Wheel type engineering machinery braking system and loading machine

Abstract

The invention discloses a wheel type engineering machinery braking system and a loader, and the wheel type engineering machinery braking system comprises a sensor module which is connected with a first end of a complete machine control module, and the sensor module is used for detecting brake pedal data in real time and transmitting the brake pedal data to the complete machine control module; the second end of the complete machine control module is connected with the gearbox control module, and the complete machine control module is used for sending gearbox control information to the gearbox control module according to the brake pedal data in combination with an engineering machinery brake learning model so as to control the working state of a gearbox through the gearbox control module; and the third end of the complete machine control module is connected with the brake valve, and the complete machine control module is further used for controlling the working state of the brake valve according to the brake pedal data and in combination with an engineering machinery brake learning model, so that the wheel type engineering machinery is braked stably. The brake efficiency of the wheel type engineering machinery is improved, and the abrasion of the brake is effectively reduced.

Description

Technical Field

[0001] The invention relates to the technical field of wheeled engineering machinery, and in particular to a wheeled engineering machinery braking system and a loader. Background Art

[0002] The brake system of wheeled engineering machinery is a very important safety device. Its performance and reliability are directly related to the operating safety and efficiency of wheeled engineering machinery. The air brake system in the brake system of wheeled engineering machinery is a brake system widely used in the fields of lifting and transportation equipment, mining equipment and industrial vehicles. Its working principle is to push the brake through compressed air to achieve the braking effect.

[0003] In the prior art, when a wheeled engineering machinery using a mechanical gearbox brakes at a low speed through an air brake system, the mechanical gearbox controls the brake action to brake the entire vehicle without cutting off the power of the entire machine, which not only results in low braking efficiency, but also accelerates the wear of the brake system. Summary of the invention

[0004] The invention provides a wheeled engineering machinery braking system and a loader, so as to improve the braking efficiency of the wheeled engineering machinery and effectively reduce the wear of the brake.

[0005] According to one aspect of the present invention, a wheeled engineering machinery braking system is provided, the wheeled engineering machinery braking system comprising:

[0006] Sensor module, whole machine control module and transmission control module;

[0007] The sensor module is connected to the first end of the whole machine control module, and the sensor module is used to detect brake pedal data in real time and transmit the brake pedal data to the whole machine control module;

[0008] The second end of the whole machine control module is connected to the gearbox control module, and the whole machine control module is used to send gearbox control information to the gearbox control module according to the brake pedal data and the engineering machinery brake learning model, so as to control the working state of the gearbox through the gearbox control module; wherein the engineering machinery brake learning model includes a particle swarm algorithm-support vector machine model;

[0009] The third end of the whole machine control module is connected to the brake valve. The whole machine control module is also used to control the working state of the brake valve according to the brake pedal data and in combination with the engineering machinery brake learning model to enable the wheeled engineering machinery to brake smoothly.

[0010] Furthermore, the whole machine control module is used for:

[0011] The current brake pedal data is compared with the previous adjacent brake pedal data, and the comparison result is combined with the engineering machinery brake learning model to control the working state of the brake valve, and send the transmission control information to the transmission control module to control the working state of the transmission through the transmission control module.

[0012] Furthermore, the whole machine control module is used for:

[0013] The current brake pedal data is subtracted from the previous brake pedal data to generate a first brake difference, and the first brake difference is compared with the preset brake difference. According to the comparison result and the engineering machinery brake learning model, the working state of the brake valve is controlled, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module.

[0014] Furthermore, the whole machine control module is used for:

[0015] If the first braking difference is greater than or equal to the preset braking difference, the brake valve is controlled to open a first opening, and a transmission emergency braking message is sent to the transmission control module, so as to control the transmission to perform emergency braking through the transmission control module;

[0016] If the first braking difference is less than the preset braking difference, the working state of the brake valve is controlled according to the current brake pedal data combined with the engineering machinery braking learning model, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module.

[0017] Furthermore, the whole machine control module is used for:

[0018] When the first braking difference is less than the preset braking difference, if the engineering machinery braking learning model includes the current brake pedal data, the current brake pedal data is substituted into the engineering machinery braking model to generate the first braking information, and the working state of the brake valve is controlled according to the first braking information, and the gearbox control information is sent to the gearbox control module to control the working state of the gearbox through the gearbox control module;

[0019] When the first braking difference is less than the preset braking difference, if the current brake pedal data is not included in the engineering machinery braking learning model, the second braking information is generated by interpolation method combined with the historical brake pedal data in the engineering machinery braking model, and the working state of the brake valve is controlled according to the second braking information, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module.

[0020] Furthermore, the brake pedal data includes pedal opening data and pedal torque data.

[0021] Further, the sensor module includes a torque sensor and a position sensor;

[0022] The torque sensor is connected to the first end of the whole machine control module, and the torque sensor is used to detect the brake pedal torque data in real time and transmit the brake pedal torque data to the whole machine control module;

[0023] The position sensor is connected to the first end of the whole machine control module, and is used for converting the pedal displacement into potential data, and transmitting the potential data to the whole machine control module to calculate the pedal opening data.

[0024] Furthermore, the whole machine control module includes a host computer and a whole machine control unit;

[0025] The sensor module is connected to the first end of the host computer, and the sensor module is used to detect brake pedal data in real time and transmit the brake pedal data to the host computer;

[0026] The second end of the host computer is connected to the first end of the whole machine control unit, and the host computer is used to determine the braking information according to the brake pedal data and the engineering machinery braking learning model, and send the braking information to the whole machine control unit;

[0027] The second end of the whole machine control unit is connected to the transmission control module, and the whole machine control unit is used to send transmission control information to the transmission control module according to the braking information, so as to control the working state of the transmission through the transmission control module;

[0028] The third end of the whole machine control unit is connected to the brake valve. The whole machine control unit is also used to control the working state of the brake valve according to the braking information so as to brake the wheeled engineering machinery smoothly.

[0029] Furthermore, the host computer includes a host computer.

[0030] According to another aspect of the present invention, there is provided a loader, the loader comprising the wheeled engineering machinery braking system described in any of the above embodiments.

[0031] The wheeled engineering machinery braking system provided by the embodiment of the present invention includes: a sensor module, a whole machine control module and a transmission control module; the sensor module is connected to a first end of the whole machine control module, the second end of the whole machine control module is connected to the transmission control module, and the third end of the whole machine control module is connected to the brake valve. The sensor module detects brake pedal data in real time and transmits the brake pedal data to the whole machine control module. The whole machine control module sends transmission control information to the transmission control module based on the brake pedal data and the engineering machinery braking learning model to control the working state of the transmission through the transmission control module, and controls the working state of the brake valve based on the brake pedal data and the engineering machinery braking learning model to enable the wheeled engineering machinery to brake smoothly. Compared with the prior art in which the whole machine power is not cut off and the braking of the whole vehicle is directly controlled by the brake, the braking efficiency of the wheeled engineering machinery is improved and the wear of the brake is effectively reduced.

[0032] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 is a structural schematic diagram of a wheeled engineering machinery braking system provided according to an embodiment of the present invention;

[0035] Figure 2 is a structural schematic diagram of another wheeled engineering machinery braking system provided according to an embodiment of the present invention;

[0036] Figure 3 It is a structural schematic diagram of another wheeled engineering machinery braking system provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] An embodiment of the present invention provides a wheeled engineering machinery braking system. Figure 1 is a schematic structural diagram of a wheeled engineering machinery braking system provided according to an embodiment of the present invention, with reference to Figure 1 , the wheeled engineering machinery braking system includes:

[0040] Sensor module 1, whole machine control module 2 and transmission control module 3;

[0041] The sensor module 1 is connected to a first end of the whole machine control module 2, and the sensor module 1 is used to detect brake pedal data in real time and transmit the brake pedal data to the whole machine control module 2;

[0042] The second end of the whole machine control module 2 is connected to the gearbox control module 3, and the whole machine control module 2 is used to send gearbox control information to the gearbox control module 3 according to the brake pedal data and the engineering machinery brake learning model, so as to control the working state of the gearbox through the gearbox control module 3; wherein the engineering machinery brake learning model includes a particle swarm algorithm-support vector machine model;

[0043] The third end of the whole machine control module 2 is connected to the brake valve 4. The whole machine control module 2 is also used to control the working state of the brake valve 4 according to the brake pedal data and in combination with the engineering machinery braking learning model to enable the wheeled engineering machinery to brake smoothly.

[0044] Specifically, the sensor module 1 can detect the brake pedal data in real time, and transmit the real-time detected brake pedal data to the whole machine control module 2, wherein the brake pedal data includes pedal opening data and pedal torque data, and the sensor module 1 can include a torque sensor and a position sensor. For example, the pedal torque data of the brake pedal can be detected in real time by the torque sensor, and the pedal opening data of the brake pedal can be detected in real time by the position sensor. The whole machine control module 2 compares the currently received brake pedal data with the last adjacent brake pedal data. For example, the currently received pedal torque data can be compared with the last adjacent pedal torque data, and the currently received pedal opening data can be compared with the last adjacent pedal opening data at the same time. The comparison result is combined with the engineering machinery braking learning model to control the working state of the brake valve, and the gearbox control information is sent to the gearbox control module to control the working state of the gearbox through the gearbox control module, so as to make the wheeled engineering machinery brake smoothly. Among them, the wheeled engineering machinery braking system can be applied to wheeled engineering machinery using mechanical gearboxes such as articulated dump trucks, loaders, and front loaders.

[0045] The wheeled engineering machinery braking system provided by the embodiment of the present invention includes: a sensor module 1, a whole machine control module 2 and a gearbox control module 3; the sensor module 1 is connected to a first end of the whole machine control module 2, the second end of the whole machine control module 2 is connected to the gearbox control module 3, and the third end of the whole machine control module 2 is connected to a brake valve 4. The sensor module 1 detects brake pedal data in real time and transmits the brake pedal data to the whole machine control module 2. The whole machine control module 2 sends gearbox control information to the gearbox control module 3 based on the brake pedal data and in combination with the engineering machinery braking learning model, so as to control the working state of the gearbox through the gearbox control module 3, and controls the working state of the brake valve 4 based on the brake pedal data and in combination with the engineering machinery braking learning model, so as to make the wheeled engineering machinery brake smoothly. Compared with the prior art in which the whole machine power is not cut off and the braking of the whole vehicle is directly controlled by the brake, the braking efficiency of the wheeled engineering machinery is improved and the wear of the brake is effectively reduced.

[0046] Furthermore, the whole machine control module is used for:

[0047] The current brake pedal data is compared with the previous adjacent brake pedal data, and the comparison result is combined with the engineering machinery brake learning model to control the working state of the brake valve, and send the transmission control information to the transmission control module to control the working state of the transmission through the transmission control module.

[0048] Specifically, the current brake pedal data can be subtracted from the previous brake pedal data to generate a first braking difference, and the first braking difference can be compared with the preset braking difference. According to the comparison result combined with the engineering machinery braking learning model, the working state of the brake valve is controlled, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module. For example, if the first braking difference is greater than the preset braking difference, it means that the wheeled engineering machinery is in an emergency braking state. At this time, there is no need to combine the engineering machinery braking learning model, and the brake valve can be directly controlled for emergency braking, and the transmission emergency braking can be controlled through the transmission control module.

[0049] Furthermore, the whole machine control module is used for:

[0050] The current brake pedal data is subtracted from the previous brake pedal data to generate a first brake difference, and the first brake difference is compared with the preset brake difference. According to the comparison result and the engineering machinery brake learning model, the working state of the brake valve is controlled, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module.

[0051] Specifically, if the first braking difference is greater than or equal to the preset braking difference, the brake valve is controlled to open a first opening, and the gearbox emergency braking information is sent to the gearbox control module, so as to control the gearbox to perform emergency braking through the gearbox control module; if the first braking difference is less than the preset braking difference, the working state of the brake valve is controlled according to the current brake pedal data combined with the engineering machinery braking learning model, and the gearbox control information is sent to the gearbox control module, so as to control the working state of the gearbox through the gearbox control module. Among them, the preset braking difference can be set according to actual conditions, and the embodiment of the present invention does not limit this.

[0052] Furthermore, the whole machine control module is used for:

[0053] If the first braking difference is greater than or equal to the preset braking difference, the brake valve is controlled to open a first opening, and a transmission emergency braking message is sent to the transmission control module, so as to control the transmission to perform emergency braking through the transmission control module;

[0054] If the first braking difference is less than the preset braking difference, the working state of the brake valve is controlled according to the current brake pedal data combined with the engineering machinery braking learning model, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module.

[0055] Specifically, if the first braking difference is greater than or equal to the preset braking difference, it means that the wheeled engineering machinery is in an emergency braking state. At this time, the first opening can be controlled to open according to the first braking difference, and the transmission control module can be used to control the transmission to perform emergency braking; if the first braking difference is less than the preset braking difference, it means that the wheeled engineering machinery is in a normal working state. At this time, the current brake pedal data can be substituted into the engineering machinery braking learning model to generate the first braking information, and the working state of the brake valve can be controlled according to the first braking information, and the transmission control information can be sent to the transmission control module to control the working state of the transmission through the transmission control module to achieve smooth braking of the wheeled engineering machinery.

[0056] Furthermore, the whole machine control module is used for:

[0057] When the first braking difference is less than the preset braking difference, if the engineering machinery braking learning model includes the current brake pedal data, the current brake pedal data is substituted into the engineering machinery braking model to generate the first braking information, and the working state of the brake valve is controlled according to the first braking information, and the gearbox control information is sent to the gearbox control module to control the working state of the gearbox through the gearbox control module;

[0058] When the first braking difference is less than the preset braking difference, if the current brake pedal data is not included in the engineering machinery braking learning model, the second braking information is generated by interpolation method combined with the historical brake pedal data in the engineering machinery braking model, and the working state of the brake valve is controlled according to the second braking information, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module.

[0059] Specifically, when the first braking difference is less than the preset braking difference, and the engineering machinery braking learning model includes the current brake pedal data, it means that the current brake pedal data is stored in the engineering machinery braking learning model. At this time, the current brake pedal data can be directly substituted into the engineering machinery braking model for prediction, and the first braking information can be generated, and the working state of the brake valve can be controlled according to the first braking information, and the gearbox control information can be sent to the gearbox control module to control the working state of the gearbox through the gearbox control module. If the first braking difference is less than the preset braking difference, and the engineering machinery braking learning model does not include the current brake pedal data, it means that the current brake pedal data is not stored in the engineering machinery braking learning model. At this time, the opening value of the brake valve and the speed value of the gearbox can be calculated by interpolation method according to the historical brake pedal data adjacent to the current brake pedal data stored in the engineering machinery braking learning model, and the second braking information can be determined according to the calculated opening value of the brake valve and the speed value of the gearbox, and the working state of the brake valve can be controlled according to the second braking information, and the gearbox control information can be sent to the gearbox control module to control the working state of the gearbox through the gearbox control module. At the same time, the opening value of the brake valve and the speed value of the gearbox calculated by the interpolation method can be stored in the engineering machinery braking learning model to improve the engineering machinery braking learning model.

[0060] Furthermore, the brake pedal data includes pedal opening data and pedal torque data.

[0061] Furthermore, Figure 2 is a schematic diagram of the structure of another wheeled engineering machinery braking system provided according to an embodiment of the present invention, with reference to Figure 2 , the sensor module includes a torque sensor 11 and a position sensor 12;

[0062] The torque sensor 11 is connected to the first end of the whole machine control module 2, and the torque sensor 11 is used to detect the brake pedal torque data in real time and transmit the brake pedal torque data to the whole machine control module 2;

[0063] The position sensor 12 is connected to a first end of the whole machine control module 2 . The position sensor 12 is used to convert the pedal displacement into potential data, and transmit the potential data to the whole machine control module 2 to calculate the pedal opening data.

[0064] Specifically, the position sensor 12 includes a potentiometer, which can generate different potential data according to the pedal displacement change of the brake pedal, and transmit the potential data to the whole machine control module 2 to calculate the current pedal opening data of the vehicle. The whole machine control module 2 controls the working state of the brake valve 4 according to the received pedal opening data and pedal torque data, combined with the engineering machinery braking learning model, and sends the gearbox control information to the gearbox control module 3, so as to control the working state of the gearbox through the gearbox control module 3 and thus make the wheeled engineering machinery brake smoothly.

[0065] Furthermore, Figure 3 is a structural schematic diagram of another wheeled engineering machinery braking system provided according to an embodiment of the present invention, with reference to Figure 3 , the whole machine control module includes a host computer 21 and a whole machine control unit 22;

[0066] The sensor module 1 is connected to a first end of the host computer 21, and the sensor module 1 is used to detect brake pedal data in real time and transmit the brake pedal data to the host computer 21;

[0067] The second end of the host computer 21 is connected to the first end of the whole machine control unit 22. The host computer 21 is used to determine the braking information according to the brake pedal data and the engineering machinery braking learning model, and send the braking information to the whole machine control unit 22.

[0068] The second end of the whole machine control unit 22 is connected to the gearbox control module 3, and the whole machine control unit 22 is used to send gearbox control information to the gearbox control module 3 according to the braking information, so as to control the working state of the gearbox through the gearbox control module 3;

[0069] The third end of the whole machine control unit 22 is connected to the brake valve 4. The whole machine control unit 22 is also used to control the working state of the brake valve according to the braking information so as to brake the wheeled engineering machinery smoothly.

[0070] Specifically, after receiving the brake pedal data sent by the sensor module 1, the upper computer 21 compares the currently received brake pedal data with the previous adjacent brake pedal data. For example, the currently received pedal torque data can be compared with the previous adjacent pedal torque data, and at the same time, the currently received pedal opening data can be compared with the previous adjacent pedal opening data. The comparison result is combined with the engineering machinery braking learning model to generate braking information, and the braking information is sent to the whole machine control unit 22. The whole machine control unit 22 controls the working state of the brake valve according to the braking information, and sends the transmission control information to the transmission control module to control the working state of the transmission through the transmission control module, so as to make the wheeled engineering machinery brake smoothly.

[0071] Furthermore, the host computer includes a host computer.

[0072] The present invention provides a loader, which includes the wheeled engineering machinery braking system described in any of the above embodiments. The loader provided by the embodiment of the present invention includes the wheeled engineering machinery braking system described in any of the above technical solutions, and thus has the beneficial effects of the wheeled engineering machinery braking system, which will not be described in detail here.

[0073] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0074] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheeled engineering machinery braking system, characterized in that: include: Sensor module, whole machine control module and transmission control module; The sensor module is connected to the first end of the whole machine control module, and the sensor module is used to detect brake pedal data in real time and transmit the brake pedal data to the whole machine control module; The second end of the whole machine control module is connected to the gearbox control module, and the whole machine control module is used to send gearbox control information to the gearbox control module according to the brake pedal data and in combination with the engineering machinery brake learning model, so as to control the working state of the gearbox through the gearbox control module; wherein the engineering machinery brake learning model includes a particle swarm algorithm-support vector machine model; The third end of the whole machine control module is connected to the brake valve. The whole machine control module is also used to control the working state of the brake valve according to the brake pedal data and in combination with the engineering machinery braking learning model to ensure smooth braking of the wheeled engineering machinery.

2. The wheeled engineering machinery braking system according to claim 1, characterized in that: The whole machine control module is used for: The current brake pedal data is compared with the previous adjacent brake pedal data, and the comparison result is combined with the engineering machinery brake learning model to control the working state of the brake valve, and send transmission control information to the transmission control module to control the working state of the transmission through the transmission control module.

3. The wheeled engineering machinery braking system according to claim 2, characterized in that: The whole machine control module is used for: The current brake pedal data is subtracted from the previous brake pedal data to generate a first brake difference, and the first brake difference is compared with the preset brake difference. According to the comparison result and the engineering machinery brake learning model, the working state of the brake valve is controlled, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module.

4. The wheeled engineering machinery braking system according to claim 3, characterized in that: The whole machine control module is used for: If the first braking difference is greater than or equal to a preset braking difference, the brake valve is controlled to open to a first opening, and transmission emergency braking information is sent to the transmission control module, so as to control the transmission to perform emergency braking through the transmission control module; If the first braking difference is less than the preset braking difference, the working state of the brake valve is controlled according to the current brake pedal data combined with the engineering machinery braking learning model, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module.

5. The wheeled engineering machinery braking system according to claim 4, characterized in that: The whole machine control module is used for: When the first braking difference is less than the preset braking difference, if the engineering machinery braking learning model includes the current brake pedal data, the current brake pedal data is substituted into the engineering machinery braking model to generate first braking information, and the working state of the brake valve is controlled according to the first braking information, and the gearbox control information is sent to the gearbox control module to control the working state of the gearbox through the gearbox control module; When the first braking difference is less than the preset braking difference, if the current brake pedal data is not included in the engineering machinery braking learning model, the second braking information is generated by interpolation method combined with the historical brake pedal data in the engineering machinery braking model, and the working state of the brake valve is controlled according to the second braking information, and the transmission control information is sent to the transmission control module to control the working state of the transmission through the transmission control module.

6. The wheeled engineering machinery braking system according to claim 1, characterized in that: The brake pedal data includes pedal opening data and pedal torque data.

7. The wheeled engineering machinery braking system according to claim 6, characterized in that: The sensor module includes a torque sensor and a position sensor; The torque sensor is connected to the first end of the whole machine control module, and the torque sensor is used to detect the brake pedal torque data in real time and transmit the brake pedal torque data to the whole machine control module; The position sensor is connected to a first end of the whole machine control module, and is used for converting pedal displacement into potential data, and transmitting the potential data to the whole machine control module to calculate the pedal opening data.

8. The wheeled engineering machinery braking system according to claim 1, characterized in that: The whole machine control module includes a host computer and a whole machine control unit; The sensor module is connected to the first end of the host computer, and the sensor module is used to detect brake pedal data in real time and transmit the brake pedal data to the host computer; The second end of the host computer is connected to the first end of the whole machine control unit, and the host computer is used to determine the braking information according to the brake pedal data and the engineering machinery braking learning model, and send the braking information to the whole machine control unit; The second end of the whole machine control unit is connected to the gearbox control module, and the whole machine control unit is used to send gearbox control information to the gearbox control module according to the braking information, so as to control the working state of the gearbox through the gearbox control module; The third end of the whole machine control unit is connected to the brake valve, and the whole machine control unit is further used to control the working state of the brake valve according to the brake information to enable the wheeled engineering machinery to brake smoothly.

9. The wheeled engineering machinery braking system according to claim 8, characterized in that: The host computer includes a host computer.

10. A loader, characterized in that: The invention comprises the wheeled engineering machinery braking system as described in any one of claims 1 to 9.

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