A positioning pile control system and method for amphibious excavators

Abstract

This invention discloses a positioning stake control system and method for amphibious excavators. The control system includes: a controller, a proportional solenoid valve group, a first solenoid directional valve, a stake-driving motor, a second solenoid directional valve, a lifting cylinder, a pressure sensor, and a displacement sensor. The controller receives pressure and displacement signals from each actuator and adaptively outputs corresponding control signals. The method involves acquiring and executing automatic function signals, automatically collecting instantaneous displacement signals, pressure signals from the stake-driving motor, and pressure signals from the lifting cylinder; entering automatic stake-driving mode or automatic stake-retraction mode based on the displacement setpoint and instantaneous displacement signals; and automatically controlling the operation of each actuator according to the cylinder pressure signal and the stake-driving motor pressure signal to achieve automatic stake-driving and stake-retraction. This invention automatically senses the movement process of each actuator during amphibious operation of the excavator, automatically allocating corresponding flow rates to each actuator without manual judgment, achieving a high degree of automated control.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery, specifically relating to a positioning pile control system and method for amphibious excavators. Background Technology

[0002] When configuring a positioning stake control system, existing amphibious excavators must meet the requirements for deep-water operations. However, current systems rely on visually determining the position of the positioning stakes, requiring manual judgment and operation, and necessitating repeated button presses to switch modes; furthermore, they cannot automatically allocate or set the operating flow of each positioning stake drive unit.

[0003] Therefore, existing excavators face challenges in both land and water operations due to the low adjustability of automatic flow distribution, resulting in low efficiency of automatic operation. Especially when operating in water, excavator operators need to constantly switch control buttons and repeatedly observe the status of external positioning stakes while in the cab. This results in low automation, low efficiency, and a high rate of misoperation and misjudgment. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the shortcomings of the prior art, the present invention provides a positioning pile control system and method for amphibious excavators. The controller receives instantaneous signals from the first pressure sensor, the second pressure sensor, and the displacement sensor in real time to sense the movement process of each actuator of the excavator during amphibious operations. Without manual judgment, it can automatically allocate the corresponding flow to each actuator, thereby achieving a high degree of automated control.

[0005] Technical Solution: Firstly, this invention provides a positioning stake control system for an amphibious excavator, comprising:

[0006] Controller, main pump, proportional solenoid valve group, first solenoid directional valve, pile driving motor, first pressure sensor, second solenoid directional valve, lifting cylinder, second pressure sensor, displacement sensor, emergency stop switch;

[0007] The controller is connected to the first pressure sensor, the second pressure sensor, the displacement sensor, the emergency stop switch, the proportional solenoid valve group, the first solenoid directional valve, and the second solenoid directional valve to receive real-time pressure and displacement signals from each actuator, thereby adaptively outputting corresponding control signals.

[0008] The proportional solenoid valve group is connected to the main pump and controls the opening degree of the main valve according to the control signal, which is used to control the on / off state of the main pump working oil circuit and the flow rate.

[0009] The first electromagnetic reversing valve is connected to the pile driving motor to control the forward and reverse rotation of the pile driving motor;

[0010] The second electromagnetic reversing valve is connected to the lifting cylinder to control the extension and retraction of the lifting cylinder;

[0011] The first pressure sensor is used to feed back the pressure signal of the stake motor to the controller;

[0012] The second pressure sensor is used to feed back the pressure signal of the lifting cylinder to the controller;

[0013] The displacement sensor is used to feed back the instantaneous displacement signal of the lifting cylinder to the controller;

[0014] The emergency stop switch transmits an emergency stop signal to the controller to stop the entire system.

[0015] In a further embodiment, the emergency stop switch is connected to an automatic function switch and a controller; the automatic function switch is used to transmit an automatic function signal to the controller, control the system to enter automatic mode, and exit automatic mode through the emergency stop switch.

[0016] In a further embodiment, the main pump is connected to the excavator power platform to control the operation of the excavator power platform.

[0017] In a first aspect, the present invention provides a positioning stake control method for an amphibious excavator, comprising:

[0018] Obtain automatic function signals;

[0019] Based on the automatic function signals, the instantaneous displacement signal, the pressure signal of the pile driving motor, and the pressure signal of the lifting cylinder are automatically collected.

[0020] Based on the comparison between the displacement setpoint and the instantaneous displacement signal, the system enters either automatic pile driving mode or automatic pile retraction mode.

[0021] In automatic pile driving mode, based on the comparison results of the overflow pressure threshold of the fully extended lifting cylinder and the pressure signal of the lifting cylinder, and the overflow pressure threshold of the fully extended pile of the pile driving motor and the pressure signal of the pile driving motor, the operation of the first solenoid directional valve, the second solenoid directional valve, the lifting cylinder, the proportional solenoid valve group and the pile driving motor are controlled until the first solenoid directional valve is closed and the automatic mode is exited.

[0022] In automatic pile retraction mode, based on the comparison results of the overflow pressure threshold of the fully retracted pile of the pile driving motor and the pressure signal of the pile driving motor, and the overflow pressure threshold of the fully retracted lifting cylinder and the pressure signal of the lifting cylinder, the operation of the first solenoid directional valve, the second solenoid directional valve, the lifting cylinder, the proportional solenoid valve group and the pile driving motor are controlled until the second solenoid directional valve is closed and the automatic mode is exited.

[0023] After closing the first or second solenoid directional valve, close the proportional solenoid valve group to stop the entire system.

[0024] In a further embodiment, based on the comparison result between the displacement setpoint and the instantaneous displacement signal, the system enters either an automatic pile-driving mode or an automatic pile-retraction mode, including:

[0025] If the instantaneous displacement signal is less than the displacement set value, the automatic stake-setting mode will be entered.

[0026] If the instantaneous displacement signal is greater than or equal to the displacement set value, the automatic pile retraction mode will be entered.

[0027] In a further embodiment, in automatic pile driving mode, based on the comparison results of the overflow pressure threshold of the fully extended lifting cylinder and the pressure signal of the lifting cylinder, and the overflow pressure threshold of the fully extended pile motor and the pressure signal of the pile motor, the operation of the first solenoid directional valve, the second solenoid directional valve, the lifting cylinder, the proportional solenoid valve group, and the pile motor are controlled until the first solenoid directional valve is closed to exit the automatic mode, including:

[0028] The proportional solenoid valve assembly receives the control signal current output by the controller, and sets the valve core pin opening degree to D1 according to the control current. It opens the second solenoid directional valve to control the lifting cylinder to rise and the positioning pin to rise radially. It also collects the pressure signal of the lifting cylinder rising in real time.

[0029] If the rising pressure signal is greater than or equal to the overflow pressure threshold of the fully extended lifting cylinder, the lifting cylinder will drive the positioning pile to rise radially to the set position when it rises; then the second solenoid directional valve will be closed to stop the lifting cylinder from rising; then the opening of the proportional solenoid valve group will be adjusted to D2, and the system flow will be allocated to the pile driving motor to control the pile driving action, and the first solenoid directional valve will be opened to control the extension action of the pile driving motor, driving the positioning pile to descend axially to perform pile driving; and the pressure signal of the pile driving motor extension will be collected in real time.

[0030] If the rising pressure signal is less than the overflow pressure threshold of the fully extended lifting cylinder, the second solenoid directional valve will be continuously opened to control the lifting cylinder to drive the positioning pile to rise radially until the rising pressure signal is greater than or equal to the overflow pressure threshold of the fully extended lifting cylinder.

[0031] Based on the comparison between the overflow pressure threshold of the fully extended pile of the pile driving motor and the pressure signal of the extended pile driving motor, the first solenoid reversing valve is closed to exit the automatic mode.

[0032] In a further embodiment, based on the comparison result between the stake motor pressure threshold and the stake motor pressure signal, closing the first solenoid directional valve to exit the automatic mode includes:

[0033] If the pressure signal of the extended pile motor is greater than or equal to the overflow pressure threshold of the fully extended pile, the pile motor drives the positioning pile to drive axially down to the set position, and the positioning pile driving is completed; then the first electromagnetic reversing valve is closed to exit the automatic mode, and the positioning pile is retracted to the working position.

[0034] If the pressure signal of the extended pile motor is less than the overflow pressure threshold of the fully extended pile, the first solenoid directional valve will remain open to control the extended pile motor and drive the positioning pile to descend axially to perform pile driving.

[0035] In a further embodiment, in automatic pile retraction mode, based on the comparison results of the overflow pressure threshold of the fully retracted pile motor and the pressure signal of the pile motor, and the overflow pressure threshold of the fully retracted lifting cylinder and the pressure signal of the lifting cylinder, the operation of the first solenoid directional valve, the second solenoid directional valve, the lifting cylinder, the proportional solenoid valve group, and the pile motor are controlled until the second solenoid directional valve is closed to exit the automatic mode, including:

[0036] The proportional solenoid valve group receives the control signal current output by the controller, and sets the valve core retraction opening degree to S1 according to the control current. It opens the first solenoid directional valve to control the retraction action of the pile driving motor, drives the positioning pile to rise axially, and collects the pressure signal of the pile driving motor retraction in real time.

[0037] If the retraction pressure signal is greater than or equal to the overflow pressure threshold of the fully retracted pile of the pile driving motor, the pile driving motor drives the positioning pile to axially retract to the set position. Then, the first solenoid directional valve is closed to control the pile driving motor to stop. The opening degree of the proportional solenoid valve group is then adjusted to S2, and the system flow is correspondingly distributed to the lifting cylinder to perform the pile lowering action. The second solenoid directional valve is opened to control the lifting cylinder to drive the positioning pile to descend radially. The pressure signal of the lifting cylinder descending is collected in real time.

[0038] If the retraction pressure signal is less than the overflow pressure threshold of the fully retracted pile of the pile driving motor, the first electromagnetic reversing valve will remain open to control the pile driving motor to continue retracting and drive the positioning pile to axially retract.

[0039] Based on the comparison between the overflow pressure threshold of the fully retracted lifting cylinder and the pressure signal of the lifting cylinder descending, the second solenoid directional valve is closed to exit the automatic mode.

[0040] In a further embodiment, based on the comparison result between the overflow pressure threshold of the fully retracted lifting cylinder and the pressure signal of the lifting cylinder descending, the second solenoid directional valve is closed to exit the automatic mode, including:

[0041] If the pressure signal of the lifting cylinder descending is greater than or equal to the overflow pressure threshold of the lifting cylinder fully retracting, the lifting cylinder drives the positioning pile to descend radially to the set position, and the positioning pile is retracted to the placement position; then the second electromagnetic reversing valve is closed to exit the automatic mode.

[0042] If the pressure signal of the lifting cylinder is lower than the overflow pressure threshold of the lifting cylinder when it is fully retracted, the second electromagnetic reversing valve will continue to be opened to control the lifting cylinder to continue to descend, driving the positioning pile to descend radially towards the placement position.

[0043] In a further embodiment, it also includes:

[0044] Receive emergency stop signal;

[0045] Based on the emergency stop signal, the proportional solenoid valve group is closed to stop the entire system.

[0046] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0047] The controller of this invention receives instantaneous signals from the first pressure sensor, the second pressure sensor, and the displacement sensor in real time, thereby sensing the movement process of each actuator in amphibious operations. It can automatically allocate the corresponding flow to each actuator without manual judgment, and limit the upper limit of flow allocation through a preset threshold, thus achieving a high degree of automated control.

[0048] By designing a proportional solenoid valve group to meet the multi-mode flow distribution, and controlling the first solenoid directional valve and the second solenoid directional valve to connect in the automatic pile driving mode and the automatic pile retraction mode to realize the automatic control of the pile driving motor and the lifting cylinder in amphibious operation, the flow of each action unit is highly adjustable, which makes the linkage accuracy of the positioning pile system high and the efficiency of automatic work execution high.

[0049] The emergency stop switch can be used to stop any stage of the operation immediately, thus preventing accidental operation. Attached Figure Description

[0050] Figure 1 This is a flowchart of the fault handling method based on the controller of the present invention;

[0051] Figure 2 This is a structural block diagram of the fault detection device based on the controller of the present invention.

[0052] Figure reference numerals: A01-Excavator power platform, A02-Main pump, A03-Proportional solenoid valve group, A04-First solenoid directional valve, A05-Pile driving motor, A06-First pressure sensor, A07-Second solenoid directional valve, A08-Lifting cylinder, A09-Second pressure sensor, A10-Displacement sensor, A11-Controller, A12-Emergency stop switch, A13-Automatic function switch. Detailed Implementation

[0053] To better understand the technical content of the present invention, the technical solution of the present invention will be further introduced and explained below with reference to specific embodiments, but is not limited thereto. Example

[0054] Combination Figure 1 Further explanation of the positioning pile control system for amphibious excavators includes: controller A11, main pump A02, proportional solenoid valve group A03, first solenoid directional valve A04, pile driving motor A05, first pressure sensor A06, second solenoid directional valve A07, lifting cylinder A08, second pressure sensor A09, displacement sensor A10, and emergency stop switch A12.

[0055] The controller A11 is connected to the first pressure sensor A06, the second pressure sensor A09, the displacement sensor A10, the emergency stop switch A12, the proportional solenoid valve group A03, the first solenoid directional valve A04, and the second solenoid directional valve A07 respectively to receive real-time pressure and displacement signals from each actuator, thereby adaptively outputting corresponding control signals.

[0056] The proportional solenoid valve group A03 is connected to the main pump A02 and controls the opening degree of the main valve according to the control signal to control the on / off state and flow rate of the working oil circuit of the main pump A02.

[0057] The first electromagnetic reversing valve A04 is connected to the pile driving motor A05 to control the forward and reverse rotation of the pile driving motor A05.

[0058] The second electromagnetic reversing valve A07 is connected to the lifting cylinder A08 to control the extension and retraction of the lifting cylinder A08;

[0059] The first pressure sensor A06 is used to feed back the pressure signal of the stake motor A05 to the controller A11;

[0060] The second pressure sensor A09 is used to feed back the pressure signal of the lifting cylinder A08 to the controller A11;

[0061] Displacement sensor A10 is used to feed back the instantaneous displacement signal of lifting cylinder A08 to controller A11;

[0062] Emergency stop switch A12 transmits an emergency stop signal to controller A11 to control the entire machine to stop.

[0063] Preferably, the emergency stop switch A12 is connected to the automatic function switch A13 and the controller A11; the automatic function switch A13 is used to transmit the automatic function signal to the controller A11, so that the control system enters the automatic mode and exits the automatic mode through the emergency stop switch A12.

[0064] Preferably, the main pump A02 is connected to the excavator power platform A01 to control the operation of the excavator power platform A01. Example

[0065] Combination Figure 2Further explanation of the positioning stake control method for amphibious excavators, including:

[0066] Step 1: Obtain the automatic function signal;

[0067] Step 2: Based on the automatic function signal, automatically collect the instantaneous displacement signal, the pressure signal of the pile driving motor A05, and the pressure signal of the lifting cylinder A08;

[0068] Step 3: Based on the comparison result between the displacement setpoint and the instantaneous displacement signal, enter the automatic pile driving mode or the automatic pile retraction mode;

[0069] Step 3.1: In automatic pile driving mode, based on the comparison results of the overflow pressure threshold of the fully extended lifting cylinder A08 and the pressure signal of the lifting cylinder A08, and the overflow pressure threshold of the fully extended pile motor A05 and the pressure signal of the pile motor A05, control the operation of the first solenoid directional valve A04, the second solenoid directional valve A07, the lifting cylinder A08, the proportional solenoid valve group A03 and the pile motor A05 until the first solenoid directional valve A04 is closed to exit the automatic mode;

[0070] Step 3.2: In automatic pile retraction mode, based on the comparison results of the full retraction overflow pressure threshold of pile motor A05 and the pressure signal of pile motor A05, and the full retraction overflow pressure threshold of lifting cylinder A08 and the pressure signal of lifting cylinder A08, control the operation of the first solenoid directional valve A04, the second solenoid directional valve A07, the lifting cylinder A08, the proportional solenoid valve group A03 and the pile motor A05 until the second solenoid directional valve A07 is closed to exit the automatic mode;

[0071] Step 4: After closing the first solenoid directional valve A04 or the second solenoid directional valve A07, close the proportional solenoid valve group A03 to stop the entire system.

[0072] Preferably, based on the comparison result between the displacement setpoint and the instantaneous displacement signal, the system enters either automatic pile driving mode or automatic pile retraction mode. The preset values ​​L0 represent the instantaneous displacement signal and L0 represent the displacement setpoint, including:

[0073] If the instantaneous displacement signal L is less than the displacement set value L0, then the automatic stake-setting mode is entered.

[0074] If the instantaneous displacement signal L is greater than or equal to the displacement setting value L0, the automatic pile retraction mode will be entered.

[0075] In this embodiment, the controller A11 outputs control current to the proportional solenoid valve group A03 to control the valve core opening of the proportional solenoid valve group A03 during pile driving and pile retraction. When L≤L0, it enters the automatic pile driving mode. The preset control current output by the controller A11 to control the automatic pile driving is ID1 and ID2. When L≥L0, it enters the automatic pile retraction mode, and the controller A11 outputs control current IS1 and IS2 to the proportional solenoid valve group A03.

[0076] Preferably, in step 3.1, in automatic pile driving mode, based on the comparison results of the overflow pressure threshold of the fully extended lifting cylinder A08 and the pressure signal of the lifting cylinder A08, and the overflow pressure threshold of the fully extended pile motor A05 and the pressure signal of the pile motor A05, the operation of the first solenoid directional valve A04, the second solenoid directional valve A07, the lifting cylinder A08, the proportional solenoid valve group A03, and the pile motor A05 is controlled until the first solenoid directional valve A04 is closed to exit the automatic mode, including:

[0077] Step 3.1.1: The proportional solenoid valve group A03 receives the control signal current ID1 output by the controller A11, and sets the valve core pin opening degree to D1 according to the control current ID1, opens the second solenoid directional valve A07 to control the lifting cylinder A08 to rise, and obtains the pressure signal of the lifting cylinder A08 rising.

[0078] Step 3.1.2: If the rising pressure signal is greater than or equal to the overflow pressure threshold of the fully extended lifting cylinder A08, then close the second solenoid directional valve A07 to control the lifting cylinder A08 to stop, then adjust the opening of the proportional solenoid valve group A03 to D2 according to the control current ID2, and open the first solenoid directional valve A04 to control the extension of the pile driving motor A05 and collect the pressure signal of the pile driving motor A05 in real time.

[0079] Step 3.1.3: If the rising pressure signal is less than the overflow pressure threshold of the fully extended lifting cylinder A08, the second solenoid directional valve A07 is continuously opened to control the lifting cylinder A08 to continue rising until the rising pressure signal is greater than or equal to the overflow pressure threshold of the fully extended lifting cylinder A08.

[0080] Step 3.1.4: Based on the comparison result of the overflow pressure threshold of the fully extended pile of the pile driving motor A05 and the pressure signal of the extended pile driving motor, close the first solenoid reversing valve A04 to exit the automatic mode.

[0081] Further, in step 3.1.4.1: if the pressure signal of the extended pile motor is greater than or equal to the overflow pressure threshold of the fully extended pile of the pile motor A05, then close the first electromagnetic reversing valve A04 to exit the automatic mode, and control the pile motor to control the positioning pile to drive the pile axially down to the set position.

[0082] Step 3.1.4.2: If the pressure signal of the extended pile motor is less than the overflow pressure threshold of the fully extended pile of the pile motor A05, then the first solenoid directional valve A04 is kept open to control the pile motor A05 to continue extending the pile.

[0083] In this example, the valve core opens to the corresponding set opening degree D1. At this time, the system flow rate QD1 corresponds to the lifting cylinder A08 performing the pile lifting action. The controller A11 controls the second solenoid directional valve A07 to control the lifting cylinder A08 to lift, thereby driving the positioning pile to rise radially. The second pressure sensor A09 transmits the working pressure Pg of the lifting cylinder A08 to the controller A11, where Pg1 is the set pressure for the lifting cylinder A08 to lift the pile. When Pg≥Pg1, the lifting cylinder A08 controls the positioning pile to rise radially to the set position. The controller A11 controls the second solenoid directional valve A07 to close, the lifting cylinder A08 stops, and the controller A11 outputs the control current ID2 to the proportional solenoid valve group A03. 3. The valve core opens to the corresponding set opening degree D2. At this time, the system flow rate QD2 corresponds to the pile driving action of the pile driving motor A05. The controller A11 controls the first solenoid directional valve A04 to control the pile driving motor A05 to extend and drive, and the positioning pile is driven axially and lowered. The first pressure sensor A06 transmits the working pressure Pm of the pile driving motor A05 to the controller A11. Pm1 is the set pressure of the pile driving motor A05 for pile driving. When Pm≥Pm1, the pile driving motor A05 controls the positioning pile to drive axially and lower to the set position, and the positioning pile is driven to the working position. The controller A11 closes the first solenoid directional valve A04, the pile driving motor A05 stops, the controller A11 closes the proportional solenoid valve group A03, and the automatic pile driving ends.

[0084] Preferably, in step 3.2, under automatic pile retraction mode, based on the comparison results of the overflow pressure threshold of the fully retracted pile of the pile driving motor A05 and the pressure signal of the pile driving motor A05, and the overflow pressure threshold of the fully retracted lifting cylinder A08 and the pressure signal of the lifting cylinder A08, the operation of the first solenoid directional valve A04, the second solenoid directional valve A07, the lifting cylinder A08, the proportional solenoid valve group A03, and the pile driving motor A05 is controlled until the second solenoid directional valve A07 is closed to exit the automatic mode, including:

[0085] Step 3.2.1: The proportional solenoid valve group A03 receives the control signal current IS1 output by the controller A11, and sets the valve core retraction opening degree to S1 according to the control current IS1. The first solenoid directional valve A04 is opened to control the retraction of the pile motor A05, and the pressure signal of the pile motor A05 retraction is obtained.

[0086] Step 3.2.2: If the retraction pressure signal is greater than or equal to the overflow pressure threshold of the fully retracted pile of the pile driving motor A05, then close the first solenoid directional valve A04 to control the pile driving motor A05 to stop; then output the control current IS2 to adjust the opening degree of the proportional solenoid valve group A03 to S2, and open the second solenoid directional valve A07 to control the lifting cylinder A08 to descend and collect the pressure signal of the lifting cylinder A08 descending;

[0087] Step 3.2.3: If the pressure signal of the pile retraction is less than the overflow pressure threshold of the fully retracted pile of the pile driving motor A05, then the first electromagnetic reversing valve A04 is continuously opened to control the pile driving motor A05 to continuously retract the pile until the pressure signal of the pile retraction is greater than or equal to the overflow pressure threshold of the fully retracted pile of the pile driving motor A05.

[0088] Step 3.2.4: Based on the comparison result of the overflow pressure threshold of the fully retracted lifting cylinder A08 and the pressure signal of the lifting cylinder A08 descending, close the second solenoid directional valve A07 to exit the automatic mode.

[0089] Further, in step 3.2.4.1: if the pressure signal of the lifting cylinder A08 descending is greater than or equal to the overflow pressure threshold of the lifting cylinder A08 fully retracting, then close the second solenoid directional valve A07 to exit the automatic mode.

[0090] Step 3.2.4.2: If the pressure signal of the lifting cylinder A08 is less than the overflow pressure threshold of the lifting cylinder A08 when it is fully retracted, then the second solenoid directional valve A07 is opened to control the lifting cylinder A08 to continue to descend.

[0091] In this embodiment, the valve core of the proportional solenoid valve group A03 opens to the corresponding set opening S1. At this time, the system flow rate QS1 corresponds to the retraction action of the pile driving motor A05. The controller A11 controls the first solenoid directional valve A04 to control the retraction action of the pile driving motor A05, and the positioning pile axially rises. The first pressure sensor A06 transmits the working pressure Pm of the pile driving motor A05 to the controller A11, where Pm2 is the set pressure for the pile driving motor A05 to retract the pile. When Pm ≥ Pm2, the pile driving motor A05 controls the positioning pile to axially retract to the set position, the controller A11 controls the first solenoid directional valve A04 to close, and the motor stops. The controller A11 outputs a control current IS2 to the proportional solenoid valve group A03. When the valve core of the proportional solenoid valve group A03 opens to the corresponding set opening S2, the system flow rate QS2 corresponds to the lowering action of the lifting cylinder A08. The controller A11 controls the second solenoid directional valve A07 to control the lowering of the lifting cylinder A08, and the positioning pile is lowered radially. The second pressure sensor A09 transmits the working pressure Pg of the lifting cylinder A08 to the controller A11. Pg2 is the set pressure for the lowering of the lifting cylinder A08. When Pg≥Pg2, the cylinder A08 controls the positioning pile to lower radially to the set position, and the positioning pile is retracted to the placement position. The controller A11 closes the directional valve A04, A08 stops operating, and the controller A11 closes the proportional solenoid valve group A03, and the automatic pile retraction ends.

[0092] Preferably, the control method further includes:

[0093] Acquire and execute emergency stop signals in automatic mode;

[0094] Based on the emergency stop signal, the proportional solenoid valve group A03 is closed to stop the entire system. In this embodiment, the emergency stop switch A12 is operated to transmit a signal to the controller A11. The controller A11 controls the proportional solenoid valve group A03 to close, and the system stops working. The input of the emergency stop signal is not limited to other input devices or other terminals.

[0095] In summary, the controller A11 of this invention receives instantaneous signals from the first pressure sensor A06, the second pressure sensor A09, and the displacement sensor A10 in real time, thereby sensing the movement process of each actuator in amphibious operations. It can automatically allocate corresponding flow rates to each actuator without manual judgment, and limits the upper limit of flow rate allocation through preset thresholds. The design of the proportional solenoid valve group A03 satisfies multi-mode flow rate allocation, and the control of the first solenoid directional valve A04 and the second solenoid directional valve A07 in automatic stake driving mode and automatic stake retraction mode enables automatic control of the stake driving motor A05 and the lifting cylinder A08 in amphibious operations by adjusting direction, sequence, and termination conditions. The high flow rate adjustability of each action unit results in high linkage accuracy of the positioning stake system and high efficiency of automatic operation. The emergency stop switch A12 can urgently stop any stage of operation, preventing misoperation. Embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0096] Embodiments of this application may be provided as methods, systems, or computer program products. Therefore, this application may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can 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, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0098] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0099] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0100] The above description is only a preferred embodiment of the present invention. Without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A positioning stake control system for an amphibious excavator, characterized in that, include: Controller, main pump, proportional solenoid valve group, first solenoid directional valve, pile driving motor, first pressure sensor, second solenoid directional valve, lifting cylinder, second pressure sensor, displacement sensor, emergency stop switch; The controller is connected to the first pressure sensor, the second pressure sensor, the displacement sensor, the emergency stop switch, the proportional solenoid valve group, the first solenoid directional valve, and the second solenoid directional valve respectively. It is used to receive the pressure signals from the first pressure sensor and the second pressure sensor and the displacement signals from the displacement sensor in real time, and thus adaptively output the corresponding control signals. The proportional solenoid valve group is connected to the main pump and controls the opening degree of the main valve of the proportional solenoid valve group according to the control signal, which is used to control the on / off state of the working oil circuit and the flow rate of the main pump. The first electromagnetic reversing valve is connected to the pile driving motor to control the forward and reverse rotation of the pile driving motor; The second electromagnetic reversing valve is connected to the lifting cylinder to control the extension and retraction of the lifting cylinder; The first pressure sensor is used to feed back the pressure signal of the stake motor to the controller; The second pressure sensor is used to feed back the pressure signal of the lifting cylinder to the controller; The displacement sensor is used to feed back the instantaneous displacement signal of the lifting cylinder to the controller; The emergency stop switch transmits an emergency stop signal to the controller to stop the entire system. The emergency stop switch is connected to the automatic function switch and the controller; the automatic function switch is used to transmit automatic function signals to the controller so that the control system can enter the automatic mode and exit the automatic mode through the emergency stop switch.

2. The positioning stake control system for amphibious excavators according to claim 1, characterized in that, The main pump is connected to the excavator power platform to control the operation of the excavator power platform.

3. A control method for the control system of the positioning pile for an amphibious excavator according to claim 1, characterized in that, include: Obtain automatic function signals; Based on the automatic function signals, the instantaneous displacement signal, the pressure signal of the pile driving motor, and the pressure signal of the lifting cylinder are automatically collected. Based on the comparison between the displacement setpoint and the instantaneous displacement signal, the system enters either automatic pile driving mode or automatic pile retraction mode. In automatic pile driving mode, based on the comparison results of the overflow pressure threshold of the fully extended lifting cylinder and the pressure signal of the lifting cylinder, and the overflow pressure threshold of the fully extended pile of the pile driving motor and the pressure signal of the pile driving motor, the operation of the first solenoid directional valve, the second solenoid directional valve, the lifting cylinder, the proportional solenoid valve group and the pile driving motor are controlled until the first solenoid directional valve is closed and the automatic mode is exited. In automatic pile retraction mode, based on the comparison results of the overflow pressure threshold of the fully retracted pile of the pile driving motor and the pressure signal of the pile driving motor, and the overflow pressure threshold of the fully retracted lifting cylinder and the pressure signal of the lifting cylinder, the operation of the first solenoid directional valve, the second solenoid directional valve, the lifting cylinder, the proportional solenoid valve group and the pile driving motor are controlled until the second solenoid directional valve is closed and the automatic mode is exited. After closing the first or second solenoid directional valve, close the proportional solenoid valve group to stop the entire system.

4. The control method of the positioning pile control system for amphibious excavators according to claim 3, characterized in that, Based on the comparison between the displacement setpoint and the instantaneous displacement signal, the system enters either automatic pile driving mode or automatic pile retraction mode, including: If the instantaneous displacement signal is less than the displacement set value, the automatic stake-setting mode will be entered. If the instantaneous displacement signal is greater than or equal to the displacement set value, the automatic pile retraction mode will be entered.

5. The control method of the positioning pile control system for amphibious excavators according to claim 3, characterized in that, In automatic pile driving mode, based on the comparison results of the overflow pressure threshold of the fully extended lifting cylinder and the pressure signal of the lifting cylinder, and the overflow pressure threshold of the fully extended pile motor and the pressure signal of the pile motor, the operation of the first solenoid directional valve, the second solenoid directional valve, the lifting cylinder, the proportional solenoid valve group, and the pile driving motor are controlled until the first solenoid directional valve is closed to exit the automatic mode, including: The proportional solenoid valve assembly receives the control signal current output by the controller, and sets the valve core pin opening degree to D1 according to the control current. It opens the second solenoid directional valve to control the lifting cylinder to rise and the positioning pin to rise radially. It also collects the pressure signal of the lifting cylinder rising in real time. If the rising pressure signal is greater than or equal to the overflow pressure threshold of the fully extended lifting cylinder, the lifting cylinder will drive the positioning pile to rise radially to the set position when it rises; then the second solenoid directional valve will be closed to stop the lifting cylinder from rising; then the opening of the proportional solenoid valve group will be adjusted to D2, and the system flow will be allocated to the pile driving motor to control the pile driving action, and the first solenoid directional valve will be opened to control the extension action of the pile driving motor, driving the positioning pile to descend axially to perform pile driving; and the pressure signal of the pile driving motor extension will be collected in real time. If the rising pressure signal is less than the overflow pressure threshold of the fully extended lifting cylinder, the second solenoid directional valve will be continuously opened to control the lifting cylinder to drive the positioning pile to rise radially until the rising pressure signal is greater than or equal to the overflow pressure threshold of the fully extended lifting cylinder. Based on the comparison between the overflow pressure threshold of the fully extended pile of the pile driving motor and the pressure signal of the extended pile driving motor, the first solenoid reversing valve is closed to exit the automatic mode.

6. The control method of the positioning pile control system for amphibious excavators according to claim 5, characterized in that, Based on the comparison between the overflow pressure threshold of the fully extended pile driven by the pile driving motor and the pressure signal of the pile driving motor, the first solenoid directional valve is closed to exit the automatic mode, including: If the pressure signal of the extended pile motor is greater than or equal to the overflow pressure threshold of the fully extended pile, the pile motor drives the positioning pile to drive axially down to the set position, and the positioning pile driving is completed; then the first electromagnetic reversing valve is closed to exit the automatic mode, and the positioning pile is retracted to the working position. If the pressure signal of the extended pile motor is less than the overflow pressure threshold of the fully extended pile, the first solenoid directional valve will remain open to control the extended pile motor and drive the positioning pile to descend axially to perform pile driving.

7. The control method of the positioning pile control system for amphibious excavator according to claim 3, characterized by, In automatic pile retraction mode, based on the comparison results of the overflow pressure threshold of the fully retracted pile of the pile driving motor and the pressure signal of the pile driving motor, and the overflow pressure threshold of the fully retracted lifting cylinder and the pressure signal of the lifting cylinder, the operation of the first solenoid directional valve, the second solenoid directional valve, the lifting cylinder, the proportional solenoid valve group, and the pile driving motor are controlled until the second solenoid directional valve is closed to exit the automatic mode, including: The proportional solenoid valve group receives the control signal current output by the controller, and sets the valve core retraction opening degree to S1 according to the control current. It opens the first solenoid directional valve to control the retraction action of the pile driving motor, drives the positioning pile to rise axially, and collects the pressure signal of the pile driving motor retraction in real time. If the retraction pressure signal is greater than or equal to the overflow pressure threshold of the fully retracted pile of the pile driving motor, the pile driving motor drives the positioning pile to axially retract to the set position. Then, the first solenoid directional valve is closed to control the pile driving motor to stop. The opening degree of the proportional solenoid valve group is then adjusted to S2, and the system flow is correspondingly distributed to the lifting cylinder to perform the pile lowering action. The second solenoid directional valve is opened to control the lifting cylinder to drive the positioning pile to descend radially. The pressure signal of the lifting cylinder descending is collected in real time. If the retraction pressure signal is less than the overflow pressure threshold of the fully retracted pile of the pile driving motor, the first electromagnetic reversing valve will remain open to control the pile driving motor to continue retracting and drive the positioning pile to axially retract. Based on the comparison between the overflow pressure threshold of the fully retracted lifting cylinder and the pressure signal of the lifting cylinder descending, the second solenoid directional valve is closed to exit the automatic mode.

8. The control method for the positioning pile control system of the amphibious excavator according to claim 7, characterized in that, Based on the comparison between the overflow pressure threshold of the fully retracted lifting cylinder and the pressure signal of the lifting cylinder during descent, the second solenoid directional valve is closed to exit the automatic mode, including: If the pressure signal of the lifting cylinder descending is greater than or equal to the overflow pressure threshold of the lifting cylinder fully retracting, the lifting cylinder drives the positioning pile to descend radially to the set position, and the positioning pile is retracted to the placement position; then the second electromagnetic reversing valve is closed to exit the automatic mode. If the pressure signal of the lifting cylinder is lower than the overflow pressure threshold of the lifting cylinder when it is fully retracted, the second electromagnetic reversing valve will continue to be opened to control the lifting cylinder to continue to descend, driving the positioning pile to descend radially towards the placement position.

9. The control method for the positioning pile control system of the amphibious excavator according to claim 3, characterized in that, Also includes: Receive emergency stop signal; Based on the emergency stop signal, the proportional solenoid valve group is closed to stop the entire system.

Images