Crawler excavator travel safety control method and system, and excavator

Abstract

The application discloses a caterpillar excavator walking safety control method and system and an excavator, and belongs to the technical field of the caterpillar excavator. The method comprises the following steps: calculating the theoretical opening amount of a walking valve core according to an electric walking pedal signal and a whole vehicle control logic; calculating the theoretical secondary pressure output by a valve control electromagnetic valve according to the relationship among the theoretical opening amount of the walking valve core, the valve core opening amount and the secondary pressure for controlling the valve core; calculating the control current of the walking valve control electromagnetic valve according to the valve core output theoretical secondary pressure of the valve control electromagnetic valve; and performing walking safety control according to the comparison between the valve core output theoretical secondary pressure and the control current of the walking valve control electromagnetic valve and the collected actual secondary pressure and actual current of the walking valve control electromagnetic valve, and detecting the oil port pressure on both sides of the walking motor. The application detects the possible risks in the three links in the walking main valve control process and actively intervenes when the abnormality is found, so that the walking safety risks caused by various abnormalities can be effectively avoided.

Description

Technical Field

[0001] This invention relates to a method, system, and excavator for controlling the walking safety of a tracked excavator, belonging to the field of safety technology for tracked excavators. Background Technology

[0002] Tracked excavators rely on two independent walking pedals (including joysticks) to control the left and right walking drive devices, enabling forward, backward, and turning movements. In excavators with fully electronic control systems, the walking pedals do not directly control the main valve core. Instead, control is achieved indirectly through processes such as collecting pedal signals, main controller logic calculations, controlling solenoid valve current, solenoid valve output secondary pressure, and the secondary pressure pushing the main valve core. This increases the risk of malfunctions and can lead to walking safety issues. Summary of the Invention

[0003] The purpose of this invention is to reduce the walking safety risks of fully electronically controlled excavators by providing a walking safety control method, system, and excavator for tracked excavators, which can intervene in a timely manner when the system malfunctions to avoid danger. To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution: Firstly, a method for controlling the movement safety of a tracked excavator, the method comprising: Based on the electronically controlled walking pedal signal and the vehicle control logic, the theoretical opening amount of the walking valve core is calculated; Based on the theoretical opening of the travel valve core, the relationship between the valve core opening and the secondary pressure of the control valve core, the theoretical secondary pressure of the valve core output of the valve-controlled solenoid valve is calculated. Calculate the control current of the traveling valve-controlled solenoid valve based on the theoretical secondary pressure output by the valve core. The data includes the actual secondary pressure output from the valve core of the valve-controlled solenoid valve, the oil port pressures on both sides of the travel motor, and the actual current of the travel valve-controlled solenoid valve. Based on the comparison between the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and by detecting the oil port pressure on both sides of the travel motor, travel safety control is performed.

[0004] Optionally, the step of calculating the theoretical opening amount of the travel valve core based on the electronically controlled travel pedal signal and the vehicle control logic includes: When the electric walking pedal signal is 0, the theoretical opening of the walking valve core is 0. As the electric walking pedal signal gradually increases, the theoretical opening of the walking valve core gradually increases. When the electric walking pedal signal reaches its maximum, the theoretical opening of the walking valve core is at its maximum.

[0005] Optionally, the step of comparing the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and detecting the oil port pressures on both sides of the travel motor to perform travel safety control includes: When there is a deviation between the theoretical secondary pressure and the actual pressure of the valve-controlled solenoid valve, the power supply to the pilot safety solenoid valve is cut off, thereby cutting off the oil supply to the valve-controlled solenoid valve.

[0006] Optionally, the step of comparing the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and detecting the oil port pressures on both sides of the travel motor to perform travel safety control, further includes: When there is pressure at the forward-moving oil port in response to the vehicle control logic's forward movement control, or when there is pressure at the backward-moving oil port in response to the vehicle control logic's backward movement control, the corresponding main pump flow rate drops to the minimum.

[0007] Optionally, the step of comparing the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and detecting the oil port pressures on both sides of the travel motor to perform travel safety control, further includes: When there is a deviation between the control current of the travel valve-controlled solenoid valve and the actual current of the travel valve-controlled solenoid valve, the control current of the travel valve-controlled solenoid valve is set to 0.

[0008] Secondly, a system for implementing the tracked excavator travel safety control method described in the first aspect includes: The travel valve core used to control the travel motor; A travel valve control solenoid valve used to control the secondary pressure of the travel valve core. The main controller used to control the control current of the walking valve-controlled solenoid valve. A pilot safety solenoid valve used to provide oil supply to a travel valve-controlled solenoid valve. The main controller receives signals from the electric walking pedals and calculates the theoretical opening of the walking valve core based on the signals. The hydraulic oil output side of the walking valve core is connected to the walking motor. The power supply side of the pilot safety solenoid valve is connected to the main controller. The control end of the pilot safety solenoid valve is connected to the main controller. The pressure sensor on the output side of the walking motor is connected to the main controller. The oil outlet of the walking valve core is connected to the walking motor. The oil return port of the walking valve core is connected to the oil tank. The flow control end of the main pump is connected to the main controller.

[0009] Optionally, pressure sensors are connected to the oil ports on both sides of the walking motor, and the pressure sensors are connected to the main controller.

[0010] Optionally, the walking valve control solenoid valve output is equipped with a pressure sensor to collect the actual secondary pressure output by the walking valve control solenoid valve.

[0011] Optionally, a check valve is provided in the oil passage between the main pump and the oil inlet of the travel valve core.

[0012] Thirdly, a tracked excavator includes the tracked excavator travel safety control system described in the second aspect.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This invention detects potential risks in all three stages of the walking main valve control process and proactively intervenes when anomalies are detected, effectively avoiding walking safety risks caused by various anomalies; This invention collects the actual current of the walking valve-controlled solenoid valve. When there is a deviation between the actual current and the control current, the control current of the walking valve-controlled solenoid valve is set to 0 to prevent abnormal current of the walking valve-controlled solenoid valve from causing safety problems. This invention collects the actual secondary pressure output by the travel valve-controlled solenoid valve. When there is a deviation between the actual secondary pressure and the theoretical secondary pressure, the power supply to the pilot safety solenoid valve is cut off, thereby cutting off the oil supply to the valve-controlled solenoid valve, preventing abnormal secondary pressure output by the travel valve-controlled solenoid valve from causing safety problems. This invention collects the actual secondary pressure output by the travel valve-controlled solenoid valve. When there is a deviation between the actual secondary pressure and the theoretical secondary pressure, the power supply to the pilot safety solenoid valve is cut off, thereby cutting off the oil supply to the valve-controlled solenoid valve, preventing abnormal secondary pressure output by the travel valve-controlled solenoid valve from causing safety problems. Attached Figure Description

[0014] Figure 1 The diagram shown is a logic diagram of one embodiment of the control method of the present invention; Figure 2 The diagram shown is a structural diagram of one embodiment of the control system of the present invention. Detailed Implementation

[0015] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments. Example 1

[0016] like Figure 1 As shown, a method for controlling the travel safety of a tracked excavator is disclosed, the method comprising: Step 1: Calculate the theoretical opening of the travel valve core based on the electronically controlled travel pedal signal and the vehicle control logic; Step 2: Calculate the theoretical secondary pressure output of the valve core of the valve-controlled solenoid valve based on the theoretical opening of the travel valve core and the relationship between the valve core opening and the secondary pressure of the control valve core. Step 3: Calculate the control current of the traveling valve-controlled solenoid valve based on the theoretical secondary pressure output by the valve core of the valve-controlled solenoid valve. Step 4: Collect the actual secondary pressure output by the valve core of the valve-controlled solenoid valve, the oil port pressure on both sides of the travel motor, and the actual current of the travel valve-controlled solenoid valve. Step 5: Compare the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and detect the oil port pressure on both sides of the travel motor to perform travel safety control.

[0017] Regarding step 1, the calculation of the theoretical opening of the travel valve core based on the electronically controlled travel pedal signal and the vehicle control logic includes: When the electric walking pedal signal is 0, the theoretical opening of the walking valve core is 0. As the electric walking pedal signal gradually increases, the theoretical opening of the walking valve core gradually increases. When the electric walking pedal signal reaches its maximum, the theoretical opening of the walking valve core is at its maximum.

[0018] Further explanation of step 5: The step of comparing the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and detecting the oil port pressures on both sides of the travel motor to perform travel safety control includes: When there is a deviation between the theoretical secondary pressure and the actual pressure of the valve-controlled solenoid valve, the power supply to the pilot safety solenoid valve is cut off, thereby cutting off the oil supply to the valve-controlled solenoid valve.

[0019] The purpose of this embodiment is to prevent safety issues caused by abnormal secondary pressure output from the travel valve-controlled solenoid valve.

[0020] Regarding step 5, the comparison of the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and the detection of the oil port pressures on both sides of the travel motor for travel safety control, further includes: When there is pressure at the forward oil port in response to the vehicle control logic's forward movement control, or when there is pressure at the reverse oil port in response to the vehicle control logic's reverse movement control, the corresponding main pump flow rate drops to the minimum. The purpose of this embodiment is to prevent the main valve core from abnormally opening according to the control command (such as jamming), which could lead to safety issues.

[0021] Regarding step 5, the comparison of the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and the detection of the oil port pressures on both sides of the travel motor for travel safety control, further includes: When there is a deviation between the control current of the travel valve control solenoid valve and the actual current of the travel valve control solenoid valve, the control current of the travel valve control solenoid valve is set to 0. The purpose of this embodiment is to prevent safety problems caused by abnormal current of the travel valve control solenoid valve.

[0022] It is worth noting that, in order to prevent a single walking motor from malfunctioning and causing safety issues due to deviation, when one of the left and right walking motors exhibits the above three conditions and measures are taken, the other motor will also take the same measures.

[0023] It is worth noting that the oil port pressure on both sides of the travel motor and the actual secondary pressure of the travel valve control solenoid valve are both achieved using pressure sensors. Example 2

[0024] like Figure 2 As shown, a system for implementing the tracked excavator travel safety control method described in Embodiment 1 is disclosed, comprising: The travel valve core used to control the travel motor; A solenoid valve for controlling the secondary pressure of the travel valve core. The main controller used to control the control current of the walking valve-controlled solenoid valve. A pilot safety solenoid valve used to provide oil supply to a travel valve-controlled solenoid valve. The main controller receives signals from the electric walking pedals and calculates the theoretical opening of the walking valve core based on the signals. The hydraulic oil output side of the walking valve core is connected to the walking motor. The power supply side of the pilot safety solenoid valve is connected to the main controller. The control terminal of the pilot safety solenoid valve is connected to the main controller. The pressure sensor on the output side of the walking motor is connected to the main controller. The oil outlet of the walking valve core is connected to the walking motor. The oil return port of the walking valve core is connected to the oil tank. The flow control terminal of the main pump is connected to the main controller.

[0025] The hydraulic logic in this embodiment is as follows: 1. The oil outlet of the pilot safety solenoid valve serves as the oil source for the travel valve control solenoid valve. When the pilot safety solenoid valve loses power and cannot output pressure, the travel valve control solenoid valves cannot output secondary pressure based on the current. 2. The secondary pressure of the solenoid valve controls the opening of the travel valve core. When there is no secondary pressure, the travel valve core cannot open; when the secondary pressure reaches a certain value and gradually increases, the opening of the travel valve core gradually increases. 3. When the travel valve core is not open, there is no hydraulic oil supply to the oil port of the travel motor and no pressure is generated, so the travel stops; when the travel valve core is open, the hydraulic oil output by the main pump supplies oil to the oil port of the travel motor and generates pressure, so the travel action starts.

[0026] In this embodiment, pressure sensors are connected to the oil ports on both sides of the walking motor. The pressure sensors are connected to the main controller, and the output of the walking valve control solenoid valve is equipped with a pressure sensor to collect the actual secondary pressure output by the walking valve control solenoid valve.

[0027] In this embodiment, a check valve is provided in the oil passage between the main pump and the oil inlet of the travel valve core. Example 3

[0028] A tracked excavator includes the tracked excavator travel safety control system described in the second aspect.

[0029] In summary, this invention detects potential risks in all three stages of the walking main valve control process and proactively intervenes when anomalies are detected, effectively avoiding walking safety risks caused by various anomalies.

[0030] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the walking safety of a tracked excavator, characterized in that, The method includes: Based on the electronically controlled walking pedal signal and the vehicle control logic, the theoretical opening amount of the walking valve core is calculated; Based on the theoretical opening of the travel valve core, the relationship between the valve core opening and the secondary pressure of the control valve core, the theoretical secondary pressure of the valve core output of the valve-controlled solenoid valve is calculated. Calculate the control current of the traveling valve-controlled solenoid valve based on the theoretical secondary pressure output by the valve core. The actual secondary pressure output by the valve core of the valve-controlled solenoid valve, the oil port pressure on both sides of the travel motor, and the actual current of the travel valve-controlled solenoid valve are collected. Based on the comparison between the theoretical secondary pressure output by the valve core and the control current of the solenoid valve controlling the travel valve and the actual secondary pressure and the actual current of the solenoid valve controlling the travel valve, and by detecting the oil port pressure on both sides of the travel motor, travel safety control is performed. The method of comparing the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and detecting the oil port pressure on both sides of the travel motor for travel safety control, also includes: When there is pressure at the forward-moving oil port in response to the vehicle control logic's forward-moving control, or when there is pressure at the backward-moving oil port in response to the vehicle control logic's backward-moving control, the corresponding main pump flow rate is reduced to the minimum. When there is a deviation between the control current of the travel valve-controlled solenoid valve and the actual current of the travel valve-controlled solenoid valve, the control current of the travel valve-controlled solenoid valve is set to 0.

2. The method for controlling the walking safety of a tracked excavator according to claim 1, characterized in that, The calculation of the theoretical opening of the travel valve core based on the electronically controlled travel pedal signal and the vehicle control logic includes: When the electric walking pedal signal is 0, the theoretical opening of the walking valve core is 0. As the electric walking pedal signal gradually increases, the theoretical opening of the walking valve core gradually increases. When the electric walking pedal signal reaches its maximum, the theoretical opening of the walking valve core is at its maximum.

3. The method for controlling the walking safety of a tracked excavator according to claim 1, characterized in that, The method involves comparing the theoretical secondary pressure output by the valve core and the control current of the travel valve control solenoid valve with the actual secondary pressure and the actual current of the travel valve control solenoid valve, and detecting the oil port pressure on both sides of the travel motor to perform travel safety control, including: When there is a deviation between the theoretical secondary pressure and the actual pressure of the valve-controlled solenoid valve, the power supply to the pilot safety solenoid valve is cut off, thereby cutting off the oil supply to the valve-controlled solenoid valve.

4. A tracked excavator travel safety control system, used to implement the tracked excavator travel safety control method according to any one of claims 1-3, characterized in that, include: The travel valve core used to control the travel motor; A travel valve control solenoid valve used to control the secondary pressure of the travel valve core. The main controller used to control the control current of the walking valve-controlled solenoid valve. A pilot safety solenoid valve used to provide oil supply to a travel valve-controlled solenoid valve. The main controller receives signals from the electric walking pedals and calculates the theoretical opening of the walking valve core based on the signals. The hydraulic oil output side of the walking valve core is connected to the walking motor. The power supply side of the pilot safety solenoid valve is connected to the main controller. The control end of the pilot safety solenoid valve is connected to the main controller. The pressure sensor on the output side of the walking motor is connected to the main controller. The oil outlet of the walking valve core is connected to the walking motor. The oil return port of the walking valve core is connected to the oil tank. The flow control end of the main pump is connected to the main controller.

5. The tracked excavator travel safety control system according to claim 4, characterized in that, Pressure sensors are connected to the oil ports on both sides of the walking motor, and the pressure sensors are connected to the main controller.

6. The tracked excavator travel safety control system according to claim 4, characterized in that, The walking valve control solenoid valve output is equipped with a pressure sensor that collects the actual secondary pressure output by the walking valve control solenoid valve.

7. The tracked excavator travel safety control system according to claim 4, characterized in that, A check valve is installed in the oil passage between the main pump and the oil inlet of the travel valve core.

8. A tracked excavator, characterized in that, Includes the tracked excavator travel safety control system as described in any one of claims 4-7.

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