CN114960800A - Deflection adjusting system and method - Google Patents
Deflection adjusting system and method Download PDFInfo
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- CN114960800A CN114960800A CN202210703557.6A CN202210703557A CN114960800A CN 114960800 A CN114960800 A CN 114960800A CN 202210703557 A CN202210703557 A CN 202210703557A CN 114960800 A CN114960800 A CN 114960800A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000003247 decreasing effect Effects 0.000 claims abstract description 7
- 238000004364 calculation method Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004164 analytical calibration Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Classifications
-
- 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
-
- 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
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a deflection adjusting system and a deflection adjusting method, wherein the method comprises the steps of receiving a current swing angle of a movable arm acquired in advance, judging the position according to the current swing angle of the movable arm, and transmitting the position to a controller; the controller controls the movable arm to perform left-handed or right-handed movement; obtaining the time T when the boom swings from the leftmost side to the right by the allowed maximum angle Right side And the time when the maximum angle allowed by the swing of the movable arm from the rightmost side to the left is obtained and is recorded as T Left side of (ii) a For T Right side And T Left side of And comparing and calculating, and controlling the yaw speed by increasing or decreasing the current of the proportional solenoid valve after comparison to achieve the consistent yaw speed.
Description
Technical Field
The invention relates to a deflection adjusting system and a deflection adjusting method, and belongs to the technical field of engineering machinery.
Background
Along with the development of society, engineering machinery, particularly an excavator, is more and more indispensable in engineering construction, the accuracy requirement of the market on the response of a movable arm of the excavator is higher, and the speed and the accurate response degree of the movable arm directly influence the operation efficiency of the whole excavator.
When the movable arm performs left-right deflection action, deflection speeds in left and right directions are different due to the performance difference of the proportional solenoid valve, the size cavity of the oil cylinder and other factors, and adjustment is difficult.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a deflection adjusting system and a deflection adjusting method, so that the automatic calibration of the deflection speed of a movable arm is realized.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a yaw adjusting system, including a boom, and a left yaw proportional solenoid valve and a right yaw proportional solenoid valve for driving the boom, further including:
the angle sensor is used for acquiring the current swing angle of the movable arm and transmitting the current swing angle to the instrument through a CAN (controller area network) signal;
the instrument is used for judging the position according to the current swing angle of the movable arm and transmitting the position to the controller;
and the controller is used for outputting current to the left deflection proportional electromagnetic valve and the right deflection proportional electromagnetic valve and driving the movable arm to perform deflection motion.
In a second aspect, the present invention provides a yaw adjusting method, including:
receiving a current swing angle of the movable arm acquired in advance, judging the position according to the current swing angle of the movable arm, and transmitting the position to the controller; the controller controls the movable arm to perform left deviation or right deviation action;
the time when the maximum angle allowed by the swing of the movable arm from the leftmost side to the right is obtained and is recorded as T Right side And an acquisition motionThe time at which the arm deflects from the rightmost side to the left by the maximum allowable angle is denoted as T Left side of ；
For T Right side And T Left side of And performing comparison calculation, and controlling the deflection speed by increasing or decreasing the current of the proportional solenoid valve after comparison to achieve the consistency of the left deflection speed and the right deflection speed.
Further, the controller controls the boom to perform a left-hand or right-hand operation, including:
the controller outputs current to the left deflection proportional electromagnetic valve to drive the movable arm to perform deflection action, when the angle sensor obtains the maximum angle allowed by left deflection, the instrument controls the movable arm to stop acting, and at the moment, the instrument judges that the movable arm reaches the leftmost position;
the controller outputs current to the right deflection proportional electromagnetic valve to drive the movable arm to perform deflection action, when the angle sensor obtains the maximum angle allowed by right deflection, the instrument controls the movable arm to stop action, and at the moment, the instrument judges that the movable arm reaches the rightmost position.
Further, the time when the maximum allowable angle of the swing of the movable arm from the leftmost side to the right is obtained is recorded as T Right side And the time when the maximum angle allowed by the swing of the movable arm from the rightmost side to the left is obtained and is recorded as T Left side of The method comprises the following steps:
the instrument outputs current to the right deflection proportional electromagnetic valve through the controller, timing is started simultaneously, when the angle sensor obtains the maximum angle allowed by right deflection, the instrument controls the movable arm to stop acting and stops timing, and the time is recorded as T Right;
the instrument outputs current to the left deflection proportional electromagnetic valve through the controller, timing is started, when the angle sensor obtains the maximum angle allowed by left deflection, the instrument controls the movable arm to stop acting and stops timing, and the time is recorded as T Left side of 。
Further, the pair T Right side And T Left side of Carry out the comparison and calculate, through increasing or reducing proportion solenoid valve current control beat speed after the comparison, reach that the beat speed is unanimous from side to side, include:
instrument pair T Right side And T Left side of Comparing and calculating, regulating the current value of the proportional electromagnetic valve to the left and right yaw by the controller, repeating the previous actions, and recording T for multiple times Right side And T Left side of Finally, make T Right side And T Left side of Approximately the same, the swing speeds of the movable arm in the left and right directions are consistent.
In a third aspect, the present invention provides a yaw adjustment apparatus, comprising:
the receiving and judging unit is used for receiving the pre-acquired current swing angle of the movable arm, judging the position according to the current swing angle of the movable arm and transmitting the position to the controller; the controller controls the movable arm to perform left deviation or right deviation action;
an acquisition unit for acquiring the time T when the movable arm swings from the leftmost side to the right by the allowed maximum angle Right side And the time when the maximum angle allowed by the swing of the movable arm from the rightmost side to the left is obtained and is recorded as T Left side of ；
A contrast calculation and adjustment unit for comparing T Right side And T Left side of And performing comparison calculation, and controlling the deflection speed by increasing or decreasing the current of the proportional solenoid valve after comparison to achieve the consistency of the left deflection speed and the right deflection speed.
In a fourth aspect, the present invention provides a yaw adjusting apparatus, including a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of the preceding claims.
In a fifth aspect, the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any one of the preceding claims.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a deflection adjusting system and a deflection adjusting method, wherein the position of a movable arm is judged through an angle sensor, the left deflection and the right deflection of the movable arm are automatically carried out, speed comparison is intelligently carried out through an instrument, and the deflection speed is controlled by increasing and reducing the current of a proportional electromagnetic valve after comparison, so that the left deflection speed and the right deflection speed are consistent.
Drawings
FIG. 1 is a schematic structural diagram of a yaw adjustment system according to an embodiment of the present invention;
fig. 2 is a flowchart of a yaw adjustment method according to an embodiment 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.
Example 1
This embodiment introduces a yaw adjustment system, including:
including the swing arm and the left deflection proportion solenoid valve, the right deflection proportion solenoid valve that are used for driving the swing arm, still include:
the angle sensor is used for acquiring the current swing angle of the movable arm and transmitting the current swing angle to the instrument through a CAN (controller area network) signal;
the instrument is used for judging the position according to the current swing angle of the movable arm and transmitting the position to the controller;
and the controller is used for outputting current to the left deflection proportional electromagnetic valve and the right deflection proportional electromagnetic valve and driving the movable arm to perform deflection motion.
As shown in fig. 1, the yaw adjusting system provided in this embodiment includes an angle sensor, a controller, a meter, a left yaw proportional solenoid valve, a right yaw proportional solenoid valve, a boom, and the like.
The maximum angle allowed by the left deflection of the movable arm and the maximum angle allowed by the right deflection of the movable arm are set on the instrument, and an automatic calibration and adjustment program of the movable arm is started through an instrument calibration switch. After a program is started, an angle sensor acquires the current swing angle of the movable arm and transmits the current swing angle to an instrument through a CAN (controller area network) signal, the instrument judges the position according to the current swing angle of the movable arm and transmits the position to a controller, and the controller outputs current to a left swing proportional electromagnetic valve to drive the movable armThe arm performs deflection action, when the angle sensor acquires the maximum angle allowed by left deflection, the instrument controls the movable arm to stop action, at the moment, the instrument judges that the movable arm reaches the leftmost position, then the instrument outputs current to the right deflection proportional electromagnetic valve through the controller, timing is started, when the angle sensor acquires the maximum angle allowed by right deflection, the instrument controls the movable arm to stop action and stops timing, and the time is recorded as T Right side . Then the instrument outputs current to the left deflection proportional electromagnetic valve through the controller, timing is started, when the angle sensor obtains the maximum angle allowed by left deflection, the instrument controls the movable arm to stop acting and stops timing, and the time is recorded as T Left side of . Instrument pair T Right side And T Left side of Carrying out comparison calculation, adjusting the current value of the controller to the left-right deflection proportional electromagnetic valve, repeating the previous actions, and recording T for multiple times Right side And T Left side of Finally, make T Right side And T Left side of The same approximation is achieved, and the purpose of automatic calibration and adjustment of the left and right deflection of the movable arm is achieved.
Example 2
The embodiment provides a yaw adjusting method, which comprises the following steps:
receiving a current swing angle of the movable arm acquired in advance, judging the position according to the current swing angle of the movable arm, and transmitting the position to the controller; the controller controls the movable arm to perform left-handed or right-handed movement;
the time when the maximum angle allowed by the swing of the movable arm from the leftmost side to the right is obtained and is recorded as T Right side And the time when the maximum angle allowed by the swing of the movable arm from the rightmost side to the left is obtained and is recorded as T Left side of ；
For T Right side And T Left side of And performing comparison calculation, and controlling the deflection speed by increasing or decreasing the current of the proportional solenoid valve after comparison to achieve the consistency of the left deflection speed and the right deflection speed.
Further, the controller controls the boom to perform a left-hand or right-hand operation, including:
the controller outputs current to the left deflection proportional electromagnetic valve to drive the movable arm to perform deflection action, when the angle sensor obtains the maximum angle allowed by left deflection, the instrument controls the movable arm to stop acting, and at the moment, the instrument judges that the movable arm reaches the leftmost position;
the controller outputs current to the right deflection proportional electromagnetic valve to drive the movable arm to perform deflection action, when the angle sensor obtains the maximum angle allowed by right deflection, the instrument controls the movable arm to stop action, and at the moment, the instrument judges that the movable arm reaches the rightmost position.
Further, the time when the maximum allowable angle of the swing of the movable arm from the leftmost side to the right is obtained is recorded as T Right side And the time when the maximum angle allowed by the swing of the movable arm from the rightmost side to the left is obtained and is recorded as T Left side of The method comprises the following steps:
the instrument outputs current to the right deflection proportional electromagnetic valve through the controller, timing is started simultaneously, when the angle sensor obtains the maximum angle allowed by right deflection, the instrument controls the movable arm to stop acting and stops timing, and the time is recorded as T Right;
the instrument outputs current to the left deflection proportional electromagnetic valve through the controller, timing is started, when the angle sensor obtains the maximum angle allowed by left deflection, the instrument controls the movable arm to stop acting and stops timing, and the time is recorded as T Left side of 。
Further, the pair T Right side And T Left side of Carry out the comparison and calculate, through increasing or reducing proportion solenoid valve current control beat speed after the comparison, reach that the beat speed is unanimous from side to side, include:
instrument pair T Right side And T Left side of Carrying out comparison calculation, adjusting the current value of the controller to the left-right deflection proportional electromagnetic valve, repeating the previous actions, and recording T for multiple times Right side And T Left side of Finally, make T Right side And T Left side of Approximately the same, the swing speeds of the movable arm in the left and right directions are consistent.
The following is further illustrated with reference to the accompanying drawings:
as shown in fig. 2, the maximum allowable boom left-yaw angle and the maximum allowable boom right-yaw angle are set in the meter, and the automatic boom calibration adjustment program is started by the meter calibration switch. After the program is started, the angle sensor acquiresThe current swing arm deflection angle is transmitted to an instrument through a CAN (controller area network) signal, the instrument judges the position according to the current swing arm deflection angle and transmits the position to a controller, current output is performed on a left deflection proportional electromagnetic valve through the controller to drive the swing arm to perform deflection action, when an angle sensor obtains the maximum angle allowed by left deflection, the instrument controls the swing arm to stop acting, the instrument judges that the swing arm reaches the leftmost position at the moment, then the instrument outputs current to a right deflection proportional electromagnetic valve through the controller and starts timing at the same time, when the angle sensor obtains the maximum angle allowed by right deflection, the instrument controls the swing arm to stop acting and stops timing, and the time is recorded as T Right side . Then the instrument outputs current to the left deflection proportional electromagnetic valve through the controller, timing is started, when the angle sensor obtains the maximum angle allowed by left deflection, the instrument controls the movable arm to stop acting and stops timing, and the time is recorded as T Left side of . Instrument pair T Right side And T Left side of Carrying out comparison calculation, adjusting the current value of the controller to the left-right deflection proportional electromagnetic valve, repeating the previous actions, and recording T for multiple times Right side And T Left side of Finally, make T Right side And T Left side of The same approximation is achieved, and the purpose of automatic calibration and adjustment of the left and right deflection of the movable arm is achieved.
Example 3
The present embodiment provides a yaw adjusting apparatus, including:
the receiving and judging unit is used for receiving the pre-acquired current swing angle of the movable arm, judging the position according to the current swing angle of the movable arm and transmitting the position to the controller; the controller controls the movable arm to perform left deviation or right deviation action;
an acquisition unit for acquiring the time T when the movable arm swings from the leftmost side to the right by the allowed maximum angle Right side And the time when the maximum angle allowed by the swing of the movable arm from the rightmost side to the left is obtained and is recorded as T Left side of ；
A contrast calculation and adjustment unit for comparing T Right side And T Left side of Carrying out comparison calculation, and controlling the deflection speed by increasing or decreasing the current of the proportional solenoid valve after comparison to achieve the left-right deflection speedAnd (5) the consistency is achieved.
Example 4
The embodiment provides a deflection adjusting device, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any of embodiment 2.
Example 5
The present embodiment provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method of any of embodiment 2.
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 deflection adjusting system comprises a movable arm, a left deflection proportional electromagnetic valve and a right deflection proportional electromagnetic valve, wherein the left deflection proportional electromagnetic valve and the right deflection proportional electromagnetic valve are used for driving the movable arm, and the deflection adjusting system is characterized by further comprising:
the angle sensor is used for acquiring the current swing angle of the movable arm and transmitting the current swing angle to the instrument through a CAN (controller area network) signal;
the instrument is used for judging the position according to the current swing angle of the movable arm and transmitting the position to the controller;
and the controller is used for outputting current to the left deflection proportional electromagnetic valve and the right deflection proportional electromagnetic valve and driving the movable arm to perform deflection motion.
2. A yaw adjustment method, comprising:
receiving a current swing angle of the movable arm acquired in advance, judging the position according to the current swing angle of the movable arm, and transmitting the position to the controller; the controller controls the movable arm to perform left deviation or right deviation action;
obtaining boom from the leftmostThe time at the maximum angle allowed by lateral-to-right yaw is recorded as T Right side And the time when the maximum angle allowed by the swing of the movable arm from the rightmost side to the left is obtained and is recorded as T Left side of ；
For T Right side And T Left side of And performing comparison calculation, and controlling the deflection speed by increasing or decreasing the current of the proportional solenoid valve after comparison to achieve the consistency of the left deflection speed and the right deflection speed.
3. The yaw adjustment method according to claim 2, wherein the controller controls the boom to perform a left-hand or right-hand operation, including:
the controller outputs current to the left deflection proportional electromagnetic valve to drive the movable arm to perform deflection action, when the angle sensor obtains the maximum angle allowed by left deflection, the instrument controls the movable arm to stop acting, and at the moment, the instrument judges that the movable arm reaches the leftmost position;
the controller outputs current to the right deflection proportional electromagnetic valve to drive the movable arm to perform deflection action, when the angle sensor obtains the maximum angle allowed by right deflection, the instrument controls the movable arm to stop action, and at the moment, the instrument judges that the movable arm reaches the rightmost position.
4. The yaw adjustment method according to claim 2, characterized in that the time when the maximum angle allowed for the boom to yaw from the leftmost side to the right is obtained is denoted as T Right side And the time when the maximum angle allowed by the swing of the movable arm from the rightmost side to the left is obtained and is recorded as T Left side of The method comprises the following steps:
the instrument outputs current to the right deflection proportional electromagnetic valve through the controller, timing is started simultaneously, when the angle sensor obtains the maximum angle allowed by right deflection, the instrument controls the movable arm to stop acting and stops timing, and the time is recorded as T Right;
the instrument outputs current to the left deflection proportional electromagnetic valve through the controller, timing is started, when the angle sensor obtains the maximum angle allowed by left deflection, the instrument controls the movable arm to stop acting and stops timing, and the time is recorded as T Left side of 。
5. The yaw adjustment method of claim 2, wherein the pair T Right side And T Left side of Carry out the comparison and calculate, through increasing or reducing proportion solenoid valve current control beat speed after the comparison, reach that the beat speed is unanimous from side to side, include:
instrument pair T Right side And T Left side of Carrying out comparison calculation, adjusting the current value of the controller to the left-right deflection proportional electromagnetic valve, repeating the previous actions, and recording T for multiple times Right side And T Left side of Finally, make T Right side And T Left side of Approximately the same, the swing speeds of the movable arm in the left and right directions are consistent.
6. A yaw adjustment apparatus, comprising:
the receiving and judging unit is used for receiving the pre-acquired current swing angle of the movable arm, judging the position according to the current swing angle of the movable arm and transmitting the position to the controller; the controller controls the movable arm to perform left deviation or right deviation action;
an acquisition unit for acquiring the time T when the movable arm swings from the leftmost side to the right by the allowed maximum angle Right side And the time when the maximum angle allowed by the swing of the movable arm from the rightmost side to the left is obtained and is recorded as T Left side of ；
A contrast calculation and adjustment unit for comparing T Right side And T Left side of And performing comparison calculation, and controlling the deflection speed by increasing or decreasing the current of the proportional solenoid valve after comparison to achieve the consistency of the left deflection speed and the right deflection speed.
7. A yaw adjusting device is characterized in that: comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of claims 2 to 5.
8. A computer-readable storage medium having stored thereon a computer program, characterized in that: the program when executed by a processor implements the steps of the method of any one of claims 2 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210703557.6A CN114960800B (en) | 2022-06-21 | 2022-06-21 | Deflection adjusting system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210703557.6A CN114960800B (en) | 2022-06-21 | 2022-06-21 | Deflection adjusting system and method |
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| Publication Number | Publication Date |
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| CN114960800A true CN114960800A (en) | 2022-08-30 |
| CN114960800B CN114960800B (en) | 2024-03-29 |
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| CN202210703557.6A Active CN114960800B (en) | 2022-06-21 | 2022-06-21 | Deflection adjusting system and method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0978632A (en) * | 1995-09-08 | 1997-03-25 | Hitachi Constr Mach Co Ltd | Device for preventing interference of hydraulic shovel |
| JPH09203069A (en) * | 1996-01-25 | 1997-08-05 | Hitachi Constr Mach Co Ltd | Boom swing type hydraulic shovel |
| KR19990015282A (en) * | 1997-08-04 | 1999-03-05 | 도미키 마사히코 | Boom turning device |
| JP2000034740A (en) * | 1998-07-17 | 2000-02-02 | Hitachi Constr Mach Co Ltd | Offset hydraulic shovel |
| CN1497105A (en) * | 2002-09-26 | 2004-05-19 | 株式会社小松制作所 | Oscillation control device of oscillation type hydraulic digging machine |
-
2022
- 2022-06-21 CN CN202210703557.6A patent/CN114960800B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0978632A (en) * | 1995-09-08 | 1997-03-25 | Hitachi Constr Mach Co Ltd | Device for preventing interference of hydraulic shovel |
| JPH09203069A (en) * | 1996-01-25 | 1997-08-05 | Hitachi Constr Mach Co Ltd | Boom swing type hydraulic shovel |
| KR19990015282A (en) * | 1997-08-04 | 1999-03-05 | 도미키 마사히코 | Boom turning device |
| JP2000034740A (en) * | 1998-07-17 | 2000-02-02 | Hitachi Constr Mach Co Ltd | Offset hydraulic shovel |
| CN1497105A (en) * | 2002-09-26 | 2004-05-19 | 株式会社小松制作所 | Oscillation control device of oscillation type hydraulic digging machine |
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| Publication number | Publication date |
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| CN114960800B (en) | 2024-03-29 |
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