A method of controlling grading of an excavator, a control device and an excavator

Abstract

The application discloses a kind of excavator land leveling control method, control device and excavator, belong to excavator technical field, including replacing machine tool driver carries out land leveling calibration action, and average value ToolPress_new is obtained to main pump pressure;Combining the average value ToolPress_new of main pump pressure calculates current correction coefficient k;Standard bucket state, the percentage of initial bucket lever valve core opening demand arm_rate1 is carried out nonlinear processing and bias processing after obtaining arm_rate3, then linear negative correlation is established with boom bucket lever valve core opening demand percentage, and the percentage of required bucket lever valve core opening demand arm_rate is obtained;Then calculate the pilot pressure arm_need generated by solenoid valve required to drive bucket lever valve core opening size when land leveling;S6, bucket lever boom handle stroke increasing process to handle stroke maintaining stage and boom handle return process, correct bucket lever valve core opening speed.The application has the advantages that: excavator can quickly revise land leveling parameters when configuring differentiating bucket or quick-change device, to ensure land leveling performance.

Description

Technical Field

[0001] This invention relates to the field of excavator technology, specifically to an excavator leveling control method, control device, and excavator. Background Technology

[0002] Excavators are optimized for leveling with standard bucket settings. However, excavators may use various attachments, including standard buckets, tilting buckets, reinforced buckets, and rock buckets. Quick-change devices may also be added. All of these configurations involve leveling operations, but the weight difference between attachments can affect the leveling effect. In fact, when switching between different attachments, the leveling performance may be affected, resulting in problems such as noticeable head-down movement or even the bucket hitting the ground. Summary of the Invention

[0003] The present invention aims to solve the technical problems mentioned in the background section above. The first aspect is to provide a method for controlling the leveling of an excavator, which can be used to correct the leveling control calibration of different excavators.

[0004] The second aspect provides a control device whose memory is adapted to store multiple program codes, which are adapted to be loaded and run by the control device processor to execute the excavator leveling control method provided in the first aspect.

[0005] The third aspect provides an excavator that is equipped with the control device provided in the second aspect and serves as the basis for various equipment operating under the control device provided in the second aspect.

[0006] According to the above-mentioned objectives of the present invention, the first aspect of the present invention provides a technical solution as follows: a method for controlling the leveling of an excavator, comprising the following steps:

[0007] S1. After changing the tool, the driver performs a leveling and calibration action. At this time, the controller determines the main pump pressure value within a specific angle range through the boom angle sensor and takes the average value of the main pump pressure ToolPress_new.

[0008] S2. When the calibration action is preset, the main pump pressure Press_bucket is detected by the standard bucket speed changer and the main pump pressure is preset to Press_QC with a correction factor of k1. The current correction factor k is calculated by combining the average main pump pressure ToolPress_new.

[0009] S3. Under standard bucket conditions, the initial stick valve core opening requirement percentage arm_rate1 is processed nonlinearly to obtain the stick valve core opening requirement percentage arm_rate2 after changing the implement;

[0010] S4. Under the standard bucket state, after offsetting the percentage of the opening demand of the boom-bucket spool, arm_rate2, arm_rate3 is obtained;

[0011] S5. Under the standard bucket state, after obtaining arm_rate3, a linear negative correlation is established with the percentage of the opening demand of the boom-bucket spool to obtain the required percentage of the opening demand of the bucket-bucket spool, arm_rate;

[0012] According to arm_rate, calculate the pilot pressure arm_need generated by the solenoid valve required to drive the opening size of the bucket spool during leveling;

[0013] S6. During the process of increasing the stroke of the boom-bucket handle to the stage where the handle stroke is maintained, quickly displace to the position where the bucket oil circuit is opened. Thereafter, the opening of the bucket spool is set by the ramp function Acc1 to limit the spool increasing speed. This stage is the Acc1 opening speed correction, and the corrected opening speed of the bucket spool is k * Acc1;

[0014] S7. During the process of the boom handle returning, when the opening of the bucket spool is less than the spool arm_need, the opening of the bucket spool is set by the ramp function Acc2 to limit the spool increasing speed. This stage is the Acc2 opening speed correction, and the corrected opening speed of the bucket spool is k * Acc2.

[0015] Further, the calculation formula for the current correction coefficient k in S2 is:

[0016] k = (ToolPress_new - Press_bucket) / (Press_QC - Press_bucket)(1 - k1) + k1, where 0 < k1 < 1.

[0017] Further, in S3. Under the standard bucket state, non-linear processing is performed on the initial percentage of the opening demand of the bucket spool, arm_rate1, to obtain the percentage of the opening demand of the bucket spool, arm_rate2, after replacing the tool;

[0018] Among them, when arm_rate1 ≥ e, arm_rate2 = a1 * arm_rate1;

[0019] When arm_rate1 < e, arm_rate2 = (1 - a1 * e) / (1 - e) * (arm_rate1 - e) + a1 * e, (0 < e < 1, a1 > 0); Set a percentage constant value e. When the initial percentage of the opening demand of the bucket spool is less than e, the increasing slope of arm_rate2 is a1;

[0020] When the initial boom stroke opening percentage is greater than e, the increasing slope of arm_rate2 is (1 - a1*e) / (1 - e);

[0021] After replacing the implement, a1 in the above formula is corrected to a1*k.

[0022] Further, in S4, in the standard bucket state, after offsetting the boom spool opening percentage demand arm_rate2 of the boom, arm_rate3 is obtained;

[0023] Among them, arm_rate3 = (arm_rate2 - d) / (1 - d), (0 < d < 1), the meaning of d is that when the initial boom spool opening percentage demand arm_rate2 is greater than d, the spool starts to open, that is, the handle needs a greater stroke for the spool to open;

[0024] After replacing the implement, d in the above formula is corrected to d / k.

[0025] Further, in S5, in the standard bucket state, after obtaining arm_rate3, a linear negative correlation is established with the boom and boom spool opening percentage demand, and the required boom spool opening percentage demand arm_rate is obtained, and the boom spool opening percentage demand arm_need for leveling is calculated according to arm_rate;

[0026] Among them, arm_rate = arm_rate3 * (1 - boom_rate / n) (n > 0, when boom_rate > n, arm_rate = 1);

[0027] After replacing the implement, n in the above formula is corrected to n / k;

[0028] Further, according to arm_rate, the pilot pressure arm_need generated by the solenoid valve required to drive the boom spool opening size for leveling is calculated;

[0029] Combined with the pilot pressure armpilot_start required for the boom valve to just open and the pilot pressure armpilot_all required for the maximum opening of the boom valve, the pilot pressure arm_need generated by the solenoid valve required to drive the boom spool opening size is arm_need = (armpilot_all - armpilot_start) * arm_rate + armpilot_start.

[0030] The technical solution provided in the second aspect of the present invention is: a control device, the control device includes: a processor and a memory, the memory is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the excavator leveling control method provided in the first aspect.

[0031] The second aspect of the present invention provides a technical solution as follows: an excavator, comprising: an operating component, a control module, and a control device provided in the second aspect, wherein the operating component and the control module are electrically connected to the control device.

[0032] Furthermore, the operating components include a boom cylinder, a main pump, an electric control handle, and instruments;

[0033] The main pump is connected to the boom cylinder to adjust the pressure inside the boom cylinder, thereby adjusting the extension length of the boom cylinder;

[0034] The electric control handle is communicatively connected to the control module, and the control module is electrically connected to the main pump. The electric control handle transmits signals to the control module, thereby controlling the start and stop status of the main pump.

[0035] The instruments are located in the driver's cab and are electrically connected to the controller.

[0036] Furthermore, the control module includes a controller, a boom angle sensor, a main pump pressure sensor, a main valve, and a stick solenoid valve;

[0037] The main pump pressure sensor is used to detect the pilot pressure of the main pump, and the main pump pressure sensor is connected to the controller in communication.

[0038] The main valve is located at the oil inlet of the main pump and is used to control the opening and closing of the entire hydraulic circuit.

[0039] The boom solenoid valve is located between the main pump and the boom cylinder. It is used to adjust the opening of the hydraulic circuit, thereby adjusting the operating speed of the boom cylinder. It is electrically connected to the controller.

[0040] The boom angle sensor is installed on the boom of the excavator to detect the boom lifting angle and communicates with the controller.

[0041] The advantages of this invention compared to the prior art are: it enables excavators to quickly revise leveling parameters when configured with differentiated buckets or quick-change devices, thus ensuring leveling performance.

[0042] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0043] Figure 1 This is a schematic diagram illustrating the differentiated implement leveling action calibration of an excavator according to an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the control flow of the excavator leveling control method according to an embodiment of the present invention. Detailed Implementation

[0045] The present invention will now be described in further detail.

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0047] The excavator provided by the third aspect and the control device provided by the second aspect serve as the equipment basis for the operation of the excavator leveling control method provided by the first aspect. In this embodiment, the excavator provided by the third aspect and the control device provided by the second aspect will be described in priority.

[0048] Example 1: A control device, comprising a processor and a memory, the memory being adapted to store multiple lines of program code, the program code being adapted to be loaded and run by the processor to execute the excavator leveling control method provided in Example 3.

[0049] Example 2: The excavator includes: an operating component, a control module, and a control device as described in Example 1. The operating component, the control module, and the control device are all electrically connected.

[0050] The operating components include the boom cylinder, main pump, electric control handle, and instruments;

[0051] The main pump is connected to the boom cylinder to adjust the pressure inside the boom cylinder, thereby adjusting the extension length of the boom cylinder;

[0052] The electric control handle is communicatively connected to the control module, and the control module is electrically connected to the main pump. The electric control handle transmits signals to the control module, thereby controlling the start and stop status of the main pump.

[0053] The instrument panel is located in the driver's cab and is connected to the control module via CAN communication.

[0054] The control module includes a controller, a boom angle sensor, a main pump pressure sensor, a main valve, and a boom solenoid valve;

[0055] The main pump pressure sensor is used to detect the pilot pressure of the main pump, and the main pump pressure sensor is connected to the controller in communication.

[0056] The main valve is located at the oil inlet of the main pump and is used to control the opening and closing of the entire hydraulic circuit.

[0057] The boom solenoid valve is located between the main pump and the boom cylinder. It is used to adjust the opening of the hydraulic circuit, thereby adjusting the operating speed of the boom cylinder. It is electrically connected to the controller.

[0058] The boom angle sensor is installed on the boom of the excavator to detect the boom lifting angle and communicates with the controller.

[0059] Example 3, combined with Figure 1 , Figure 2 As shown in the figure, an excavator leveling control method includes the following steps:

[0060] S1. After replacing the tool, the driver performs a leveling calibration action. At this time, the controller determines the main pump pressure value within a specific angle range through the boom angle sensor and takes the average value of the main pump pressure as ToolPress_new.

[0061] S2. Preset the main pump pressure Press_bucket during the calibration action. The standard bucket quick-change device detects and presets the main pump pressure as Press_QC, and the correction coefficient is k1. Calculate the current correction coefficient k in combination with the average value of the main pump pressure ToolPress_new;

[0062] k = (ToolPress_new - Press_bucket) / (Press_QC - Press_bucket)(1 - k1) + k1, where 0 < k1 < 1.

[0063] S3. During the leveling operation, the opening of the stick spool is set related to the stick handle stroke and is linearly negatively correlated with the boom handle stroke. In addition, the increasing speed of the stick spool opening at the beginning stage of leveling and the increasing speed of the stick spool opening during the boom retraction process are limited by a ramp function;

[0064] In the state of the standard bucket, perform non-linear processing on the initial percentage demand of the stick spool opening arm_rate1:

[0065] Among them, when arm_rate1 ≥ e, arm_rate2 = a1 * arm_rate1;

[0066] When arm_rate1 < e, arm_rate2 = (1 - a1 * e) / (1 - e) * (arm_rate1 - e) + a1 * e, (0 < e < 1, a1 > 0); Set a percentage constant value e. When the initial percentage demand of the stick spool opening is less than e, the increasing slope of arm_rate2 is a1;

[0067] When the initial percentage of the stick stroke opening is greater than e, the increasing slope of arm_rate2 is (1 - a1 * e) / (1 - e);

[0068] After replacing the tool, a1 in the above formula is corrected to a1 * k.

[0069] S4. In the state of the standard bucket, perform an offset processing on the percentage demand of the stick spool opening arm_rate2 to obtain arm_rate3;

[0070] Among them, arm_rate3 = (arm_rate2 - d) / (1 - d), (0 < d < 1). The meaning of d is that when the initial opening demand percentage of the stick spool is arm_rate2 and is greater than d, the spool will open, that is, a greater stroke of the handle is required for the spool to open;

[0071] After replacing the implement, d in the above formula is corrected to d / k.

[0072] S5. In the standard bucket state, after obtaining arm_rate3, establish a linear negative correlation with the opening demand percentage of the boom and stick spools to obtain the required opening demand percentage of the stick spool, arm_rate;

[0073] Among them, arm_rate = arm_rate3 * (1 - boom_rate / n) (n > 0, when boom_rate > n, arm_rate = 1);

[0074] After replacing the implement, n in the above formula is corrected to n / k;

[0075] Calculate the pilot pressure arm_need generated by the solenoid valve required to drive the opening of the stick spool during grading according to arm_rate;

[0076] Combined with the preset pilot pressure armpilot_start required for the stick valve to just open and the pilot pressure armpilot_all required for the maximum opening of the stick valve, the pilot pressure arm_need generated by the solenoid valve required to drive the opening of the stick spool is arm_need = (armpilot_all - armpilot_start) * arm_rate + armpilot_start.

[0077] S6. During the process of increasing the stroke of the stick and boom handle to the stage where the handle stroke is maintained, quickly displace to the position where the stick oil circuit opens. After that, the opening of the stick spool is limited by the ramp function Acc1 to limit the increasing speed of the spool. This stage is the correction of the opening speed of Acc1, and the corrected opening speed of the stick spool is k * Acc1;

[0078] S7. During the process of the boom handle returning, when the opening of the stick spool is less than arm_need of the spool, the opening of the stick spool is limited by the ramp function Acc2 to limit the increasing speed of the spool. This stage is the correction of the opening speed of Acc2, and the corrected opening speed of the stick spool is k * Acc2.

[0079] In summary, angle sensors are installed on the boom structure of the entire excavator. When changing implements, the entire machine is calibrated. The calibration method involves performing a boom lifting operation in a specified posture. The control system records the main pump pressure value within a fixed angle range during the calibration process. The detected main pump pressure value is compared with the main pump pressure value during the same operation with a standard bucket configuration. The corresponding correction coefficient is then used to adjust the excavator's leveling parameters and optimize its leveling performance.

[0080] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for controlling the leveling of ground by an excavator, characterized in that, It includes the following steps: S1. After replacing the machine tool, the driver performs a leveling calibration operation. At this time, the controller determines the main pump pressure value within a specific angle range through the boom angle sensor and takes the average value of the main pump pressure as ToolPress_new; S2. Preset the main pump pressure Press_bucket during the calibration operation. The standard bucket quick-change device detects and presets the main pump pressure as Press_QC, and the correction coefficient is k1. Calculate the current correction coefficient k in combination with the average main pump pressure value ToolPress_new; S3. In the state of the standard bucket, perform non-linear processing on the initial boom spool opening demand percentage arm_rate1 to obtain arm_rate2; S4. In the state of the standard bucket, perform an offset processing on the boom spool opening demand percentage arm_rate2 to obtain arm_rate3; S5. In the state of the standard bucket, after obtaining arm_rate3, establish a linear negative correlation with the boom and stick spool opening demand percentage to obtain the required boom spool opening demand percentage arm_rate; Calculate the pilot pressure arm_need generated by the solenoid valve required to drive the boom spool opening size during leveling according to arm_rate; S6. During the process of increasing the boom and stick handle stroke to the stage where the handle stroke is maintained, quickly displace to the boom oil circuit opening position. After that, the boom spool opening is set by the ramp function Acc1 to limit the spool opening increase speed. This stage is the Acc1 opening speed correction, and the corrected boom spool opening speed is k * Acc1; The calculation formula for the current correction coefficient k in S2 is: k = (ToolPress_new - Press_bucket) / (Press_QC - Press_bucket)(1 - k1) + k1, where 0 < k1 < 1; S3. In the state of the standard bucket, perform non-linear processing on the initial boom spool opening demand percentage arm_rate1 to obtain arm_rate2; Among them, when arm_rate1 ≥ e, arm_rate2 = a1 * arm_rate1; When arm_rate1 < e, arm_rate2 = (1 - a1 * e) / (1 - e) * (arm_rate1 - e) + a1 * e, (0 < e < 1, a1 > 0); Set a percentage constant value e. When the initial boom spool opening demand percentage is less than e, the increasing slope of arm_rate2 is a1; When the initial boom spool opening demand percentage is greater than e, the increasing slope of arm_rate2 is (1 - a1 * e) / (1 - e); After replacing the machine tool, a1 in the above formula is corrected to a1 * k.

2. The excavator leveling control method according to claim 1, wherein: S4. In the state of the standard bucket, perform an offset processing on the boom spool opening demand percentage arm_rate2 to obtain arm_rate3; Among them, arm_rate3 = (arm_rate2 - d) / (1 - d), (0 < d < 1), where the meaning of d is that when the opening percentage demand of the boom spool arm_rate2 is greater than d, the spool starts to open, that is, a greater stroke of the handle is required for the spool to open; After replacing the working machine, d in the above formula is corrected to d / k.

3. The excavator leveling control method according to claim 1, characterized in that: S5. In the standard bucket state, after obtaining arm_rate3, establish a linear negative correlation with the opening percentage demand of the boom and bucket spools, and obtain the required opening percentage demand of the bucket spool arm_rate; Further calculate the pilot pressure arm_need generated by the solenoid valve required to drive the opening of the bucket spool during leveling according to arm_rate; Combined with the preset pilot pressure armpilot_start required for the bucket valve to just open and the preset pilot pressure armpilot_all required for the maximum opening of the bucket valve, the pilot pressure arm_need generated by the solenoid valve required to drive the opening of the bucket spool is arm_need = (armpilot_all - armpilot_start)*arm_rate + armpilot_start.

4. A computer-readable storage medium storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to execute the excavator leveling control method according to any one of claims 1-3.

5. A control device, characterized in that, The control device includes: a processor and a memory, the memory is adapted to store multiple program codes, and the program codes are adapted to be loaded and run by the processor to execute the excavator leveling control method according to any one of claims 1-3.

6. An excavator, characterized in that, Including: An operation component, a control module, and the control device according to claim 5, and the operation component and the control module are both electrically connected to the control device.

7. The excavator according to claim 6, characterized in that: The operation component includes a bucket cylinder, a main pump, an electric control handle, and an instrument; The main pump is传动连接 with the bucket cylinder to adjust the pressure in the bucket cylinder, thereby adjusting the extension length of the bucket cylinder; The electric control handle is communicatively connected to the control module, the control module is electrically connected to the main pump, and the signal of the electric control handle is transmitted to the control module, thereby controlling the start and stop state of the main pump; The instrument is provided in the cab and is electrically connected to the control module.

8. The excavator according to claim 7, characterized in that: The control module includes a controller, a boom angle sensor, a main pump pressure sensor, a main valve, and a bucket solenoid valve; The main pump pressure sensor is used to detect the pilot pressure of the main pump, and the main pump pressure sensor is communicatively connected to the controller; The main valve is provided at the oil inlet end of the main pump and is used to control the opening and closing of the overall hydraulic oil circuit; The bucket solenoid valve is provided between the main pump and the bucket cylinder and is used to adjust the opening of the hydraulic oil circuit, thereby adjusting the action speed of the bucket cylinder, and is electrically connected to the controller; The boom angle sensor is installed on the boom of the excavator to detect the boom lifting angle and is communicatively connected to the controller. It should be noted that the term "传动连接" in the original text is not a standard English expression. A more appropriate term might be "drivingly connected" or "connected for transmission", but the original text is retained as is for the purpose of translation.

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