Novel excavator transfer device and control method thereof

Abstract

The invention discloses a novel excavator transfer device and a control method thereof. The novel excavator transfer device comprises a transfer vehicle body used for bearing an excavator; the transfer walking speed reducer is arranged on the transfer vehicle body and is used for providing transfer power; the electromagnetic reversing valve is arranged between the transfer walking speed reducer and the excavator main control valve and used for controlling hydraulic oil to enter the transfer walking speed reducer. The pressure sensor is arranged at a pressure oil inlet of the transfer walking speed reducer and used for detecting the hydraulic oil pressure of the transfer walking speed reducer. The flowmeter is mounted on an input pipeline of the electromagnetic reversing valve and used for detecting the hydraulic oil input quantity of the electromagnetic reversing valve; according to the invention, the switching between the driving force and the transfer power of the excavator can be realized, the opening degree of the main valve is controlled through mode selection, the current is controlled through the walking link to realize walking and turning, external power is not needed, the transfer cost is effectively reduced, and the working efficiency is improved. And the transfer efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of excavators, and in particular relates to a novel excavator transfer device and a control method thereof. Background Art

[0002] The excavator transfer device is used for excavator transportation. In the prior art, short-distance on-site transfer of excavators generally relies on flatbed trailers or the excavator's own walking device. The flatbed trailer needs to be towed by external power during the transfer process to achieve transfer, which has low safety and inconvenient operation during the transfer process. Relying on its own walking device to transfer the excavator will not only accelerate the wear of the tracks during the walking process, but also cause road damage, making the overall cost of short-distance on-site transfer high and the transfer efficiency low. Summary of the invention

[0003] In order to at least partially solve the technical problems existing in the above-mentioned prior art, the present invention provides a new excavator transfer device and a control method thereof, which can improve the excavator transfer efficiency and reduce the transfer cost.

[0004] To this end, in one aspect of the present invention, a novel excavator transfer device is provided, comprising:

[0005] A transfer vehicle body, the transfer vehicle body being used to carry the excavator;

[0006] A transfer travel reducer, which is arranged on the transfer vehicle body and is used to provide transfer power;

[0007] An electromagnetic reversing valve, which is arranged between the transport travel reducer and the excavator main control valve and is used to control the hydraulic oil to enter the transport travel reducer;

[0008] A pressure sensor, the pressure sensor is arranged at the pressure oil inlet of the transport travel reducer, and is used to detect the hydraulic oil pressure of the transport travel reducer;

[0009] A flow meter, which is installed on the input pipeline of the electromagnetic reversing valve and is used to detect the input amount of hydraulic oil of the electromagnetic reversing valve;

[0010] A rotation speed sensor is installed at the output end of the transfer travel reducer to detect the output rotation speed of the transfer travel reducer.

[0011] Furthermore, in the above-mentioned new excavator transfer device, the solenoid reversing valve includes a first solenoid reversing valve and a second solenoid reversing valve, and the first solenoid reversing valve and the second solenoid reversing valve both adopt two-position four-way solenoid reversing valves. The input end of the first solenoid reversing valve is connected to the left travel hydraulic oil output pipeline of the excavator main control valve, and the input end of the second solenoid reversing valve is connected to the right travel hydraulic oil output end pipeline of the excavator main control valve.

[0012] Furthermore, in the above-mentioned new excavator transfer device, the transfer walking reducer includes a left transfer walking reducer and a right transfer walking reducer. The left transfer walking reducer and the excavator left walking reducer are respectively connected to the output end pipeline of the first electromagnetic reversing valve, and the right transfer walking reducer and the excavator right walking reducer are respectively connected to the output end pipeline of the second electromagnetic reversing valve.

[0013] In another aspect of the present invention, a method for controlling an excavator transfer device is provided, the method comprising:

[0014] Selection of straight-ahead mode, left-turn mode or right-turn mode for the excavator transfer device;

[0015] When the straight travel mode is selected, the user inputs the target forward speed Va, and the actual forward speed is Vn. When |(Vn-Va)| / Va≤5%, the excavator main valve travel joint opening is maintained unchanged, and the main valve left travel joint control current I1 = main valve right travel joint control current I2. Conversely, the excavator main valve opening is adjusted until |(Vn-Va)| / Va≤5% to complete straight travel;

[0016] When the left-turn mode is selected, the left-travel control current of the excavator main valve is set to -30% Imax, and the right-travel control current of the excavator main valve is set to 30% Imax. After reaching the turning target, the steering stops and the left turn is completed;

[0017] When the right turn mode is selected, the right travel link control current of the excavator main valve is set to -30% Imax, and the left travel link control current of the excavator main valve is set to 30% Imax. After reaching the steering target, the steering stops and the right turn is completed.

[0018] Furthermore, in the above-mentioned excavator transfer device control method, when the excavator main valve opening is adjusted in the straight travel mode, the main valve opening is reduced when the actual travel speed is greater than the target travel speed, and the main valve left travel link control current I1 is equal to the main valve right travel link control current I2; when the actual travel speed is less than the target travel speed, the main valve opening is increased, and the main valve left travel link control current I1 is equal to the main valve right travel link control current I2.

[0019] The novel excavator transfer device and control method thereof of the present invention have the following advantages and beneficial effects:

[0020] The overall structure of the present invention is simple and the manufacturing cost is low. The hydraulic oil of the left and right travel reducers controlling the excavator is introduced into the transfer travel reducer through the electromagnetic reversing valve. The hydraulic energy is converted into mechanical energy through the transfer travel reducer, which effectively provides power for the excavator transfer device. The travel and steering of the excavator transfer device are realized by selecting the transfer device control method, which effectively reduces the transportation cost and improves the transfer efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only used to further understand the embodiments of the present invention and constitute a part of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0022] Figure 1 It is a schematic diagram of the overall structure of the novel excavator transfer device of the present invention;

[0023] Figure 2 It is the hydraulic principle diagram of the novel excavator transfer device of the present invention;

[0024] Figure 3 The flowchart of the novel excavator transfer device control method of the present invention.

[0025] Description of reference numerals:

[0026] 100: excavator main valve; 200: excavator controller; 300: excavator left travel reducer; 400: excavator right travel reducer;

[0027] 1: Transport vehicle body;

[0028] 2: Transfer travel reducer, 21: Left transfer travel reducer, 22: Right transfer travel reducer;

[0029] 3: electromagnetic reversing valve, 31: first electromagnetic reversing valve, 32: second electromagnetic reversing valve;

[0030] 4: Pressure sensor; 5: Flow meter; 6: Speed ​​sensor. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] like Figure 1 to Figure 2 As shown, the novel excavator transfer device of the present invention comprises:

[0033] A transport vehicle body 1, the transport vehicle body 1 is used to carry an excavator;

[0034] The transport travel reducer 2 is arranged on the transport vehicle body 1 and is used to provide transport power;

[0035] The electromagnetic reversing valve 3 is arranged between the transport travel reducer 2 and the excavator main control valve, and is used to control the hydraulic oil to enter the transport travel reducer 2, thereby controlling the flow direction of the hydraulic oil to the excavator travel reducer or the transport travel reducer 2, so as to realize the switching of the excavator operation mode and the transport mode;

[0036] The pressure sensor 4 is arranged at the pressure oil inlet of the transport travel reducer 2, and is used to detect the hydraulic oil pressure of the transport travel reducer 2. The pressure sensor 4 converts the pressure signal of the hydraulic oil at the inlet of the transport travel reducer 2 into an electrical signal and feeds it back to the excavator controller 200 in real time for real-time monitoring;

[0037] The flow meter 5 is installed on the input pipeline of the electromagnetic reversing valve 3 and is used to detect the hydraulic oil input amount of the electromagnetic reversing valve 3. The flow meter 5 converts the flow signal of the hydraulic oil input amount of the electromagnetic reversing valve 3 into an electrical signal and feeds it back to the excavator controller 200 in real time for real-time monitoring;

[0038] The speed sensor 6 is installed at the output end of the transfer travel reducer 2 and is used to detect the output speed of the transfer travel reducer 2. When the transfer device is transporting, the speed sensor 6 converts the speed signal into an electrical signal and transmits it to the excavator controller 200, so that the travel speed of the transfer device can be monitored in real time.

[0039] Furthermore, in the above-mentioned new excavator transfer device, the solenoid reversing valve 3 includes a first solenoid reversing valve 31 and a second solenoid reversing valve 32. The first solenoid reversing valve 31 and the second solenoid reversing valve 32 both adopt two-position four-way solenoid reversing valves. The input end of the first solenoid reversing valve 31 is connected to the left travel hydraulic oil output pipeline of the excavator main control valve, and the input end of the second solenoid reversing valve 32 is connected to the right travel hydraulic oil output end pipeline of the excavator main control valve. By controlling whether the solenoid reversing valve 3 is energized or not, the hydraulic oil is controlled to flow to the transfer travel reducer 2 or the excavator reducer to realize the switching between the excavator and transfer modes.

[0040] Furthermore, in the above-mentioned new excavator transfer device, the transfer travel reducer 2 includes a left transfer travel reducer 21 and a right transfer travel reducer 22. The left transfer travel reducer 21 and the excavator left travel reducer 300 are respectively connected to the output end pipeline of the first electromagnetic reversing valve 31, and the right transfer travel reducer 22 and the excavator right travel reducer 400 are respectively connected to the output end pipeline of the second electromagnetic reversing valve 32, so that the transfer device and the excavator travel reducer can realize power switching, so that the transfer device can realize excavator transfer without the help of a power trailer, effectively reducing transportation costs.

[0041] Specifically, the left travel hydraulic oil output pipeline of the excavator main control valve is first connected to the input end of the first electromagnetic reversing valve 31, the left travel reducer 300 hydraulic oil input pipeline of the excavator is connected to the first output port of the first electromagnetic reversing valve 31, the right travel hydraulic oil output pipeline of the excavator main control valve is connected to the input end of the second electromagnetic reversing valve 32, and the right travel reducer 400 hydraulic oil input pipeline of the excavator is connected to the first output port of the second electromagnetic reversing valve 32. When the excavator needs to be transported, the excavator is first fixed to the transport vehicle body 1. At this time, the hydraulic oil input pipeline of the left transport travel reducer 21 is connected to the second output port of the first electromagnetic reversing valve 31, and the hydraulic oil input pipeline of the right transport travel reducer 22 is connected to the second output port of the second electromagnetic reversing valve 32. The excavator controller 200 is controlled to control the electromagnetic reversing valve 3 to be energized, so that the hydraulic oil is output through the second output port, and the excavator transport device is supplied with oil to realize the walking and steering capabilities.

[0042] like Figure 3 As shown, in another aspect of the present invention, a control method for an excavator transport device is provided, comprising:

[0043] Selection of straight-ahead mode, left-turn mode or right-turn mode for the excavator transfer device;

[0044] When the straight travel mode is selected, the user inputs the target forward speed Va, and the actual forward speed is Vn. When |(Vn-Va)| / Va≤5%, the opening of the excavator main valve 100 travel joint is maintained unchanged, and the main valve left travel joint control current I1=main valve right travel joint control current I2. Conversely, the opening size of the excavator main valve 100 is adjusted until |(Vn-Va)| / Va≤5% to complete straight travel. The setting of |(Vn-Va)| / Va≤5% effectively reduces the system pressure and flow fluctuations, and effectively improves the operation stability;

[0045] When the left-turn mode is selected, the left-travel control current of the excavator main valve 100 is set to -30% Imax, and the right-travel control current of the excavator main valve 100 is set to 30% Imax. After reaching the turning target, the turning stops and the left turn is completed;

[0046] When the right turn mode is selected, the right travel control current of the excavator main valve 100 is set to -30% Imax, and the left travel control current of the excavator main valve 100 is set to 30% Imax. After reaching the turning target, the turning is stopped to complete the right turn.

[0047] Among them, Imax is the current corresponding to the maximum positive opening, -Imax is the current corresponding to the maximum negative opening of the main valve, and the current values ​​passing through the main control valve are the same, one is the current corresponding to the positive opening, and the other is the current corresponding to the negative opening, which effectively reduces the turning radius.

[0048] Furthermore, in the excavator transfer device control method of the present invention, when the opening of the excavator main valve 100 is adjusted in the straight travel mode, when the actual travel speed is greater than the target travel speed, the main valve opening is reduced, and the main valve left travel link control current I1 is equal to the main valve right travel link control current I2; when the actual travel speed is less than the target travel speed, the main valve opening is increased, and the main valve left travel link control current I1 is equal to the main valve right travel link control current I2.

[0049] In summary, compared with the prior art, the novel excavator transfer device and control method thereof of the present invention have the following advantages and beneficial effects:

[0050] The overall structure of the present invention is simple and the manufacturing cost is low. The hydraulic oil of the left and right travel reducers controlling the excavator is introduced into the transfer travel reducer through the electromagnetic reversing valve, and the hydraulic energy is converted into mechanical energy through the transfer travel reducer, thereby effectively providing power for the excavator transfer device. The travel and steering of the excavator transfer device are realized by selecting the transfer device control method, thereby effectively reducing the transportation cost and improving the transfer efficiency.

[0051] It should be noted that, in this article, unless otherwise clearly specified and limited, the term "connection" or its synonyms should be understood in a broad sense. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. Moreover, expressions such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. At the same time, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A new excavator transfer device, characterized in that: The novel excavator transfer device comprises: A transfer vehicle body, the transfer vehicle body being used to carry the excavator; A transfer travel reducer, which is arranged on the transfer vehicle body and is used to provide transfer power; An electromagnetic reversing valve, which is arranged between the transport travel reducer and the excavator main control valve, and is used to control the hydraulic oil to enter the transport travel reducer; A pressure sensor, the pressure sensor is arranged at the pressure oil inlet of the transport travel reducer, and is used to detect the hydraulic oil pressure of the transport travel reducer; A flow meter, which is installed on the input pipeline of the electromagnetic reversing valve and is used to detect the input amount of hydraulic oil of the electromagnetic reversing valve; A rotation speed sensor is installed at the output end of the transfer travel reducer to detect the output rotation speed of the transfer travel reducer.

2. The new excavator transfer device according to claim 1 is characterized in that: The solenoid reversing valve includes a first solenoid reversing valve and a second solenoid reversing valve. The first solenoid reversing valve and the second solenoid reversing valve both adopt two-position four-way solenoid reversing valves. The input end of the first solenoid reversing valve is connected to the left travel hydraulic oil output pipeline of the excavator main control valve, and the input end of the second solenoid reversing valve is connected to the right travel hydraulic oil output end pipeline of the excavator main control valve.

3. The new excavator transfer device according to claim 2 is characterized in that: The transfer walking reducer includes a left transfer walking reducer and a right transfer walking reducer. The left transfer walking reducer and the left walking reducer of the excavator are respectively connected to the output end pipeline of the first electromagnetic reversing valve, and the right transfer walking reducer and the right walking reducer of the excavator are respectively connected to the output end pipeline of the second electromagnetic reversing valve.

4. A control method for an excavator transfer device, characterized in that: The excavator transfer device control method comprises: Selection of straight-ahead mode, left-turn mode or right-turn mode for the excavator transfer device; When the straight travel mode is selected, the user inputs the target forward speed Va, and the actual forward speed is Vn. When |(Vn-Va)| / Va≤5%, the excavator main valve travel joint opening is maintained unchanged, and the main valve left travel joint control current I1 = main valve right travel joint control current I2. Conversely, the excavator main valve opening is adjusted until |(Vn-Va)| / Va≤5% to complete straight travel; When the left-turn mode is selected, the left-travel control current of the excavator main valve is set to -30% Imax, and the right-travel control current of the excavator main valve is set to 30% Imax. After reaching the turning target, the steering stops and the left turn is completed; When the right turn mode is selected, the right travel link control current of the excavator main valve is set to -30% Imax, and the left travel link control current of the excavator main valve is set to 30% Imax. After reaching the steering target, the steering stops and the right turn is completed.

5. The excavator transfer device control method according to claim 4, characterized in that: When adjusting the main valve opening of the excavator in the straight travel mode, when the actual travel speed is greater than the target travel speed, the main valve opening is reduced, and the main valve left travel link control current I1 is equal to the main valve right travel link control current I2; when the actual travel speed is less than the target travel speed, the main valve opening is increased, and the main valve left travel link control current I1 is equal to the main valve right travel link control current I2.

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