, the determining module comprises: a coefficient-determining module for determining a coefficient of the image,
the method is used for obtaining a hydraulic working pressure limit value of the excavator action, and determining an arm flow limiting coefficient according to a boom lifting flow demand under the condition that the hydraulic working pressure limit value is lower than the hydraulic working pressure limit value.
Further, the computing module is configured to, based on the received signal,
and the method is used for multiplying the initial value of the bucket arm action flow demand by the bucket arm flow limiting coefficient to obtain a final value of the bucket arm action flow demand.
Furthermore, the acquisition module comprises a control handle signal sensor module, and is used for acquiring control handle signals of the simultaneous actions of the lifting of the movable arm and the bucket rod.
A method for improving lifting speed of a movable arm in excavator operation comprises the following steps:
acquiring a final value of the bucket rod action flow requirement determined by the flow control method;
acquiring flow demand values of other actions of the excavator;
and calculating the sum of the final value of the action flow demand of the bucket rod and flow demand values of other actions of the excavator to obtain the final value of the action flow demand, determining the flow of the main pump according to the final value of the action flow demand, and determining the opening of the bucket rod selection valve according to the final value of the bucket rod flow demand.
A system for increasing boom lift speed for excavator work, comprising:
the data acquisition module is used for acquiring flow demand values of other actions of the excavator and the final value of the flow demand of the bucket rod action determined by the flow control method;
a control module, comprising: the device comprises a final value calculation module, a flow determination module and an opening determination module;
the final value calculating module is used for calculating the sum of the final value of the action flow demand of the bucket rod and flow demand values of other actions of the excavator to obtain the final value of the action flow demand;
the flow determining module is used for determining the flow of the main pump according to the action flow demand final value;
and the opening determining module is used for determining the opening of the bucket rod selecting valve according to the bucket rod flow demand final value.
Further, the system also comprises a main pump electromagnetic valve, a main pump, a bucket rod selection valve electromagnetic valve and a bucket rod selection valve;
the control module is respectively connected with a main pump electromagnetic valve and a bucket rod selection valve electromagnetic valve, and the main pump electromagnetic valve and the bucket rod selection valve electromagnetic valve are respectively connected with a main pump and a bucket rod selection valve;
the main pump electromagnetic valve is used for carrying out corresponding actions according to the flow size of the main pump determined by the flow determination module;
and the electromagnetic valve of the bucket rod selection valve is used for performing corresponding actions according to the opening size of the bucket rod selection valve determined by the opening determination module.
The invention achieves the following beneficial effects:
when the rotary loading operation is carried out, the lifting speed of the movable arm can be increased under the condition that the oil consumption is not increased, and the working efficiency is further improved.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
fig. 2 is a schematic diagram of the system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, the present embodiment is a method for increasing a lifting speed of a boom during a loading operation of an excavator, including:
acquiring a control handle signal of the action of the excavator;
determining that the movable arm and the bucket rod act simultaneously or do not act simultaneously according to the control handle signal;
if the two-way valve does not act simultaneously, the current of the main pump electromagnetic valve and the current of the bucket rod selection electromagnetic valve are directly output according to the signal of the control handle.
If the actions are simultaneous, determining an initial value of the action flow demand of the arm according to the control handle signal, acquiring a hydraulic working pressure limit value of the action of the excavator, determining the flow demand of the lifting of a movable arm according to the control handle signal under the condition that the hydraulic working pressure limit value is lower, determining an arm flow limiting coefficient according to the lifting flow demand of the movable arm, wherein the final value of the arm action flow demand is the product of the initial value of the action flow demand of the arm and the arm flow limiting coefficient;
determining the flow of the main pump according to the sum of all action flow demand final values of the excavator, and determining the opening of the bucket rod selection valve according to the bucket rod flow demand final value;
and then, the current of the main pump electromagnetic valve and the current of the bucket rod selection electromagnetic valve are output according to the flow of the main pump and the opening of the main valve bucket rod selection electromagnetic valve.
As shown in fig. 2, the present embodiment is a system for increasing a lifting speed of a boom when an excavator is loading, and the system includes:
the data acquisition module is used for acquiring a control handle signal of the action of the excavator;
a control module comprising a first determination module, a second determination module, and a third determination module,
the first determination module is used for determining that the movable arm lifts and the bucket rod acts simultaneously according to the control handle signal;
the second determination module is used for determining an initial value of the action flow demand of the arm according to the signal of the control handle, determining the flow demand of the lifting of the movable arm according to the signal of the control handle, and determining an arm flow limiting coefficient according to the lifting flow demand of the movable arm, wherein the final value of the action flow demand of the arm is the product of the initial value of the action flow demand of the arm and the arm flow limiting coefficient;
and the third determining module is used for determining the flow of the main pump according to the sum of the flow demand final values of all actions of the excavator and determining the opening of the arm selecting valve according to the arm flow demand final value.
The second determining module comprises a second obtaining module,
the method is used for obtaining a hydraulic working pressure limit value of the excavator action, and determining an arm flow limiting coefficient according to a boom lifting flow demand under the condition that the hydraulic working pressure limit value is lower than the hydraulic working pressure limit value.
The acquisition module comprises a control handle signal sensor module and is used for acquiring a control handle signal value.
The hydraulic control system also comprises a main pump electromagnetic valve, a main pump, a bucket rod selection valve electromagnetic valve and a bucket rod selection valve;
the control module is respectively connected with a main pump electromagnetic valve and a bucket rod selection valve electromagnetic valve, and the main pump electromagnetic valve and the bucket rod selection valve electromagnetic valve are respectively connected with a main pump and a bucket rod selection valve;
the main pump electromagnetic valve is used for performing corresponding actions according to the determined flow of the main pump;
and the bucket rod selection valve electromagnetic valve is used for performing corresponding actions according to the determined opening degree of the bucket rod selection valve.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A flow control method for excavator operation, comprising:
acquiring control handle signals of the simultaneous actions of the lifting of a movable arm and a bucket rod;
determining an initial value of the action flow demand of the bucket rod and the flow demand of lifting of the movable arm according to the control handle signal, and determining a bucket rod flow limiting coefficient according to the flow demand of lifting of the movable arm;
and multiplying the initial value of the action flow demand of the bucket rod by the flow limiting coefficient of the bucket rod to obtain a final value of the action flow demand of the bucket rod.
2. The method of claim 1, wherein the determining the arm flow limiting factor based on the boom lift flow demand comprises:
and acquiring a hydraulic working pressure limit value of the excavator action, and determining an arm flow limiting coefficient according to the boom lifting flow demand under the condition that the hydraulic working pressure limit value is lower than the hydraulic working pressure limit value.
3. A flow control system for excavator work, comprising:
the acquisition module is used for acquiring a control handle signal of simultaneous actions of movable arm lifting and a bucket rod;
the determining module is used for determining an initial value of the action flow demand of the bucket rod and the flow demand of the lifting of the movable arm according to the control handle signal and determining a bucket rod flow limiting coefficient according to the lifting flow demand of the movable arm;
and the calculating module is used for multiplying the initial value of the action flow demand of the bucket rod by the flow limiting coefficient of the bucket rod to obtain a final value of the action flow demand of the bucket rod.
4. The excavator work flow control system of claim 3, wherein the determination module comprises: a coefficient-determining module for determining a coefficient of the image,
the method is used for obtaining a hydraulic working pressure limit value of the excavator action, and determining an arm flow limiting coefficient according to a boom lifting flow demand under the condition that the hydraulic working pressure limit value is lower than the hydraulic working pressure limit value.
5. The flow control system for excavator work of claim 3 wherein the acquisition module comprises a handle signal sensor module for collecting handle signals for boom lift and stick simultaneous actions.
6. A method for improving the lifting speed of a movable arm in excavator operation is characterized by comprising the following steps:
acquiring a final value of the bucket arm action flow demand determined by the flow control method according to claim 1;
acquiring flow demand values of other actions of the excavator;
and calculating the sum of the final value of the action flow demand of the bucket rod and flow demand values of other actions of the excavator to obtain the final value of the action flow demand, determining the flow of the main pump according to the final value of the action flow demand, and determining the opening of the bucket rod selection valve according to the final value of the bucket rod flow demand.
7. A system for improving the lifting speed of a movable arm in excavator operation is characterized by comprising:
a data acquisition module for acquiring flow demand values of other actions of the excavator and a final flow demand value of the arm action determined by the flow control method of claim 1;
a control module comprising: the device comprises a final value calculation module, a flow determination module and an opening determination module;
the final value calculating module is used for calculating the sum of the final value of the action flow demand of the arm and flow demand values of other actions of the excavator to obtain the final value of the action flow demand;
the flow determining module is used for determining the flow of the main pump according to the action flow demand final value;
and the opening determining module is used for determining the opening of the bucket rod selecting valve according to the bucket rod flow demand final value.
8. The system for increasing the boom raising speed in excavator work according to claim 7, further comprising a main pump solenoid valve, a main pump, an arm select valve solenoid valve and an arm select valve;
the control module is respectively connected with a main pump electromagnetic valve and a bucket rod selection valve electromagnetic valve, and the main pump electromagnetic valve and the bucket rod selection valve electromagnetic valve are respectively connected with a main pump and a bucket rod selection valve;
the main pump electromagnetic valve is used for carrying out corresponding actions according to the flow size of the main pump determined by the flow determination module;
and the electromagnetic valve of the bucket rod selection valve is used for performing corresponding actions according to the opening size of the bucket rod selection valve determined by the opening determination module.
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| CN202110737444.3A CN113550374B (en) | 2021-06-30 | 2021-06-30 | Flow control method for excavator operation and method for improving lifting speed of movable arm |
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| CN202110737444.3A CN113550374B (en) | 2021-06-30 | 2021-06-30 | Flow control method for excavator operation and method for improving lifting speed of movable arm |
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| CN113550374A CN113550374A (en) | 2021-10-26 |
| CN113550374B true CN113550374B (en) | 2022-08-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3606976B2 (en) * | 1995-12-26 | 2005-01-05 | 日立建機株式会社 | Hydraulic control system for hydraulic working machine |
| JP5161155B2 (en) * | 2009-06-12 | 2013-03-13 | 株式会社小松製作所 | Work machine and control method of work machine |
| CN106321539B (en) * | 2015-06-24 | 2018-08-14 | 徐工集团工程机械股份有限公司 | Electric proportional flow distribution method and system |
| WO2018020689A1 (en) * | 2016-07-29 | 2018-02-01 | 株式会社小松製作所 | Control system, work machine, and control method |
| CN110984261B (en) * | 2019-11-21 | 2021-05-11 | 中联重科股份有限公司 | Method and device for controlling oil cylinder flow distribution of excavator and excavator |
| CN112922077A (en) * | 2021-03-30 | 2021-06-08 | 三一重机有限公司 | Flow distribution method, excavator control method, electronic device and excavator |
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