CN111155588A - Automatic speed change control system and control method for steering of crawler excavator - Google Patents
Automatic speed change control system and control method for steering of crawler excavator Download PDFInfo
- Publication number
- CN111155588A CN111155588A CN202010027429.5A CN202010027429A CN111155588A CN 111155588 A CN111155588 A CN 111155588A CN 202010027429 A CN202010027429 A CN 202010027429A CN 111155588 A CN111155588 A CN 111155588A
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- Prior art keywords
- controller
- driving motor
- rom drive
- drive motor
- motor
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2087—Control of vehicle steering
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention belongs to the technical field of crawler excavators, and particularly relates to a crawler excavator steering automatic speed change control system which comprises a controller, a left driving motor, a right driving motor, a rotation angle detection device and a fast-slow gear switching valve, wherein the controller is electrically connected with the left driving motor, the right driving motor, a display, an engine and the fast-slow gear switching valve in an output mode, driving wheel rotating speed encoders are fixedly installed on the left driving motor and the right driving motor, and the two driving wheel rotating speed encoders are electrically connected with the controller.
Description
Technical Field
The invention relates to the technical field of crawler excavators, in particular to a crawler excavator steering automatic speed change control system and a control method.
Background
The crawler excavator traveling system comprises a left traveling motor, a right traveling motor, a main control valve, a fast and slow gear switching valve and a main pump. The main pump is connected with the left walking motor and the right walking motor through the main control valve, and controls the left walking motor and the right walking motor to rotate forwards and reversely, so that the advancing, retreating and steering of the crawler excavator are realized. The fast and slow gear switching valve is connected to an oil path of a fast and slow gear switching oil port of the left walking motor and the right walking motor, and the left walking motor and the right walking motor work in different displacement modes by cutting or conducting pressure input of the fast and slow gear switching oil port of the left walking motor and the right walking motor, so that the crawler excavator is switched between high-speed traveling gears or low-speed traveling gears.
The crawler excavator among the prior art walking motor switches between high-speed gear and low-speed gear all rely on the manual work to go on, is not convenient for control excavator automatic speed change when turning to, has reduced the speed of traveling of excavator, has reduced work efficiency, is not convenient for realize the accurate of excavator simultaneously and turns to, consequently needs urgent need to develop a crawler excavator and turns to automatic speed change control system and control method.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above and/or other problems with existing tracked excavator steering automatic transmission control systems and control methods.
Therefore, the invention aims to provide an automatic speed change control system and a control method for the steering of a crawler excavator, which can automatically control a driving motor, realize automatic speed change, improve the operating efficiency of the excavator and realize accurate steering.
To solve the above technical problem, according to an aspect of the present invention, the present invention provides the following technical solutions:
the utility model provides a crawler-type excavator turns to automatic speed change control system, includes controller, left driving motor, right driving motor, gyration angle detection device and fast slow gear diverter valve, controller electrical output connection left side driving motor right side driving motor, display, engine and fast slow gear diverter valve, left side driving motor with equal fixed mounting has drive wheel speed encoder on the right side driving motor, two the equal electric connection of drive wheel speed encoder the controller.
As a preferable scheme of the crawler excavator steering automatic speed change control system and the control method, the crawler excavator steering automatic speed change control system comprises: the rotary angle detection devices are arranged in two numbers, and the two rotary angle detection devices are respectively arranged on the left driving motor and the right driving motor.
As a preferable scheme of the crawler excavator steering automatic speed change control system and the control method, the crawler excavator steering automatic speed change control system comprises: the rotation angle detection device comprises a rotation speed reducer and an angle sensor, wherein the rotation speed reducer is electrically connected with the controller in an input mode, and the angle sensor is electrically connected with the controller in an output mode.
As a preferable scheme of the crawler excavator steering automatic speed change control system and the control method, the crawler excavator steering automatic speed change control system comprises: the controller adopts an incremental PID control algorithm.
A control method of a crawler excavator steering automatic speed change control system comprises the following steps:
utilize the controller control the rotation of left side CD-ROM drive motor with right side CD-ROM drive motor, utilize driving wheel rotational speed encoder perception the rotation speed of left side CD-ROM drive motor with right side CD-ROM drive motor, then give data information the controller, and then utilize the controller control left side CD-ROM drive motor with on the right side CD-ROM drive motor the gyration speed reducer realizes right the control of left side CD-ROM drive motor with right side CD-ROM drive motor to adjust its rotational speed, realize turning to the purpose, simultaneously, utilize the controller passes through the data that turn to the display shows.
Compared with the prior art: the automatic speed change control system and the control method for the steering of the crawler excavator realize automatic control of the driving motor, automatic speed change, improvement of the operation efficiency of the excavator and accurate steering.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise. Wherein:
FIG. 1 is a system block diagram of the architecture of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and it will be apparent to those of ordinary skill in the art that the present invention may be practiced without departing from the spirit and scope of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the drawings, wherein for convenience of illustration, the cross-sectional view of the device structure is not enlarged partially according to the general scale, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The invention provides a crawler excavator steering automatic speed change control system which comprises a controller, a left driving motor, a right driving motor, a rotation angle detection device and a fast-slow gear switching valve, wherein the controller is electrically connected with the left driving motor, the right driving motor, a display, an engine and the fast-slow gear switching valve in an output mode, driving wheel rotating speed encoders are fixedly installed on the left driving motor and the right driving motor, and the two driving wheel rotating speed encoders are electrically connected with the controller.
The rotary angle detection devices are arranged in two numbers, and the two rotary angle detection devices are respectively arranged on the left driving motor and the right driving motor.
The rotation angle detection device comprises a rotation speed reducer and an angle sensor, wherein the rotation speed reducer is electrically connected with the controller in an input mode, and the angle sensor is electrically connected with the controller in an output mode.
The controller adopts an incremental PID control algorithm.
The invention also provides a control method of the crawler excavator steering automatic speed change control system, which comprises the following steps:
utilize the controller control the rotation of left side CD-ROM drive motor with right side CD-ROM drive motor, utilize driving wheel rotational speed encoder perception the rotation speed of left side CD-ROM drive motor with right side CD-ROM drive motor, then give data information the controller, and then utilize the controller control left side CD-ROM drive motor with on the right side CD-ROM drive motor the gyration speed reducer realizes right the control of left side CD-ROM drive motor with right side CD-ROM drive motor to adjust its rotational speed, realize turning to the purpose, simultaneously, utilize the controller passes through the data that turn to the display shows.
The crawler excavator steering automatic speed change control system and the control method can automatically control the driving motor, realize automatic speed change, improve the operation efficiency of the excavator, realize accurate steering and have good economic benefit.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the disclosed embodiments of the invention may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (5)
1. The utility model provides a crawler-type excavator turns to automatic variable speed control system which characterized in that: including controller, left driving motor, right driving motor, gyration angle detection device and fast slow gear diverter valve, controller electrical output connection left side driving motor right side driving motor, display, engine and fast slow gear diverter valve, left side driving motor with equal fixed mounting has drive wheel speed encoder on the right side driving motor, two the equal electric connection of drive wheel speed encoder the controller.
2. The system of claim 1, wherein the system further comprises: the rotary angle detection devices are arranged in two numbers, and the two rotary angle detection devices are respectively arranged on the left driving motor and the right driving motor.
3. The system of claim 1, wherein the system further comprises: the rotation angle detection device comprises a rotation speed reducer and an angle sensor, wherein the rotation speed reducer is electrically connected with the controller in an input mode, and the angle sensor is electrically connected with the controller in an output mode.
4. The system of claim 1, wherein the system further comprises: the controller adopts an incremental PID control algorithm.
5. A control method of a crawler excavator steering automatic speed change control system according to any one of claims 1 to 4, characterized by comprising the steps of: the control method of the crawler excavator steering automatic speed change control system comprises the following steps:
utilize the controller control the rotation of left side CD-ROM drive motor with right side CD-ROM drive motor, utilize driving wheel rotational speed encoder perception the rotation speed of left side CD-ROM drive motor with right side CD-ROM drive motor, then give data information the controller, and then utilize the controller control left side CD-ROM drive motor with on the right side CD-ROM drive motor the gyration speed reducer realizes right the control of left side CD-ROM drive motor with right side CD-ROM drive motor to adjust its rotational speed, realize turning to the purpose, simultaneously, utilize the controller passes through the data that turn to the display shows.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010027429.5A CN111155588A (en) | 2020-01-10 | 2020-01-10 | Automatic speed change control system and control method for steering of crawler excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010027429.5A CN111155588A (en) | 2020-01-10 | 2020-01-10 | Automatic speed change control system and control method for steering of crawler excavator |
Publications (1)
| Publication Number | Publication Date |
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| CN111155588A true CN111155588A (en) | 2020-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010027429.5A Pending CN111155588A (en) | 2020-01-10 | 2020-01-10 | Automatic speed change control system and control method for steering of crawler excavator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111425136A (en) * | 2020-05-26 | 2020-07-17 | 北京三一智造科技有限公司 | Walking deviation rectifying method and device, rotary drilling rig and readable storage medium |
| CN114194292A (en) * | 2021-12-02 | 2022-03-18 | 中国煤炭科工集团太原研究院有限公司 | Control method and device for crawler-type mining equipment of coal mine |
| CN115427640A (en) * | 2020-07-10 | 2022-12-02 | 株式会社小松制作所 | Work machine and work machine control method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108755829A (en) * | 2018-05-24 | 2018-11-06 | 柳州柳工挖掘机有限公司 | Crawler-mounted excavator turns to automatic gear shifting control system and control method |
| WO2019026153A1 (en) * | 2017-07-31 | 2019-02-07 | 株式会社小松製作所 | Work vehicle and work vehicle control method |
| CN110053663A (en) * | 2019-05-27 | 2019-07-26 | 徐工集团工程机械股份有限公司科技分公司 | A kind of steering boost system and power steering method |
-
2020
- 2020-01-10 CN CN202010027429.5A patent/CN111155588A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019026153A1 (en) * | 2017-07-31 | 2019-02-07 | 株式会社小松製作所 | Work vehicle and work vehicle control method |
| CN108755829A (en) * | 2018-05-24 | 2018-11-06 | 柳州柳工挖掘机有限公司 | Crawler-mounted excavator turns to automatic gear shifting control system and control method |
| CN110053663A (en) * | 2019-05-27 | 2019-07-26 | 徐工集团工程机械股份有限公司科技分公司 | A kind of steering boost system and power steering method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111425136A (en) * | 2020-05-26 | 2020-07-17 | 北京三一智造科技有限公司 | Walking deviation rectifying method and device, rotary drilling rig and readable storage medium |
| CN115427640A (en) * | 2020-07-10 | 2022-12-02 | 株式会社小松制作所 | Work machine and work machine control method |
| CN114194292A (en) * | 2021-12-02 | 2022-03-18 | 中国煤炭科工集团太原研究院有限公司 | Control method and device for crawler-type mining equipment of coal mine |
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Application publication date: 20200515 |