Movable arm control method and device and engineering machinery

Abstract

The invention relates to a movable arm control method and device and engineering machinery, and belongs to the field of engineering machinery. The control method comprises the following steps: configuring a handle fold line of the electric handle; configuring a tilt angle sensor; setting a specified speed of a movable arm, and determining a target control current of an electric oil cylinder according to the specified speed; based on the handle broken line, determining a target handle stroke of the electric handle according to the target control current, and setting the electric handle in the target handle stroke; the movable arm is started to act, and the real-time movable arm speed is obtained according to the tilt angle sensor when the movable arm moves to the constant speed stage; if the deviation exists between the real-time boom speed and the specified speed, the control current corresponding to the target handle stroke is corrected according to the deviation, and the electric oil cylinder is controlled according to the corrected control current. The control current of the electric oil cylinder can be changed by adjusting the handle stroke of the electric control handle so as to control the speed of the movable arm, and the purpose that the speed of the movable arm is flexibly adjusted to meet user requirements is achieved.

Description

Technical Field

[0001] The present invention relates to a boom control method, device and construction machinery, belonging to the field of construction machinery. Background Art

[0002] Currently, for a series of excavators exported to other countries and regions, due to different operating habits of customers in different countries and regions, there are different requirements for the rising or falling speed of the boom when operating the excavator. However, the existing rising or falling speed of the boom is not easy to adjust.

[0003] Currently, the rising or falling of the boom is mainly driven by a hydraulic system. The hydraulic system usually includes a boom, a boom cylinder, a hydraulic pilot handle, a main valve and a main pump. Operating the hydraulic pilot handle outputs a pilot secondary pressure to push the boom spool of the main valve to change direction, and controls the high-pressure working oil of the main pump to enter the large chamber (small chamber) of the boom cylinder from the boom spool, so as to realize the rising or falling of the boom. In this way, it is inconvenient to adjust the boom speed and it is difficult to realize parametric adjustment. Summary of the Invention

[0004] The purpose of the present invention is to provide a boom control method, device and construction machinery. By adjusting the handle stroke of the electric control handle, the control current of the electric cylinder can be changed to control the boom speed. Further, according to the specified speed of the user, parametric adjustment of the boom speed can be realized by adjusting the handle stroke or the handle broken line, so as to achieve the purpose of flexibly adjusting the boom speed to meet the user's needs.

[0005] To achieve the above object, the present invention adopts the following technical solutions to solve: In a first aspect, the present invention provides a boom control method, which is applied to a boom driven by an electric cylinder; the control method includes: Configuring a handle broken line of an electric handle, where the handle broken line represents the corresponding relationship between the handle stroke of the electric handle and the control current of the electric cylinder; Configuring an inclination sensor, where the inclination sensor is used to detect the angular displacement of the boom when the boom moves to calculate the real-time boom speed; Setting a specified speed of the boom, and determining a target control current of the electric cylinder according to the specified speed; Based on the handle broken line, determining a target handle stroke of the electric handle according to the target control current, and placing the electric handle at the target handle stroke; Starting the boom to move, and obtaining the real-time boom speed according to the inclination sensor when the boom moves to the uniform speed stage; If there is a deviation between the real-time boom speed and the specified speed, correcting the control current corresponding to the target handle stroke according to the deviation, and controlling the electric cylinder according to the corrected control current.

[0006] Optionally, the electric oil cylinder includes: A servo motor, controlled by the control current; A ball screw, drivingly connected to the output end of the servo motor through a gearbox assembly, and the movement speed of the ball screw corresponds to the boom speed according to a preset relationship.

[0007] Optionally, the absolute value of the boom speed is preset with a preset range, and the specified speed set is within the preset range.

[0008] Optionally, the boom can perform a rising or falling action, and the positive direction is defined as the speed of the boom rising, and the negative direction is the speed of the boom falling.

[0009] Optionally, in the handle fold line, the control current corresponding to the handle stroke of the electric handle is the control current when the boom moves to the uniform speed stage.

[0010] Optionally, each handle stroke corresponds to a handle curve, and the handle curve represents the corresponding relationship between the control current and time under the current handle stroke; the handle curve includes a pre-calibrated first segment, a second segment, and a third segment, and the first segment is used to control the boom to accelerate from rest to the specified speed; the second segment is used to control the uniform motion at the specified speed, and the third segment is used to control the boom to decelerate from the specified speed to a stop.

[0011] Optionally, it further includes: A control terminal, configured to be able to control the slopes of the first segment and the third segment.

[0012] Optionally, the target handle stroke has a memory function, and before the specified speed is set again, the electric handle maintains the target handle stroke.

[0013] In a second aspect, the present invention provides a boom control device, which includes: A first configuration module, for configuring the handle fold line of the electric handle, and the handle fold line represents the corresponding relationship between the handle stroke of the electric handle and the control current of the electric oil cylinder; A second configuration module, for configuring an inclination sensor, and the inclination sensor is used to detect the angular displacement of the boom during the boom movement to calculate the real-time boom speed; A setting module, for setting the specified speed of the boom and determining the target control current of the electric oil cylinder according to the specified speed; A determination module, for determining the target handle stroke of the electric handle based on the handle fold line according to the target control current, and placing the electric handle at the target handle stroke; A measurement module, for starting the boom movement and obtaining the real-time boom speed according to the inclination sensor when the boom moves to the uniform speed stage; A correction module, configured to, if there is a deviation between the real-time boom speed and the specified speed, correct the control current corresponding to the target handle stroke according to the deviation, and control the electric oil cylinder according to the corrected control current.

[0014] In a third aspect, the present invention provides a construction machine, which includes the boom control device described above.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The boom control method of the present invention can set a specified speed on the instrument, adjust the stroke of the electronic control handle according to the specified speed to adjust the control current of the electric oil cylinder, so as to realize the adjustment of the boom speed to meet the needs of different customers. And, during the working process, the real-time boom speed detected by the inclination sensor is compared with the specified speed, so as to realize the dynamic calibration of the handle broken line to eliminate the calibration error, so as to meet the operation requirements of customers for the boom speed as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flowchart of the boom control method in Embodiment 1; Figure 2 It is a structural schematic diagram of the electric oil cylinder in Embodiment 1; Figure 3 It is a schematic diagram of the handle broken line in Embodiment 1; Figure 4 It is a schematic diagram of the relationship between the boom speed and the angle of the inclination sensor in Embodiment 1. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more. In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0018] The present invention will be further described below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention. Embodiment 1

[0019] Combined with Figure 1 , this embodiment provides a boom control method, which is applied to a boom driven by an electric oil cylinder; specifically, the control method includes: Step S1, configure the handle fold line of the electric handle, and the handle fold line represents the corresponding relationship between the handle stroke of the electric handle and the control current of the electric oil cylinder; In some specific embodiments, combined with Figure 2, the electric oil cylinder includes a servo motor and a ball screw. The servo motor is controlled by a control current; the ball screw is drivingly connected to the output end of the servo motor through a gearbox assembly, and the movement speed of the ball screw corresponds to the boom speed according to a preset relationship. In a specific embodiment, the boom is driven by two electric oil cylinders. The electric oil cylinder specifically includes a servo motor, a controller, a gearbox assembly, a ball screw, and a piston rod. The ball screw can drive the piston rod to extend and retract to move the boom. When the electric oil cylinder extends, the boom rises, and when the electric oil cylinder contracts, the boom descends; in this embodiment, the controller of the electric oil cylinder is connected to the main controller through a data cable and controls the rotation speed of the servo motor by receiving the signal of the main controller, and realizes the displacement of the ball screw through the gearbox assembly to control the rising or falling speed of the boom. The schematic diagram of the handle fold line is combined with Figure 3 , in addition, it is worth noting that the control current corresponding to the handle stroke of the electric handle is the control current when the boom moves to the uniform speed stage.

[0020] Step S2, configure an inclination sensor, and the inclination sensor is used to detect the angular displacement of the boom when the boom moves to calculate the real-time boom speed; In some specific embodiments, the angular displacement of the boom can be detected by an inclination sensor, and the angular displacement can be converted into an angular velocity, and then the rising or falling speed of the boom can be calculated as the real-time boom speed. The schematic diagram of the relationship between the boom speed and the inclination sensor angle is combined with Figure 4 .

[0021] Step S3, set the specified speed of the boom, and determine the target control current of the electric oil cylinder according to the specified speed; In some specific embodiments, the specified speed of the boom is set by adjusting the instrument parameters. Specifically, a preset range [Vmin, V1, Vmax] of the boom speed that is a set of system defaults can be pre-set and embedded in the instrument. Among them, V1 represents the specified speed, Vmin and Vmax are the corresponding minimum and maximum speeds, and the positive direction is defined as the rising speed of the boom, and the negative direction is the falling speed of the boom. The positive value of the inclination sensor angle value is the boom lift, and the inclination sensor angle value is the angle of the boom lift or fall. The specified speed that the user can set needs to be within the boom speed range [Vmin, V1, Vmax]. When the system specified speed Vmin is selected, the boom will rise at the speed of Vmin. In this embodiment, the boom speed is determined by the telescopic speed of the electric oil cylinder, that is, the magnitude of the control current of the servo motor directly determines the magnitude of the boom speed.

[0022] Step S4, based on the handle fold line, determine the target handle stroke of the electric handle according to the target control current, and place the electric handle at the target handle stroke; According to the specified speed set (during the constant-speed stage of the boom), the target control current required for the servo motor can be determined. Based on the handle broken line, the target handle stroke can be further determined. In theory, setting the electric handle at the target handle stroke can make the boom move at the specified speed. However, in practice, there will still be errors and dynamic calibration is required. Specifically, Step S5: Start the boom movement. When the boom moves to the constant-speed stage, obtain the real-time boom speed according to the inclination sensor. If there is a deviation between the real-time boom speed and the specified speed, correct the control current corresponding to the target handle stroke according to the deviation, and control the electric oil cylinder according to the corrected control current.

[0023] In this embodiment, the inclination sensor can feedback its signal to the main controller and compare it with the set specified speed to ensure whether the speed of the boom rising or falling meets the user's requirements. It can be understood that the angle of the inclination sensor is the boom speed calculated according to the detected angular velocity. The handle broken line of the electric handle is calibrated, and the boom speed corresponding to the corresponding handle stroke is also calibrated. If the real-time boom speed obtained by the inclination sensor is consistent with the calibrated boom speed and equal to the user's specified speed, it indicates that the handle broken line is correct and can meet the customer's operation requirements; if they are inconsistent, it means that there is a deviation in the calibrated handle broken line. For example, at the target handle stroke, if the real-time boom speed of the actual movement is less than the user's specified speed, it means that the control current corresponding to the target handle stroke is too small and the calibration is deviated. Therefore, the control current corresponding to the handle broken line should be increased to make the boom speed meet the user's operation requirements. Similarly, if the real-time boom speed is greater than the user's specified speed, the control current needs to be decreased accordingly.

[0024] A specific example is used for illustration. For example, if the user's specified speed is the minimum speed Vmin of the boom speed range, the handle stroke of the electric control handle is S0, and the control current corresponding to the handle broken line is I0. At this time, the corresponding boom lifting speed is the minimum speed Vmin of the selected system, and the boom lifting angle detected by the inclination sensor is β1. Similarly, different system specified speeds correspond to different handle strokes, boom speeds, and the relationship diagram of the inclination sensor β (attached Figure 4 ). During actual operation, the user can log in to the specified account and select the system default specified speed. When the specified speed cannot meet the user's usage requirements, the user can modify the system default value (such as modifying the handle stroke to adjust the control current, or modifying the handle broken line) to meet their usage needs. And each time the account is logged in and set, the system will save the user's settings to meet the user's preference settings. The target handle stroke has a memory function. Before the specified speed is set again, the electric handle maintains the target handle stroke.

[0025] If the user selects speed V0, when Vmin < V0 < V1 < Vmax, the user can set speed V0 by interpolation between Vmin and V1 values. When Vmin < V1 < V0 < Vmax, the user can set speed V0 by interpolation between V1 and Vmax values.

[0026] In addition, since the control current corresponding to the handle stroke of the electric handle is the control current when the boom moves to the uniform speed stage, in fact, the boom will also experience an acceleration stage before moving to the uniform speed stage and a deceleration stage when finally decelerating. Specifically, each handle stroke corresponds to a handle curve, and the handle curve represents the correspondence between the control current and time under the current handle stroke; the handle curve includes a first segment, a second segment, and a third segment that are pre-calibrated. The first segment is used to control the boom to accelerate from rest to a specified speed; the second segment is used to control the uniform motion at the specified speed, and the third segment is used to control the boom to decelerate from the specified speed to a stop.

[0027] In addition to controlling the specified speed when the boom moves uniformly, in this embodiment, there is also a control terminal, and the control terminal is configured to be able to control the slopes of the first segment and the third segment, so as to modify the curve trend of the boom reaching the specified speed in the initial stage and the curve trend of the specified speed decelerating to a stop to meet the operating feelings of different users. In some specific embodiments, the control terminal is a touch screen or a handheld terminal. Embodiment 2

[0028] Based on the same inventive concept as Embodiment 1, this embodiment provides a boom control device, which includes: A first configuration module for configuring the handle broken line of the electric handle, and the handle broken line represents the correspondence between the handle stroke of the electric handle and the control current of the electric oil cylinder; A second configuration module for configuring an inclination sensor, and the inclination sensor is used to detect the angular displacement of the boom when the boom moves to calculate the real-time boom speed; A setting module for setting the specified speed of the boom and determining the target control current of the electric oil cylinder according to the specified speed; A determination module for determining the target handle stroke of the electric handle according to the target control current based on the handle broken line and placing the electric handle at the target handle stroke; A measurement module for starting the boom movement and obtaining the real-time boom speed according to the inclination sensor when the boom moves to the uniform speed stage; A correction module for, if there is a deviation between the real-time boom speed and the specified speed, correcting the control current corresponding to the target handle stroke according to the deviation and controlling the electric oil cylinder according to the corrected control current. Embodiment 3

[0029] Based on the same inventive concept as in Embodiment 1, this embodiment provides a construction machine, which includes a boom control device described in Embodiment 2.

[0030] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0031] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 device for implementing the functions specified in one block or multiple blocks.

[0032] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 device for implementing the functions specified in one block or multiple blocks.

[0033] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 device for implementing the functions specified in one block or multiple blocks.

[0034] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the purpose of the present invention and the scope protected by the claims. All of these are within the protection scope of the present invention.

[0035] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art in the technical field of the present invention, several improvements and deformations can be made without departing from the technical principle of the present invention. These improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A boom control method, characterized in that, Applied to a boom driven by an electric cylinder; the control method includes: A handle broken line of the electric handle is configured, wherein the handle broken line represents the corresponding relationship between the handle stroke of the electric handle and the control current of the electric cylinder; An inclination sensor is configured to detect the angular displacement of the boom when the boom moves so as to calculate the real-time boom speed; Setting a specified speed of the boom, and determining a target control current of the electric cylinder according to the specified speed; Based on the handle broken line, determining a target handle stroke of the electric handle according to a target control current, and placing the electric handle at the target handle stroke; Starting the boom movement, and obtaining the real-time boom speed according to the inclination sensor when the boom moves to a uniform speed stage; If there is a deviation between the real-time boom speed and the specified speed, the control current corresponding to the target handle stroke in the handle broken line is corrected according to the deviation, and the electric cylinder is controlled according to the corrected control current.

2. The boom control method according to claim 1, wherein The electric cylinder comprises: a servo motor controlled by the control current; The ball screw is transmission-connected to the output end of the servo motor through a gear box assembly, and the movement speed of the ball screw corresponds to the speed of the movable arm according to a preset relationship.

3. The boom control method according to claim 1, wherein The absolute value of the boom speed is pre-set to have a preset range, and the absolute value of the set designated speed is within the preset range.

4. The boom control method according to claim 3, wherein The boom can perform an ascending or descending action, and the positive direction is specified as the speed at which the boom ascends, and the negative direction is specified as the speed at which the boom descends.

5. The boom control method according to claim 1, characterized in that In the handle broken line, the control current corresponding to the handle stroke of the electric handle is the control current when the movable arm moves to the uniform speed stage.

6. The boom control method according to claim 5, characterized in that Each handle stroke corresponds to a handle curve, which represents the corresponding relationship between the control current and time under the current handle stroke; the handle curve includes a pre-calibrated first segment, a second segment and a third segment, the first segment is used to control the boom to accelerate from a stationary state to a specified speed; the second segment is used to control uniform movement at a specified speed, and the third segment is used to control the boom to decelerate from a specified speed to a stop.

7. The boom control method according to claim 6, wherein Also includes: The control terminal is configured to control the slopes of the first segment and the third segment.

8. The boom control method according to claim 1, characterized in that The target handle stroke has a memory function, and the electric handle maintains the target handle stroke until the designated speed is set again.

9. An arm control device, characterized in that, include: A first configuration module is used to configure a handle broken line of the electric handle, wherein the handle broken line represents a corresponding relationship between the handle stroke of the electric handle and the control current of the electric cylinder; A second configuration module is used to configure an inclination sensor, wherein the inclination sensor is used to detect the angular displacement of the boom when the boom moves to calculate the real-time boom speed; A setting module, used to set a specified speed of the boom and determine a target control current of the electric cylinder according to the specified speed; A determination module, configured to determine a target handle stroke of the electric handle based on the handle broken line and the target control current, and place the electric handle within the target handle stroke; A measuring module is used to start the boom movement and obtain the real-time boom speed according to the inclination sensor when the boom moves to a uniform speed stage; A correction module, configured to, if there is a deviation between the real-time boom speed and the specified speed, correct the control current corresponding to the target handle stroke according to the deviation, and control the electric oil cylinder according to the corrected control current.

10. An engineering machinery, characterized in that, Comprising a boom control device according to claim 9.

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