CN115262549A

CN115262549A - Pile driver rotating device, control method thereof, control device thereof and controller thereof

Info

Publication number: CN115262549A
Application number: CN202210873900.1A
Authority: CN
Inventors: 狄祥; 高见厂; 岳宝根; 杨野; 魏学平; 吴元峰
Original assignee: Zoomlion Earth Moving Machinery Co Ltd; Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
Current assignee: Zoomlion Earth Moving Machinery Co Ltd; Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2022-11-01
Anticipated expiration: 2042-07-22
Also published as: CN115262549B

Abstract

The embodiment of the invention provides a pile driver rotating device and a control method, a control device and a controller thereof, wherein the control method for the pile driver rotating device comprises the following steps: acquiring the switch state of the left rotary switch, the switch state of the right rotary switch, the input state of the left rotary proportional solenoid valve and the input state of the right rotary proportional solenoid valve; and controlling the rotation of the rotary hydraulic motor according to the on-off state of the left rotary switch, the on-off state of the right rotary switch, the input state of the left rotary proportional solenoid valve and the input state of the right rotary proportional solenoid valve. The embodiment of the invention can effectively improve the operation comfort, ensure that the machine performance is better, avoid potential safety hazards caused by misoperation or machine faults in the rotating process and prevent the hydraulic pipelines from being twisted and damaged due to overlarge rotating angle.

Description

Pile driver rotating device, control method thereof, control device thereof and controller thereof

Technical Field

The invention relates to the technical field of pile driver control, in particular to a pile driver rotating device and a control method, a control device and a controller thereof.

Background

At present, most of pile drivers in the market mainly use an excavator, a working device is redesigned according to the requirement of the pile driver, and part of the working device is replaced by a pile driving accessory for pile driving operation. Aiming at the rotation function of the pile driver, the left-right rotation action during working is realized by manually operating a left rotation button and a right rotation button in the prior art. The left rotary switch and the right rotary switch are both provided with self-reset buttons, the left rotary switch and the right rotary switch are switched on and off by pressing down, a driver operates the left rotary switch/the right rotary switch, the controller detects a left rotary signal and a right rotary signal, the controller can output a voltage analog quantity signal to the left rotary electromagnetic switch valve/the right rotary electromagnetic switch valve, the left rotary electromagnetic switch valve/the right rotary electromagnetic switch valve receives the voltage analog quantity signal to start working, a rotary hydraulic motor of a pile driver is controlled to rotate, and then left/right rotation control of the pile driver is achieved. According to the technical scheme, the left-right rotation function of the pile driver is realized through manual operation, the electromagnetic switch valve is used for impacting greatly, the control method is single, the rotating speed of an operator is controlled by the operator to be difficult, the operation comfort is low, if misoperation occurs in work, the hydraulic pipeline of the pile driver is damaged by mutual screwing if the operator rotates to operate in the same direction for too long time, the quick-change inertia is large in the rotation process, and safety accidents are caused when piles fall easily. Therefore, it is urgently needed to provide a technical solution to solve the above technical problems in the prior art.

Disclosure of Invention

An object of an embodiment of the present invention is to provide a pile driver rotating apparatus, a control method thereof, a control apparatus, and a controller, which solve the above technical problems in the prior art.

In order to achieve the above object, a first aspect of the present invention provides a control method for a pile driver rotating apparatus including a left rotation switch, a right rotation switch, a left rotation proportional solenoid valve, a right rotation proportional solenoid valve, and a rotary hydraulic motor, the control method comprising: acquiring the switching state of a left rotary switch, the switching state of a right rotary switch, the input state of a left rotary proportional solenoid valve and the input state of a right rotary proportional solenoid valve; and controlling the rotation of the rotary hydraulic motor according to the on-off state of the left rotary switch, the on-off state of the right rotary switch, the input state of the left rotary proportional solenoid valve and the input state of the right rotary proportional solenoid valve.

In an embodiment of the present invention, a method for controlling a rotation operation of a rotary hydraulic motor according to a state of a left rotation switch, a state of a right rotation switch, an input state of a left rotation proportional solenoid valve, and an input state of a right rotation proportional solenoid valve, includes: under the conditions that the left rotary switch is in a closed state, the right rotary switch is in an open state and the right rotary proportional solenoid valve is in a non-input state, controlling the rotary hydraulic motor to start left rotary motion; and controlling the rotary hydraulic motor to start the right rotation action under the conditions that the left rotation switch is in an off state, the right rotation switch is in an on state and the left rotation proportional solenoid valve is in a non-input state.

In an embodiment of the present invention, controlling a rotary hydraulic motor to start a left rotary motion includes:

the left rotation start control current is determined according to the following formula:

and

outputting left rotation starting control current to a left rotation proportional solenoid valve to control a rotary hydraulic motor to start left rotation;

wherein lr _ current1 is left rotation starting control current, lr _ current _ min is minimum control current required for opening the left rotation proportional solenoid valve spool, lr _ current _ max is minimum control current required for fully opening the left rotation proportional solenoid valve spool, lr _ t1 is time length from the time when the control rotary hydraulic motor starts left rotation action at the current moment, Δ t1 is first time length, and Δ t2 is second time length;

controlling a rotary hydraulic motor to initiate a right rotary motion, comprising:

determining a right rotation start control current according to the following equation:

and

outputting a right rotation starting control current to a right rotation proportional solenoid valve to control the rotary hydraulic motor to start a right rotation action;

wherein rr _ current1 is a right rotation starting control current, rr _ current _ min is a minimum control current required by opening of a valve core of a right rotation proportional solenoid valve, rr _ current _ max is a minimum control current required by full opening of the valve core of the right rotation proportional solenoid valve, rr _ t1 is a time length from the current moment to the start of right rotation of a control rotary hydraulic motor, Δ t1 is a first time length, and Δ t2 is a second time length.

In the embodiment of the invention, the minimum control current required by the valve core of the left-rotation proportional solenoid valve to be opened ranges from 200mA to 400mA, the minimum control current required by the valve core of the left-rotation proportional solenoid valve to be fully opened ranges from 500mA to 800mA, the minimum control current required by the valve core of the right-rotation proportional solenoid valve to be opened ranges from 200mA to 400mA, the minimum control current required by the valve core of the right-rotation proportional solenoid valve to be fully opened ranges from 500mA to 800mA, the first time length ranges from 0 to 0.5s, and the second time length ranges from 0.1s to 2s.

In an embodiment of the present invention, the control device controls the rotation operation of the rotary hydraulic motor according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve, and further includes: under the condition that the left rotary switch is in an off state and the left rotary proportional solenoid valve is in an input state, controlling the rotary hydraulic motor to stop the left rotary motion; and controlling the rotary hydraulic motor to stop the right rotation operation under the condition that the right rotation switch is in an off state and the right rotation proportional solenoid valve is in an input state.

In an embodiment of the present invention, controlling the rotary hydraulic motor to stop the left rotary motion includes:

the left rotation stop control current is determined according to the following equation:

outputting left-rotation stop control current to a left-rotation proportional solenoid valve to control a rotary hydraulic motor to stop left-rotation;

wherein lr _ current2 is left-rotation stop control current, lr _ current _ min is minimum control current required for opening the left-rotation proportional solenoid valve spool, lr _ current _ max is minimum control current required for fully opening the left-rotation proportional solenoid valve spool, lr _ t2 is duration from the time when the control rotary hydraulic motor stops left-rotation action at the present moment, and Δ t3 is third duration;

controlling the rotary hydraulic motor to stop the right rotary motion, comprising:

the right rotation stop control current is determined according to the following formula:

and

outputting a right rotation stop control current to a right rotation proportional solenoid valve to control the rotary hydraulic motor to stop right rotation;

wherein rr _ current2 is a right rotation stopping control current, rr _ current _ min is a minimum control current required by opening of a valve core of the right rotation proportional solenoid valve, rr _ current _ max is a minimum control current required by full opening of the valve core of the right rotation proportional solenoid valve, rr _ t2 is a time length from the current moment when the control rotary hydraulic motor stops right rotation action, and delta t3 is a third time length.

In the embodiment of the invention, the minimum control current required by the valve core of the left-rotation proportional solenoid valve to be opened ranges from 200mA to 400mA, the minimum control current required by the valve core of the left-rotation proportional solenoid valve to be fully opened ranges from 500mA to 800mA, the minimum control current required by the valve core of the right-rotation proportional solenoid valve to be opened ranges from 200mA to 400mA, the minimum control current required by the valve core of the right-rotation proportional solenoid valve to be fully opened ranges from 500mA to 800mA, and the value range of the third time length ranges from 0.1s to 2s.

In an embodiment of the present invention, the control device controls the rotation operation of the rotary hydraulic motor according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve, and further includes: under the condition that the duration of the left rotation proportional solenoid valve in the input state exceeds the fourth duration, stopping outputting the control current to the left rotation proportional solenoid valve so as to stop the left rotation action of the rotary hydraulic motor; and under the condition that the duration of the right rotation proportional solenoid valve in the input state exceeds the fourth duration, stopping outputting the control current to the right rotation proportional solenoid valve so as to stop the right rotation of the rotary hydraulic motor.

In the embodiment of the present invention, the value range of the fourth duration is 3s to 5s.

A second aspect of the invention provides a controller configured to perform the control method for the pile driver rotating apparatus of the foregoing embodiment.

A third aspect of the invention provides a control apparatus for a pile driver rotating apparatus, the pile driver rotating apparatus including a rotating hydraulic motor, the control apparatus comprising: a left rotary switch configured to control start and stop of a left rotary motion of the rotary hydraulic motor; a right rotation switch configured to control start and stop of a right rotation action of the rotary hydraulic motor; a left rotation proportional solenoid valve configured to control a rotation speed of a left rotation action of the rotary hydraulic motor; a right rotation proportional solenoid valve configured to control a rotation speed of a right rotation action of the rotary hydraulic motor; and the controller of the foregoing embodiment.

A fourth aspect of the present invention provides a pile driver rotating apparatus, comprising: a rotary hydraulic motor configured to effect left and right rotary motion of the pile driver rotating device; and the control device for the pile driver rotating device of the foregoing embodiment.

According to the embodiment of the invention, the operation comfort can be effectively improved through the technical scheme, the machine performance is better, the potential safety hazard caused by misoperation or machine fault in the rotation process is avoided, and the hydraulic pipelines are prevented from being twisted and damaged due to overlarge rotation angle.

Additional features and advantages of embodiments of the present invention will be described in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention and not to limit the embodiments of the invention. In the drawings:

FIG. 1 is a flow chart schematic of a control method 100 for a pile driver rotation apparatus of an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a control device 200 for a pile driver rotation device according to an embodiment of the invention;

FIG. 3 is a schematic diagram of the construction of a pile driver rotation apparatus 300 according to an embodiment of the invention;

FIG. 4 is a schematic of the control system of the pile driver rotation apparatus of an example of the invention;

FIG. 5 is a timing diagram of the signals associated with the control logic during a left rotational movement of the control system of the pile driver rotating apparatus of an example of the present invention; and

figure 6 is a timing diagram of the control logic related signals for the process of fast switching of the left rotary motion to the right rotary motion of the control system of the pile driver rotating apparatus of the example of the invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

It should be noted that, if directional indications (such as up, down, left, right, front, and back) \8230;) are referred to in the embodiments of the present application, the directional indications are only used for explaining the relative positional relationship between the components, the motion situation, and the like in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

As shown in fig. 1, in an embodiment of the present invention, there is provided a control method 100 for a pile driver rotating apparatus, the pile driver rotating apparatus including a left rotating switch, a right rotating switch, a left rotating proportional solenoid valve, a right rotating proportional solenoid valve, and a rotating hydraulic motor, the control method 100 for the pile driver rotating apparatus including the steps of:

step S110: and acquiring the switching state of the left rotary switch, the switching state of the right rotary switch, the input state of the left rotary proportional solenoid valve and the input state of the right rotary proportional solenoid valve. Specifically, the switch states include a closed state and an open state, the left rotary switch is configured to control, for example, the start and stop of the left rotary motion of the rotary hydraulic motor, and the right rotary switch is configured to control, for example, the start and stop of the right rotary motion of the rotary hydraulic motor. For example, in the case of a push button switch, if the push button switch is pressed, the push button switch is in a closed state, and a switch signal provided by the push button switch is detected. If the button switch is released, the button switch is in an off state, and the switch signal provided by the button switch cannot be detected. Specifically, for example, the switch state of the corresponding rotary switch may be determined by determining whether the corresponding switch signal is received. The input states include an input state and a no-input state. If a control current is input to the left/right rotation proportional solenoid valve at a certain time, the left/right rotation proportional solenoid valve at the certain time is considered to be in an input state, and if no control current is input to the left/right rotation proportional solenoid valve at the certain time, the left/right rotation proportional solenoid valve at the certain time is considered to be in an input-free state. Further, it should be understood by those skilled in the art that the control current is not output to the right rotary proportional solenoid valve in the process of outputting the control current to the left rotary proportional solenoid valve, and likewise, the control current is not output to the left rotary proportional solenoid valve in the process of outputting the control current to the right rotary proportional solenoid valve, that is, the left rotary proportional solenoid valve and the right rotary proportional solenoid valve are not in the input state at the same time.

Step S130: the rotation operation of the rotary hydraulic motor is controlled according to the on-off state of the left rotary switch, the on-off state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve.

Specifically, the rotation operation of the rotary hydraulic motor is controlled according to the state of the left rotation switch, the state of the right rotation switch, the input state of the left rotation proportional solenoid valve, and the input state of the right rotation proportional solenoid valve, that is, step S130 includes, for example:

(a1) And controlling the rotary hydraulic motor to start the left rotation action under the conditions that the left rotation switch is in a closed state, the right rotation switch is in an open state and the right rotation proportional solenoid valve is in a non-input state. That is, it is determined that the left rotation operation needs to be started when the left rotation switch is in the on state, the right rotation switch is in the off state, and the right rotation proportional solenoid valve is in the no-input state. And

(a2) And under the conditions that the left rotation switch is in an off state, the right rotation switch is in an on state and the left rotation proportional solenoid valve is in a non-input state, controlling the rotary hydraulic motor to start the right rotation action. That is, when the left rotary switch is in the off state, the right rotary switch is in the on state, and the left rotary proportional solenoid valve is in the no-input state, it is determined that the right rotary operation needs to be started.

Specifically, in step (a 1), controlling the rotary hydraulic motor to start the left rotary motion includes, for example:

(a11) The left rotation start control current is determined according to the following formula:

and

(a12) And outputting the left rotation starting control current to the left rotation proportional solenoid valve so as to control the rotary hydraulic motor to start left rotation.

Wherein lr _ current1 is left rotation starting control current, lr _ current _ min is minimum control current required for opening the left rotation proportional solenoid valve spool, lr _ current _ max is minimum control current required for fully opening the left rotation proportional solenoid valve spool, lr _ t1 is time length from the time when the control rotary hydraulic motor starts left rotation action at the current moment, Δ t1 is first time length, and Δ t2 is second time length.

Specifically, in step (a 2), controlling the rotary hydraulic motor to start a right rotary motion includes, for example:

(a21) Determining a right rotation start control current according to the following formula:

and

(a22) And outputting the right rotation starting control current to a right rotation proportional solenoid valve so as to control the rotary hydraulic motor to start right rotation.

Specifically, the minimum control current required for opening the valve core of the left-rotation proportional solenoid valve ranges from 200mA to 400mA, that is, can be any one of values between 200mA and 400mA, such as 200mA, 250mA, 380mA, 400mA, and the like. The minimum control current required by the full opening of the left-rotation proportional solenoid valve spool ranges from 500mA to 800mA, namely, the minimum control current can be any one of 500mA to 800mA, such as 500mA, 680mA, 750mA, 800mA and the like. The minimum control current required by opening the valve core of the right rotary proportional solenoid valve ranges from 200mA to 400mA, namely can be any one of values between 200mA and 400mA, such as 200mA, 250mA, 380mA, 400mA and the like. The minimum control current required by the full opening of the valve core of the right rotary proportional electromagnetic valve ranges from 500mA to 800mA, namely can be any one of the values of 500mA to 800mA, such as 500mA, 680mA, 750mA and 800mA. The first duration may take a value in a range of, for example, 0 to 0.5s, that is, may take any value between 0 to 0.5s, such as 0, 0.15s, 0.28s, 0.3s, 0.46s, 0.5s, and the like. The second duration may have a value ranging from, for example, 0.1s to 2s, that is, may have any value between 0.1s and 2s, such as 0.1s, 0.2s, 1.1s, 1.6s, 2s, and the like.

Further, the step S130 of controlling the rotation operation of the rotary hydraulic motor according to the state of the left rotation switch, the state of the right rotation switch, the input state of the left rotation proportional solenoid valve, and the input state of the right rotation proportional solenoid valve, for example, further includes:

(a3) And controlling the rotary hydraulic motor to stop the left rotation operation when the left rotation switch is in an off state and the left rotation proportional solenoid valve is in an input state. That is, when the left rotary switch is in the off state and the left rotary proportional solenoid valve is in the input state, it is determined that the left rotary operation needs to be stopped. And

(a4) And controlling the rotary hydraulic motor to stop the right rotation operation when the right rotation switch is in an off state and the right rotation proportional solenoid valve is in an input state. That is, when the right rotary switch is in the off state and the right rotary proportional solenoid valve is in the input state, it is determined that the right rotary operation needs to be stopped.

Specifically, in the step (a 3), controlling the rotary hydraulic motor to stop the left rotary motion includes, for example:

(a31) The left rotation stop control current is determined according to the following formula:

(a32) And outputting the left rotation stopping control current to the left rotation proportional solenoid valve to control the rotary hydraulic motor to stop the left rotation.

Wherein, lr _ current2 is left rotation stop control current, lr _ current _ min is minimum control current required for opening the left rotation proportional solenoid valve spool, lr _ current _ max is minimum control current required for fully opening the left rotation proportional solenoid valve spool, lr _ t2 is time length from the time when the control rotary hydraulic motor stops left rotation action at the current moment, and Δ t3 is third time length.

Specifically, in step (a 4), controlling the rotary hydraulic motor to stop the right rotary motion includes, for example:

(a41) The right rotation stop control current is determined according to the following equation:

and

(a42) And outputting the right rotation stopping control current to a right rotation proportional solenoid valve so as to control the rotary hydraulic motor to stop the right rotation.

Specifically, the minimum control current required for opening the valve core of the left-rotation proportional solenoid valve ranges from 200mA to 400mA, that is, can be any one of values between 200mA and 400mA, such as 200mA, 250mA, 380mA, 400mA, and the like. The minimum control current required by the full opening of the valve core of the left-rotation proportional electromagnetic valve can be, for example, 500mA-800mA, namely, can be any value between 500mA-800mA, such as 500mA, 680mA, 750mA, 800mA and the like. The minimum control current required by opening the valve core of the right rotary proportional solenoid valve ranges from 200mA to 400mA, namely can be any one of values between 200mA and 400mA, such as 200mA, 250mA, 380mA, 400mA and the like. The minimum control current required by the full opening of the valve core of the right-rotation proportional solenoid valve can be, for example, 500mA-800mA, that is, can be any value between 500mA-800mA, such as 500mA, 680mA, 750mA, 800mA, and the like. The value range of the third duration is, for example, 0.1s-2s, that is, may be any value between 0.1s and 2s, such as 0.1s, 0.2s, 1.1s, 1.6s, 2s, and the like.

(a5) And under the condition that the duration of the input state of the left rotating proportional solenoid valve exceeds the fourth duration, stopping outputting the control current to the left rotating proportional solenoid valve so as to stop the left rotating action of the rotating hydraulic motor. That is, when the duration of the left rotation proportional solenoid valve in the input state exceeds the fourth duration, it is determined that the left rotation operation needs to be stopped, and at this time, the right rotation operation of the rotary hydraulic motor is stopped by stopping the output of the control current to the left rotation proportional solenoid valve. And

(a6) And under the condition that the duration of the right rotary proportional solenoid valve in the input state exceeds the fourth duration, stopping outputting the control current to the right rotary proportional solenoid valve so as to stop the right rotary motion of the rotary hydraulic motor. That is, when the duration of the input state of the right rotation proportional solenoid valve exceeds the fourth duration, it is determined that the right rotation operation needs to be stopped, and at this time, the right rotation operation of the rotary hydraulic motor is stopped by stopping the output of the control current to the right rotation proportional solenoid valve.

Specifically, the value range of the fourth time period is, for example, 3s to 5s, that is, any value between 3s and 5s, such as 3s, 3.2s, 3.9s, 4.6s, 5s, and the like, may be taken.

Further, the control method 100 for the pile driver rotating apparatus may further include the step of acquiring the relevant parameters of the first time period, the second time period, the third time period and/or the fourth time period, for example. Specifically, the operator sets, for example, the display and other manual interaction devices to set relevant parameters, such as the first time duration, the second time duration, the third time duration, and/or the fourth time duration, the display sends a parameter setting signal including a target setting parameter and a setting value corresponding to the target setting parameter after setting, and the set parameter value can be determined according to the received parameter setting signal. Of course, the embodiment of the present invention is not limited to this, and the relevant parameters, such as the first duration, the second duration, the third duration, and/or the fourth duration, may also be obtained by reading in a local pre-stored manner, or may also be parameters preset in advance, and a step of obtaining these parameters is not required additionally.

The control method 100 for a pile driver rotation apparatus of an embodiment of the invention may be implemented, for example, in a controller, specifically, a complete machine controller of an excavator in which the pile driver is located.

In an embodiment of the invention, a controller is provided, for example configured to perform the control method 100 for a pile driver rotating apparatus according to any one of the previous embodiments.

The detailed functions and details of the control method 100 for the pile driver rotating device can be referred to the related description of the foregoing embodiments, and are not repeated herein.

Specifically, the controller may be a control device such as an industrial personal computer, an embedded system, a microprocessor, and a programmable logic device, and specifically may be a complete machine controller of an excavator where the pile driver is located.

As shown in fig. 2, in an embodiment of the present invention, there is provided a control apparatus 200 for a pile driver rotating apparatus including a rotating hydraulic motor, the control apparatus 200 for a pile driver rotating apparatus including: a controller 210, a left rotary switch 230, a right rotary switch 250, a left rotary proportional solenoid valve 270, and a right rotary proportional solenoid valve 290.

Wherein the controller 210 is, for example, a controller according to any one of the previous embodiments. The detailed functions and details of the controller 210 can be referred to the related descriptions of the foregoing embodiments, and are not repeated herein.

The left rotary switch 230 is configured to control, for example, start and stop of a left rotary motion of the rotary hydraulic motor.

The right rotary switch 250 is configured to control, for example, start and stop of a right rotary motion of the rotary hydraulic motor.

The left rotation proportional solenoid valve 270 is configured to control the rotation speed of the left rotation operation of the rotary hydraulic motor, for example.

The right rotation proportional solenoid valve 290 is configured to control the rotation speed of the right rotation operation of the rotary hydraulic motor, for example.

In an embodiment of the present invention, there is provided a pile driver rotating apparatus 300, including: a control device 310 and a rotary hydraulic motor 330.

Wherein the control device 310 is for example a control device 200 for a pile driver rotation device according to any of the previous embodiments. The detailed functions and details of the control device 310 can be referred to the related descriptions of the foregoing embodiments, and are not repeated herein.

The rotary hydraulic motor 330 is for example configured to achieve a left and a right rotary motion of the pile driver rotating device.

The control method 100 for the pile driver rotating apparatus, the control apparatus 200 for the pile driver rotating apparatus, and the pile driver rotating apparatus 300 according to the embodiments of the present invention will be described in detail with reference to a specific example, which is as follows:

as shown in fig. 4, the present invention provides a control system for a pile driver rotating apparatus, which mainly comprises a display (VDU) 100, a left rotary switch 101, a right rotary switch 102, an Engine Controller (ECM) 201, a complete machine controller (VCU) 202, an engine 203, a main pump 204, a left rotary electromagnetic proportional valve 302, a right rotary electromagnetic proportional valve 303, and a rotary hydraulic motor 304. A display (VDU) 100, a left rotation switch 101, and a right rotation switch 102 are provided in, for example, a cab of an excavator in which a pile driver is located. The main control logic of the control system of the pile driver rotation arrangement of the example of the invention is described below.

The control system of the pile driver rotating device disclosed by the invention adopts the proportional solenoid valve and is combined with the rotating action control strategy, so that the hydraulic impact can be reduced, and the responsiveness and the sensitivity are higher.

(1) Starting a left rotational motion

As shown in fig. 5, when the complete machine controller 202 detects that the right rotary switch 102 is in the off state, that is, the switch signal of the right rotary switch 102 is not received, the control current output to the right rotary proportional solenoid valve 303 is 0, that is, the right rotary proportional solenoid valve 303 is in the non-input state, and the left rotary switch 101 is in the on state, that is, the switch signal of the left rotary switch 101 is received, that is, the condition for starting the left rotary motion is satisfied at this time, the complete machine controller 202 determines that it is currently necessary to control the pile driver rotating apparatus to start the left rotary motion.

The process of controlling the pile driver rotating device to start the left rotating action is as follows:

as shown in fig. 5, in the start-up initial stage, in order to avoid the misoperation, the dead time of t1 is set, and the control current is not output to the left rotation proportional solenoid valve 302 within the time length of t1 (the value range is 0 to 0.5 s) after the condition of starting the left rotation motion is satisfied. Then, the magnitude of the control Current output to the left rotation proportional solenoid valve 302 is linearly increased from Current _ Min to Current _ Max in the next time period t2 (the value range is 0.1s-2 s), and then the magnitude of the control Current output to the left rotation proportional solenoid valve 302 is maintained at Current _ Max. Wherein, current _ Min is the minimum control Current required by the opening of the valve core of the left-rotation proportional solenoid valve 302, and the value range is 200mA-400mA. The Current Max is the minimum control Current required by the full opening of the valve core of the left-rotation proportional solenoid valve 302, and the value range is 500-800mA.

(2) Stopping the left rotation

As shown in fig. 5, when the complete machine controller 202 detects that the left rotary switch 101 is in the off state, that is, the switch signal of the left rotary switch 101 is not received, and the control current output to the left rotary proportional solenoid valve 302 is not 0, that is, the left rotary proportional solenoid valve 302 is in the input state, that is, the condition for stopping the left rotary motion is satisfied, the complete machine controller 202 determines that it is currently necessary to control the pile driver rotating apparatus to stop the left rotary motion.

The process of controlling the pile driver rotating device to stop the left rotating action is as follows:

when it is determined that the pile driver rotating device needs to be controlled to stop the left rotation action, in order to reduce the stop impact, the overall controller 202 linearly reduces the magnitude of the control Current output to the left rotation proportional solenoid valve 302 from Current _ Max to Current _ Min within a time period t3 (with a value range of 0.1s-2 s) after the condition of stopping the left rotation action is met, and further directly reduces the magnitude of the control Current to 0.

(3) Starting right rotation action and stopping right rotation action:

the control principle of starting the right rotation motion is the same as that of starting the left rotation motion, and the control principle of stopping the right rotation motion is the same as that of starting the left rotation motion.

The process of rapidly switching the left rotation to the right rotation as shown in fig. 6 integrates four operation situations of starting the left rotation, stopping the left rotation, starting the right rotation and stopping the right rotation, and several time points in the figure are explained as follows:

(1) node for switching left rotary switch from off state to on state

(2) Node for switching left-handed rotation proportional solenoid valve from non-input state to input state

(3) Node for switching left rotary switch from closed state to open state

(4) Node for switching right rotary switch from off state to on state

(5) Node for switching left-handed rotation proportional solenoid valve from input state to non-input state

(6) Node for switching right-rotation proportional solenoid valve from non-input state to input state

When the node (4) at which the right rotary switch 102 is switched from the open state to the closed state is located before the node (5) at which the left rotary proportional solenoid valve 302 is switched from the input state to the non-input state, that is, when the complete machine controller 202 outputs the control current to the left rotary proportional solenoid valve 302, the right rotary switch 102 is opened and is in the closed state, the current process is a process of quickly switching the left rotary motion to the right rotary motion, and in this state, when the complete machine controller 202 detects the switching signal of the right rotary switch 102, that is, when the right rotary switch 102 is switched to the closed state, the complete machine controller 202 continues to output the corresponding control current to the left rotary proportional solenoid valve 302 according to the control logic which is originally executed to start the left rotary motion, and does not respond to the switching signal of the right rotary switch 102. Until the complete machine controller 202 detects that the switching state of the left rotation switch 101 is switched to the off state, the complete machine controller 202 determines that the left rotation operation needs to be stopped at present, and accordingly outputs the corresponding control current to the left rotation proportional solenoid valve 302 according to the control logic for stopping the left rotation operation until the control current output to the left rotation proportional solenoid valve 302 is reduced to 0, and the complete machine controller does not respond to the switching signal of the right rotation switch 102 during the reduction to 0. When the control Current output to the left rotation proportional solenoid valve 302 is reduced to 0, the complete machine controller 202 starts to respond to the switching signal of the right rotation switch 102, and determines that the right rotation operation needs to be started at present, so that the corresponding control Current is output to the right rotation proportional solenoid valve 303 according to the control logic for starting the right rotation operation until the control Current output to the right rotation proportional solenoid valve 303 is increased from 0 to Current _ Max, and then the control Current output to the right rotation proportional solenoid valve 303 is maintained at Current _ Max until the complete machine controller 202 detects that the right rotation switch 102 is switched to the off state, at this time, the left rotation proportional solenoid valve 302 is also in the no-input state, and determines that the right rotation operation needs to be stopped at present, so that the corresponding control Current is output to the right rotation proportional solenoid valve 303 according to the control logic for stopping the right rotation operation until the control Current output to the right rotation proportional solenoid valve 303 is reduced to 0.

The control principle of the process of rapidly switching the right rotation motion to the left rotation motion is the same as that of the process of rapidly switching the left rotation motion to the right rotation motion, and is not described herein again.

(4) One-way rotation duration limitation

No matter the rotation motion is left rotation motion or right rotation motion, the duration of the control current corresponding to the rotation motion in the single direction, that is, the duration of the control current not being 0 output to the single rotation proportional solenoid valve, does not exceed a preset duration t4, for example, 5s, if the duration of the control current not being 0 output to any one rotation proportional solenoid valve, for example, the left rotation proportional solenoid valve 302 or the right rotation proportional solenoid valve 303, exceeds the preset duration, the complete machine controller 102 directly stops outputting the control current to the rotation proportional solenoid valve, that is, the magnitude of the control current becomes 0, so that the following problems can be avoided: when the pile driver works, an operator mistakenly touches the pile driver or the machine fails to work, so that a corresponding rotary switch signal is continuously input into the whole machine controller 202, the rotating angle of the rotating device of the pile driver is too large, such as larger than 90 degrees, the hydraulic pipelines are twisted with each other to cause damage and safety accidents during pile driving. Meanwhile, the display 100 may also give an alarm prompt, for example, and display an operation method for releasing the current state, and if an operator needs to release the current state, the operator may perform a corresponding operation according to the operation method for releasing the current state, and after the operation, the complete machine controller 202 may receive a relevant signal for releasing the current state, and the complete machine controller 202 normally responds to the current operation of the rotary switch.

(5) Parameter adjustment

In order to meet different working condition environments and operation habits of a driver, the example of the present invention may further adjust, for example, relevant parameters such as t1, t2, t3, t4, current _ Min, and Current _ Max through the display 100, so as to adjust the rotation response speed, specifically, the operator performs a parameter adjustment operation on the display 100, after the operation, the display 100 sends a parameter setting signal (including a target setting parameter and a corresponding setting value) to the complete machine controller 202, and the complete machine controller 202 sets a value of the corresponding parameter as the setting value set by the operator through the display 100 when receiving the parameter setting signal.

In summary, the foregoing embodiments of the present invention can achieve some or all of the following technical effects: the proportional electromagnetic valve is adopted instead of the electromagnetic switch valve, the control strategies of starting rotary action and stopping rotary action are innovated, the slope control strategy is added in the processes of starting rotary action and stopping rotary action, the control effect during quick change of left-right rotary action can be improved, hydraulic impact and inertia are reduced, operation convenience and comfort are effectively improved, different working condition requirements can be met, the operation driving habit of a driver is met, and the operation difficulty is reduced. The relevant parameters can be conveniently adjusted in the display, so that the rotating response speed of the pile driver rotating device can be set as required. The judgment delay control is added in the process of starting the rotation action, the judgment and the control are increased when the rotation in a single direction lasts for a long time, and the potential safety hazard caused by the mutual twisting damage of the pile driver during rotation and the rotation misoperation of the pile driver during working can be effectively avoided.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A control method for a pile driver rotating apparatus, the pile driver rotating apparatus including a left rotation switch, a right rotation switch, a left rotation proportional solenoid valve, a right rotation proportional solenoid valve, and a rotary hydraulic motor, the control method comprising:

acquiring the switch state of the left rotary switch, the switch state of the right rotary switch, the input state of the left rotary proportional solenoid valve and the input state of the right rotary proportional solenoid valve; and

and controlling the rotation of the rotary hydraulic motor according to the switch state of the left rotary switch, the switch state of the right rotary switch, the input state of the left rotary proportional solenoid valve and the input state of the right rotary proportional solenoid valve.

2. The control method according to claim 1, wherein the controlling the rotational operation of the rotary hydraulic motor according to the state of the left rotation switch, the state of the right rotation switch, the input state of the left rotation proportional solenoid valve, and the input state of the right rotation proportional solenoid valve includes:

under the conditions that the left rotary switch is in a closed state, the right rotary switch is in an open state and the right rotary proportional solenoid valve is in a non-input state, controlling the rotary hydraulic motor to start left rotary motion; and

and under the conditions that the left rotary switch is in an off state, the right rotary switch is in an on state and the left rotary proportional solenoid valve is in a non-input state, controlling the rotary hydraulic motor to start a right rotary motion.

3. The control method according to claim 2, wherein the controlling the rotary hydraulic motor to initiate a left rotary motion comprises:

and

outputting the left rotation starting control current to the left rotation proportional solenoid valve to control the rotary hydraulic motor to start left rotation;

wherein lr _ current1 is the left rotation starting control current, lr _ current _ min is the minimum control current required for opening the left rotation proportional solenoid valve spool, lr _ current _ max is the minimum control current required for fully opening the left rotation proportional solenoid valve spool, lr _ t1 is the time length from the current moment when the rotary hydraulic motor is controlled to start the left rotation action, Δ t1 is a first time length, and Δ t2 is a second time length;

the controlling the rotary hydraulic motor to initiate a right rotary motion includes:

determining a right rotation start control current according to the following formula:

and

outputting the right rotation starting control current to the right rotation proportional solenoid valve to control the rotary hydraulic motor to start right rotation;

wherein rr _ current1 is the right rotation starting control current, rr _ current _ min is the minimum control current required for opening the valve core of the right rotation proportional solenoid valve, rr _ current _ max is the minimum control current required for fully opening the valve core of the right rotation proportional solenoid valve, rr _ t1 is the time length from the current moment when the start of the right rotation action of the rotary hydraulic motor is controlled, Δ t1 is the first time length, and Δ t2 is the second time length.

4. The control method according to claim 3, wherein the minimum control current required for opening the left-hand rotation proportional solenoid valve spool ranges from 200mA to 400mA, the minimum control current required for fully opening the left-hand rotation proportional solenoid valve spool ranges from 500mA to 800mA, the minimum control current required for opening the right-hand rotation proportional solenoid valve spool ranges from 200mA to 400mA, the minimum control current required for fully opening the right-hand rotation proportional solenoid valve spool ranges from 500mA to 800mA, the first duration ranges from 0 to 0.5s, and the second duration ranges from 0.1s to 2s.

5. The control method according to claim 1, wherein the controlling the rotational operation of the rotary hydraulic motor according to the state of the left rotation switch, the state of the right rotation switch, the input state of the left rotation proportional solenoid valve, and the input state of the right rotation proportional solenoid valve, further comprises:

controlling the rotary hydraulic motor to stop the left rotary motion when the left rotary switch is in an off state and the left rotary proportional solenoid valve is in an input state; and

and controlling the rotary hydraulic motor to stop the right rotation operation when the right rotation switch is in an off state and the right rotation proportional solenoid valve is in an input state.

6. The control method according to claim 5, wherein the controlling the rotary hydraulic motor to stop the left rotary motion includes:

and

outputting the left-rotation stop control current to the left-rotation proportional solenoid valve to control the rotary hydraulic motor to stop left-rotation;

wherein lr _ current2 is the left rotation stop control current, lr _ current _ min is the minimum control current required for opening the left rotation proportional solenoid valve spool, lr _ current _ max is the minimum control current required for fully opening the left rotation proportional solenoid valve spool, lr _ t2 is the time length from the current moment when the rotary hydraulic motor is controlled to stop the left rotation action, and Δ t3 is the third time length;

the controlling the rotary hydraulic motor to stop a right rotary motion includes:

and

outputting the right rotation stop control current to the right rotation proportional solenoid valve to control the rotary hydraulic motor to stop right rotation;

wherein rr _ current2 is the right rotation stop control current, rr _ current _ min is the minimum control current required for opening the valve core of the right rotation proportional solenoid valve, rr _ current _ max is the minimum control current required for fully opening the valve core of the right rotation proportional solenoid valve, rr _ t2 is the time length from the current moment when the hydraulic rotary motor is controlled to stop right rotation, and Δ t3 is the third time length.

7. The control method according to claim 6, wherein the minimum control current required for opening the left-hand rotation proportional solenoid valve spool ranges from 200mA to 400mA, the minimum control current required for fully opening the left-hand rotation proportional solenoid valve spool ranges from 500mA to 800mA, the minimum control current required for opening the right-hand rotation proportional solenoid valve spool ranges from 200mA to 400mA, the minimum control current required for fully opening the right-hand rotation proportional solenoid valve spool ranges from 500mA to 800mA, and the third time period ranges from 0.1s to 2s.

8. The control method according to claim 1, wherein the controlling the rotational operation of the rotary hydraulic motor according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve, further comprises:

under the condition that the duration of the left rotary proportional solenoid valve in the input state exceeds a fourth duration, stopping outputting a control current to the left rotary proportional solenoid valve so as to stop the left rotary action of the rotary hydraulic motor; and

and under the condition that the duration of the input state of the right rotation proportional solenoid valve exceeds the fourth duration, stopping outputting the control current to the right rotation proportional solenoid valve so as to stop the right rotation of the hydraulic rotary motor.

9. The control method according to claim 8, wherein the fourth duration ranges from 3s to 5s.

10. A controller characterized by being configured to execute the control method for a pile driver rotating apparatus according to any one of claims 1 to 9.

11. A control device for a pile driver rotation device, characterized in that the pile driver rotation device comprises a rotary hydraulic motor, the control device comprising:

a left rotary switch configured to control start and stop of a left rotary motion of the rotary hydraulic motor;

a right rotation switch configured to control start and stop of a right rotation action of the rotary hydraulic motor;

a left rotary proportional solenoid valve configured to control a rotational speed of a left rotary motion of the rotary hydraulic motor;

a right rotation proportional solenoid valve configured to control a rotation speed of a right rotation action of the rotary hydraulic motor; and

the controller of claim 10.

12. A pile driver rotation device, comprising:

a rotary hydraulic motor configured to effect left and right rotary motion of the pile driver rotating device; and

a control apparatus for a pile driver rotation apparatus as claimed in claim 11.