Control method, processor, working machine and storage medium for a working machine

Abstract

The application relates to the field of engineering machinery, in particular to a control method for engineering machinery, a processor, engineering machinery and a storage medium. The method comprises the following steps: determining an oil temperature value of hydraulic oil in a hydraulic oil tank; determining that a working state of the engineering machinery is a prohibited working state when the oil temperature value is less than a first preset temperature; controlling a main pump to start to guide the hydraulic oil in the hydraulic oil tank to a hydraulic balance type thermal expansion throttle valve; controlling the hydraulic balance type thermal expansion throttle valve to heat the hydraulic oil; and controlling the heated hydraulic oil to flow back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature. Through the above technical scheme, the hydraulic balance type thermal expansion throttle valve is used to heat the hydraulic oil when the oil temperature of the hydraulic oil is extremely low, and the heated hydraulic oil flows back to the hydraulic oil tank, so that the hydraulic elements and the hydraulic system of the engineering machinery are protected from being damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, in particular, to a control method for engineering machinery, a processor, engineering machinery and a storage medium. BACKGROUND

[0002] At present, the viscosity of the whole machine hydraulic oil of the engineering machinery in the extremely cold weather is extremely high in the initial low temperature state, which cannot realize the normal working state of the whole machine, and the key components such as the hydraulic main pump, the main valve and the hydraulic motor cannot realize effective lubrication under the condition of high hydraulic viscosity, such as static pressure support and valve core release gap lubrication, which causes irreparable damage to the efficiency and service life of the hydraulic components and the hydraulic system. SUMMARY

[0003] The purpose of the present application is to provide a control method for engineering machinery, a processor, engineering machinery and a storage medium which can overcome the extremely cold environment and make the engineering machinery work.

[0004] In order to achieve the above purpose, the present application provides a control method for engineering machinery, the engineering machinery comprising a hydraulic balance type thermal expansion throttle valve, a main pump and a hydraulic oil tank, wherein the first end and the second end of the hydraulic balance type thermal expansion throttle valve are communicated with the main pump and the hydraulic oil tank respectively, and the main pump is communicated with the hydraulic oil tank, and the control method comprises:

[0005] determining the oil temperature value of the hydraulic oil in the hydraulic oil tank;

[0006] determining that the working state of the engineering machinery is a prohibited operation state when the oil temperature value is less than a first preset temperature;

[0007] controlling the main pump to start to guide the hydraulic oil in the hydraulic oil tank into the hydraulic balance type thermal expansion throttle valve;

[0008] controlling the hydraulic balance type thermal expansion throttle valve to heat the hydraulic oil;

[0009] controlling the heated hydraulic oil to flow back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature.

[0010] In the embodiment of the present application, the hydraulic balance type thermal expansion throttle valve comprises a sub-throttle valve and a sequence valve, and the control of the hydraulic balance type thermal expansion throttle valve to heat the hydraulic oil comprises: reducing the valve opening degrees of the sequence valve and the sub-throttle valve to a first preset opening degree and a second preset opening degree respectively, so that the pressure increases to heat the hydraulic oil.

[0011] In the embodiment of the present application, the engineering machine further comprises a sensing assembly and a first electromagnetic valve, wherein the hydraulic balance type thermal expansion throttle valve is communicated with the hydraulic oil tank through the first electromagnetic valve, the first electromagnetic valve is electrically connected with a first signal port of the sensing assembly, and in the case that the oil temperature value of the hydraulic oil in the hydraulic oil tank is less than a first preset temperature, it is determined that the engineering machine enters a first working mode; a first electric signal is output to the first electromagnetic valve through the first signal port; after the first electromagnetic valve starts the valve core reversing according to the first electric signal, the heated hydraulic oil flows back to the hydraulic oil tank through the first electromagnetic valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature.

[0012] In the embodiment of the present application, the engineering machine further comprises a hydraulic main valve and an actuator, wherein the hydraulic main valve is communicated with the hydraulic balance type thermal expansion throttle valve and the actuator, in the case that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature, it is determined that the working state of the engineering machine is an allowed working state; the main pump is started to guide the hydraulic oil in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve; the hydraulic balance type thermal expansion throttle valve heats the hydraulic oil; and the heated hydraulic oil enters the actuator after flowing through the hydraulic main valve, so that the actuator operates.

[0013] In the embodiment of the present application, the allowed working state includes a first state and a second state, and the control method comprises: in the case that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature and less than a second preset temperature, it is determined that the working state of the engineering machine is the first state; the hydraulic balance type thermal expansion throttle valve continues to heat the hydraulic oil; the heated hydraulic oil flows back to the hydraulic oil tank after flowing through the hydraulic main valve; in the case that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature, it is determined that the working state of the engineering machine is the second state; the hydraulic balance type thermal expansion throttle valve stops heating the hydraulic oil; and the hydraulic oil flows back to the hydraulic oil tank after flowing through the hydraulic main valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0014] In the embodiment of the present application, the hydraulic balance type thermal expansion throttle valve comprises a sub-throttle valve and a sequence valve, and the control method comprises: determining the oil temperature change rate of the hydraulic oil; increasing the valve opening degree of the sub-throttle valve according to a first preset proportion corresponding to the oil temperature change rate, and decreasing the valve opening degree of the sequence valve according to a second preset proportion corresponding to the oil temperature change rate; and controlling the hydraulic oil to flow back to the hydraulic oil tank after flowing through the hydraulic balance type thermal expansion throttle valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0015] In the embodiments of the present application, the construction machinery further comprises a sensing assembly, a first electromagnetic valve, a second electromagnetic valve and a hydraulic main valve, wherein the hydraulic balance type thermal expansion throttle valve is communicated with the hydraulic oil tank through the first electromagnetic valve, the first electromagnetic valve is communicated with an oil inlet of the hydraulic main valve, the second electromagnetic valve is communicated with an oil outlet of the hydraulic main valve, and the first electromagnetic valve and the second electromagnetic valve are respectively electrically connected with a first signal port and a second signal port of the sensing assembly; the method of controlling the heated hydraulic oil to flow back to the hydraulic oil tank after flowing through the hydraulic main valve comprises: in the case that the working state of the construction machinery is a first state, controlling the construction machinery to enter a second working mode; controlling the second signal port to output a second electric signal to the second electromagnetic valve; after the second electromagnetic valve starts the valve core to reverse according to the second electric signal, controlling the heated hydraulic oil to flow into the hydraulic main valve through the oil inlet of the first electromagnetic valve, so that the actuator operates; and controlling the hydraulic oil to flow back to the hydraulic oil tank after sequentially flowing through the hydraulic main valve, the oil outlet and the second electromagnetic valve.

[0016] In the embodiments of the present application, the hydraulic balance type thermal expansion throttle valve comprises a sub-throttle valve and a sequence valve, and the method of controlling the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil comprises: controlling the valve of the sub-throttle valve to be closed, and adjusting the valve opening of the sequence valve to the maximum, so as to stop heating the hydraulic oil.

[0017] In the embodiments of the present application, the construction machinery further comprises a sensing assembly, a first electromagnetic valve, a second electromagnetic valve, a hydraulic main valve and a radiator, wherein the hydraulic balance type thermal expansion throttle valve is communicated with the hydraulic oil tank through the first electromagnetic valve, the first electromagnetic valve is communicated with an oil inlet of the hydraulic main valve, the second electromagnetic valve is communicated with an oil outlet of the hydraulic main valve, a first end and a second end of the radiator are respectively communicated with the second electromagnetic valve and the hydraulic oil tank, and the first electromagnetic valve and the second electromagnetic valve are respectively electrically connected with a first signal port and a second signal port of the sensing assembly; the method of controlling the hydraulic oil to flow back to the hydraulic oil tank after flowing through the hydraulic main valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than a second preset temperature comprises: in the case that the working state of the construction machinery is a second state, controlling the construction machinery to enter a third working mode; controlling the hydraulic oil stopped from being heated to sequentially pass through the first electromagnetic valve, the oil inlet and enter the hydraulic main valve, so that the actuator operates; controlling the hydraulic oil to sequentially flow through the oil outlet and the second electromagnetic valve and enter the radiator, so as to heat the hydraulic oil flowing through the hydraulic main valve; and controlling the hydraulic oil heated through the radiator to flow back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0018] In the embodiments of the present application, the hydraulic oil heated through the radiator is controlled to flow back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature and is within a preset temperature range.

[0019] The second aspect of the present application provides a processor configured to execute the control method for the construction machinery of any one of the above.

[0020] The third aspect of the present application provides an engineering machine, comprising:

[0021] The hydraulic balance type thermal expansion throttle valve is used to increase the oil temperature of the hydraulic oil.

[0022] The main pump is used to provide power for the hydraulic control system.

[0023] The hydraulic oil tank is used to store the hydraulic oil, and the processor described above.

[0024] In the embodiment of the present application, the hydraulic balance type thermal expansion throttle valve comprises a sequence valve and a sub-throttle valve.

[0025] In the embodiment of the present application, the engineering machine further comprises: a sensing assembly for outputting an electric signal; a first electromagnetic valve for reversing according to the electric signal of the sensing assembly; a second electromagnetic valve for reversing according to the electric signal of the sensing assembly; a hydraulic main valve for controlling the flow direction of the hydraulic oil of the actuator; a radiator for reducing the oil temperature of the hydraulic oil; and an actuator.

[0026] The fourth aspect of the present application provides a machine readable storage medium, which stores instructions, and the instructions make the processor be configured to execute the control method for the engineering machine according to any one of the above when executed by the processor.

[0027] Through the above technical solution, the hydraulic balance type thermal expansion throttle valve is used to heat the hydraulic oil when the oil temperature of the hydraulic oil is extremely low, and the heated hydraulic oil flows back to the hydraulic oil tank, thereby protecting the hydraulic elements and the hydraulic system of the engineering machine from being damaged.

[0028] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the present application, but do not constitute a limitation on the present application. In the drawings:

[0030] Figure 1 The structural block diagram of the engineering machine according to the embodiment of the present application is schematically shown;

[0031] Figure 2 The flowchart of the control method for the engineering machine in the embodiment of the present application is schematically shown;

[0032] Figure 3 The principle diagram of the hydraulic control system applied to the engineering machine according to the embodiment of the present application is schematically shown;

[0033] Figure 4 Fig. 1 schematically shows an internal structure diagram of a computer device according to an embodiment of the present application.

[0034] Reference signs

[0035] 1, hydraulic oil tank; 2, hydraulic main pump; 3, induction assembly; 4, hydraulic balance type thermal expansion throttle valve; 5, first electromagnetic reversing valve; 6, hydraulic main valve; 7, second electromagnetic reversing valve; 8, hydraulic oil radiator; 9, actuator. DETAILED DESCRIPTION

[0036] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to explain and illustrate the present application, and are not intended to limit the present application.

[0037] It should be noted that if the present application has a directional indication (such as up, down, left, right, front, back, etc.) in the embodiments, the directional indication is only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indication also changes accordingly.

[0038] In addition, if the present application has a description of "first", "second" and the like in the embodiments, the description of "first", "second" and the like is only for description purpose, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope claimed by the present application.

[0039] In one embodiment, as shown in Fig. 1, a structural block diagram of a construction machine 100 according to an embodiment of the present application is schematically shown, the construction machine 100 comprising: a hydraulic balance type thermal expansion throttle valve 101 for increasing the oil temperature of hydraulic oil; a main pump 102 for providing power for a hydraulic control system; a hydraulic oil tank 103 for storing hydraulic oil, and a processor 104. Figure 1 In one embodiment, as shown in Fig. 1, a structural block diagram of a construction machine 100 according to an embodiment of the present application is schematically shown, the construction machine 100 comprising: a hydraulic balance type thermal expansion throttle valve 101 for increasing the oil temperature of hydraulic oil; a main pump 102 for providing power for a hydraulic control system; a hydraulic oil tank 103 for storing hydraulic oil, and a processor 104.

[0040] Figure 1 In one embodiment, as shown in Fig. 1, the hydraulic balance type thermal expansion throttle valve 101 in the construction machine 100 comprises a sequence valve 101-1 and a sub-throttle valve 101-2.

[0041] In one embodiment, as shown in Fig. 1, the hydraulic balance type thermal expansion throttle valve 101 in the construction machine 100 comprises a sequence valve 101-1 and a sub-throttle valve 101-2. Figure 1 ​As shown, the construction machinery 100 further comprises: a sensing assembly 105 for outputting an electrical signal; a first electromagnetic valve 106 for commutation according to the electrical signal of the sensing assembly; a second electromagnetic valve 107 for commutation according to the electrical signal of the sensing assembly; a hydraulic main valve 108 for controlling the flow direction of the hydraulic oil of the actuator; a radiator 109 for reducing the oil temperature of the hydraulic oil; and an actuator 110.

[0042] In one embodiment, as Figure 2 shown, a flowchart of a control method for a construction machinery in an embodiment of the present application is schematically shown, as Figure 2 shown, in an embodiment of the present application, a control method for a construction machinery is provided, comprising the following steps:

[0043] Step 201, determining the oil temperature value of the hydraulic oil in the hydraulic oil tank;

[0044] Step 202, in the case that the oil temperature value is less than a first preset temperature, determining that the working state of the construction machinery is a prohibited operation state;

[0045] Step 203, controlling the main pump to start to guide the hydraulic oil in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve;

[0046] Step 204, controlling the hydraulic balance type thermal expansion throttle valve to heat the hydraulic oil;

[0047] Step 205, controlling the heated hydraulic oil to flow back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature.

[0048] The construction machinery comprises a hydraulic balance type thermal expansion throttle valve, a main pump and a hydraulic oil tank, wherein the first end and the second end of the hydraulic balance type thermal expansion throttle valve can be respectively communicated with the main pump and the hydraulic oil tank, and the main pump is communicated with the hydraulic oil tank. The main pump can pump the hydraulic oil stored in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve.

[0049] The processor can obtain the oil temperature value of the hydraulic oil in the hydraulic oil tank, and in the case that the oil temperature value of the hydraulic oil is less than the first preset temperature set by the processor, the processor can determine that the working state of the construction machinery at this time is a prohibited operation state. The processor can control the main pump to start, pump the hydraulic oil stored in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve, heat the hydraulic oil through the hydraulic balance type thermal expansion throttle valve, and control the heated hydraulic oil to flow back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature set by the processor.

[0050] In one embodiment, the control of the hydraulic balance type thermal expansion throttle valve to heat the hydraulic oil includes: reducing the valve opening degrees of the sequence valve and the sub throttle valve to first preset opening degrees and second preset opening degrees respectively, so that the pressure increases to heat the hydraulic oil.

[0051] The hydraulic balance type thermal expansion throttle valve includes a sub throttle valve and a sequence valve, and when the processor controls the hydraulic balance type thermal expansion throttle valve to heat the hydraulic oil, the processor can control the sub throttle valve and the sequence valve included in the hydraulic balance type thermal expansion throttle valve respectively, so that the hydraulic balance type thermal expansion throttle valve can heat the hydraulic oil. The processor can control the valve opening degrees of the sequence valve and the sub throttle valve to be reduced to first preset opening degrees and second preset opening degrees set by the processor respectively, so that the pressure of the hydraulic balance type thermal expansion throttle valve increases to heat the hydraulic oil. At this time, the processor can set the first preset opening degree to be the minimum valve opening degree of the sub throttle valve, so that the heating effect of the hydraulic balance type thermal expansion throttle valve on the hydraulic oil is the most obvious.

[0052] In one embodiment, when the oil temperature value of the hydraulic oil in the hydraulic oil tank is less than the first preset temperature, it is determined that the engineering machinery enters the first working mode; the first signal port outputs the first electric signal to the first electromagnetic valve; after the first electromagnetic valve starts the spool reversing according to the first electric signal, the heated hydraulic oil flows through the first electromagnetic valve and returns to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature.

[0053] The engineering machinery further includes an induction assembly and a first electromagnetic valve, wherein the hydraulic balance type thermal expansion throttle valve is communicated with the hydraulic oil tank through the first electromagnetic valve, and the first electromagnetic valve is electrically connected with the first signal port of the induction assembly. The first electromagnetic valve can be an electromagnetic reversing valve, which switches the hydraulic oil output of the hydraulic balance type thermal expansion throttle valve by reversing according to the electric signal output by the first signal port of the induction assembly.

[0054] In a case that the processor determines that the oil temperature value of the hydraulic oil in the hydraulic oil tank is less than the first preset temperature set by the processor, the processor can determine that the working machine enters a first working mode. The first working mode can be an extremely cold mode. That is, in a case that the processor determines that the oil temperature value of the hydraulic oil in the hydraulic oil tank is less than the first preset temperature, the processor can determine that the working machine enters the extremely cold mode. The processor can control the first signal port of the induction assembly to output a first electric signal to the first electromagnetic valve. The first electromagnetic valve can start the valve core to reverse according to the first electric signal, so that the hydraulic balance type thermal expansion throttle valve is connected with the hydraulic oil tank, the hydraulic balance type thermal expansion throttle valve forms an oil circulation with the hydraulic oil tank, and the hydraulic oil pumped from the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve by the main pump can be heated by the hydraulic balance type thermal expansion throttle valve and then flow back to the hydraulic oil tank from the hydraulic balance type thermal expansion throttle valve through the first electromagnetic valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature set by the processor.

[0055] In one embodiment, in a case that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature, the working state of the working machine is determined to be an allowed working state; the main pump is controlled to start to guide the hydraulic oil in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve; the hydraulic balance type thermal expansion throttle valve is controlled to heat the hydraulic oil; and the heated hydraulic oil is controlled to flow through the hydraulic main valve and then enter the actuator, so that the actuator operates.

[0056] The working machine further comprises a hydraulic main valve and an actuator, wherein the hydraulic main valve is in communication with the hydraulic balance type thermal expansion throttle valve and the actuator.

[0057] The hydraulic oil is heated by the hydraulic balance type thermal expansion throttle valve, flows back to the hydraulic oil tank from the hydraulic balance type thermal expansion throttle valve through the first electromagnetic valve, so that the temperature of the hydraulic oil in the hydraulic oil tank is increased. In a case that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature set by the processor, the processor can determine that the working state of the working machine is the allowed working state. The processor can control the main pump to start to guide the hydraulic oil in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve. The processor can control the hydraulic balance type thermal expansion throttle valve to heat the hydraulic oil, and control the heated hydraulic oil to flow through the hydraulic main valve and then enter the actuator in communication with the hydraulic main valve, so that the actuator can start to operate.

[0058] In one embodiment, the allowable working state of the construction machine includes a first state and a second state, and the control method includes: determining the working state of the construction machine as the first state when the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than or equal to a first preset temperature and less than a second preset temperature; controlling the hydraulic balance type thermal expansion throttle valve to continue heating the hydraulic oil; controlling the heated hydraulic oil to flow through the hydraulic main valve and then return to the hydraulic oil tank; determining the working state of the construction machine as the second state when the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature; controlling the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil; and controlling the hydraulic oil to flow through the hydraulic main valve and then return to the hydraulic oil tank, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0059] The allowable working state of the construction machine can include a first state and a second state. When the processor determines that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than or equal to a first preset temperature set by the processor and less than a second preset temperature set by the processor, the processor can determine that the working state of the construction machine is the first state. When the processor determines that the working state of the construction machine is the first state, the processor can control the hydraulic balance type thermal expansion throttle valve to continue heating the hydraulic oil, and control the heated hydraulic oil to flow through the hydraulic main valve and then return to the hydraulic oil tank. When the processor determines that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature set by the processor, the processor can determine that the working state of the construction machine is the second state at this time, and the processor can control the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil at this time, and control the stopped heating hydraulic oil to flow through the hydraulic main valve and then return to the hydraulic oil tank, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature set by the processor.

[0060] In one embodiment, controlling the hydraulic balance type thermal expansion throttle valve to continue heating the hydraulic oil includes: determining the oil temperature change rate of the hydraulic oil; increasing the valve opening degree of the sub-throttle valve according to a first preset proportion corresponding to the oil temperature change rate, and decreasing the valve opening degree of the sequence valve according to a second preset proportion corresponding to the oil temperature change rate; and controlling the hydraulic oil to flow through the hydraulic balance type thermal expansion throttle valve and then return to the hydraulic oil tank, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0061] When the processor determines that the working state of the engineering machine is the first state, the processor can control the hydraulic balance type thermal expansion throttle valve to continue heating the hydraulic oil. The hydraulic balance type thermal expansion throttle valve can include a sub-throttle valve and a sequence valve, and the processor can obtain an oil temperature change rate of the hydraulic oil, increase the valve opening degree of the sub-throttle valve of the hydraulic balance type thermal expansion throttle valve according to a first preset proportion of the processor set corresponding to the oil temperature change rate, and decrease the valve opening degree of the sequence valve of the hydraulic balance type thermal expansion throttle valve according to a second preset proportion of the processor set corresponding to the oil temperature change rate. For example, the processor can set the first preset proportion such that when the temperature increases by 1 degree Celsius, the valve opening degree of the sub-throttle valve of the hydraulic balance type thermal expansion throttle valve is increased by 5 degrees. After the processor controls the hydraulic balance type thermal expansion throttle valve, the processor can control the heated hydraulic oil to continue heating by flowing through the hydraulic balance type thermal expansion throttle valve, and control the heated hydraulic oil to flow back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0062] In one embodiment, controlling the heated hydraulic oil to flow back to the hydraulic oil tank after flowing through the hydraulic main valve includes: when the working state of the engineering machine is the first state, controlling the engineering machine to enter a second working mode; controlling the second signal port to output a second electric signal to the second electromagnetic valve; after the second electromagnetic valve starts the spool reversal according to the second electric signal, controlling the heated hydraulic oil to flow through the first electromagnetic valve to enter the hydraulic main valve through the oil inlet, so that the actuator operates; and controlling the hydraulic oil to flow back to the hydraulic oil tank after sequentially flowing through the hydraulic main valve, the oil outlet, and the second electromagnetic valve.

[0063] The engineering machine further includes an induction assembly, a first electromagnetic valve, a second electromagnetic valve, and a hydraulic main valve. The hydraulic balance type thermal expansion throttle valve communicates with the hydraulic oil tank through the first electromagnetic valve, the first electromagnetic valve communicates with the oil inlet of the hydraulic main valve, the second electromagnetic valve communicates with the oil outlet of the hydraulic main valve, and the first electromagnetic valve and the second electromagnetic valve are respectively electrically connected to the first signal port and the second signal port of the induction assembly.

[0064] In a case where the processor determines that the working state of the engineering machine is the first state, the processor can control the engineering machine to enter a second working mode. The processor can control the second signal port to output a second electric signal to the second electromagnetic valve, and the second electromagnetic valve can be used to switch the oil output of the hydraulic main valve. When the second electromagnetic valve switches the spool according to the received second electric signal, the hydraulic oil can be controlled to flow back to the hydraulic oil tank through the oil outlet of the hydraulic main valve. Since the first signal port of the sensing assembly does not output the first electric signal to the first electromagnetic valve to switch the first electromagnetic valve when the working state of the engineering machine is the first state, the first electromagnetic valve controls the hydraulic balance type thermal expansion throttle valve to be connected with the hydraulic main valve at this time. Therefore, in a case where the working state of the engineering machine is the second state, the processor can control the main pump to pump the hydraulic oil in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve, heat the hydraulic oil through the hydraulic balance type thermal expansion throttle valve, control the heated hydraulic oil to flow through the first electromagnetic valve, enter the hydraulic main valve through the oil inlet of the hydraulic main valve, and make the hydraulic oil enter the actuator connected with the hydraulic main valve, so that the actuator operates, and the hydraulic oil flows back to the hydraulic oil tank through the second electromagnetic valve after flowing out of the hydraulic main valve.

[0065] In an embodiment, the control of the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil includes: controlling the valve of the sub-throttle valve to be closed, and adjusting the valve opening degree of the sequence valve to be maximum, so as to stop heating the hydraulic oil.

[0066] In a case where the processor determines that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature, the processor can determine that the working state of the engineering machine is the second state, and at this time, the processor can control the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil. The processor can control the valve of the sub-throttle valve in the hydraulic balance type thermal expansion throttle valve to be closed, and control the valve opening degree of the sequence valve in the hydraulic balance type thermal expansion throttle valve to be adjusted to maximum, so as to control the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil.

[0067] In an embodiment, the control of the hydraulic oil to flow back to the hydraulic oil tank after flowing through the hydraulic main valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature includes: in a case where the working state of the engineering machine is the second state, the engineering machine enters a third working mode; the stopped heating hydraulic oil flows into the hydraulic main valve through the first electromagnetic valve and the oil inlet in sequence, so that the actuator operates; the hydraulic oil flows through the oil outlet and the second electromagnetic valve into the radiator in sequence, so as to heat the hydraulic oil flowing through the hydraulic main valve; and the hydraulic oil heated by the radiator flows back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0068] The engineering machinery further comprises a sensing assembly, a first electromagnetic valve, a second electromagnetic valve, a hydraulic main valve and a radiator, wherein the hydraulic balance type thermal expansion throttle valve is communicated with the hydraulic oil tank through the first electromagnetic valve, the first electromagnetic valve is communicated with an oil inlet of the hydraulic main valve, the second electromagnetic valve is communicated with an oil outlet of the hydraulic main valve, and first and second ends of the radiator are communicated with the second electromagnetic valve and the hydraulic oil tank respectively, and the first and second electromagnetic valves are electrically connected with first and second signal ports of the sensing assembly respectively.

[0069] When the processor determines that the working state of the engineering machinery is in the second state, the processor can control the engineering machinery to enter a third working mode, at this time, neither the first signal port nor the second signal port sends an electric signal, the first electromagnetic valve controls the hydraulic balance type thermal expansion throttle valve to be connected with the hydraulic main valve, and the second electromagnetic valve controls the oil outlet of the hydraulic main valve to be communicated with the radiator. Therefore, when the processor determines that the working state of the engineering machinery is in the second state, the processor can control the main pump to pump the hydraulic oil in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve, but in the case that the working state of the engineering machinery is in the second state, the hydraulic balance type thermal expansion throttle valve has stopped heating the hydraulic oil, therefore, the hydraulic oil successively passes through the hydraulic balance type thermal expansion throttle valve, the first electromagnetic valve, the hydraulic main valve, and the actuator communicated with the hydraulic main valve, so that the actuator continues to operate, and since the hydraulic oil may be heated due to friction when passing through the hydraulic main valve and the actuator, the processor can control the hydraulic oil output from the oil outlet of the hydraulic main valve to flow through the second electromagnetic valve and then enter the radiator to be cooled, control the hydraulic oil cooled by the radiator to flow back to the hydraulic oil tank, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature set by the processor.

[0070] In one embodiment, the hydraulic oil cooled by the radiator is controlled to flow back to the hydraulic oil tank, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature and within a preset temperature range.

[0071] The processor can set a preset temperature range, and when the working state of the engineering machinery is in the second working state, the temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature set by the processor and within the preset temperature range by controlling the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil and controlling the radiator to cool the hydraulic oil passing through the radiator.

[0072] In one embodiment, as Figure 3The diagram illustrates a schematic of a hydraulic control system 300 applied to engineering machinery according to an embodiment of this application. The hydraulic control system 300 includes a hydraulic oil tank 1; a hydraulic main pump 2; a sensing component 3; a hydraulic balanced thermostatic expansion throttle valve 4; a first solenoid directional valve 5; a hydraulic main valve 6; a second solenoid directional valve 7; a hydraulic oil cooler 8; and a hydraulic motor 9.

[0073] like Figure 3 As shown, the hydraulic main pump 2 is used to pump the hydraulic oil stored in the hydraulic oil tank 1 to the hydraulic balanced thermal expansion throttle valve 4. The sensing component 3 is connected to the hydraulic oil tank 1 and the hydraulic balanced thermal expansion throttle valve 4 respectively. The processor can obtain the temperature of the hydraulic oil in the hydraulic oil tank 1 through the SP port of the sensing component 3. The processor can control the hydraulic balanced thermal expansion throttle valve 4 through the SX port of the sensing component 3, and output electrical signals to the first solenoid directional valve 5 and the second solenoid directional valve 7 through the X1 signal port and X2 signal port of the sensing component 3 respectively. The inlet of the first solenoid directional valve 5 is connected to the hydraulically balanced thermostatic expansion throttle valve 4, and the outlet is connected to the hydraulic oil tank 1 or the hydraulic main valve 6. The first solenoid directional valve 5 is used to switch the oil output of the hydraulically balanced thermostatic expansion throttle valve 4 to the hydraulic oil tank 1 or the hydraulic main valve 6. When the first solenoid directional valve 5 controls the hydraulically balanced thermostatic expansion throttle valve 4 to be connected to the hydraulic oil tank 1, the hydraulically balanced thermostatic expansion throttle valve 4 and the hydraulic oil tank 1 form an oil circulation. When the first solenoid directional valve 5 controls the hydraulically balanced thermostatic expansion throttle valve 4 to be connected to the hydraulic main valve 6, the hydraulic main valve 6 can control the actuator 9. The hydraulic main valve 6 has its oil output end connected to the second solenoid directional valve 7. The second solenoid directional valve 7 is used to switch the oil output of the hydraulic main valve 6. When it is necessary to cool the hydraulic oil, the second solenoid directional valve 7 controls the hydraulic main valve 6 to connect to the hydraulic oil cooler 8, so that the oil output from the hydraulic main valve 6 returns to the hydraulic oil tank 1 through the hydraulic oil cooler 8. At this time, the hydraulic oil cooler 8 can cool the hydraulic oil. When it is not necessary to cool the hydraulic oil, the second solenoid directional valve 7 controls the hydraulic main valve 6 to connect directly to 1.

[0074] In one embodiment, a processor is provided, which is configured to perform any of the above-described control methods for engineering machinery.

[0075] The processor can obtain the oil temperature value of the hydraulic oil in the hydraulic oil tank through the SP port of the sensing assembly. When the oil temperature value of the hydraulic oil is less than a first preset temperature set by the processor, the processor can determine that the working state of the engineering machinery is a prohibited working state. The processor can control the hydraulic main pump to start, pump the hydraulic oil stored in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve, and heat the hydraulic oil through the hydraulic balance type thermal expansion throttle valve. The hydraulic balance type thermal expansion throttle valve includes a sub-throttle valve and a sequence valve. The processor can control the hydraulic balance type thermal expansion throttle valve through the SX port of the sensing assembly. The processor can control the sub-throttle valve and the sequence valve of the hydraulic balance type thermal expansion throttle valve respectively, so that the hydraulic balance type thermal expansion throttle valve can heat the hydraulic oil. The processor can control the valve opening degrees of the sequence valve and the sub-throttle valve to decrease to a first preset opening degree and a second preset opening degree set by the processor respectively, so that the pressure of the hydraulic balance type thermal expansion throttle valve increases to heat the hydraulic oil. At this time, the processor can set the first preset opening degree as the minimum valve opening degree of the sub-throttle valve, so that the heating effect of the hydraulic balance type thermal expansion throttle valve on the hydraulic oil is the most obvious.

[0076] When the processor determines that the oil temperature value of the hydraulic oil in the hydraulic oil tank is less than the first preset temperature set by the processor, the processor can determine that the engineering machinery enters a first working mode. The processor can control the first signal port X1 of the sensing assembly to output a first electric signal to the first electromagnetic valve reversing valve. The first electromagnetic reversing valve can start the spool reversing according to the first electric signal, so that the hydraulic balance type thermal expansion throttle valve is connected with the hydraulic oil tank, the hydraulic balance type thermal expansion throttle valve forms an oil circulation with the hydraulic oil tank, the hydraulic oil is pumped from the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve through the hydraulic main pump, and then is heated through the hydraulic balance type thermal expansion throttle valve, and then flows from the hydraulic balance type thermal expansion throttle valve to the hydraulic oil tank through the first electromagnetic reversing valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature set by the processor.

[0077] When the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature set by the processor, the processor can determine that the working state of the engineering machinery is a permitted working state. The permitted working state of the engineering machinery can include a first state and a second state.

[0078] When the processor determines that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature set by the processor and less than the second preset temperature set by the processor, the processor can determine that the working state of the engineering machinery is the first state, and the processor can control the engineering machinery to enter the second working mode. When the processor determines that the working state of the engineering machinery is the first state, the processor can control the hydraulic balance type thermal expansion throttle valve to continue heating the hydraulic oil, the processor can obtain the oil temperature change rate of the hydraulic oil, increase the valve opening degree of the sub-throttle valve included in the hydraulic balance type thermal expansion throttle valve according to the first preset proportion set by the processor corresponding to the oil temperature change rate, and decrease the valve opening degree of the sequence valve included in the hydraulic balance type thermal expansion throttle valve according to the second preset proportion set by the processor corresponding to the oil temperature change rate, so as to control the hydraulic balance type thermal expansion throttle valve to continue heating the hydraulic oil flowing through the hydraulic balance type thermal expansion throttle valve. In the second working mode, the first signal port X1 of the induction assembly does not output an electric signal, so the first electromagnetic reversing valve does not reverse, and at this time the first electromagnetic reversing valve controls the hydraulic balance type thermal expansion throttle valve to be connected with the hydraulic main valve. After the hydraulic oil is heated by the hydraulic balance type thermal expansion throttle valve, it can enter the hydraulic main valve through the first electromagnetic reversing valve, so that the hydraulic oil enters the actuator connected with the hydraulic main valve, so that the actuator operates. In the second working mode, the second signal port X2 of the induction assembly outputs a second electric signal to the second electromagnetic reversing valve, and after receiving the second electric signal, the second electromagnetic reversing valve can start the valve core to reverse, so that the hydraulic oil flows back to the hydraulic oil tank through the oil outlet of the hydraulic main valve. Therefore, in the second working mode, after the hydraulic oil outlet of the hydraulic main valve outputs the hydraulic oil, it can flow back to the hydraulic oil tank through the second electromagnetic reversing valve.

[0079] When the processor determines that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature set by the processor, the processor can determine that the working state of the engineering machinery at this time is the second state, the processor can control the engineering machinery to enter the third working mode, and the processor can control the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil. The processor can control the valve of the sub-throttle valve in the hydraulic balance type thermal expansion throttle valve to be closed, and control the valve opening of the sequence valve in the hydraulic balance type thermal expansion throttle valve to be adjusted to the maximum, so as to control the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil. In the third working mode, the processor controls the first signal port X1 and the second signal port X2 of the inductive assembly not to send electric signals. At this time, the first electromagnetic reversing valve controls the hydraulic balance type thermal expansion throttle valve to be connected with the hydraulic main valve, and the second electromagnetic reversing valve controls the oil outlet of the hydraulic main valve to communicate with the hydraulic oil radiator. In the third working mode, the processor can control the hydraulic main pump to pump the hydraulic oil in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve. Since the hydraulic balance type thermal expansion throttle valve has stopped heating the hydraulic oil in the third working mode, the hydraulic oil passes through the hydraulic balance type thermal expansion throttle valve and the first electromagnetic reversing valve in turn to enter the hydraulic main valve, and passes through the hydraulic main valve to enter the actuator connected with the hydraulic main valve, so that the actuator continues to operate. Since the hydraulic oil may be heated due to friction when passing through the hydraulic main valve and the actuator, the processor can control the hydraulic oil output from the oil outlet of the hydraulic main valve to flow through the second electromagnetic reversing valve and then enter the hydraulic oil radiator for heat dissipation, and control the hydraulic oil after heat dissipation through the hydraulic oil radiator to flow back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature set by the processor, and the temperature of the hydraulic oil is within the preset temperature range set by the processor.

[0080] According to the technical scheme, the construction machinery enters different working modes according to the temperature of the hydraulic oil in the hydraulic oil tank, and in the case that the temperature of the hydraulic oil is extremely low, the construction machinery is in the first working mode, the hydraulic oil is directly returned to the hydraulic oil tank after being heated by the hydraulic balance type thermal expansion throttle valve, the hydraulic components and the hydraulic system in the construction machinery can be protected from being damaged, and at this time, the processor can adjust the valve opening of the sub-throttle valve to the minimum valve opening, so that the heating effect of the hydraulic balance type thermal expansion throttle valve on the hydraulic oil is most obvious. After the hydraulic oil is heated by the hydraulic balance type thermal expansion throttle valve, when the temperature of the hydraulic oil gradually rises, the construction machinery enters the functional working mode, the construction machinery enters the second working mode, the processor can control the hydraulic oil to enter the hydraulic main valve, and the hydraulic oil enters the actuator through the hydraulic main valve, so that the construction machinery performs functional actions, but at this time, the temperature of the hydraulic oil is still low, the processor can control the hydraulic balance type thermal expansion throttle valve to continue heating the hydraulic oil, and the return oil of the hydraulic main valve does not enter the radiator and directly returns to the hydraulic oil tank. When the oil temperature of the hydraulic oil enters the normal working temperature, the construction machinery also enters the third working mode, the processor can control the hydraulic balance type thermal expansion throttle valve to stop heating the hydraulic oil, and the hydraulic system of the construction machinery returns to normal. According to the different working modes set according to the temperature of the hydraulic oil, the problem that the low-temperature oil has large viscosity and slow entering working state can be solved, and the problems that the hydraulic components are easily damaged, the whole machine is delayed, and the like under low temperature are solved, the hydraulic components are protected, and the service life of the hydraulic system is improved.

[0081] The memory can include non-persistent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0082] In one embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in FIG. 1. Figure 4A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure). Among them, the processor A01 of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operating system B01 and the computer program B02 in the non-volatile storage medium A04 to run. The database of the computer device is configured to store relevant data of the working machine and relevant data input by the operator. The network interface A02 of the computer device is configured to communicate with an external terminal through a network connection. The computer program B02 is executed by the processor A01 to implement a control method for a working machine.

[0083] Figure 2 A flowchart of an embodiment of the control method for a working machine is shown. It should be understood that, although the steps in the flowchart are shown in a sequence indicated by arrows, the steps are not necessarily executed in the sequence indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other sequences. Moreover, Figure 2 At least some of the steps in the flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times. The execution sequence of the sub-steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least some of the other steps or sub-steps or stages of other steps. Figure 2

[0084] The embodiment of the present application provides a device, the device includes a processor, a memory and a program stored on the memory and executable on the processor, and the processor executes the program to implement the following steps: determining an oil temperature value of hydraulic oil in a hydraulic oil tank; determining that a working state of the working machine is a prohibited operation state when the oil temperature value is less than a first preset temperature; controlling a main pump to start to guide the hydraulic oil in the hydraulic oil tank to a hydraulic balance type thermal expansion throttle valve; controlling the hydraulic balance type thermal expansion throttle valve to heat the hydraulic oil; and controlling the heated hydraulic oil to flow back to the hydraulic oil tank, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature.

[0085] In an embodiment, the step of controlling the hydraulic balance type thermal expansion throttle valve to heat the hydraulic oil includes: reducing valve openings of a sequence valve and a sub-throttle valve to first and second preset openings respectively, so that the pressure increases to heat the hydraulic oil.

[0086] ​In one embodiment, in a case where the oil temperature value of the hydraulic oil in the hydraulic oil tank is less than the first preset temperature, it is determined that the working state of the engineering machine is the first working mode; a first signal port outputs a first electric signal to a first electromagnetic valve; after the first electromagnetic valve starts to switch the spool according to the first electric signal, the heated hydraulic oil is controlled to flow back to the hydraulic oil tank through the first electromagnetic valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature.

[0087] In one embodiment, in a case where the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature, it is determined that the working state of the engineering machine is the allowed working state; the main pump is controlled to start to guide the hydraulic oil in the hydraulic oil tank to the hydraulic balance type thermal expansion throttle valve; the hydraulic balance type thermal expansion throttle valve is controlled to heat the hydraulic oil; and the heated hydraulic oil is controlled to flow through the hydraulic main valve and then enter the actuator to make the actuator operate.

[0088] In one embodiment, the allowed working state includes a first state and a second state, and the control method includes: in a case where the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature and less than a second preset temperature, it is determined that the working state of the engineering machine is the first state; the hydraulic balance type thermal expansion throttle valve is controlled to continue to heat the hydraulic oil; the heated hydraulic oil is controlled to flow back to the hydraulic oil tank through the hydraulic main valve; in a case where the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature, it is determined that the working state of the engineering machine is the second state; the hydraulic balance type thermal expansion throttle valve is controlled to stop heating the hydraulic oil; and the hydraulic oil is controlled to flow back to the hydraulic oil tank through the hydraulic main valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0089] In one embodiment, controlling the hydraulic balance type thermal expansion throttle valve to continue to heat the hydraulic oil includes: determining an oil temperature change rate of the hydraulic oil; increasing the valve opening degree of the sub-throttle valve according to a first preset proportion corresponding to the oil temperature change rate, and reducing the valve opening degree of the sequence valve according to a second preset proportion corresponding to the oil temperature change rate; and controlling the hydraulic oil to flow back to the hydraulic oil tank through the hydraulic balance type thermal expansion throttle valve, so that the oil temperature value of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0090] In one embodiment, controlling the heated hydraulic oil to flow back to the hydraulic oil tank through the hydraulic main valve includes: in a case where the working state of the engineering machine is the first state, the engineering machine is controlled to enter a second working mode; a second signal port outputs a second electric signal to a second electromagnetic valve; after the second electromagnetic valve starts to switch the spool according to the second electric signal, the heated hydraulic oil is controlled to flow into the hydraulic main valve through the oil inlet of the first electromagnetic valve to make the actuator operate; and the hydraulic oil is controlled to flow back to the hydraulic oil tank after sequentially flowing through the hydraulic main valve, the oil outlet and the second electromagnetic valve.

[0091] In one embodiment, the controlling the hydraulic balance type thermal expansion joint valve to stop heating the hydraulic oil comprises: controlling the valve of the sub-throttle valve to be closed, and adjusting the valve opening of the sequence valve to be maximum, so as to stop heating the hydraulic oil.

[0092] In one embodiment, the controlling the hydraulic oil to flow back to the hydraulic oil tank after flowing through the hydraulic main valve, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature comprises: in the case that the working state of the engineering machinery is the second state, controlling the engineering machinery to enter the third working mode; controlling the hydraulic oil, which is stopped from being heated, to sequentially pass through the first electromagnetic valve and the oil inlet port and be introduced into the hydraulic main valve, so as to make the actuator operate; controlling the hydraulic oil to sequentially flow through the oil outlet port and the second electromagnetic valve and enter the radiator, so as to heat the hydraulic oil flowing through the hydraulic main valve; and controlling the hydraulic oil, which is heated by the radiator, to flow back to the hydraulic oil tank, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

[0093] In one embodiment, the controlling the hydraulic oil, which is heated by the radiator, to flow back to the hydraulic oil tank, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature and is within the preset temperature range.

[0094] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product in the form of being implemented on one or more computer usable storage media containing computer usable program codes (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.).

[0095] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices generate a device implemented in the flowcharts and / or block diagrams. Figure 1 The function of one flow or multiple flows and / or blocks Figure 1 The function of one flow or multiple flows and / or blocks

[0096] These computer program instructions can also be stored in a computer readable storage medium capable of guiding the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer readable storage medium produce a manufactured product including instruction devices, which implement the functions specified in the flowcharts and / or block diagrams.Figure 1 one or more processes and / or blocks Figure 1 the function(s) specified in the block or blocks.

[0097] These computer program instructions can also be loaded into computer or other programmable data processing devices to cause a series of operational steps to be performed on the computer or other programmable devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable devices provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more processes and / or blocks Figure 1 the function(s) specified in the block or blocks.

[0098] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0099] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the computer stores information about an operating system or application programs, and the like. Memory is an example of computer readable media.

[0100] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0101] It should also be noted that the terms "comprising", "including", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article or apparatus that includes the element.

[0102] The above merely provides an example of the present application, but is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control method for engineering machinery, characterized in that, The engineering machinery includes a hydraulically balanced thermostatic expansion throttle valve, a main pump, a hydraulic oil tank, a hydraulic main valve, an actuator, a sensing component, a first solenoid valve, a second solenoid valve, and a radiator. The first and second ends of the hydraulically balanced thermostatic expansion throttle valve are respectively connected to the main pump and the hydraulic oil tank. The main pump is connected to the hydraulic oil tank. The hydraulically balanced thermostatic expansion throttle valve is connected to the hydraulic oil tank via the first solenoid valve. The first solenoid valve is connected to the inlet of the hydraulic main valve. The second solenoid valve is connected to the outlet of the hydraulic main valve. The first and second solenoid valves are electrically connected to the first and second signal ports of the sensing component, respectively. The first and second ends of the radiator are respectively connected to the second solenoid valve and the hydraulic oil tank. The control method includes: Determine the oil temperature of the hydraulic oil in the hydraulic oil tank; If the oil temperature is lower than the first preset temperature, the working state of the construction machinery is determined to be a prohibited operation state. The main pump is started to guide the hydraulic oil in the hydraulic oil tank to the hydraulic balance thermostatic expansion throttle valve; The hydraulic oil is heated by controlling the hydraulic balance thermostatic expansion throttle valve; The heated hydraulic oil is controlled to flow back to the hydraulic oil tank, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature. Wherein, if the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature and less than the second preset temperature, the working state of the construction machinery is determined to be the first state. The hydraulically balanced thermostatic expansion throttle valve is controlled to continue heating the hydraulic oil; The heated hydraulic oil flows through the main hydraulic valve and then back to the hydraulic oil tank. When the temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature, the working state of the construction machinery is determined to be the second state. Control the hydraulic balance thermostatic expansion throttle valve to stop heating the hydraulic oil; The hydraulic oil is controlled to flow back to the hydraulic oil tank after passing through the hydraulic main valve, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature; Wherein, the controlled return flow of heated hydraulic oil to the hydraulic oil tank after passing through the hydraulic main valve includes: When the construction machinery is in the first working state, control the construction machinery to enter the second working mode; Control the second signal port to output a second electrical signal to the second solenoid valve; After the second solenoid valve starts the valve core switching according to the second electrical signal, the heated hydraulic oil is controlled to flow through the first solenoid valve and enter the hydraulic main valve through the oil inlet, so as to make the actuator run; The hydraulic oil is controlled to flow back to the hydraulic oil tank after passing through the hydraulic main valve, the oil outlet and the second solenoid valve in sequence. Wherein, the control hydraulic oil flows back to the hydraulic oil tank after passing through the hydraulic main valve, such that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature, including: When the construction machinery is in the second working state, control the construction machinery to enter the third working mode; Hydraulic oil controlled to stop heating is sequentially introduced into the hydraulic main valve through the first solenoid valve and the oil inlet, so as to make the actuator operate; The hydraulic oil is controlled to flow sequentially through the oil outlet and the second solenoid valve into the radiator to cool the hydraulic oil flowing through the hydraulic main valve; The hydraulic oil, after being cooled by the radiator, is controlled to flow back to the hydraulic oil tank so that the oil temperature in the hydraulic oil tank is greater than the second preset temperature.

2. The control method for engineering machinery according to claim 1, characterized in that, The hydraulically balanced thermostatic expansion throttle valve includes a sub-throttle valve and a sequence valve. Controlling the hydraulically balanced thermostatic expansion throttle valve to heat the hydraulic oil includes: The valve openings of the sequence valve and the sub-throttle valve are reduced to a first preset opening and a second preset opening, respectively, thereby increasing the pressure to heat the hydraulic oil.

3. The control method for engineering machinery according to claim 1, characterized in that, The engineering machinery further includes a sensing component and a first solenoid valve, wherein the hydraulically balanced thermostatic expansion throttle valve is connected to the hydraulic oil tank through the first solenoid valve, and the first solenoid valve is electrically connected to the first signal port of the sensing component. The control method further includes: When the temperature of the hydraulic oil in the hydraulic oil tank is lower than the first preset temperature, the construction machinery is determined to enter the first working mode. Control the first signal port to output a first electrical signal to the first solenoid valve; After the first solenoid valve starts the valve core switching according to the first electrical signal, the heated hydraulic oil is controlled to flow back to the hydraulic oil tank through the first solenoid valve, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the first preset temperature.

4. The control method for engineering machinery according to claim 1, characterized in that, The engineering machinery further includes a hydraulic main valve and an actuator, wherein the hydraulic main valve is connected to the hydraulically balanced thermostatic expansion throttle valve and the actuator, and the method further includes: If the temperature of the hydraulic oil in the hydraulic oil tank is greater than or equal to the first preset temperature, the working state of the construction machinery is determined to be an allowable operating state. The main pump is started to guide the hydraulic oil in the hydraulic oil tank to the hydraulic balance thermostatic expansion throttle valve; The hydraulic oil is heated by controlling the hydraulic balance thermostatic expansion throttle valve; The heated hydraulic oil flows through the main hydraulic valve and then into the actuator to make the actuator work.

5. The control method for engineering machinery according to claim 1, characterized in that, The hydraulically balanced thermostatic expansion throttle valve includes a sub-throttle valve and a sequence valve. Controlling the hydraulically balanced thermostatic expansion throttle valve to continue heating the hydraulic oil includes: Determine the rate of change of the hydraulic oil temperature; The valve opening of the sub-throttle valve is increased by a first preset ratio corresponding to the oil temperature change rate, and the valve opening of the sequence valve is decreased by a second preset ratio corresponding to the oil temperature change rate. The hydraulic oil is controlled to flow back to the hydraulic oil tank after passing through the hydraulic balance thermostatic expansion throttle valve, so that the oil temperature of the hydraulic oil in the hydraulic oil tank is greater than the second preset temperature.

6. The control method for engineering machinery according to claim 1, characterized in that, The hydraulically balanced thermostatic expansion throttle valve includes a sub-throttle valve and a sequence valve. Controlling the hydraulically balanced thermostatic expansion throttle valve to stop heating the hydraulic oil includes: The valve of the sub-throttle valve is closed, and the valve opening of the sequence valve is adjusted to the maximum to stop heating the hydraulic oil.

7. The control method for engineering machinery according to claim 1, characterized in that, The method further includes: The hydraulic oil, after being cooled by the radiator, is controlled to flow back to the hydraulic oil tank so that the oil temperature in the hydraulic oil tank is greater than the second preset temperature and within the preset temperature range.

8. A processor, characterized in that, It is configured to perform the control method for engineering machinery according to any one of claims 1 to 7.

9. An engineering machinery, characterized in that, include: Hydraulic balanced thermostatic expansion throttle valve is used to increase the temperature of hydraulic oil; The main pump is used to provide power to the hydraulic control system; A hydraulic oil tank for storing the hydraulic oil, and The processor according to claim 8; The engineering machinery also includes: Sensing components are used to output electrical signals; A first solenoid valve is used to switch according to the electrical signal from the sensing component; The second solenoid valve is used to switch according to the electrical signal of the sensing component; Hydraulic main valve; used to control the flow direction of the hydraulic oil in the actuator; A radiator is used to reduce the temperature of the hydraulic oil. Executive body.

10. The engineering machinery according to claim 9, characterized in that, The hydraulically balanced thermostatic expansion throttle valve includes a sequence valve and a sub-throttle valve.

11. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform the control method for engineering machinery according to any one of claims 1 to 7.

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