Push shovel control method and system suitable for backfill compactor

Abstract

The invention discloses a push shovel control method and system suitable for a backfill compactor, and belongs to the field of engineering machinery, the system comprises a controller, an electric proportional load sensitive multi-way valve, a handle, a push shovel, a push shovel oil cylinder, a displacement sensor and a working pump; the electric proportional load sensitive multi-way valve is connected with the working pump and is used for receiving an oil source provided by the working pump; the electric proportional load sensitive multi-way valve is respectively connected with a small cavity and a large cavity of the push shovel oil cylinder through an oil port A and an oil port B, and is connected with the oil tank through an oil return port T1; the controller is electrically connected with the electric proportional load sensitive multi-way valve, the handle and the displacement sensor and used for receiving a handle signal, a handle stroke value, a shovel pushing oil cylinder displacement signal and a real-time current signal of the electric proportional load sensitive multi-way valve. And the push shovel is controlled to ascend, descend and float. The valve position and the opening degree of the proportional valve can be efficiently controlled and adjusted, so that the push shovel can be adaptively controlled to ascend, descend, speed and buffer according to working conditions, and the construction efficiency is improved.

Description

Technical Field

[0001] The invention relates to a dozer control method and system suitable for a backfill compactor, belonging to the field of engineering machinery. Background Art

[0002] Backfill compactors are generally used in landfill or soil compaction. The tonnage and bulldozer capacity of the backfill compactors required for these usage scenarios are relatively large. Therefore, the height and width of the backfill compactors are relatively large. Large-tonnage or large-size backfill compactors have the following problems in actual application: First, when the bulldozer runs to the limit position, the collision between the limit devices brings an uncomfortable experience to the driver, and the limit devices and the oil cylinder will reduce their lifespan in long-term rapid collisions; Second, in order to improve work efficiency, users want to speed up the descent of the bulldozer. The existing bulldozer hydraulic system design scheme, by increasing the flow selection of the working pump and the control valve group, will increase the cost of hydraulic components and further increase the installation size; Third, for the front bulldozer, it is difficult for the operator to observe the specific position of its operation in the cab, and the blind spot of the operation brings a lot of inconvenience to the operator. Therefore, there is room for improvement in the control design of the bulldozer for large-tonnage or large-size backfill compactors in the prior art. Summary of the invention

[0003] The purpose of the present invention is to provide a bulldozer control method and system suitable for a backfill compactor to solve the problems in the background technology. The present invention can efficiently control and adjust the valve position and opening of the proportional valve by detecting changes in handle signals, handle stroke values, real-time current signals and bulldozer cylinder displacement signals, so that the bulldozer can adaptively control the rise, fall, speed and buffering of the bulldozer according to the working conditions, thereby improving construction efficiency and operating comfort.

[0004] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0005] In a first aspect, the present invention provides a dozer control method applicable to a backfill compactor, comprising:

[0006] Obtain handle signal, handle stroke value and push shovel cylinder displacement signal respectively;

[0007] According to the handle signal and the handle stroke value, current signals for controlling the valve position and valve position opening of the electric proportional load-sensitive multi-way valve are respectively generated to control the rise, fall or no action of the dozer, and detect the real-time current signal of the electric proportional load-sensitive multi-way valve;

[0008] When the dozer blade is rising or falling, a current signal for controlling the valve position opening is generated according to the comparison result between the displacement signal of the dozer blade cylinder and the position extreme value, so as to control the rising or falling speed of the dozer blade;

[0009] When the bulldozer is lowered, a current signal for valve position adjustment is generated based on the comparison result between the real-time current signal of the electric proportional load-sensitive multi-way valve and the factory-set current value, which is used to control the rapid descent of the bulldozer or the floating control of the bulldozer.

[0010] Optionally, the handle signal includes an ascending signal, a mid-position signal and a descending signal;

[0011] The handle stroke value is expressed in percentage.

[0012] The displacement signal of the dozer cylinder is used for comparing and analyzing the height of the dozer.

[0013] Optionally, current signals for controlling the valve position and valve position opening of the electric proportional load-sensitive multi-way valve are generated according to the handle signal and the handle stroke value, including:

[0014] According to the rising signal, the middle position signal and the falling signal, the current signal of the valve position control of the electric proportional load-sensitive multi-way valve is respectively generated and output, so that the valve core is switched between the corresponding first valve position, the second valve position and the third valve position;

[0015] When the valve core is switched to the first valve position or the third valve position, the handle stroke value is imported into the current control strategy calculation to generate a current value for controlling the valve position opening, which is used to control the valve position opening of the electric proportional load-sensitive multi-way valve in real time.

[0016] Optionally, according to the rising signal, the middle position signal and the falling signal, respectively generate and output the current signal of the valve position control of the electric proportional load-sensitive multi-way valve, so that the valve core switches between the corresponding first valve position, the second valve position and the third valve position, including:

[0017] Generate a valve position control instruction of the electric proportional load-sensitive multi-way valve according to the rising signal, output a corresponding current value to the electric proportional load-sensitive multi-way valve, so that the valve core is located at the first valve position;

[0018] Generate a valve position control instruction of the electric proportional load-sensitive multi-way valve according to the middle position signal, output a corresponding current value to the electric proportional load-sensitive multi-way valve, so that the valve core is located at the second valve position;

[0019] A valve position control instruction of the electric proportional load-sensitive multi-way valve is generated according to the falling signal, and a corresponding current value is output to the electric proportional load-sensitive multi-way valve to make the valve core located at the third valve position.

[0020] Optionally, when the dozer blade is raised or lowered, a current signal for controlling the valve position opening is generated according to a comparison result between the dozer blade oil cylinder displacement signal and the position extreme value, and further includes:

[0021] When the valve core is switched to the first valve position, the handle performs an ascending action, and the handle ascending stroke value is imported into the current control strategy calculation to generate the valve position opening current value during the ascending process. The valve position opening current value during the ascending process increases with the increase of the handle ascending stroke value, so that the valve position opening increases until the displacement signal of the shovel oil cylinder approaches the limit value of the ascending position and stops; the valve position opening current value during the ascending process is reduced to slow down the ascending speed;

[0022] When the valve core is switched to the third valve position, the handle performs a descending action, and the handle descending stroke value is imported into the current control strategy calculation to generate a valve position opening current value during descent, and the valve position opening current value during descent increases with the increase of the handle descending stroke value, so that the valve position opening increases until the shovel cylinder displacement signal approaches the limit value of the descending position and stops; the valve position opening current value during descent is reduced to slow down the descent speed.

[0023] Optionally, when the bulldozer is lowered, a current signal for valve position adjustment is generated based on the comparison result between the real-time current signal of the electric proportional load-sensitive multi-way valve and the factory-set current value, including

[0024] When the real-time current signal of the electric proportional load-sensitive multi-way valve is greater than or equal to the minimum control current value of the quick-drop position provided by the factory, a current signal is generated to control the electric proportional load-sensitive multi-way valve to switch to the fourth valve position, so that the dozer blade can be quickly lowered;

[0025] When the real-time current signal of the electric proportional load-sensitive multi-way valve is greater than or equal to the minimum control current value of the open floating position provided by the factory, a current signal is generated to control the electric proportional load-sensitive multi-way valve to switch to the fifth valve position, so that the bulldozer is in a floating state.

[0026] Optionally, the handle rising stroke value or the handle falling stroke value is imported into the current control strategy calculation to generate the expression of the valve position opening current value when rising or falling:

[0027]

[0028] In the formula, is the valve position opening current value when rising or falling, I_min is the minimum control current value provided by the electric proportional load-sensitive multi-way valve when it leaves the factory, I_max is the maximum control current value provided by the electric proportional load-sensitive multi-way valve when it leaves the factory, and D is the handle stroke value 0-100%.

[0029] In a second aspect, the present invention provides a dozer control system suitable for a backfill compactor, comprising:

[0030] Controller, electric proportional load-sensitive multi-way valve, handle, dozer, dozer cylinder, displacement sensor and working pump;

[0031] The controller is electrically connected to the electric proportional load-sensitive multi-way valve, the handle, and the displacement sensor, respectively, for receiving the handle signal, the handle stroke value, the push shovel oil cylinder displacement signal, and the real-time current signal of the electric proportional load-sensitive multi-way valve; and executing the steps of the above method;

[0032] The electric proportional load-sensitive multi-way valve is connected to the working pump and is used to receive the oil source provided by the working pump;

[0033] The electric proportional load-sensitive multi-way valve is connected to the small chamber and the large chamber of the push shovel oil cylinder through the oil port A and the oil port B respectively, and is connected to the oil tank through the oil return port T1.

[0034] Optionally, the handle sends a signal to the controller, and the controller outputs a corresponding current value to the electric proportional load-sensitive multi-way valve;

[0035] The electric proportional load-sensitive multi-way valve is electrically connected to a controller via two proportional electromagnets arranged at both ends. After the two proportional electromagnets obtain corresponding current values ​​respectively, they control the displacement of the valve core to switch the valve position.

[0036] Optionally, the valve position includes a first valve position, a second valve position, a third valve position, a fourth valve position and a fifth valve position;

[0037] When the handle sends an ascending signal to the controller, the controller outputs current values ​​of I_up and 0 to the two proportional solenoids of the electric proportional load-sensitive multi-way valve; the electric proportional load-sensitive multi-way valve is in the first valve position of the valve core, and the pressure oil port P1 of the electric proportional load-sensitive multi-way valve is connected with the pressure oil port P of the working pump, and the pressure oil of the working pump flows through the oil port A into the small chamber of the push shovel cylinder, and the return oil of the large chamber of the push shovel cylinder enters the oil port B of the electric proportional load-sensitive multi-way valve, and then flows back to the oil tank through the return oil port T1 of the electric proportional load-sensitive multi-way valve. In this process, the push shovel cylinder retracts, driving the push shovel to perform the ascending action;

[0038] When the handle sends a neutral signal to the controller, the current values ​​output by the controller to the two proportional solenoids of the electric proportional load-sensitive multi-way valve are both 0; the electric proportional load-sensitive multi-way valve is in the second valve position of the valve core, the electric proportional load-sensitive multi-way valve is not connected to the push shovel cylinder, no oil enters the push shovel cylinder, the push shovel cylinder does not move, and the corresponding push shovel does not move;

[0039] When the handle sends a descending signal to the controller, the controller outputs current values ​​of 0 and I_down to the two proportional solenoids of the electric proportional load-sensitive multi-way valve; the electric proportional load-sensitive multi-way valve is in the third valve position of the valve core, and the pressure oil port P1 of the electric proportional load-sensitive multi-way valve is connected with the pressure oil port P of the working pump, and the pressure oil enters the large chamber of the push shovel cylinder through the oil port B, and the return oil of the small chamber of the push shovel cylinder enters the oil port A of the electric proportional load-sensitive multi-way valve, and then flows back to the oil tank through the return oil port T1 of the electric proportional load-sensitive multi-way valve. In this process, the push shovel cylinder extends, driving the push shovel to perform the descending action;

[0040] When the bulldozer is descending, the controller outputs corresponding current values ​​to the two proportional solenoids of the electric proportional load-sensitive multi-way valve based on the comparison result of the real-time current signal of the electric proportional load-sensitive multi-way valve with the relevant factory-set current value, so that the valve core is in the fourth valve position or the fifth valve position.

[0041] Optionally, when the valve core is in the fourth valve position, the oil ports A and B of the electric proportional load-sensitive multi-way valve have a regeneration circuit, and the return oil from the small chamber of the push shovel oil cylinder enters the oil port A of the electric proportional load-sensitive multi-way valve, and a part of the hydraulic oil passes through the regeneration circuit to the oil port B, and enters the large chamber of the push shovel oil cylinder through the oil port B, so as to accelerate the extension of the push shovel oil cylinder and quickly lower the push shovel;

[0042] When the valve core is in the fifth valve position, the large chamber of the bulldozer cylinder is connected to the oil port B of the electric proportional load-sensitive multi-way valve, the small chamber of the bulldozer cylinder is connected to the oil port A of the electric proportional load-sensitive multi-way valve 2, the hydraulic oil in the bulldozer cylinder flows to the oil tank through the return oil port T1 of the electric proportional load-sensitive multi-way valve, and the bulldozer is in a floating state.

[0043] Optionally, the controller is also electrically connected to a display screen, and a comparison parameter table of the dozer cylinder displacement signal and the dozer height is preset in the controller, which is used to visually output the dozer height to the display screen through the dozer cylinder displacement signal.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. The present invention can efficiently control and adjust the valve position and opening of the proportional valve to make the dozer rise, fall, speed control and buffer control by detecting changes in the handle signal, handle stroke value and dozer cylinder displacement signal. The position of the dozer can be determined by reading the stroke displacement of the dozer cylinder, thereby accurately controlling the movement of the dozer, making the operation more intelligent and efficient. When the dozer reaches the limit position, the buffer control function is used to make the operation more comfortable and to improve the service life of the dozer cylinder and the dozer limit device.

[0046] 2. When the bulldozer is lowered, the factory-set current value signal of the hydraulic system with a quick-descent function is used to increase the lowering speed of the bulldozer, thereby improving construction efficiency and achieving floating control of the bulldozer descent, thereby improving equipment stability.

[0047] 3. The structure of the present invention is simple and there is no need to increase the flow selection of the working pump and the control valve group. The working pump provides an oil source to the electric proportional load-sensitive multi-way valve, and the handle provides a control signal to the electric proportional load-sensitive multi-way valve through the controller. The electric proportional load-sensitive multi-way valve outputs oil to the two chambers of the push shovel cylinder according to instructions. The push shovel cylinder is connected to the push shovel, thereby corresponding to different working conditions of the push shovel.

[0048] 4. The controller sends visual information to the display screen, and analyzes the height of the dozer through the displacement sensor signal of the dozer cylinder. The operator can read the position of the dozer and the real-time floating status of the dozer through the display screen and make corresponding action adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 The structure diagram of the dozer control system of the present invention applicable to a backfill compactor is shown;

[0050] Figure 2 It is a flow chart of a dozer control method applicable to a backfill compactor according to the present invention;

[0051] Figure 3 It is a flow chart of the method for controlling the rise of the dozer blade of the backfill compactor according to the present invention;

[0052] Figure 4 It is a flow chart of the floating control method of the backfill compactor dozer according to the present invention;

[0053] Figure 5 Shown is a flow chart of the descent control method of the backfill compactor blade of the present invention.

[0054] In the figure: 1. working pump, 2. electric proportional load-sensitive multi-way valve, 3. valve core, 4. displacement sensor, 5. dozer cylinder, 6. dozer, 7. handle, 8. display screen, 9. controller, 10. Ya proportional solenoid, 11. Yb proportional solenoid. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0056] Example 1

[0057] This embodiment provides a control system for a dozer 6 of a backfill compactor, such as Figure 1The diagram includes: a controller 9, an electric proportional load-sensitive multi-way valve 2, a handle 7, a dozer 6, a dozer cylinder 5, a displacement sensor 4 and a working pump 1;

[0058] The controller 9 is electrically connected to the electric proportional load-sensitive multi-way valve 2, the handle 7, and the displacement sensor 4, respectively, for receiving the handle 7 signal, the handle 7 stroke value, the push shovel oil cylinder 5 displacement signal and the electric proportional load-sensitive multi-way valve 2 real-time current signal; and executing the steps of the above method;

[0059] The electric proportional load-sensitive multi-way valve 2 is connected to the working pump 1 and is used to receive the oil source provided by the working pump 1;

[0060] The electric proportional load-sensitive multi-way valve 2 is connected to the small chamber and the large chamber of the push-blade oil cylinder 5 through the oil port A and the oil port B respectively, and is connected to the oil tank through the oil return port T1.

[0061] Optionally, the electric proportional load-sensitive multi-way valve 2 is electrically connected to the controller 9 through the Ya proportional solenoid 10 and the Yb proportional solenoid 11 arranged at both ends. After the Ya proportional solenoid 10 and the Yb proportional solenoid 11 respectively obtain a given current, they output a proportional magnetic force to the valve core 3 to control the displacement of the valve core to switch the valve position of the electric proportional load-sensitive multi-way valve 2;

[0062] The handle 7 sends a signal to the controller 9 , and the controller 9 further outputs corresponding current values ​​to the Ya proportional solenoid 10 and the Yb proportional solenoid 11 of the electric proportional load-sensitive multi-way valve 2 .

[0063] Optionally, the valve position includes a first valve position, a second valve position, a third valve position, a fourth valve position and a fifth valve position;

[0064] When the handle 7 sends an ascending signal to the controller 9, the controller 9 outputs the current values ​​of I_up and 0 to the Ya proportional solenoid 10 and the Yb proportional solenoid 11 of the electric proportional load-sensitive multi-way valve 2; the electric proportional load-sensitive multi-way valve 2 is in the first valve position of the valve core 3, and the pressure oil port P1 of the electric proportional load-sensitive multi-way valve 2 is connected with the pressure oil port P of the working pump 1, and the pressure oil of the working pump 1 flows through the oil port A into the small chamber of the push shovel cylinder 5, and the return oil of the large chamber of the push shovel cylinder 5 enters the oil port B of the electric proportional load-sensitive multi-way valve 2, and then flows back to the oil tank through the return oil port T1 of the electric proportional load-sensitive multi-way valve 2. In this process, the push shovel cylinder 5 retracts, driving the push shovel 6 to perform an ascending action;

[0065] When the handle 7 sends a neutral signal to the controller 9, the current values ​​output by the controller 9 to the Ya proportional solenoid 10 and the Yb proportional solenoid 11 of the electric proportional load-sensitive multi-way valve 2 are both 0; the electric proportional load-sensitive multi-way valve 2 is in the second valve position of the valve core 3, the electric proportional load-sensitive multi-way valve 2 is not connected to the push shovel oil cylinder 5, no oil enters the push shovel oil cylinder 5, the push shovel oil cylinder 5 does not move, and the corresponding push shovel 6 does not move;

[0066] When the handle 7 sends a descending signal to the controller 9, the controller 9 outputs the current values ​​of 0 and I_down to the Ya proportional solenoid 10 and the Yb proportional solenoid 11 of the electric proportional load-sensitive multi-way valve 2; the electric proportional load-sensitive multi-way valve 2 is in the third valve position of the valve core 3, and the pressure oil port P1 of the electric proportional load-sensitive multi-way valve 2 is connected with the pressure oil port P of the working pump 1, and the pressure oil enters the large chamber of the push shovel cylinder 5 through the oil port B, and the return oil of the small chamber of the push shovel cylinder 5 enters the oil port A of the electric proportional load-sensitive multi-way valve 2, and then flows back to the oil tank through the return oil port T1 of the electric proportional load-sensitive multi-way valve 2. In this process, the push shovel cylinder 5 extends, driving the push shovel 6 to perform a descending action;

[0067] When the bulldozer 6 is descending, the controller 9 outputs corresponding current values ​​to the proportional solenoids of the electric proportional load-sensitive multi-way valve 2Ya, Yb according to the comparison result between the real-time current signal of the electric proportional load-sensitive multi-way valve 2 and the relevant factory-set current value, so as to place the valve core 3 in the fourth valve position or the fifth valve position.

[0068] Optionally, when the valve core 3 is in the fourth valve position, the oil ports A and B of the electric proportional load-sensitive multi-way valve 2 have a regeneration circuit, and the return oil from the small chamber of the push shovel oil cylinder 5 enters the oil port A of the electric proportional load-sensitive multi-way valve 2, and a part of the hydraulic oil passes through the regeneration circuit to the oil port B, and enters the large chamber of the push shovel oil cylinder 5 through the oil port B, so as to accelerate the extension of the push shovel oil cylinder 5 and quickly lower the dynamic push shovel 6;

[0069] When the valve core 3 is in the fifth valve position, the large chamber of the bulldozer cylinder 5 is connected to the oil port B of the electric proportional load-sensitive multi-way valve 2, the small chamber of the bulldozer cylinder 5 is connected to the oil port A of the electric proportional load-sensitive multi-way valve 2, the hydraulic oil in the bulldozer cylinder 5 flows to the oil tank through the return oil port T1 of the electric proportional load-sensitive multi-way valve 2, and the bulldozer 6 is in a floating state.

[0070] Optionally, the controller 9 is also electrically connected to the display screen 8. A comparison parameter table of the displacement signal of the push shovel cylinder 5 and the height of the push shovel 6 is preset in the controller 9, which is used to visually output the height of the push shovel 6 to the display screen 8 through the displacement signal of the push shovel cylinder 5. The power output end of the push shovel cylinder 5 is connected to the push shovel 6 to drive the push shovel 6 to move longitudinally in space, so that it is suitable for different working conditions. The push shovel cylinder 5 is provided with a displacement sensor 4, and the stroke of the push shovel cylinder 5 corresponds to different heights of the push shovel 6. The operator can read the position of the push shovel 6 through the display screen 8 and make corresponding action adjustments. In addition, in this embodiment, the display screen 8 also outputs the real-time judgment result of the controller 9 on whether the push shovel 6 is in a floating state.

[0071] Example 2

[0072] This embodiment provides a dozer control method applicable to a backfill compactor, such as Figure 2 Shown include:

[0073] Step 1, respectively obtaining a handle signal, a handle stroke value, and a push shovel cylinder displacement signal;

[0074] Step 2: Generate current signals for controlling the valve position and valve position opening of the electric proportional load-sensitive multi-way valve according to the handle signal and the handle stroke value, respectively, to control the dozer blade to rise, fall or not move, and detect the real-time current signal of the electric proportional load-sensitive multi-way valve;

[0075] Step 3, when the dozer blade is rising or falling, a current signal for controlling the valve position opening is generated according to the comparison result between the displacement signal of the dozer blade cylinder and the position extreme value, so as to control the rising or falling speed of the dozer blade;

[0076] Step 4: When the bulldozer is descending, a current signal for valve position adjustment is generated based on the comparison result between the real-time current signal of the electric proportional load-sensitive multi-way valve and the factory-set current value, which is used to control the bulldozer to descend quickly or to control the bulldozer to float.

[0077] Attached Figures 2 to 5 The letters in the are: I_up is the output current value of Ya for the electric proportional load sensitive multi-way valve 2; I_down is the output current value of Yb for the electric proportional load sensitive multi-way valve 2; D is the stroke value of the handle rising or falling 0~100%; I_min is the minimum control current provided by the electric proportional load sensitive multi-way valve; I_max is the maximum control current value provided by the electric proportional load sensitive multi-way valve; I_mid is the minimum control current value for the opening fast drop position provided by the electric proportional load sensitive multi-way valve; I_float is the minimum control current value for the opening floating position provided by the electric proportional load sensitive multi-way valve. High_act is the actual position signal of the displacement sensor of the push shovel cylinder; High_max is the signal of the displacement sensor when the push shovel cylinder rises to the limit position; High_min is the signal of the displacement sensor when the push shovel cylinder drops to the limit position; High_mid is the signal of the displacement sensor when the push shovel cylinder is at the floating zero position value; High_set is the floating dead zone setting value.

[0078] Optionally, the handle signal includes an ascending signal, a middle signal and a descending signal;

[0079] The handle travel value is expressed in percentage.

[0080] The displacement signal of the dozer cylinder is used to compare and analyze the height of the dozer.

[0081] Optionally, current signals for controlling the valve position and valve position opening of the electric proportional load-sensitive multi-way valve are generated according to the handle signal and the handle stroke value, including:

[0082] According to the rising signal, the middle position signal and the falling signal, the current signal of the valve position control of the electric proportional load-sensitive multi-way valve is respectively generated and output, so that the valve core is switched between the corresponding first valve position, the second valve position and the third valve position;

[0083] When the valve core is switched to the first valve position or the third valve position, the handle stroke value is imported into the current control strategy calculation to generate a current value for controlling the valve position opening, which is used to control the valve position opening of the electric proportional load-sensitive multi-way valve in real time.

[0084] Optionally, according to the rising signal, the middle position signal and the falling signal, respectively generate and output the current signal of the valve position control of the electric proportional load-sensitive multi-way valve, so that the valve core switches between the corresponding first valve position, the second valve position and the third valve position, including:

[0085] Generate a valve position control instruction of the electric proportional load-sensitive multi-way valve according to the rising signal, output a corresponding current value to the electric proportional load-sensitive multi-way valve, so that the valve core is located at the first valve position;

[0086] Generate a valve position control instruction of the electric proportional load-sensitive multi-way valve according to the middle position signal, output a corresponding current value to the electric proportional load-sensitive multi-way valve, so that the valve core is located at the second valve position;

[0087] A valve position control instruction of the electric proportional load-sensitive multi-way valve is generated according to the falling signal, and a corresponding current value is output to the electric proportional load-sensitive multi-way valve to make the valve core located at the third valve position.

[0088] Optionally, when the dozer blade is raised or lowered, a current signal for controlling the valve position opening is generated according to a comparison result between the dozer blade oil cylinder displacement signal and the position extreme value, and further includes:

[0089] like Figure 3 The rising signal shown is input to the controller, and the current values ​​of Ya and Yb supplied by the two PWM output ports of the controller to the proportional load-sensitive multi-way valve are I_up and 0 respectively. The valve core is switched to the first valve position, and the handle performs the rising action. The handle rising stroke value is imported into the current control strategy calculation to generate the valve position opening current value during the rise, and the valve position opening current value I_up during the rise increases with the increase of the handle rising stroke value D, so that the valve position opening increases, the corresponding valve core opening increases, the oil flow rate increases, and the bulldozer rising action is accelerated until the bulldozer cylinder displacement signal approaches the limit value High_max of the rising position, and the valve position opening current value I_up during the rise is reduced, the corresponding valve core opening becomes smaller, the oil flow rate becomes smaller, and the bulldozer rising action slows down.

[0090] like Figure 4The descending signal is input to the controller, and the current values ​​of Ya and Yb of the proportional load-sensitive multi-way valve supplied by the two PWM output ports of the controller are 0 and I_down respectively; the valve core is switched to the third valve position, the handle performs the descending action, and the handle descending stroke value is imported into the current control strategy calculation to generate the valve position opening current value during the descent, and the valve position opening current value I_down during the descent increases as the handle descending stroke value D increases, so that the valve position opening increases, the corresponding valve core opening increases, the oil flow increases, and the push shovel descending action speeds up until the push shovel oil cylinder displacement signal approaches the limit value High_min of the descending position, and the valve position opening current value I_down during the descent is reduced, the corresponding valve core opening becomes smaller, the oil flow becomes smaller, and the push shovel descending action slows down. This embodiment uses the control strategy in the controller to adaptively slow down the speed of the push shovel action to the limit position during the ascending and descending process, making the operation more comfortable, and at the same time, it can improve the life of the push shovel oil cylinder and the push shovel limit device.

[0091] Optionally, when the bulldozer is lowered, a current signal for valve position adjustment is generated based on the comparison result between the real-time current signal of the electric proportional load-sensitive multi-way valve and the factory-set current value, which is used to control the bulldozer to quickly lower or float, including:

[0092] When the real-time current signal of the electric proportional load-sensitive multi-way valve is greater than or equal to the minimum control current value of the factory-provided opening fast-drop position, that is, I_down≥I_mid, a current signal is generated to control the electric proportional load-sensitive multi-way valve to switch to the fourth valve position, and the return oil from the small chamber of the shovel cylinder enters the oil port A of the electric proportional load-sensitive multi-way valve, and then passes through the fourth position of the valve core and enters the large chamber of the push shovel cylinder from the oil port B of the electric proportional load-sensitive multi-way valve. This part of the regenerated oil will accelerate the extension of the push shovel cylinder and drive the push shovel to descend rapidly.

[0093] When the real-time current signal of the electric proportional load-sensitive multi-way valve is greater than or equal to the minimum control current value of the open floating position provided by the factory, that is, I_down≥I_float, a current signal is generated to control the electric proportional load-sensitive multi-way valve to switch to the fifth valve position, such as Figure 4 As shown in the figure, a floating signal is generated, the large chamber of the bulldozer oil cylinder is connected to the oil port B of the electric proportional load-sensitive multi-way valve, and the small chamber of the bulldozer oil cylinder is connected to the oil port A of the electric proportional load-sensitive multi-way valve, and all flow to the T1 port of the electric proportional load-sensitive multi-way valve and flow back to the oil tank, and the bulldozer is in a floating state. The displacement sensor signal High_mid at the floating zero value is sent to the controller to determine whether the bulldozer is actually in a floating state.

[0094] The determination of whether the bulldozer is in a floating state is as follows: in the floating state, the bulldozer cylinder displacement signal is detected, the actual position of the bulldozer cylinder displacement sensor is parsed, and the difference between the actual position of the bulldozer cylinder displacement sensor and the position at the floating zero value is calculated. If the absolute value of the difference is less than or equal to the preset floating dead zone setting value High_set, the display screen displays that the bulldozer is in a floating position. If the absolute value of the difference is greater than the preset floating dead zone setting value High_set, the display screen does not display that the bulldozer is in a floating position, and finally the display screen outputs visual information of whether the bulldozer is in a floating position.

[0095] Optionally, the handle rising stroke value or the handle falling stroke value is imported into the current control strategy calculation to generate the expression of the valve position opening current value when rising or falling:

[0096]

[0097] In the formula, It is the valve position opening current value when rising or falling, including I_up and I_down. I_min is the minimum control current value provided by the electric proportional load sensitive multi-way valve. I_max is the maximum control current value provided by the electric proportional load sensitive multi-way valve. D is the handle stroke value 0-100%.

[0098] In summary, the present invention can efficiently control and adjust the valve position and opening of the proportional valve by detecting the changes of the handle signal, the handle stroke value and the displacement signal of the bulldozer oil cylinder. Compared with the prior art, there is no need to increase the flow selection of the working pump and the control valve group, the structure is simple, and the position of the bulldozer is judged by reading the stroke displacement of the bulldozer oil cylinder, so as to accurately control the action of the bulldozer, making the operation more intelligent and efficient; when the bulldozer reaches the limit position, the buffer control function is adopted, making the operation more comfortable, and at the same time, the life of the bulldozer oil cylinder and the bulldozer oil limit device can be improved. When the bulldozer is lowered, the present invention increases the speed of the bulldozer descent through the factory-set current value signal of the hydraulic system with a fast-drop function, thereby improving the construction efficiency and achieving floating control of the bulldozer descent, thereby improving the stability of the equipment. Finally, the present invention provides an oil source to the electric proportional load-sensitive multi-way valve through the working pump, and the handle provides a control signal to the electric proportional load-sensitive multi-way valve through the controller. The electric proportional load-sensitive multi-way valve outputs oil to the two chambers of the bulldozer oil cylinder according to the instruction, and the power output end of the bulldozer oil cylinder is connected to the bulldozer, thereby corresponding to different working states of the bulldozer. The dozer cylinder is equipped with a displacement sensor, and the stroke of the cylinder corresponds to the different heights of the dozer. The operator can read the position of the dozer through the display screen and make corresponding action adjustments. At the same time, the speed of the dozer movement to the extreme position can be slowed down through the control strategy.

[0099] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0101] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0102] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0103] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A dozer control method for a backfill compactor, comprising: Obtain handle signal, handle stroke value and push shovel cylinder displacement signal respectively; According to the handle signal and the handle stroke value, current signals for controlling the valve position and valve position opening of the electric proportional load-sensitive multi-way valve are respectively generated to control the rise, fall or no action of the dozer blade, and detect the real-time current signal of the electric proportional load-sensitive multi-way valve; When the dozer blade is rising or falling, a current signal for controlling the valve position opening is generated according to the comparison result between the displacement signal of the dozer blade cylinder and the position extreme value, so as to control the rising or falling speed of the dozer blade; When the bulldozer is lowered, a current signal for valve position adjustment is generated based on the comparison result between the real-time current signal of the electric proportional load-sensitive multi-way valve and the factory-set current value, which is used to control the rapid descent of the bulldozer or the floating control of the bulldozer.

2. The dozer control method for a backfill compactor according to claim 1, characterized in that: The handle signal includes an ascending signal, a middle signal and a descending signal; The handle stroke value is expressed in percentage. The displacement signal of the dozer cylinder is used for comparing and analyzing the height of the dozer.

3. The dozer control method for a backfill compactor according to claim 2, characterized in that: According to the handle signal and the handle stroke value, current signals for controlling the valve position and valve position opening of the electric proportional load-sensitive multi-way valve are generated respectively, including: According to the rising signal, the middle position signal and the falling signal, the current signal of the valve position control of the electric proportional load-sensitive multi-way valve is respectively generated and output, so that the valve core is switched between the corresponding first valve position, the second valve position and the third valve position; When the valve core is switched to the first valve position or the third valve position, the handle stroke value is imported into the current control strategy calculation to generate a current value for controlling the valve position opening, which is used to control the valve position opening of the electric proportional load-sensitive multi-way valve in real time.

4. The dozer control method for a backfill compactor according to claim 3, characterized in that: According to the rising signal, the middle position signal and the falling signal, the current signal of the valve position control of the electric proportional load-sensitive multi-way valve is generated and output respectively, so that the valve core switches between the corresponding first valve position, the second valve position and the third valve position, including: Generate a valve position control instruction of the electric proportional load-sensitive multi-way valve according to the rising signal, output a corresponding current value to the electric proportional load-sensitive multi-way valve, so that the valve core is located at the first valve position; Generate a valve position control instruction of the electric proportional load-sensitive multi-way valve according to the middle position signal, output a corresponding current value to the electric proportional load-sensitive multi-way valve, so that the valve core is located at the second valve position; A valve position control instruction of the electric proportional load-sensitive multi-way valve is generated according to the falling signal, and a corresponding current value is output to the electric proportional load-sensitive multi-way valve to make the valve core located at the third valve position.

5. The dozer control method for a backfill compactor according to claim 4, characterized in that When the dozer blade is raised or lowered, a current signal for controlling the valve position opening is generated based on the comparison result between the dozer blade cylinder displacement signal and the position extreme value, and also includes: When the valve core is switched to the first valve position, the handle performs an ascending action, and the handle ascending stroke value is imported into the current control strategy calculation to generate a valve position opening current value during the ascending process. The valve position opening current value during the ascending process increases with the increase of the handle ascending stroke value, so that the valve position opening increases until the displacement signal of the shovel oil cylinder approaches the limit value of the ascending position, and then the valve position opening current value during the ascending process is reduced to slow down the ascending speed. When the valve core is switched to the third valve position, the handle performs a descending action, and the handle descending stroke value is imported into the current control strategy calculation to generate a valve position opening current value during descent, and the valve position opening current value during descent increases with the increase of the handle descending stroke value, so that the valve position opening increases until the shovel cylinder displacement signal approaches the limit value of the descending position, and then the valve position opening current value during descent is reduced to slow down the descent speed.

6. The dozer control method for a backfill compactor according to claim 1, characterized in that When the bulldozer is lowered, the current signal for valve position adjustment is generated based on the comparison result between the real-time current signal of the electric proportional load-sensitive multi-way valve and the factory-set current value, including: When the real-time current signal of the electric proportional load-sensitive multi-way valve is greater than or equal to the minimum control current value of the quick-drop position provided by the factory, a current signal is generated to control the electric proportional load-sensitive multi-way valve to switch to the fourth valve position, so that the dozer blade can be quickly lowered; When the real-time current signal of the electric proportional load-sensitive multi-way valve is greater than or equal to the minimum control current value of the open floating position provided by the factory, a current signal is generated to control the electric proportional load-sensitive multi-way valve to switch to the fifth valve position, so that the bulldozer is in a floating state.

7. The dozer control method for a backfill compactor according to claim 5, characterized in that: Import the handle rising stroke value or the handle falling stroke value into the current control strategy calculation, and generate the expression of the valve position opening current value when rising or falling: ； In the formula, is the valve position opening current value when rising or falling, I_min is the minimum control current value provided by the electric proportional load-sensitive multi-way valve when it leaves the factory, I_max is the maximum control current value provided by the electric proportional load-sensitive multi-way valve when it leaves the factory, and D is the handle stroke value.

8. A dozer control system suitable for a backfill compactor, characterized in that: include: Controller, electric proportional load-sensitive multi-way valve, handle, dozer, dozer cylinder, displacement sensor and working pump; The controller is electrically connected to the electric proportional load-sensitive multi-way valve, the handle, and the displacement sensor, respectively, for receiving the handle signal, the handle stroke value, the push shovel oil cylinder displacement signal, and the real-time current signal of the electric proportional load-sensitive multi-way valve; and executing the steps of the method described in claim 1; The electric proportional load-sensitive multi-way valve is connected to the working pump and is used to receive the oil source provided by the working pump; The electric proportional load-sensitive multi-way valve is connected to the small chamber and the large chamber of the push shovel oil cylinder through the oil port A and the oil port B respectively, and is connected to the oil tank through the oil return port T1.

9. The dozer control system for a backfill compactor according to claim 8, characterized in that: The handle sends a signal to the controller, and the controller outputs a corresponding current value to the electric proportional load-sensitive multi-way valve; The electric proportional load-sensitive multi-way valve is electrically connected to a controller through two proportional electromagnets arranged at both ends. After the two proportional electromagnets obtain corresponding current values ​​respectively, they control the displacement of the valve core to switch the valve position.

10. The dozer control system for a backfill compactor according to claim 9, characterized in that: The valve positions include a first valve position, a second valve position, a third valve position, a fourth valve position and a fifth valve position; When the handle sends an ascending signal to the controller, the controller outputs current values ​​of I_up and 0 to the two proportional solenoids of the electric proportional load-sensitive multi-way valve; the electric proportional load-sensitive multi-way valve is in the first valve position of the valve core, and the pressure oil port P1 of the electric proportional load-sensitive multi-way valve is connected with the pressure oil port P of the working pump, and the pressure oil of the working pump flows through the oil port A into the small chamber of the push shovel cylinder, and the return oil of the large chamber of the push shovel cylinder enters the oil port B of the electric proportional load-sensitive multi-way valve, and then flows back to the oil tank through the return oil port T1 of the electric proportional load-sensitive multi-way valve. In this process, the push shovel cylinder retracts, driving the push shovel to perform the ascending action; When the handle sends a neutral signal to the controller, the current values ​​output by the controller to the two proportional solenoids of the electric proportional load-sensitive multi-way valve are both 0; the electric proportional load-sensitive multi-way valve is in the second valve position of the valve core, the electric proportional load-sensitive multi-way valve is not connected to the push shovel cylinder, no oil enters the push shovel cylinder, the push shovel cylinder does not move, and the corresponding push shovel does not move; When the handle sends a descending signal to the controller, the controller outputs current values ​​of 0 and I_down to the two proportional solenoids of the electric proportional load-sensitive multi-way valve; the electric proportional load-sensitive multi-way valve is in the third valve position of the valve core, and the pressure oil port P1 of the electric proportional load-sensitive multi-way valve is connected with the pressure oil port P of the working pump, and the pressure oil enters the large chamber of the push shovel cylinder through the oil port B, and the return oil of the small chamber of the push shovel cylinder enters the oil port A of the electric proportional load-sensitive multi-way valve, and then flows back to the oil tank through the return oil port T1 of the electric proportional load-sensitive multi-way valve. In this process, the push shovel cylinder extends, driving the push shovel to perform the descending action; When the bulldozer is descending, the controller outputs corresponding current values ​​to the two proportional solenoids of the electric proportional load-sensitive multi-way valve based on the comparison result of the real-time current signal of the electric proportional load-sensitive multi-way valve with the relevant factory-set current value, so that the valve core is in the fourth valve position or the fifth valve position.

11. The dozer control system for a backfill compactor according to claim 9, characterized in that: It also includes that when the valve core is in the fourth valve position, the oil port A and the oil port B of the electric proportional load-sensitive multi-way valve have a regeneration circuit, the small chamber return oil of the push shovel oil cylinder enters the oil port A of the electric proportional load-sensitive multi-way valve, a part of the hydraulic oil passes through the regeneration circuit to the oil port B, and enters the large chamber of the push shovel oil cylinder through the oil port B, so as to accelerate the extension of the push shovel oil cylinder and quickly descend the dynamic push shovel; When the valve core is in the fifth valve position, the large chamber of the bulldozer cylinder is connected to the oil port B of the electric proportional load-sensitive multi-way valve, the small chamber of the bulldozer cylinder is connected to the oil port A of the electric proportional load-sensitive multi-way valve 2, the hydraulic oil in the bulldozer cylinder flows to the oil tank through the return oil port T1 of the electric proportional load-sensitive multi-way valve, and the bulldozer is in a floating state.

12. The dozer control system for a backfill compactor according to claim 9, characterized in that: The controller is also electrically connected to the display screen. A comparison parameter table of the push shovel oil cylinder displacement signal and the push shovel height is preset in the controller, which is used to visually output the push shovel height to the display screen through the push shovel oil cylinder displacement signal.

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