Miniature hydraulic excavator of load-sensitive feedback system

Abstract

The invention discloses a micro hydraulic excavator of a load-sensitive feedback system, which belongs to the technical field of excavators, and comprises a slewing mechanism, the slewing mechanism comprises a walking chassis, a supporting table and a slewing platform, and the micro hydraulic excavator further comprises a turntable assembly, a hydraulic cylinder assembly and a hydraulic cylinder assembly, the power output mechanism is used for cooperating with the turntable assembly to drive the revolving platform to revolve; the lubricating system is used for lubricating the turntable assembly; the rotating disc assembly comprises an inner ring, an outer ring and a ball, the inner ring is detachably installed on the supporting table through a bolt assembly A, the outer ring is detachably installed on the rotating platform through a bolt assembly B, and the ball is embedded in a ball cavity formed by the inner ring and the outer ring. The rotating ring is installed on the outer ring in an embedded mode and rotationally connected with the outer ring, an oil inlet channel and an oil outlet channel are formed in the outer ring, and the oil inlet channel and the oil outlet channel both communicate with the ball cavity; the rotary table assembly can be lubricated in time.

Description

Technical Field

[0001] The invention belongs to the technical field of excavators, and in particular relates to a micro hydraulic excavator with a load sensitive feedback system. Background Art

[0002] With the rise in labor prices and the shortage of workers in engineering construction and earthmoving operations, traditional manual operations are gradually being replaced by mechanical construction operations. Small and micro excavators are becoming a tool and are widely used by family farmers. There is a strong demand for micro hydraulic excavators with simple structure, moderate configuration and relatively strong operating capacity. In particular, agricultural greenhouse cultivation is being promoted and popularized on a large scale, large-scale breeding has been industrialized, and engineering construction in urban basements, as well as operations in restricted areas or places such as subways, tunnels, and culverts, have narrow workplaces. Traditional larger hydraulic excavators cannot operate in restricted areas, places, and spaces, and cannot meet the environment's requirements for low emissions, energy saving, environmental protection, flexibility, and high efficiency for construction machinery.

[0003] In view of this, research and development involves a load-sensitive system application, superior performance of the micro hydraulic excavator, especially the slewing platform width <750mm, to adapt to the domestic market, which has become a necessity. At the same time, as an important central component of the excavator, the turntable assembly in the slewing mechanism needs to be lubricated. Existing small and micro excavators often use manual injection of lubricating oil. As the use of the excavator increases, if the lubricating oil cannot be replaced or added in time, the turntable assembly in the slewing mechanism of the excavator will be damaged and fail. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a micro hydraulic excavator with a load-sensitive feedback system to solve the above problems.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A micro hydraulic excavator with a load-sensitive feedback system includes a slewing mechanism, the slewing mechanism includes a walking chassis, a support platform and a slewing platform, the support platform is fixedly connected to the walking chassis, and also includes:

[0006] A turntable assembly is mounted on the support platform and is used to provide slewing support for the slewing platform;

[0007] A power output mechanism is installed on the rotary platform and is used to cooperate with the turntable assembly to drive the rotary platform to perform rotary motion;

[0008] A lubrication system, installed on the turntable assembly, for lubricating the turntable assembly;

[0009] Among them, the turntable assembly includes an inner ring, an outer ring and a ball. The inner ring is detachably mounted on the support platform by a bolt assembly A, and the outer ring is detachably mounted on the rotating platform by a bolt assembly B. The outer ring is rotatably connected to the inner ring, and the ball is embedded in a ball cavity formed by the inner ring and the outer ring. The swivel is embedded in the outer ring and rotatably connected to the outer ring. An oil inlet channel and an oil outlet channel are opened on the outer ring, and the oil inlet channel and the oil outlet channel are both connected to the ball cavity.

[0010] On the basis of the above technical solution, the present invention also provides the following optional technical solution:

[0011] Further technical solution: The lubrication system includes an oil tank, a partition, an oil delivery pipe, an oil outlet pipe, a temperature regulating device, a solenoid valve A, a solenoid valve B and an oil drain hole. The oil tank can be detachably installed on the walking chassis. The partition is fixedly connected in the oil tank and divides the internal cavity of the oil tank into cavity A and cavity B. The oil outlet pipe is installed on the swivel and the oil tank. One end of the oil outlet pipe is connected to the oil outlet ring groove provided on the swivel, and the oil outlet ring groove is connected to the oil outlet oil channel provided on the outer ring. The other end of the oil outlet pipe extends into cavity A and a solenoid valve C is installed on it. The oil delivery pipe is installed on the swivel and the oil tank, one end of the oil delivery pipe is connected with the oil inlet ring groove provided on the swivel, and the other end of the oil delivery pipe extends into the cavity B, and the oil inlet ring groove is connected with the oil inlet oil channel provided on the outer ring. The oil delivery pipe is installed with a solenoid valve A and a solenoid valve B, the solenoid valve A is located in the cavity A, and the solenoid valve B is located in the cavity B. The temperature regulating device is installed on the oil tank and is located in the cavity A. A pump body is installed on the oil delivery pipe, and the oil tank is provided with an oil drain hole for draining the lubricating oil located in the cavity A.

[0012] Further technical solution: The power output mechanism includes a hydraulic drive assembly and a gear. The hydraulic drive assembly is detachably mounted on a rotating platform. The gear is fixedly mounted on an output shaft of the hydraulic drive assembly. The gear is meshed with an internal gear fixedly connected to the inner side of an inner ring.

[0013] Further technical solution: A pH sensor and a viscometer are arranged in the cavity A, and both the pH sensor and the viscometer can be detachably mounted on the partition.

[0014] A further technical solution also includes an ultrasonic liquid level sensor installed on the outside of the swivel, a temperature sensor installed on the partition and located in cavity A, and a vibration sensor installed on the outside of the outer ring.

[0015] Further technical solution: The upper ends of the outer ring and the ball are provided with a step A for installing an upper sealing ring, and the lower ends of the outer ring and the ball are provided with a step B for installing a lower sealing ring.

[0016] Further technical solution: equipped with a load sensing system and the width of the rotary platform is less than 740 mm.

[0017] Further technical solution: The specific steps of the rotation operation of the micro hydraulic excavator with a load-sensitive feedback system are as follows:

[0018] S1. The technician pushes the operating lever to make the hydraulic drive assembly work. At this time, the hydraulic drive assembly drives the gear to rotate in the vertical direction. The gear rolls in a circle along the inner gear meshing with it, thereby pushing the rotary platform to drive the outer ring to rotate in the vertical direction relative to the inner ring. At the same time, the pump body is turned on to guide the lubricating oil in cavity A into the oil inlet ring groove through the oil delivery pipe. The lubricating oil in the oil inlet ring groove enters the ball cavity through the oil inlet oil channel to lubricate the ball, and the lubricating oil in the ball cavity can return to cavity A through the oil outlet oil channel, the oil outlet ring groove, and the oil outlet pipe in sequence;

[0019] S2. Obtain the PH value information and viscosity information of the lubricating oil through the PH sensor and the viscometer, and compare the obtained PH information and viscosity information with the corresponding set PH threshold and viscosity threshold. If any one of the PH value and viscosity information of the lubricating oil exceeds the preset threshold, it indicates that the lubricating oil has failed. When the PH value and viscosity information of the lubricating oil are both within the corresponding threshold, the PH information and viscosity information are dimensionlessly processed and then introduced into the constructed lubricating oil lubrication quality model to obtain the lubricating oil lubrication quality coefficient. The obtained lubricating oil quality coefficient is compared with the preset The lubricating oil quality coefficient threshold set is compared. If the obtained lubricating oil quality coefficient is not within the lubricating oil quality coefficient threshold, it indicates that the lubricating oil has failed. After determining that the lubricating oil has failed, the rotary motion of the excavator is suspended and the oil drain hole is opened to drain the failed lubricating oil in cavity A. The solenoid valve A is closed and the solenoid valve B and the pump body are opened to promote the lubricating oil in cavity B to be introduced into cavity A until the lubricating oil in cavity A reaches the preset liquid level height, and the solenoid valve B is closed and the solenoid valve A is opened to promote the PH information, viscosity information and lubricating oil quality coefficient of the lubricating oil to be within the corresponding threshold, wherein;

[0020] S3. On the basis of S2, when the rotating component is working, the temperature of the flowing lubricating oil can be detected by using a temperature sensor, the liquid level height of the lubricating oil in the ball cavity can be detected by using an ultrasonic liquid level sensor, and the vibration information of the outer ring can be detected by using a vibration sensor, so as to obtain the liquid level height information of the lubricating oil, the vibration information of the rotation of the turntable component, and the temperature information of the lubricating oil. If the liquid level height information of the lubricating oil is not within the preset liquid level height threshold, the flow of the solenoid valve A and the solenoid valve C is adjusted to make the liquid level height information in the ball cavity within the liquid level height threshold. If the temperature information of the lubricating oil is not within the temperature threshold, the temperature regulating device is started to adjust the temperature of the lubricating oil until the temperature of the lubricating oil is within the temperature threshold. If the vibration information of the turntable assembly is within the vibration threshold, it indicates that the ball is damaged and needs to be replaced. Under the condition that the temperature information, liquid level information and vibration information of the turntable assembly are all within the corresponding thresholds, the obtained liquid level information of the lubricating oil, the vibration information of the turntable rotation and the temperature information of the lubricating oil are dimensionlessly processed and imported into the constructed rotation quality evaluation model to obtain the rotation quality coefficient and compare the obtained rotation quality coefficient with the preset rotation quality coefficient threshold. If the obtained rotation quality coefficient is not within the rotation quality coefficient threshold, the temperature information of the lubricating oil and the liquid level information of the lubricating oil are adjusted until the rotation quality coefficient is within the rotation quality coefficient threshold.

[0021] Further technical solution: The lubricating oil quality model is expressed as:

[0022] RY(PH,N)=(αPH,βN)(α+β)- 1

[0023] Among them, RY(PH, N) represents the lubricating oil quality coefficient, PH represents the PH value information, N represents the viscosity information, α represents the influence factor of the PH value information, β represents the influence factor of the viscosity information, 0.52≤α≤0.75, 0.84≤β≤0.97.

[0024] Further technical solution: The rotation quality assessment model is expressed as:

[0025]

[0026]

[0027] RY(PH,N)=(αPH,βN)(α+β)- 1

[0028] Among them, HZ(T, H, f) represents the rotation quality coefficient, V represents the volume of the ball cavity, T represents the temperature information of the lubricating oil, H represents the liquid level information of the lubricating oil, f represents the vibration information, T1 represents the average of the upper and lower limits of the temperature threshold, H1 represents the average of the upper and lower limits of the liquid level threshold, f1 represents the average of the upper and lower limits of the vibration threshold, μ represents the rotation quality influencing factor, T2 represents the lower limit value of the temperature threshold, H2 represents the lower limit value of the liquid level threshold, and represents the lower limit value of the vibration threshold.

[0029] The present invention provides a mini hydraulic excavator with a load-sensitive feedback system, which has the following beneficial effects compared with the prior art:

[0030] 1. In the present invention, the technician can make the hydraulic drive assembly work by pushing the operating lever. At this time, the hydraulic drive assembly is used to drive the gear to rotate in the vertical direction. The gear rolls in a circle along the inner gear meshing with it, thereby pushing the rotary platform to drive the outer ring to rotate in the vertical direction relative to the inner ring. At the same time, the pump body is turned on to guide the lubricating oil in the cavity A into the oil inlet ring groove through the oil delivery pipe. The lubricating oil in the oil inlet ring groove enters the ball cavity through the oil inlet oil channel to lubricate the ball, and the lubricating oil in the ball cavity can pass through the oil outlet oil channel and the oil outlet ring groove in sequence. , the oil outlet pipe returns to cavity A, and the PH value information and viscosity information of the lubricating oil can be used to detect the quality of the lubricating oil. If any one of the PH value and viscosity information of the lubricating oil exceeds the preset threshold, it indicates that the lubricating oil has failed. At this time, the machine is shut down and the oil drain hole is opened to guide the failed lubricating oil in cavity A out, and the solenoid valve A is closed and the solenoid valve B and the pump body are opened, so that the lubricating oil in cavity B is introduced into cavity A until the lubricating oil in cavity A reaches the preset liquid level height (the liquid level height in cavity A is detected by a liquid level sensor), and the solenoid valve B is closed and the solenoid valve A is opened;

[0031] 2. When the rotating assembly is working, the temperature of the flowing lubricating oil can be detected by a temperature sensor, the liquid level of the lubricating oil in the ball cavity can be detected by an ultrasonic liquid level sensor, and the vibration information of the outer ring can be detected by a vibration sensor, so as to obtain the lubricating oil liquid level information, the vibration information of the turntable rotation, and the lubricating oil temperature information. The rotation quality of the excavator can be evaluated based on the lubricating oil liquid level information, the vibration information of the turntable rotation, the lubricating oil temperature information and the quality of the lubricating oil. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of the excavator of the present invention.

[0033] Figure 2 It is a structural schematic diagram of the rotary mechanism of the present invention.

[0034] Figure 3 It is a schematic diagram of the overall structure of the rotary mechanism of the present invention.

[0035] Figure 4 This is an enlarged schematic diagram of the structure of part A in Figure A of the present invention.

[0036] Figure 5 For the present invention Figure 2 Schematic diagram of the enlarged structure of part B.

[0037] Figure 6 It is a schematic diagram of the structure of the lubrication system of the present invention.

[0038] Notes on the accompanying drawings: 1. Walking chassis; 2. Support platform; 3. Rotating platform; 4. Turntable assembly; 401. Inner ring; 4011. Internal gear; 402. Outer ring; 403. Ball; 404. Swivel; 4041. Oil inlet ring groove; 4042. Oil outlet ring groove; 405. Oil inlet channel; 406. Oil outlet channel; 407. Lower sealing ring; 408. Upper sealing ring; 5. Power output mechanism; 501. Hydraulic drive assembly; 502. Gear; 6. Lubrication system; 601. Oil tank; 602. Partition; 603. Oil pipeline; 604. Oil outlet pipe; 605. Temperature regulating device; 606. Solenoid valve A; 607. Solenoid valve B; 608. Oil drain hole; 609. Solenoid valve C; 7. Bolt assembly A; 8. Bolt assembly B; 9. PH sensor; 10. Viscometer. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0041] See also Figure 1 to Figure 6 , provided in one embodiment of the present invention, is a micro hydraulic excavator with a load-sensitive feedback system, comprising a slewing mechanism, wherein the slewing mechanism comprises a walking chassis 1, a support platform 2 and a slewing platform 3, wherein the support platform 2 is fixedly connected to the walking chassis 1, and further comprises:

[0042] The turntable assembly 4 is mounted on the support platform 2 and is used to provide slewing support for the slewing platform 3;

[0043] The power output mechanism 5 is installed on the rotary platform 3 and is used to cooperate with the turntable assembly 4 to drive the rotary platform 3 to perform rotary motion;

[0044] A lubrication system 6, installed on the turntable assembly 4, for lubricating the turntable assembly 4;

[0045] The turntable assembly 4 includes an inner ring 401, an outer ring 402 and a ball 403. The inner ring 401 is detachably mounted on the support platform 2 through a bolt assembly A7, and the outer ring 402 is detachably mounted on the rotary platform 3 through a bolt assembly B8. The outer ring 402 is rotatably connected to the inner ring 401. The ball 403 is embedded in a ball cavity (not shown in the figure) formed by the inner ring 401 and the outer ring 402. The swivel 404 is embedded in the outer ring 402 and rotatably connected to the outer ring 402. An oil inlet passage 405 and an oil outlet passage 406 are provided on the outer ring 402, and both the oil inlet passage 405 and the oil outlet passage 406 are connected to the ball cavity.

[0046] The lubrication system 6 includes an oil tank 601, a partition 602, an oil delivery pipe 603, an oil outlet pipe 604, a temperature regulating device 605, a solenoid valve A606, a solenoid valve B607 and an oil drain hole 608. The oil tank 601 can be detachably mounted on the walking chassis 1. The partition 602 is fixedly connected to the oil tank 601 and divides the internal cavity of the oil tank 601 into cavity A (not marked in the figure) and cavity B (not marked in the figure). The oil outlet pipe 604 is installed on the swivel 404 and the oil tank 601. One end of the oil outlet pipe 604 is connected to the oil outlet ring groove 4042 provided on the swivel 404. The oil outlet ring groove 4042 is connected to the oil outlet oil channel 406 provided on the outer ring 402. The other end of the oil outlet pipe 604 extends into cavity A on which a solenoid valve is installed. Valve C609, the oil delivery pipe 603 is installed on the swivel 404 and the oil tank 601, one end of the oil delivery pipe 603 is connected with the oil inlet ring groove 4041 provided on the swivel 404, the other end of the oil delivery pipe 603 extends into the cavity B, the oil inlet ring groove 4041 is connected with the oil inlet oil channel 405 provided on the outer ring 402, the oil delivery pipe 603 is installed with a solenoid valve A606 and a solenoid valve B607, the solenoid valve A606 is located in the cavity A, the solenoid valve B607 is located in the cavity B, the temperature regulating device 605 is installed on the oil tank 601 and is located in the cavity A, a pump body (not shown in the figure) is installed on the oil delivery pipe 603, and the oil tank 601 is provided with an oil drain hole 608 for draining the lubricating oil in the cavity A;

[0047] The power output mechanism 5 includes a hydraulic drive component 501 and a gear 502. The hydraulic drive component 501 is detachably mounted on the rotary platform 3. The gear 502 is fixedly mounted on the output shaft of the hydraulic drive component 501. The gear 502 is meshed with an inner gear 4011 fixedly connected to the inner side of the inner ring 401. The purpose of this arrangement is to utilize the hydraulic drive component 501 to drive the gear 502 to perform a rotational motion in the vertical direction. The gear 502 rolls in a circle along the inner gear 4011 meshed therewith, thereby pushing the rotary platform 3 to drive the outer ring 402 to perform a rotational motion in the vertical direction relative to the inner ring 401, thereby achieving the technical effect of driving the excavator to perform a rotational motion.

[0048] Preferably, a pH sensor 9 and a viscometer 10 are provided in the cavity A, and both the pH sensor 9 and the viscometer 10 can be detachably mounted on the partition 602. The purpose of such a setting is to detect the pH value and viscosity of the lubricating oil in the cavity A, obtain the pH value information and the viscosity information of the lubricating oil, and thus detect the quality of the lubricating oil;

[0049] Preferably, it also includes an ultrasonic liquid level sensor installed on the outside of the swivel 404, a temperature sensor installed on the partition 602 and located in the cavity A, and a vibration sensor installed on the outside of the outer ring 402. The purpose of this arrangement is to use the temperature sensor to detect the temperature of the flowing lubricating oil, use the ultrasonic liquid level sensor to detect the liquid level height of the lubricating oil in the ball cavity, and use the vibration sensor to detect the vibration information of the outer ring 402.

[0050] Preferably, the upper ends of the outer ring 402 and the ball 403 are provided with a step A for installing the upper sealing ring 408, and the lower ends of the outer ring 402 and the ball 403 are provided with a step B for installing the lower sealing ring 407. The purpose of this arrangement is to seal the ball cavity.

[0051] Preferably, it also includes a traveling mechanism, which is installed on the traveling chassis 1, adopts rubber tracks, and the chassis is telescopic and adjustable, and the width adjustment range is limited to 1200mm to 750mm. It has a hydraulic stepless speed travel drive, including a bulldozer, supporting rollers, guide wheels, sprocket wheels, and a chassis width adjustment mechanism. The telescopic and adjustable chassis is convenient for adapting to the passage of different working places while ensuring the stability of the whole machine; the hydraulic stepless speed travel is suitable for moving in narrow spaces; the rubber tracks can better protect the construction site from damage while taking into account the control of walking noise; a bulldozer is set to increase the bulldozing function, which is convenient for leveling the construction site;

[0052] Preferably, it also includes a working device, adopts a backhoe four-link mechanism, and the control oil pipes and electric lines are attached to the inside of the boom and dipper of the working device. The boom oil cylinder is inverted, and the entire working device is set on the platform rotary tilting head seat. The backhoe four-link mechanism has a simple structure and flexible operation; the oil pipes and electric lines are attached to the boom and dipper, which can prevent damage to the pipeline when working in a narrow space, so that the operator is worry-free; the boom oil cylinder is inverted to protect the cylinder rod and increase the lifting capacity; the platform rotary swing head is added for fixed connection of the working device, which can increase the operating range of the micro hydraulic excavator and improve the approach angle and approach distance of the working object. The various components of the working device are hinged by pins.

[0053] Preferably, according to the preset working environment, the width of the rotary platform 3 of the mini hydraulic excavator equipped with a load sensing system is less than 740 mm, which brings a series of corresponding requirements in selecting accessories, determining the power and hydraulic system configuration.

[0054] A rotating and deflecting head seat is arranged at the front end of the rotating platform for installing and fixing the working device, and the deflecting head seat is hinged to the front end of the rotating platform.

[0055] The overall configuration of the revolving platform is a tailless style, that is, the rear tail rotation range of the platform is limited within the length of the crawler tracks, so as to facilitate operation in narrow spaces; the rear counterweight is an integral casting structure, which is arranged at the rear of the revolving platform, and decorative guard plates are arranged on both sides of the platform; the engine hood is a split structure, which is divided into left and right side covers and a top cover. The left and right side covers have diamond-shaped heat dissipation holes, and the contour is pressed and convex to increase strength and rigidity. The contour around the top cover is pressed and convex, and the upper part is installed with left and right hand boxes and an operating seat; at the front end of the platform, an integrated pedal is arranged for configuring and installing walking operation push-pull rods, foot throttle, crushing pedal, foot rest and other facilities.

[0056] Preferably, it also includes a power system: the power system is arranged on the rotating platform 3, inside the engine hood, and is equipped with an engine, a power output mechanism, an intake system, an exhaust system, a suspension mechanism, a cooling system, a fuel system, a control system, etc. The structural dimensions of each component are preset according to the platform space width requirements. The power output mechanism 5 includes a cover, a coupling, a dual-quantity gear pump or a single-variable main piston pump, and a pilot control pump to provide power and control for the configured load-sensitive hydraulic system main control valve. The key point of the power system is the dual-quantity gear pump or single-variable main piston pump + pilot control pump equipped with the engine. This configuration overcomes the long-cherished but unachievable configuration structure of small and micro hydraulic excavators, especially hydraulic excavators with a rotating platform 3 width of <740mm, and is revolutionary in the power-hydraulic system configuration of small and micro hydraulic excavators.

[0057] Preferably, the hydraulic system: in view of the good adaptability of the load characteristics of the load-sensitive hydraulic system to the engine, the timely and fast response to load feedback, and the soft and smooth movement, a multi-way control valve with load-sensitive function is jointly developed with the supporting supplier, and a double-pump or triple-pump power unit including a main working pump (including a quantitative gear pump or a variable main piston pump) and a pilot control pump is configured. The engine drives the double or triple pump to work through a coupling, and the high-pressure hydraulic oil of the main working pump is supplied to the multi-way control valve through the pipeline for performing various operations. The hydraulic oil of the pilot control pump passes through the oil source valve to execute various control elements, and the feedback oil circuit closes itself to form an internal loop.

[0058] Preferably, the width of the rotary platform 3 of the mini hydraulic excavator equipped with the load sensing system is limited to less than 750 mm.

[0059] In the embodiment of the present invention, the technician pushes the operating lever to cause the hydraulic drive component 501 to work. At this time, the hydraulic drive component 501 is used to drive the gear 502 to rotate in the vertical direction. The gear 502 rolls in a circle along the inner gear 4011 meshing with it, thereby pushing the rotary platform 3 to drive the outer ring 402 to rotate in the vertical direction relative to the inner ring 401. At the same time, the pump body is turned on to guide the lubricating oil in the cavity A into the oil inlet groove 4041 through the oil delivery pipe 603. The lubricating oil in the oil inlet groove 4041 enters the ball cavity through the oil inlet channel 405 to lubricate the ball 403, and the lubricating oil in the ball cavity can return to the cavity A through the oil outlet channel 406, the oil outlet groove 4042, and the oil outlet pipe 604 in turn. At the same time, the pH value information and viscosity information of the lubricating oil can be used to detect the quality of the lubricating oil. If any of the pH value and viscosity information of the lubricating oil exceeds the preset The threshold value indicates that the lubricating oil has failed. At this time, the machine is shut down and the oil drain hole 608 is opened to drain the failed lubricating oil in cavity A, and the solenoid valve A606 is closed and the solenoid valve B607 and the pump body are opened to promote the lubricating oil in cavity B to be introduced into cavity A until the lubricating oil in cavity A reaches a preset liquid level (the liquid level in cavity A is detected by a liquid level sensor) and the solenoid valve B607 is closed and the solenoid valve A606 is opened. When the rotating component is working, the temperature of the flowing lubricating oil can be detected by a temperature sensor, the liquid level of the lubricating oil in the ball cavity can be detected by an ultrasonic liquid level sensor, and the vibration information of the outer ring 402 can be detected by a vibration sensor, so as to obtain the lubricating oil liquid level information, the vibration information of the turntable rotation, and the lubricating oil temperature information, and the rotation quality of the excavator is evaluated based on the lubricating oil liquid level information, the vibration information of the turntable rotation, the lubricating oil temperature information and the quality of the lubricating oil.

[0060] The specific steps of the rotation operation of the micro hydraulic excavator with the load sensitive feedback system are as follows:

[0061] S1. The technician pushes the operating lever to make the hydraulic drive assembly 501 work. At this time, the hydraulic drive assembly 501 is used to drive the gear 502 to rotate in the vertical direction. The gear 502 rolls in a circle along the inner gear 4011 meshing with it, thereby pushing the rotary platform 3 to drive the outer ring 402 to rotate in the vertical direction relative to the inner ring 401. At the same time, the pump body is turned on to guide the lubricating oil in the cavity A into the oil inlet groove 4041 through the oil delivery pipe 603. The lubricating oil in the oil inlet groove 4041 enters the ball cavity through the oil inlet channel 405 to lubricate the ball 403, and the lubricating oil in the ball cavity can return to the cavity A through the oil outlet channel 406, the oil outlet groove 4042, and the oil outlet pipe 604 in sequence;

[0062] S2. Obtain the PH value information and viscosity information of the lubricating oil through the PH sensor 9 and the viscometer 10, and compare the obtained PH information and viscosity information with the corresponding set PH threshold and viscosity threshold. If any one of the PH value and viscosity information of the lubricating oil exceeds the preset threshold, it indicates that the lubricating oil is invalid. When the PH value and viscosity information of the lubricating oil are both within the corresponding threshold, the PH information and viscosity information are dimensionlessly processed and introduced into the constructed lubricating oil lubrication quality model to obtain the lubricating oil lubrication quality coefficient. The obtained lubricating oil quality coefficient is compared with the preset lubricating oil quality coefficient threshold. If the obtained lubricating oil quality coefficient exceeds the preset threshold, the lubricating oil quality coefficient is invalid. If the coefficient is not within the lubricant quality coefficient threshold, it indicates that the lubricant has failed. After determining that the lubricant has failed, the excavator's rotation movement is suspended and the oil drain hole 608 is opened to drain the failed lubricant in cavity A. The solenoid valve A606 is closed and the solenoid valve B607 and the pump body are opened to promote the lubricant in cavity B to be introduced into cavity A until the lubricant in cavity A reaches a preset liquid level (the liquid level in cavity A is detected by a liquid level sensor) and the solenoid valve B607 is closed and the solenoid valve A606 is opened to promote the PH information, viscosity information and lubricant quality coefficient of the lubricant to be within the corresponding thresholds. The lubricant quality model is expressed as follows:

[0063] RY(PH,N)=(αPH,βN)(α+β) -1

[0064] Wherein, RY(PH,N) represents the lubricating oil quality coefficient, PH represents the PH value information, N represents the viscosity information, α represents the influence factor of the PH value information, β represents the influence factor of the viscosity information, 0.52≤α≤0.75, 0.84≤β≤0.97;

[0065] S3. On the basis of S2, when the rotating component is working, it can use a temperature sensor to detect the temperature of the flowing lubricating oil, use an ultrasonic liquid level sensor to detect the liquid level height of the lubricating oil in the ball cavity, and use a vibration sensor to detect the vibration information of the outer ring 402, so as to obtain the liquid level height information of the lubricating oil, the vibration information of the rotation of the turntable component 4, and the temperature information of the lubricating oil. If the liquid level height information of the lubricating oil is not within the preset liquid level height threshold, the flow of the solenoid valve A606 and the solenoid valve C609 is adjusted to ensure that the liquid level height information in the ball cavity is within the liquid level height threshold. If the temperature information of the lubricating oil is not within the temperature threshold, the temperature regulating device 605 is started to adjust the temperature of the lubricating oil until the temperature of the lubricating oil is within the temperature threshold. If If the vibration information of the turntable assembly 4 is not within the vibration threshold, it indicates that the ball 403 is damaged and needs to be replaced. Under the condition that the temperature information, liquid level information and vibration information of the turntable assembly 4 are all within the corresponding thresholds, the obtained liquid level information of the lubricating oil, the vibration information of the turntable rotation and the temperature information of the lubricating oil are dimensionlessly processed and then introduced into the constructed rotation quality assessment model to obtain the rotation quality coefficient and compare the obtained rotation quality coefficient with the preset rotation quality coefficient threshold. If the obtained rotation quality coefficient is not within the rotation quality coefficient threshold, the temperature information and liquid level information of the lubricating oil are adjusted until the rotation quality coefficient is within the rotation quality coefficient threshold. The rotation quality assessment model is expressed as:

[0066]

[0067]

[0068] RY(PH,N)=(αPH,βN)(α+β)- 1

[0069] Among them, HZ(T, H, f) represents the rotation quality coefficient, V represents the volume of the ball cavity, T represents the temperature information of the lubricating oil, H represents the liquid level information of the lubricating oil, f represents the vibration information, T1 represents the average of the upper and lower limits of the temperature threshold, H1 represents the average of the upper and lower limits of the liquid level threshold, f1 represents the average of the upper and lower limits of the vibration threshold, μ represents the rotation quality influencing factor, T2 represents the lower limit value of the temperature threshold, H2 represents the lower limit value of the liquid level threshold, and represents the lower limit value of the vibration threshold.

[0070] It should be noted that, in this article, relational terms such as first and second, etc. 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. Moreover, 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 process, method, article or device.

[0071] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A micro hydraulic excavator with a load-sensitive feedback system, comprising a slewing mechanism, wherein the slewing mechanism comprises a walking chassis (1), a support platform (2) and a slewing platform (3), wherein the support platform (2) is fixedly connected to the walking chassis (1), and characterized in that: Also includes: A turntable assembly (4) is mounted on the support platform (2) and is used to provide slewing support for the slewing platform (3); A power output mechanism (5) is installed on the rotary platform (3) and is used to cooperate with the turntable assembly (4) to drive the rotary platform (3) to perform rotary motion; A lubrication system (6) is installed on the turntable assembly (4) and is used to lubricate the turntable assembly (4); The turntable assembly (4) comprises an inner ring (401), an outer ring (402) and a ball (403); the inner ring (401) is detachably mounted on the support platform (2) via a bolt assembly A (7); the outer ring (402) is detachably mounted on the rotary platform (3) via a bolt assembly B (8); the outer ring (402) is rotatably connected to the inner ring (401); the ball (403) is embedded in a ball cavity formed by the inner ring (401) and the outer ring (402); the rotating ring (404) is embedded in the outer ring (402) and rotatably connected to the outer ring (402); an oil inlet passage (405) and an oil outlet passage (406) are provided on the outer ring (402); the oil inlet passage (405) and the oil outlet passage (406) are both connected to the ball cavity.

2. The micro hydraulic excavator of the load sensing feedback system according to claim 1, characterized in that: The machine is equipped with a load sensing system and the width of the rotary platform (3) is less than 740 mm.

3. The micro hydraulic excavator of the load sensing feedback system according to claim 1, characterized in that: The lubrication system (6) comprises an oil tank (601), a partition (602), an oil delivery pipe (603), an oil outlet pipe (604), a temperature regulating device (605), a solenoid valve A (606), a solenoid valve B (607) and an oil drain hole (608); the oil tank (601) is detachably mounted on the walking chassis (1); the partition (602) is fixedly connected to the oil tank (601) and divides the internal cavity of the oil tank (601) into two parts. The oil outlet pipe (604) is mounted on the rotating ring (404) and the oil tank (601). One end of the oil outlet pipe (604) is connected to an oil outlet ring groove (4042) provided on the rotating ring (404). The oil outlet ring groove (4042) is connected to an oil outlet oil passage (406) provided on the outer ring (402). The other end of the oil outlet pipe (604) extends into the cavity A, on which a solenoid valve C is mounted. (609), the oil delivery pipe (603) is installed on the rotating ring (404) and the oil tank (601), one end of the oil delivery pipe (603) is connected to the oil inlet ring groove (4041) provided on the rotating ring (404), and the other end of the oil delivery pipe (603) extends into the cavity B, the oil inlet ring groove (4041) is connected to the oil inlet passage (405) provided on the outer ring (402), and the oil delivery pipe (603) is installed on the rotating ring (404). A solenoid valve A (606) and a solenoid valve B (607) are provided, wherein the solenoid valve A (606) is located in the cavity A, and the solenoid valve B (607) is located in the cavity B. The temperature regulating device (605) is installed on the oil tank (601) and is located in the cavity A. A pump body is installed on the oil delivery pipe (603). The oil tank (601) is provided with an oil drain hole (608) for draining the lubricating oil located in the cavity A.

4. The micro hydraulic excavator of the load sensing feedback system according to claim 3, characterized in that: The power output mechanism (5) comprises a hydraulic drive component (501) and a gear (502); the hydraulic drive component (501) is detachably mounted on the rotary platform (3); the gear (502) is fixedly mounted on the output shaft of the hydraulic drive component (501); and the gear (502) is meshed with an internal gear (4011) fixedly connected to the inner side of the inner ring (401).

5. The micro hydraulic excavator of the load sensing feedback system according to claim 4, characterized in that: A pH sensor (9) and a viscometer (10) are arranged in the cavity A. Both the pH sensor (9) and the viscometer (10) can be detachably mounted on the partition (602).

6. The load sensing feedback system for a mini hydraulic excavator according to claim 5, characterized in that: It also includes an ultrasonic liquid level sensor installed on the outside of the rotating ring (404), a temperature sensor installed on the partition (602) and located in the cavity A, and a vibration sensor installed on the outside of the outer ring (402).

7. The micro hydraulic excavator of the load sensing feedback system according to claim 6, characterized in that: The upper ends of the outer ring (402) and the ball (403) are provided with a step A for installing an upper sealing ring (408), and the lower ends of the outer ring (402) and the ball (403) are provided with a step B for installing a lower sealing ring (407).

8. The micro hydraulic excavator of the load sensing feedback system according to claim 7, characterized in that: The specific steps for the rotation operation are: S1. The technician pushes the operating lever to make the hydraulic drive assembly (501) work. At this time, the hydraulic drive assembly (501) drives the gear (502) to rotate in the vertical direction. The gear (502) rolls in a circle along the inner gear (4011) meshing with it, thereby pushing the rotary platform (3) to drive the outer ring (402) to rotate in the vertical direction relative to the inner ring (401). At the same time, the pump body is turned on to guide the lubricating oil in the cavity A through the oil delivery pipe (603) into the oil inlet ring groove (4041). The lubricating oil in the oil inlet ring groove (4041) enters the ball cavity through the oil inlet oil channel (405) to lubricate the ball (403). The lubricating oil in the ball cavity can return to the cavity A through the oil outlet oil channel (406), the oil outlet ring groove (4042), and the oil outlet pipe (604) in sequence. S2, obtaining the pH value information and viscosity information of the lubricating oil through the pH sensor (9) and the viscometer (10), and comparing the obtained pH information and viscosity information with the corresponding pH threshold and viscosity threshold. If any one of the pH value and viscosity information of the lubricating oil exceeds the preset threshold, it indicates that the lubricating oil has failed. If the pH value and viscosity information of the lubricating oil are both within the corresponding threshold, the pH information and viscosity information are dimensionally processed and then introduced into the constructed lubricating oil lubrication quality model to obtain the lubricating oil lubrication quality coefficient. The obtained lubricating oil quality coefficient is compared with the preset lubricating oil quality coefficient threshold. The value is compared. If the obtained lubricating oil quality coefficient is not within the lubricating oil quality coefficient threshold, it indicates that the lubricating oil has failed. After determining that the lubricating oil has failed, the rotary motion of the excavator is suspended and the oil drain hole (608) is opened to drain the failed lubricating oil in cavity A. The solenoid valve A (606) is closed, the solenoid valve B (607) and the pump body are opened, so that the lubricating oil in cavity B is introduced into cavity A until the lubricating oil in cavity A reaches a preset liquid level height, and the solenoid valve B (607) is closed and the solenoid valve A (606) is opened, so that the pH information, viscosity information and lubricating oil quality coefficient of the lubricating oil are within the corresponding thresholds, wherein; S3. Based on S2, when the rotary assembly is working, the temperature of the flowing lubricating oil can be detected by using a temperature sensor, the liquid level of the lubricating oil in the ball cavity can be detected by using an ultrasonic liquid level sensor, and the vibration information of the outer ring (402) can be detected by using a vibration sensor, so as to obtain the liquid level information of the lubricating oil, the vibration information of the rotation of the turntable assembly (4), and the temperature information of the lubricating oil. If the liquid level information of the lubricating oil is not within the preset liquid level threshold, the flow of the solenoid valve A (606) and the solenoid valve C (609) is adjusted to ensure that the liquid level information in the ball cavity is within the liquid level threshold. If the temperature information of the lubricating oil is not within the temperature threshold, the temperature adjustment device (605) is started to adjust the temperature of the lubricating oil until the temperature of the lubricating oil is within the preset liquid level threshold. If the vibration information of the rotating disk assembly (4) is not within the vibration threshold, it indicates that the ball (403) is damaged and needs to be replaced. Under the condition that the temperature information, liquid level information and vibration information of the rotating disk assembly (4) are all within the corresponding thresholds, the obtained liquid level information of the lubricating oil, the vibration information of the rotating table and the temperature information of the lubricating oil are dimensionlessly processed and then introduced into the constructed rotation quality evaluation model to obtain the rotation quality coefficient and compare the obtained rotation quality coefficient with the preset rotation quality coefficient threshold. If the obtained rotation quality coefficient is not within the rotation quality coefficient threshold, the temperature information and liquid level information of the lubricating oil are adjusted until the rotation quality coefficient is within the rotation quality coefficient threshold.

9. The micro hydraulic excavator of the load sensing feedback system according to claim 8, characterized in that: The lubricating oil quality model is expressed as: RY(PH,N)=(αPH,βN)(α+β) -1 Among them, RY(PH,N) represents the lubricating oil quality coefficient, PH represents the PH value information, N represents the viscosity information, α represents the influence factor of the PH value information, β represents the influence factor of the viscosity information, 0.52≤α≤0.75, 0.84≤β≤0.

97.

10. The micro hydraulic excavator of the load sensing feedback system according to claim 9, characterized in that: The rotation quality assessment model is expressed as: RY(PH,N)=(αPH,βN)(α+β) -1 Among them, HZ(T,H,f) represents the rotation quality coefficient, V represents the volume of the ball cavity, T represents the temperature information of the lubricating oil, H represents the liquid level information of the lubricating oil, f represents the vibration information, T1 represents the average of the upper and lower limits of the temperature threshold, H1 represents the average of the upper and lower limits of the liquid level threshold, f1 represents the average of the upper and lower limits of the vibration threshold, μ represents the rotation quality influence factor, T2 represents the lower limit value of the temperature threshold, H2 represents the lower limit value of the liquid level threshold, and represents the lower limit value of the vibration threshold.

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