Dead weight balance system for mechanical arm of excavator

Abstract

The invention relates to the technical field of mechanical arm balance, in particular to an excavator mechanical arm self-weight balance system which comprises a balance detection module, a self-weight balance module and a self-weight balance module. The execution module is connected with the balance detection module and used for controlling balance adjustment of the excavator mechanical arm; the control module is connected with the balance detection module and the execution module and used for determining the output flow speed of hydraulic oil in a hydraulic cylinder according to the variance of the vibration strength of the excavator mechanical arm or determining the damping strength of the excavator mechanical arm according to the average delay duration of action execution of the excavator mechanical arm. And the rigidity of the excavator mechanical arm is determined according to the average delay duration of the action execution of the excavator mechanical arm and the displacement amount of the tail end of the excavator mechanical arm. The operation stability of the self-weight balance system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arm balancing, and in particular to a self-weight balancing system for an excavator mechanical arm. Background Art

[0002] In the prior art, the robotic arm itself has a certain weight, and the deadweight problem needs to be considered when designing the robotic arm. For the excavator robotic arm, in order to reduce the energy consumption caused by its own weight, the rotation axis of the robotic arm is arranged near the center of gravity, but this increases the weight of the robotic arm, which also increases the deadweight of the excavator, which is not conducive to the lightweight of the vehicle.

[0003] Chinese Patent Publication No.: CN117484551A discloses a mechanical arm self-weight balancing mechanism arranged along the arm length direction, in which a rack, a spring and a gear are arranged along the arm length, which has the characteristics of small size and light weight, and has the function of balancing the self-weight of part of the mechanical arm, characterized in that: the mechanical arm one is rotatably connected to the base body (the second mechanical arm), the mechanical arm one has a spring cavity, and a plurality of the spring cavities are arranged along the arm length direction of the mechanical arm one, a spring cavity is installed in the spring cavity, the outer hook of the spring is fixedly connected and installed with the inner cavity of the spring cavity, the spring outer sleeve is installed on the distribution pinion shaft, the distribution pinion shaft has a spring inner ring installation groove, the spring inner hook is installed on the spring inner ring installation groove, the distribution pinion shaft is coaxially fixedly connected and installed with the pinion, and the rack has a gear The first side teeth of the pinion are meshed and connected with the first side teeth of the rack of the rack, the rack is installed along the arm length direction of the mechanical arm, the two ends of the rack have rack sliding support shafts, the rack sliding support shaft is coaxially connected to the rack support sliding bearing, the rack support sliding bearing is fixedly installed on the mechanical arm one through the fixed connection structure of the guide shaft bearing and the mechanical arm one, the base (the second mechanical arm) has a connecting shaft, the connecting shaft is coaxially fixedly connected to the power pinion, the power pinion is meshed and installed with the rack, the rack is coaxially fixedly connected to the output shaft of the drive motor through the mechanical arm joint shaft, the housing of the drive motor is fixedly connected to the mechanical arm one through the fixed connection structure, the mechanical arm joint shaft and the mechanical arm one have a bearing, and the number of the distributed pinion shafts is 1-60. It can be seen from this that the mechanical arm self-weight balancing mechanism arranged along the arm length direction has the problem that the sensor detection is disturbed due to the large vibration intensity of the excavator during operation, which leads to misjudgment of the tilt angle or position of the mechanical arm, thereby causing the operation stability of the self-weight balancing system to decrease. Summary of the invention

[0004] To this end, the present invention provides an excavator mechanical arm self-weight balancing system to overcome the problem in the prior art that due to the high vibration intensity of the excavator during operation, the detection of the sensor is disturbed, which leads to misjudgment of the inclination angle or position of the mechanical arm, thereby causing the operating stability of the self-weight balancing system to decrease.

[0005] To achieve the above-mentioned object, the present invention provides a self-weight balancing system for an excavator mechanical arm, comprising: a balancing detection module for detecting the self-weight balancing performance of the excavator mechanical arm, comprising a vibration sensor connected to the excavator mechanical arm for detecting the vibration intensity of the excavator mechanical arm and a displacement sensor arranged at the end of the excavator mechanical arm for detecting the displacement of the end of the excavator mechanical arm; an execution module, which is connected to the balancing detection module, for controlling the balance adjustment of the excavator mechanical arm, comprising a hydraulic unit for controlling the execution action of the excavator mechanical arm and a motor for providing the adjustment driving force of the excavator mechanical arm, wherein the hydraulic unit includes a hydraulic cylinder for storing hydraulic oil; a control module, which is respectively connected to the balancing detection module and the execution module, for determining the output flow rate of the hydraulic oil in the hydraulic cylinder according to the variance of the vibration intensity of the excavator mechanical arm or determining the damping strength of the excavator mechanical arm according to the average delay time of the excavator mechanical arm executing the action, and determining the stiffness of the excavator mechanical arm according to the average delay time of the excavator mechanical arm executing the action and the displacement of the end of the excavator mechanical arm.

[0006] Furthermore, the hydraulic unit further comprises:

[0007] A delivery pipeline, connected to the hydraulic cylinder, for delivering hydraulic oil;

[0008] A hydraulic pump connected to the delivery pipeline to provide delivery power for the hydraulic oil;

[0009] A hydraulic valve is connected to the delivery pipeline and is used to control the flow direction of the hydraulic oil.

[0010] Furthermore, the control module is used to determine whether the operating stability of the self-weight balancing system meets the requirements based on the variance of the vibration intensity of the excavator mechanical arm. If the variance of the vibration intensity of the excavator mechanical arm is greater than a preset first variance, it is determined that the operating stability of the self-weight balancing system does not meet the requirements.

[0011] Furthermore, the control module is used to preliminarily determine that the balancing effect of the excavator mechanical arm does not meet the requirements when the variance of the vibration intensity of the excavator mechanical arm is greater than the preset first variance and less than or equal to the preset second variance, and to determine whether the balancing effect of the excavator mechanical arm meets the requirements based on the average delay time of the excavator mechanical arm in executing the action.

[0012] Further, the control module is used to increase the output flow rate of the hydraulic oil in the hydraulic cylinder when the variance of the vibration intensity of the excavator mechanical arm is greater than the preset second variance;

[0013] The increase range of the output flow rate of the hydraulic oil in the hydraulic cylinder is determined by the difference between the variance of the vibration intensity of the excavator mechanical arm and a preset second variance.

[0014] Furthermore, the control module is used to determine whether the balancing effect of the excavator mechanical arm meets the requirements based on the average delay time of the excavator mechanical arm in executing the action. If the average delay time of the excavator mechanical arm in executing the action is greater than the preset first delay time, it is determined that the balancing effect of the excavator mechanical arm does not meet the requirements.

[0015] Furthermore, the control module is used to preliminarily determine that the stability of the excavator's working environment does not meet the requirements when the average delay time of the excavator's mechanical arm performing an action is greater than a preset second delay time, and to determine whether the stability of the excavator's working environment meets the requirements based on the displacement of the end of the excavator's mechanical arm.

[0016] Furthermore, the control module is used to increase the damping strength of the excavator mechanical arm when the average delay time length of the excavator mechanical arm performing the action is greater than the preset first delay time length and less than or equal to the preset second delay time length;

[0017] The increase in the damping strength of the excavator mechanical arm is determined by the difference between an average delay time for the excavator mechanical arm to perform an action and a preset first delay time.

[0018] Furthermore, the control module is used to determine whether the stability of the excavator's working environment meets the requirements based on the displacement of the end of the excavator's mechanical arm. If the displacement of the end of the excavator's mechanical arm is greater than a preset displacement, it is determined that the stability of the excavator's working environment does not meet the requirements, and the stiffness of the excavator's mechanical arm is increased.

[0019] Furthermore, the increase in the stiffness of the excavator arm is determined by the difference between the displacement of the end of the excavator arm and a preset displacement.

[0020] Compared with the prior art, the beneficial effect of the present invention lies in that the system of the present invention determines the output flow rate of the hydraulic oil in the hydraulic cylinder according to the variance of the vibration intensity of the excavator mechanical arm by setting a balance detection module, an execution module and a control module. Since the vibration intensity of the excavator is relatively large during operation, the detection of the sensor is disturbed, which leads to misjudgment of the inclination angle or position of the mechanical arm, thereby causing the control accuracy of the current state of the mechanical arm to decrease. By increasing the output flow rate of the hydraulic oil in the hydraulic cylinder, the response speed of the hydraulic system can be accelerated, and the system can adjust to external interference more quickly, thereby reducing the influence of vibration on the control of the mechanical arm. The damping strength of the excavator mechanical arm is determined according to the average delay time of the excavator mechanical arm in executing the action. Since the connecting bolts in the hydraulic system are loose, the hydraulic The hydraulic system is in an incompletely sealed state, resulting in hydraulic oil leakage, which slows down the response speed of the actuator. By increasing the damping strength of the mechanical arm, the vibration and swing of the mechanical arm are reduced, the vibration amplitude of the mechanical arm is reduced, and the impact caused by the leakage of the hydraulic system is reduced. The stiffness of the excavator mechanical arm is determined according to the displacement of the end of the excavator mechanical arm. Since the excavator may operate on muddy or uneven ground, the support and stability of the mechanical arm are insufficient, resulting in unstable posture of the mechanical arm. By increasing the stiffness of the mechanical arm, the mechanical arm can be deformed less when subjected to external force, and can better resist the interference caused by uneven ground, reduce shaking and deformation, keep the posture of the mechanical arm stable, and improve the operating stability of the self-weight balancing system.

[0021] Furthermore, the system of the present invention determines the output flow rate of the hydraulic oil in the hydraulic cylinder by setting a preset first variance and a preset second variance. Since the vibration intensity of the excavator is relatively large during operation, the detection of the sensor is disturbed, which in turn leads to misjudgment of the inclination angle or position of the mechanical arm, thereby causing a decrease in the control accuracy of the current state of the mechanical arm. By increasing the output flow rate of the hydraulic oil in the hydraulic cylinder, the response speed of the hydraulic system can be accelerated, the system can adjust to external interference more quickly, the impact of vibration on the control of the mechanical arm is reduced, and the operating stability of the self-weight balancing system is further improved.

[0022] Furthermore, the system of the present invention determines the damping strength of the excavator mechanical arm by setting a preset first delay time and a preset second delay time. Due to the loosening of the connecting bolts in the hydraulic system, the hydraulic system is in an incompletely sealed state, resulting in hydraulic oil leakage, which slows down the response speed of the actuator, slows down the response speed of the actuator, and increases the damping strength of the mechanical arm, thereby reducing the vibration and swing of the mechanical arm, reducing the vibration amplitude of the mechanical arm, reducing the impact of leakage in the hydraulic system, and further improving the operating stability of the self-weight balancing system.

[0023] Furthermore, the system of the present invention determines the stiffness of the excavator's mechanical arm by setting a preset displacement. Since the excavator may operate on muddy or uneven ground, the support and stability of the mechanical arm are insufficient, resulting in an unstable posture of the mechanical arm. By increasing the stiffness of the mechanical arm, the mechanical arm can be deformed less when subjected to external force, and can better resist the interference caused by uneven ground, reduce shaking and deformation, maintain the posture of the mechanical arm stable, and further improve the operating stability of the self-weight balancing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an overall structural diagram of the self-weight balancing system of an excavator mechanical arm according to an embodiment of the present invention;

[0025] Figure 2 It is a logic flow chart of the self-weight balancing system of the excavator mechanical arm according to an embodiment of the present invention;

[0026] Figure 3 This is a specific structural block diagram of a balance detection module of a self-weight balance system of an excavator mechanical arm according to an embodiment of the present invention;

[0027] Figure 4 It is a specific structural block diagram of the execution module of the excavator mechanical arm self-weight balancing system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0030] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0031] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively an overall structural block diagram of the excavator mechanical arm self-weight balancing system of the embodiment of the present invention, a logic flow chart, a specific structural block diagram of the balance detection module, and a specific structural block diagram of the execution module. The present invention is an excavator mechanical arm self-weight balancing system, comprising:

[0033] A balance detection module, used to detect the self-weight balance performance of the excavator mechanical arm, including a vibration sensor connected to the excavator mechanical arm to detect the vibration intensity of the excavator mechanical arm and a displacement sensor arranged at the end of the excavator mechanical arm to detect the displacement of the end of the excavator mechanical arm;

[0034] an execution module, which is connected to the balance detection module and is used to control the balance adjustment of the excavator mechanical arm, and includes a hydraulic unit for controlling the execution action of the excavator mechanical arm and a motor for providing an adjustment driving force for the excavator mechanical arm, wherein the hydraulic unit includes a hydraulic cylinder for storing hydraulic oil;

[0035] A control module, which is respectively connected to the balance detection module and the execution module, is used to determine the output flow rate of the hydraulic oil in the hydraulic cylinder according to the variance of the vibration intensity of the excavator mechanical arm or determine the damping strength of the excavator mechanical arm according to the average delay time of the excavator mechanical arm performing an action, and determine the stiffness of the excavator mechanical arm according to the average delay time of the excavator mechanical arm performing an action and the displacement of the end of the excavator mechanical arm.

[0036] Specifically, the balance detection module also includes:

[0037] An inclination sensor connected to the excavator mechanical arm to detect the inclination angle of the excavator mechanical arm;

[0038] A position sensor is connected to the excavator mechanical arm and is used to detect the position of the excavator mechanical arm.

[0039] Specifically, the execution actions include the extension and contraction actions of the excavator mechanical arm, the lifting and lowering actions of the excavator mechanical arm, the rotation actions of the excavator mechanical arm, and the excavation actions of the excavator mechanical arm.

[0040] Specifically, the damping strength of the excavator mechanical arm is the magnitude of the force that hinders the movement of the mechanical arm during its movement.

[0041] Specifically, the displacement of the end of the excavator's mechanical arm is the change in the position of the end of the mechanical arm relative to a reference point within a specific time period or during a specific operation.

[0042] Specifically, the stiffness of the excavator's mechanical arm refers to its ability to resist deformation when subjected to external force. The greater the stiffness, the smaller the deformation of the mechanical arm under the same external force.

[0043] In implementation, the system of the present invention determines the output flow rate of the hydraulic oil in the hydraulic cylinder according to the variance of the vibration intensity of the excavator mechanical arm by setting a balance detection module, an execution module and a control module. Since the vibration intensity of the excavator is relatively large during operation, the detection of the sensor is disturbed, which leads to misjudgment of the tilt angle or position of the mechanical arm, thereby reducing the control accuracy of the current state of the mechanical arm. By increasing the output flow rate of the hydraulic oil in the hydraulic cylinder, the response speed of the hydraulic system can be accelerated, and the system can adjust to external interference more quickly, thereby reducing the impact of vibration on the control of the mechanical arm. The damping strength of the excavator mechanical arm is determined according to the average delay time of the excavator mechanical arm in executing the action. Since the connecting bolts in the hydraulic system are loose, the hydraulic system is incomplete. The fully sealed state causes hydraulic oil leakage, which slows down the response speed of the actuator. By increasing the damping strength of the robotic arm, the vibration and swing of the robotic arm are reduced, the vibration amplitude of the robotic arm is reduced, and the impact caused by hydraulic system leakage is reduced. The stiffness of the excavator robotic arm is determined according to the displacement of the end of the excavator robotic arm. Since the excavator may operate on muddy or uneven ground, the support and stability of the robotic arm are insufficient, resulting in unstable posture of the robotic arm. By increasing the stiffness of the robotic arm, the robotic arm can be deformed less when subjected to external force, and can better resist the interference caused by uneven ground, reduce shaking and deformation, keep the posture of the robotic arm stable, and improve the operating stability of the self-weight balancing system.

[0044] Specifically, the hydraulic unit also includes:

[0045] A delivery pipeline, connected to the hydraulic cylinder, for delivering hydraulic oil;

[0046] A hydraulic pump connected to the delivery pipeline to provide delivery power for the hydraulic oil;

[0047] A hydraulic valve is connected to the delivery pipeline and is used to control the flow direction of the hydraulic oil.

[0048] Specifically, the control module is used to obtain the vibration intensity of the excavator mechanical arm within several balancing cycles and calculate the variance of the vibration intensity of the excavator mechanical arm. If the variance of the vibration intensity of the excavator mechanical arm is greater than a preset first variance, it is determined that the operating stability of the self-weight balancing system does not meet the requirements.

[0049] Specifically, the control module is used to preliminarily determine that the balancing effect of the excavator mechanical arm does not meet the requirements when the variance of the vibration intensity of the excavator mechanical arm is greater than the preset first variance and less than or equal to the preset second variance, and to determine whether the balancing effect of the excavator mechanical arm meets the requirements based on the average delay time of the excavator mechanical arm in executing the action.

[0050] It can be understood that the three intervals corresponding to the preset first variance and the preset second variance correspond to three situations respectively:

[0051] The first interval is when the variance of the vibration intensity of the excavator mechanical arm is less than or equal to the preset first variance, corresponding to the situation where the operating stability of the deadweight balancing system meets the requirements;

[0052] The second interval is when the variance of the vibration intensity of the excavator mechanical arm is greater than the preset first variance and less than or equal to the preset second variance, corresponding to the loosening of the connecting bolts in the hydraulic system, resulting in an incompletely sealed state of the hydraulic system, causing leakage of hydraulic oil, thereby causing the response speed of the actuator to slow down, slowing down the response speed of the actuator;

[0053] The third interval is when the variance of the vibration intensity of the excavator's mechanical arm is greater than the preset second variance, corresponding to a situation in which the vibration intensity of the excavator is relatively large during operation, causing interference with the sensor's detection, which in turn leads to misjudgment of the inclination angle or position of the mechanical arm, thereby reducing the control accuracy of the current state of the mechanical arm.

[0054] In practice, the range of the preset first variance is generally selected as [14(m / s 2 ) 2 , 16(m / s 2 ) 2 ], the preset second variance is generally selected in the range of [17(m / s 2 ) 2 , 19(m / s 2 ) 2 ].

[0055] Preferably, the preferred embodiment of the preset first variance is 15 (m / s 2 )2 The preferred embodiment of the preset second variance is 18 (m / s 2 ) 2 .

[0056] Specifically, the variance of the vibration intensity of the excavator mechanical arm is the variance of the vibration intensity of the excavator mechanical arm within several balancing cycles. The calculation method of the variance of the vibration intensity of the excavator mechanical arm is a conventional technical means well known to technical personnel in this field. Therefore, the calculation process of the variance of the vibration intensity of the excavator mechanical arm will not be repeated here.

[0057] In implementation, the system of the present invention determines the operating stability of the self-weight balancing system by setting a preset first variance and a preset second variance, thereby reducing the impact of the reduced operating accuracy of the self-weight balancing system due to inaccurate determination of the operating stability of the self-weight balancing system, and further improving the operating stability of the self-weight balancing system.

[0058] Specifically, the control module is used to increase the output flow rate of the hydraulic oil in the hydraulic cylinder when the variance of the vibration intensity of the excavator mechanical arm is greater than the preset second variance;

[0059] The increase range of the output flow rate of the hydraulic oil in the hydraulic cylinder is determined by the difference between the variance of the vibration intensity of the excavator mechanical arm and a preset second variance.

[0060] Specifically, the difference between the variance of the vibration intensity of the excavator mechanical arm and the preset second variance is 3 (m / s 2 ) 2 When the difference between the variance of the vibration intensity of the excavator mechanical arm and the preset second variance exceeds 3 (m / s 2 ) 2 When it exceeds 2 (m / s 2 ) 2 , the output flow rate of the hydraulic oil in the hydraulic cylinder increases by 10 cm / s. For example, the difference between the variance of the vibration intensity of the excavator mechanical arm and the preset second variance is 7 (m / s 2 ) 2 , the current output flow rate of the hydraulic oil in the hydraulic cylinder is 30 cm / s, and the output flow rate of the hydraulic oil in the hydraulic cylinder after the increase is 30×1.1+10×2=53 cm / s.

[0061] In implementation, the system of the present invention determines the output flow rate of the hydraulic oil in the hydraulic cylinder by setting a preset first variance and a preset second variance. Since the vibration intensity of the excavator is relatively large during operation, the detection of the sensor is disturbed, which leads to misjudgment of the inclination angle or position of the mechanical arm, thereby causing a decrease in the control accuracy of the current state of the mechanical arm. By increasing the output flow rate of the hydraulic oil in the hydraulic cylinder, the response speed of the hydraulic system can be accelerated, and the system can adjust to external interference more quickly, thereby reducing the impact of vibration on the control of the mechanical arm and further improving the operating stability of the self-weight balancing system.

[0062] Specifically, the control module is used to obtain the delay time of the excavator mechanical arm performing an action within several operating cycles, and calculate the average delay time of the excavator mechanical arm performing an action. If the average delay time of the excavator mechanical arm performing an action is greater than the preset first delay time, it is determined that the balancing effect of the excavator mechanical arm does not meet the requirements.

[0063] Specifically, the control module is used to preliminarily determine that the stability of the excavator's working environment does not meet the requirements when the average delay time of the excavator's mechanical arm performing an action is greater than a preset second delay time, and to determine whether the stability of the excavator's working environment meets the requirements based on the displacement of the end of the excavator's mechanical arm.

[0064] It can be understood that the three intervals corresponding to the preset first delay duration and the preset second delay duration correspond to three situations respectively:

[0065] The first interval is when the average delay time of the excavator mechanical arm performing the action is less than or equal to the preset first delay time, corresponding to the situation where the balancing effect of the excavator mechanical arm meets the requirements;

[0066] The second interval is when the average delay time of the excavator mechanical arm in executing the action is greater than the preset first delay time and less than or equal to the preset second delay time, corresponding to the loosening of the connecting bolts in the hydraulic system, resulting in an incomplete sealing state of the hydraulic system, resulting in hydraulic oil leakage, thereby causing the actuator to respond more slowly, slowing down the actuator's response speed;

[0067] The third interval is when the average delay time for the excavator's mechanical arm to execute an action is greater than the preset second delay time. The corresponding excavator may be operating on muddy or uneven ground, resulting in insufficient support and stability of the mechanical arm, thereby causing an unstable posture of the mechanical arm.

[0068] In practice, the preset first delay time length is generally selected in the range of [110ms, 130ms], and the preset second delay time length is generally selected in the range of [140ms, 160ms].

[0069] Preferably, the preferred embodiment of the preset first delay time length is 120ms, and the preferred embodiment of the preset second delay time length is 150ms.

[0070] Specifically, the average delay time for the excavator mechanical arm to perform an action is the ratio of the total delay time for the excavator mechanical arm to perform an action in a number of operation cycles to the number of operation cycles.

[0071] In implementation, the system of the present invention determines the balancing effect of the excavator mechanical arm by setting a preset first delay time and a preset second delay time, thereby reducing the impact of the reduced operating stability of the self-weight balancing system due to inaccurate determination of the balancing effect of the excavator mechanical arm, and further improving the operating stability of the self-weight balancing system.

[0072] Specifically, the control module is used to increase the damping strength of the excavator mechanical arm when the average delay time length of the excavator mechanical arm performing an action is greater than the preset first delay time length and less than or equal to the preset second delay time length;

[0073] The increase in the damping strength of the excavator mechanical arm is determined by the difference between an average delay time for the excavator mechanical arm to perform an action and a preset first delay time.

[0074] Specifically, when the difference between the average delay time for the excavator mechanical arm to execute an action and the preset first delay time is within 20ms, the damping strength of the excavator mechanical arm increases to 1.2 times the original value; when the difference between the average delay time for the excavator mechanical arm to execute an action and the preset first delay time exceeds 20ms, the damping strength of the excavator mechanical arm increases by 200N·s / m for every 10ms exceeding the delay time. For example, the difference between the average delay time for the excavator mechanical arm to execute an action and the preset first delay time is 40ms. The current damping strength of the excavator mechanical arm is 300N·s / m, and the increased damping strength of the excavator mechanical arm is 300N·s / m.

[0075] Specifically, N·s / m is the unit of the damping strength of the excavator mechanical arm, which means Newton·second / meter.

[0076] In implementation, the system of the present invention determines the damping strength of the excavator mechanical arm by setting a preset first delay time and a preset second delay time. Due to the loosening of the connecting bolts in the hydraulic system, the hydraulic system is in an incompletely sealed state, resulting in hydraulic oil leakage, which slows down the response speed of the actuator, reduces the response speed of the actuator, and increases the damping strength of the mechanical arm, reduces the vibration and swing of the mechanical arm, reduces the vibration amplitude of the mechanical arm, reduces the impact of hydraulic system leakage, and further improves the operating stability of the self-weight balancing system.

[0077] Specifically, the control module is used to obtain the displacement of the end of the excavator mechanical arm. If the displacement of the end of the excavator mechanical arm is greater than a preset displacement, it is determined that the stability of the working environment of the excavator does not meet the requirements, and the stiffness of the excavator mechanical arm is increased.

[0078] It can be understood that the two intervals corresponding to the preset displacement amount correspond to two situations respectively:

[0079] The first interval is when the displacement of the excavator's mechanical arm end is less than or equal to the preset displacement, corresponding to the situation where the stability of the excavator's working environment meets the requirements;

[0080] The second interval is when the displacement of the end of the excavator's mechanical arm is greater than the preset displacement. The corresponding excavator may be operating on muddy or uneven ground, resulting in insufficient support and stability of the mechanical arm, thereby causing the mechanical arm to have an unstable posture.

[0081] In practice, the preset displacement is generally selected in the range of [1.3m, 1.7m].

[0082] Preferably, the preset displacement is 1.5 m.

[0083] In implementation, the system of the present invention determines the stability of the working environment of the excavator by setting a preset displacement, thereby reducing the impact of the decreased operating stability of the self-weight balancing system due to inaccurate determination of the stability of the working environment of the excavator, and further improving the operating stability of the self-weight balancing system.

[0084] Specifically, the increase in the stiffness of the excavator arm is determined by the difference between the displacement of the end of the excavator arm and a preset displacement.

[0085] Specifically, when the difference between the displacement of the end of the excavator arm and the preset displacement is within 0.3m, the stiffness of the excavator arm increases to 1.1 times the original value; when the difference between the displacement of the end of the excavator arm and the preset displacement exceeds 0.3m, the stiffness of the excavator arm increases by 50kN / m for every 0.2m exceeding. For example, the difference between the displacement of the end of the excavator arm and the preset displacement is 0.7m, the current stiffness of the excavator arm is 200kN / m, and the increased stiffness of the excavator arm is 200×1.1+50×2=320kN / m.

[0086] Specifically, kN / m is the unit of the stiffness of the excavator mechanical arm, which means kilonewton per meter.

[0087] During implementation, the system of the present invention determines the stiffness of the excavator's mechanical arm by setting a preset displacement. Since the excavator may operate on muddy or uneven ground, the support and stability of the mechanical arm are insufficient, resulting in an unstable posture of the mechanical arm. By increasing the stiffness of the mechanical arm, the mechanical arm can be deformed less when subjected to external force, and can better resist the interference caused by uneven ground, reduce shaking and deformation, maintain the posture of the mechanical arm stable, and further improve the operating stability of the self-weight balancing system.

[0088] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A self-weight balancing system for an excavator mechanical arm, characterized in that: include: A balance detection module, used to detect the self-weight balance performance of the excavator mechanical arm, including a vibration sensor connected to the excavator mechanical arm to detect the vibration intensity of the excavator mechanical arm and a displacement sensor arranged at the end of the excavator mechanical arm to detect the displacement of the end of the excavator mechanical arm; an execution module, which is connected to the balance detection module and is used to control the balance adjustment of the excavator mechanical arm, and includes a hydraulic unit for controlling the execution action of the excavator mechanical arm and a motor for providing an adjustment driving force for the excavator mechanical arm, wherein the hydraulic unit includes a hydraulic cylinder for storing hydraulic oil; A control module, which is respectively connected to the balance detection module and the execution module, is used to determine the output flow rate of the hydraulic oil in the hydraulic cylinder according to the variance of the vibration intensity of the excavator mechanical arm or determine the damping strength of the excavator mechanical arm according to the average delay time of the excavator mechanical arm performing an action, and determine the stiffness of the excavator mechanical arm according to the average delay time of the excavator mechanical arm performing an action and the displacement of the end of the excavator mechanical arm.

2. The excavator mechanical arm self-weight balancing system according to claim 1, characterized in that: The hydraulic unit also includes: A delivery pipeline, connected to the hydraulic cylinder, for delivering hydraulic oil; A hydraulic pump connected to the delivery pipeline to provide delivery power for the hydraulic oil; A hydraulic valve is connected to the delivery pipeline and is used to control the flow direction of the hydraulic oil.

3. The excavator mechanical arm self-weight balancing system according to claim 1, characterized in that: The control module is used to determine whether the operating stability of the self-weight balancing system meets the requirements according to the variance of the vibration intensity of the excavator mechanical arm. If the variance of the vibration intensity of the excavator mechanical arm is greater than a preset first variance, it is determined that the operating stability of the self-weight balancing system does not meet the requirements.

4. The excavator mechanical arm self-weight balancing system according to claim 3, characterized in that: The control module is used to preliminarily determine that the balancing effect of the excavator mechanical arm does not meet the requirements when the variance of the vibration intensity of the excavator mechanical arm is greater than the preset first variance and less than or equal to the preset second variance, and to determine whether the balancing effect of the excavator mechanical arm meets the requirements based on the average delay time of the excavator mechanical arm in executing the action.

5. The excavator mechanical arm self-weight balancing system according to claim 4, characterized in that: The control module is used to increase the output flow rate of the hydraulic oil in the hydraulic cylinder when the variance of the vibration intensity of the excavator mechanical arm is greater than the preset second variance; The increase range of the output flow rate of the hydraulic oil in the hydraulic cylinder is determined by the difference between the variance of the vibration intensity of the excavator mechanical arm and a preset second variance.

6. The excavator mechanical arm self-weight balancing system according to claim 4, characterized in that: The control module is used to determine whether the balancing effect of the excavator mechanical arm meets the requirements based on the average delay time of the excavator mechanical arm in executing the action. If the average delay time of the excavator mechanical arm in executing the action is greater than the preset first delay time, it is determined that the balancing effect of the excavator mechanical arm does not meet the requirements.

7. The excavator mechanical arm self-weight balancing system according to claim 6, characterized in that: The control module is used to preliminarily determine that the stability of the excavator's working environment does not meet the requirements when the average delay time of the excavator's mechanical arm performing an action is greater than a preset second delay time, and to determine whether the stability of the excavator's working environment meets the requirements based on the displacement of the end of the excavator's mechanical arm.

8. The excavator mechanical arm self-weight balancing system according to claim 7, characterized in that: The control module is used to increase the damping strength of the excavator mechanical arm when the average delay time length of the excavator mechanical arm performing an action is greater than the preset first delay time length and less than or equal to the preset second delay time length; The increase in the damping strength of the excavator mechanical arm is determined by the difference between an average delay time for the excavator mechanical arm to perform an action and a preset first delay time.

9. The excavator mechanical arm self-weight balancing system according to claim 7, characterized in that: The control module is used to determine whether the working environment stability of the excavator meets the requirements based on the displacement of the end of the excavator's mechanical arm. If the displacement of the end of the excavator's mechanical arm is greater than the preset displacement, it is determined that the working environment stability of the excavator does not meet the requirements, and the stiffness of the excavator's mechanical arm is increased.

10. The excavator mechanical arm self-weight balancing system according to claim 9, characterized in that: The increase range of the rigidity of the excavator mechanical arm is determined by the difference between the displacement of the end of the excavator mechanical arm and the preset displacement.

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