A push shovel control method and system suitable for a backfill compactor

Abstract

The application 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 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 respectively and is connected with an oil tank through a return oil port T1. The controller is electrically connected with the electric proportional load-sensitive multi-way valve, the handle and the displacement sensor respectively and is used for receiving a handle signal, a handle stroke value, a push shovel oil cylinder displacement signal and a real-time current signal of the electric proportional load-sensitive multi-way valve. The controller also performs push shovel ascending, descending and floating control. The application can efficiently control and adjust the valve position and the opening degree of the proportional valve, so that the push shovel can be adaptively controlled in ascending, descending, speed and buffering according to working conditions, and the construction efficiency is improved.

Description

Technical Field

[0001] This invention relates to a pusher control method and system suitable for backfill compactors, belonging to the field of engineering machinery. Background Technology

[0002] Backfill compactors are generally used in landfill or soil compaction applications. These scenarios require large tonnage and pusher capacities, resulting in large height and width dimensions for these compactors. However, large-tonnage or large-size backfill compactors present several problems in practical applications: First, when the pusher reaches its limit position, the collision between the limiting devices causes discomfort for the operator, and the prolonged rapid collisions reduce the lifespan of the limiting devices and hydraulic cylinders. Second, to improve efficiency, users want to accelerate the pusher's descent. Existing pusher hydraulic system designs, by increasing the flow rate of the working pump and control valve assembly, increase the cost of hydraulic components and further enlarge the installation dimensions. Third, for front-mounted pushers, it is difficult for the operator to observe their exact position from the cab, creating blind spots and significant inconvenience. Therefore, there is room for improvement in the control design of the pusher in existing large-tonnage or large-size backfill compactors. Summary of the Invention

[0003] The purpose of this invention is to provide a pusher control method and system suitable for backfill compactors to solve the problems in the background art. This invention can efficiently control and adjust the valve position and opening of the proportional valve by detecting changes in the handle signal, handle stroke value, real-time current signal and pusher cylinder displacement signal, so that the pusher can adaptively rise, fall, speed and buffer control according to the working conditions, thereby improving construction efficiency and operation comfort.

[0004] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution.

[0005] In a first aspect, the present invention provides a pusher control method suitable for backfill compactors, comprising:

[0006] Acquire the handle signal, handle stroke value, and pusher cylinder displacement signal respectively;

[0007] Based on the handle signal and handle stroke value, current signals are generated to control the valve position and valve opening of the electro-proportional load sensitive multi-way valve, which are used to control the pusher to rise, fall or not move, and to detect the real-time current signal of the electro-proportional load sensitive multi-way valve.

[0008] When the pusher is raised or lowered, a current signal is generated to control the opening of the control valve based on the comparison result between the pusher cylinder displacement signal and the position extreme value, which is used to control the speed of the pusher's rise or fall.

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

[0010] Optionally, the handle signal includes an upward signal, a midpoint signal, and a downward signal;

[0011] The handle travel value is expressed in percentage form.

[0012] The displacement signal of the pusher cylinder is used to analyze the height of the pusher.

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

[0014] The current signals for valve position control of the electro-proportional load sensitive multi-way valve are generated and output according to the rising signal, the middle signal and the falling signal, so that the valve core switches between the corresponding first valve position, second valve position and third valve position.

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

[0016] Optionally, current signals for valve position control of the electro-proportional load-sensitive multi-way valve are generated and output based on the rising signal, the neutral signal, and the falling signal, respectively, so that the valve core switches between the corresponding first valve position, second valve position, and third valve position, including:

[0017] Based on the rising signal, a valve position control command for the electro-proportional load sensitive multi-way valve is generated, and a corresponding current value is output to the electro-proportional load sensitive multi-way valve to make the valve core be in the first valve position.

[0018] Based on the midpoint signal, a valve position control command for the electro-proportional load-sensitive multi-way valve is generated, and a corresponding current value is output to the electro-proportional load-sensitive multi-way valve to make the valve core position in the second valve position.

[0019] Based on the falling signal, a valve position control command is generated for the electro-proportional load-sensitive multi-way valve, and a corresponding current value is output to the electro-proportional load-sensitive multi-way valve to make the valve core position in the third valve position.

[0020] Optionally, when the pusher blade rises or falls, a current signal for controlling the valve opening is generated based on the comparison result between the pusher blade cylinder displacement signal and the extreme value of the position, and the method further includes:

[0021] When the valve core is switched to the first valve position, the handle performs an upward action. The upward stroke value of the handle is imported into the current control strategy calculation to generate the valve position opening current value during the upward movement. The valve position opening current value during the upward movement increases as the upward stroke value of the handle increases, thereby increasing the valve position opening until the displacement signal of the pusher cylinder approaches the limit value of the upward position and stops. The valve position opening current value during the upward movement is then reduced to slow down the upward speed.

[0022] When the valve core is switched to the third valve position, the handle performs a descent action. The descent stroke value of the handle is imported into the current control strategy calculation to generate the valve position opening current value during descent. The valve position opening current value during descent increases as the descent stroke value of the handle increases, thereby increasing the valve position opening until the displacement signal of the pusher cylinder approaches the limit value of the descent position and stops. The valve position opening current value during descent is then reduced to slow down the descent speed.

[0023] Optionally, during the descent of the pusher, a valve position adjustment current signal is generated based on a comparison between the real-time current signal of the electro-proportional load-sensitive multi-way valve and the factory-set current value, including...

[0024] When the real-time current signal of the electro-proportional load sensitive multi-way valve is greater than or equal to the minimum control current value for the fast-down position provided by the factory, a current signal is generated to control the electro-proportional load sensitive multi-way valve to switch to the fourth valve position, so that the pusher shovel descends rapidly.

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

[0026] Optionally, the handle's upward or downward stroke value can be imported into the current control strategy calculation to generate the expression for the valve position opening current value during upward or downward movement:

[0027]

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

[0029] Secondly, the present invention provides a pusher control system suitable for a backfill compactor, comprising:

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

[0031] The controller is electrically connected to the electro-proportional load-sensitive multi-way valve, the handle, and the displacement sensor, respectively, and is used to receive the handle signal, the handle stroke value, the pusher cylinder displacement signal, and the real-time current signal of the electro-proportional load-sensitive multi-way valve; and to execute the steps of the above method.

[0032] The electro-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 electro-proportional load-sensitive multi-way valve is connected to the small and large chambers of the pusher cylinder via oil port A and oil port B, respectively, and is connected to the oil tank via oil return port T1.

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

[0035] The electro-proportional load-sensitive multi-way valve is electrically connected to the controller through two proportional electromagnets set at both ends. After the two proportional electromagnets obtain the corresponding current values, they control the valve core displacement 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 upward signal to the controller, the controller outputs current values ​​I_up and 0 to the two proportional electro-proportional load sensitive multi-way valves. The proportional load sensitive multi-way valve is in the first valve position of the valve core. The pressure port P1 of the proportional load sensitive multi-way valve is connected to the pressure port P of the working pump. The pressure oil flowing from the working pump enters the small chamber of the pusher cylinder through port A. The return oil from the large chamber of the pusher cylinder enters port B of the proportional load sensitive multi-way valve and then flows back to the oil tank through the return port T1 of the proportional load sensitive multi-way valve. During this process, the pusher cylinder retracts, driving the pusher to perform the upward action.

[0038] When the handle sends a neutral signal to the controller, the current value output by the controller to the two proportional solenoids of the electro-proportional load sensitive multi-way valve is 0; the electro-proportional load sensitive multi-way valve is in the second valve position of the valve core, the electro-proportional load sensitive multi-way valve is not connected to the pusher cylinder, no oil enters the pusher cylinder, the pusher cylinder does not move, and the corresponding pusher does not move.

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

[0040] When the pusher blade descends, the controller compares the real-time current signal of the electro-proportional load-sensitive multi-way valve with the relevant factory-set current value, and outputs the corresponding current value to the two proportional solenoids of the electro-proportional load-sensitive multi-way valve; thus placing the valve core in the fourth or fifth valve position.

[0041] Optionally, when the valve core is in the fourth valve position, the oil ports A and B of the electro-proportional load sensitive multi-way valve have a regeneration circuit. The return oil from the small chamber of the pusher cylinder enters the oil port A of the electro-proportional load sensitive multi-way valve, and a portion of the hydraulic oil goes to the oil port B through the regeneration circuit. After passing through the oil port B, the oil enters the large chamber of the pusher cylinder, accelerating the extension of the pusher cylinder and causing the pusher to descend rapidly.

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

[0043] Optionally, the controller is also electrically connected to the display screen. The controller has a preset parameter table that compares the displacement signal of the pusher cylinder with the height of the pusher, which is used to visually output the height of the pusher to the display screen through the displacement signal of the pusher cylinder.

[0044] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0045] 1. This invention can efficiently control and adjust the valve position and opening of the proportional valve by detecting changes in the handle signal, handle stroke value, and pusher cylinder displacement signal, thereby enabling pusher to rise, fall, speed control, and buffer control. By reading the stroke displacement of the pusher cylinder, the position of the pusher can be determined, thus accurately controlling the pusher's movement, making operation more intelligent and efficient. When the pusher reaches its limit position, a buffer control function is used to make operation more comfortable, while also improving the lifespan of the pusher cylinder and pusher limit device.

[0046] 2. When the pusher blade is lowered, the present invention increases the speed of the pusher blade descent by using a factory-set current value signal of the hydraulic system with fast descent function, thereby improving construction efficiency and also achieving floating control of the pusher blade descent, thus improving equipment stability.

[0047] 3. The present invention has a simplified structure and does not require the selection of larger working pumps and control valve groups. The working pump provides oil to the electro-proportional load sensitive multi-way valve. The handle provides control signals to the electro-proportional load sensitive multi-way valve through the controller. The electro-proportional load sensitive multi-way valve outputs oil to the two chambers of the pusher cylinder according to the instructions. The pusher cylinder is connected to the pusher, thereby corresponding to different working states of the pusher.

[0048] 4. The controller sends visual information to the display screen. The height of the pusher is determined by the signal from the pusher cylinder displacement sensor. The operator can read the position and real-time floating status of the pusher on the display screen and make corresponding adjustments. Attached Figure Description

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

[0050] Figure 2 The diagram shows a flowchart of the pusher control method of the present invention applicable to backfill compactors;

[0051] Figure 3 The diagram shows a flowchart of the lifting control method for the pusher blade of the backfill compactor according to the present invention.

[0052] Figure 4 The flowchart shown is a floating control method for the pusher blade of the backfill compactor according to the present invention.

[0053] Figure 5 The diagram shows a flowchart of the descent control method for the pusher blade of the backfill compactor according to the present invention.

[0054] In the diagram: 1. Working pump, 2. Electro-proportional load-sensitive multi-way valve, 3. Valve core, 4. Displacement sensor, 5. Pusher cylinder, 6. Pusher, 7. Handle, 8. Display screen, 9. Controller, 10. Ya proportional electromagnet, 11. Yb proportional electromagnet. Detailed Implementation

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

[0056] Example 1

[0057] This embodiment provides a control system for a pusher blade 6 suitable for a backfill compactor, such as... Figure 1The components shown include: controller 9, electro-proportional load-sensitive multi-way valve 2, handle 7, pusher 6, pusher cylinder 5, displacement sensor 4, and working pump 1;

[0058] The controller 9 is electrically connected to the electro-proportional load-sensitive multi-way valve 2, the handle 7, and the displacement sensor 4, respectively, and is used to receive the signal from the handle 7, the stroke value of the handle 7, the displacement signal of the pusher cylinder 5, and the real-time current signal from the electro-proportional load-sensitive multi-way valve 2; and to execute the steps of the above method.

[0059] The electro-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 electro-proportional load-sensitive multi-way valve 2 is connected to the small chamber and large chamber of the pusher cylinder 5 through oil port A and oil port B respectively, and is connected to the oil tank through oil return port T1.

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

[0062] Handle 7 sends a signal to controller 9, which in turn outputs the corresponding current value to the Ya proportional electromagnet 10 and Yb proportional electromagnet 11 of the electroproportional load sensitive multi-way valve 2.

[0063] Optionally, 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;

[0064] When handle 7 sends a rising signal to controller 9, controller 9 outputs current values ​​I_up and 0 to proportional load sensitive multi-way valve 2, Y proportional electromagnet 10, and Yb proportional electromagnet 11. The proportional load sensitive multi-way valve 2 is in the first valve position of valve core 3. The pressure port P1 of the proportional load sensitive multi-way valve 2 is connected to the pressure port P of working pump 1. The pressure oil flowing through working pump 1 enters the small chamber of pusher cylinder 5 through port A. The return oil from the large chamber of pusher cylinder 5 enters port B of proportional load sensitive multi-way valve 2, and then flows back to the oil tank through return port T1 of proportional load sensitive multi-way valve 2. During this process, pusher cylinder 5 retracts, driving pusher 6 to perform the rising action.

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

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

[0067] When the pusher 6 descends, the controller 9 outputs the corresponding current value to the proportional electro-proportional load sensitive multi-way valve 2 Ya and Yb proportional electromagnets based on the comparison result between the real-time current signal of the electro-proportional load sensitive multi-way valve 2 and the relevant factory-set current value; so that the valve core 3 is in the fourth or fifth valve position.

[0068] Optionally, when the valve core 3 is in the fourth valve position, the oil ports A and B of the electro-proportional load sensitive multi-way valve 2 have a regeneration circuit. The return oil from the small chamber of the pusher cylinder 5 enters the oil port A of the electro-proportional load sensitive multi-way valve 2, and a portion of the hydraulic oil goes through the regeneration circuit to the oil port B. After passing through the oil port B, the oil enters the large chamber of the pusher cylinder 5, which accelerates the extension of the pusher cylinder 5 and causes the pusher 6 to descend rapidly.

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

[0070] Optionally, the controller 9 is also electrically connected to the display screen 8. The controller 9 has a preset parameter table comparing the displacement signal of the pusher cylinder 5 with the height of the pusher 6. This parameter table is used to visually output the height of the pusher 6 to the display screen 8 via the displacement signal of the pusher cylinder 5. The power output end of the pusher cylinder 5 is connected to the pusher 6 to drive the pusher 6 to move longitudinally in space, making it suitable for different working conditions. The pusher cylinder 5 is equipped with a displacement sensor 4, and the stroke of the pusher cylinder 5 corresponds to different heights of the pusher 6. The operator can read the position of the pusher 6 on the display screen 8 and make corresponding adjustments. Furthermore, in this embodiment, the display screen 8 also outputs the real-time judgment result of the controller 9 regarding whether the pusher 6 is in a floating state.

[0071] Example 2

[0072] This embodiment provides a pusher control method suitable for backfill compactors, such as... Figure 2 The following are included:

[0073] Step 1: Acquire the handle signal, handle stroke value, and pusher cylinder displacement signal respectively;

[0074] Step 2: Generate current signals for controlling the valve position and valve opening of the electro-proportional load sensitive multi-way valve based on the handle signal and handle stroke value. These signals are used to control the pusher to rise, fall, or remain still, and to detect the real-time current signal of the electro-proportional load sensitive multi-way valve.

[0075] Step 3: When the pusher is rising or falling, a current signal is generated to control the opening of the control valve based on the comparison result between the pusher cylinder displacement signal and the position extreme value, which is used to control the speed of the pusher rising or falling.

[0076] Step 4: When the pusher is descending, a current signal for valve position adjustment is generated based on the comparison between the real-time current signal of the electro-proportional load sensitive multi-way valve and the factory-set current value. This signal is used to control the rapid descent of the pusher or the floating control of the pusher.

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

[0078] Optionally, the handle signals include an up signal, a middle signal, and a down signal;

[0079] The handle travel value is expressed in percentage form;

[0080] The displacement signal of the pusher cylinder is used to analyze the height of the pusher.

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

[0082] The current signals for valve position control of the electro-proportional load sensitive multi-way valve are generated and output according to the rising signal, the middle signal and the falling signal, so that the valve core switches between the corresponding first valve position, second valve position and third valve position.

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

[0084] Optionally, current signals for valve position control of the electro-proportional load-sensitive multi-way valve are generated and output based on the rising signal, the neutral signal, and the falling signal, respectively, so that the valve core switches between the corresponding first valve position, second valve position, and third valve position, including:

[0085] Based on the rising signal, a valve position control command for the electro-proportional load sensitive multi-way valve is generated, and a corresponding current value is output to the electro-proportional load sensitive multi-way valve to make the valve core be in the first valve position.

[0086] Based on the midpoint signal, a valve position control command for the electro-proportional load-sensitive multi-way valve is generated, and a corresponding current value is output to the electro-proportional load-sensitive multi-way valve to make the valve core position in the second valve position.

[0087] Based on the falling signal, a valve position control command is generated for the electro-proportional load-sensitive multi-way valve, and a corresponding current value is output to the electro-proportional load-sensitive multi-way valve to make the valve core position in the third valve position.

[0088] Optionally, when the pusher blade rises or falls, a current signal for controlling the valve opening is generated based on the comparison result between the pusher blade cylinder displacement signal and the extreme value of the position, and the method further includes:

[0089] like Figure 3 The rising signal is input to the controller. The controller's two PWM output ports supply the proportional load sensitive multi-way valve with current values ​​I_up and 0 for Ya and Yb, respectively. The valve core is switched to the first valve position, and the handle performs a rising action. The handle's rising stroke value is imported into the current control strategy calculation to generate the valve position opening current value during rising. As the handle's rising stroke value D increases, the valve position opening current value I_up during rising increases, resulting in a larger valve position opening. Correspondingly, the valve core opening increases, the oil flow increases, and the pusher's rising action accelerates until the pusher cylinder displacement signal approaches the limit value High_max of the rising position. Then, the valve position opening current value I_up during rising decreases, correspondingly, the valve core opening decreases, the oil flow decreases, and the pusher's rising action slows down.

[0090] like Figure 4The descent signal is input to the controller. The controller's two PWM output ports supply current values ​​of 0 and I_down to the proportional load sensitive multi-way valve's Ya and Yb, respectively. The valve core is switched to the third valve position, and the handle performs a descent action. The handle's descent stroke value is imported into the current control strategy calculation to generate the valve position opening current value during descent. As the handle's descent stroke value D increases, the valve position opening current value I_down during descent increases, resulting in a larger valve position opening. Correspondingly, the valve core opening increases, the oil flow increases, and the pusher's descent action accelerates until the pusher cylinder displacement signal approaches the descent position limit value High_min. Then, the valve position opening current value I_down during descent decreases, correspondingly, the valve core opening decreases, the oil flow decreases, and the pusher's descent action slows down. This embodiment, through the control strategy in the controller, adaptively slows down the pusher's action to the limit position during ascent and descent, making operation more comfortable and improving the lifespan of the pusher cylinder and pusher limit device.

[0091] Optionally, during the descent of the pusher, a valve position adjustment current signal is generated based on the comparison between the real-time current signal of the electro-proportional load-sensitive multi-way valve and the factory-set current value. This signal is used to control the rapid descent or floating control of the pusher, including:

[0092] When the real-time current signal of the electro-proportional load-sensitive multi-way valve is greater than or equal to the minimum control current value for the fast-down position provided by the factory, i.e., I_down≥I_mid, a current signal is generated to control the electro-proportional load-sensitive multi-way valve to switch to the fourth valve position. The oil returning from the small chamber of the shovel cylinder enters the oil port A of the electro-proportional load-sensitive multi-way valve, and then enters the large chamber of the push shovel cylinder from the oil port B of the electro-proportional load-sensitive multi-way valve through the fourth position of the valve core. 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 electro-proportional load-sensitive multi-way valve is greater than or equal to the minimum control current value for the floating position provided by the factory, i.e., I_down ≥ I_float, a current signal is generated to control the electro-proportional load-sensitive multi-way valve to switch to the fifth valve position. Figure 4 The diagram shows the generation of a floating signal. The large chamber of the pusher cylinder is connected to port B of the electro-proportional load-sensitive multi-way valve, and the small chamber of the pusher cylinder is connected to port A of the electro-proportional load-sensitive multi-way valve. Both flows lead to port T1 of the electro-proportional load-sensitive multi-way valve and back to the oil tank, placing the pusher in a floating state. The controller then sends a signal (High_mid) from the displacement sensor when the zero-point floating value is reached, used to determine whether the pusher is actually in a floating state.

[0094] The determination of whether the pusher is in a floating state is as follows: While in a floating state, the displacement signal of the pusher cylinder is detected. The actual position of the pusher cylinder displacement sensor is analyzed, and the difference between the actual position of the pusher cylinder displacement sensor and its position at the zero floating position 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 shows that the pusher 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 does not show that the pusher is in a floating position. Finally, the display outputs visual information indicating whether the pusher is in a floating position.

[0095] Optionally, the handle's upward or downward stroke value can be imported into the current control strategy calculation to generate the expression for the valve position opening current value during upward or downward movement:

[0096]

[0097] In the formula, I_up and I_down are the valve position opening current values ​​when the valve is raised or lowered. I_min is the minimum control current value provided by the manufacturer for the electro-proportional load sensitive multi-way valve. I_max is the maximum control current value provided by the manufacturer for the electro-proportional load sensitive multi-way valve. D is the handle stroke value from 0 to 100%.

[0098] In summary, this invention efficiently controls and adjusts the valve position and opening of the proportional valve by detecting changes in the handle signal, handle stroke value, and pusher cylinder displacement signal. Compared with existing technologies, it eliminates the need for increased flow rate selection in the working pump and control valve assembly, resulting in a simplified structure. By reading the stroke displacement of the pusher cylinder, the pusher's position is determined, thereby precisely controlling the pusher's movement and making operation more intelligent and efficient. A buffer control function is employed when the pusher reaches its limit position, making operation more comfortable and extending the lifespan of the pusher cylinder and pusher limit device. During pusher descent, this invention uses a factory-set current value signal from the hydraulic system with a fast-descent function to increase the speed of pusher descent, thereby improving construction efficiency and enabling floating control of pusher descent, enhancing equipment stability. Finally, this invention provides oil to the electro-proportional load-sensitive multi-way valve via the working pump. The handle provides control signals to the electro-proportional load-sensitive multi-way valve through the controller. The electro-proportional load-sensitive multi-way valve outputs oil to the two chambers of the pusher cylinder according to the command. The power output end of the pusher cylinder is connected to the pusher, thus corresponding to different working states of the pusher. The pusher cylinder is equipped with a displacement sensor. The stroke of the cylinder corresponds to different heights of the pusher. The operator can read the position of the pusher on the display screen and make corresponding adjustments. At the same time, the operator can slow down the speed of the pusher's movement to the limit position through control strategies.

[0099] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0101] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0102] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0103] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A push shovel control method suitable for backfill compactor, characterized in that comprising: respectively acquiring handle signal, handle stroke value and push shovel cylinder displacement signal; generating current signal for controlling valve position and valve position opening degree of electric proportional load sensing multi-way valve according to handle signal and handle stroke value, for controlling push shovel ascending, descending or inaction, and detecting real-time current signal of electric proportional load sensing multi-way valve; generating current signal for controlling valve position opening degree according to comparison result of push shovel cylinder displacement signal and position extreme value when push shovel is ascending or descending, for controlling ascending or descending speed of push shovel; generating current signal for valve position adjustment according to comparison result of real-time current signal of electric proportional load sensing multi-way valve and factory setting current value when push shovel is descending, for controlling push shovel fast descending or push shovel floating control; the handle signal comprises ascending signal, mid-position signal and descending signal; the handle stroke value adopts percentage system; the push shovel cylinder displacement signal is used for contrasting and analyzing height of push shovel; generating current signal for controlling valve position and valve position opening degree of electric proportional load sensing multi-way valve according to handle signal and handle stroke value, comprising: generating current signal for valve position control of electric proportional load sensing multi-way valve according to ascending signal, mid-position signal and descending signal respectively and outputting, so that spool is switched among corresponding first valve position, second valve position and third valve position; when spool is switched to first valve position or third valve position, handle stroke value is introduced into current control strategy calculation, current value for controlling valve position opening degree is generated, for real-time regulating valve position opening degree of electric proportional load sensing multi-way valve; generating current signal for valve position control of electric proportional load sensing multi-way valve according to ascending signal, mid-position signal and descending signal respectively and outputting, so that spool is switched among corresponding first valve position, second valve position and third valve position, comprising: generating valve position control instruction of electric proportional load sensing multi-way valve according to ascending signal, outputting corresponding current value to electric proportional load sensing multi-way valve, so that spool is located at first valve position; generating valve position control instruction of electric proportional load sensing multi-way valve according to mid-position signal, outputting corresponding current value to electric proportional load sensing multi-way valve, so that spool is located at second valve position; generating valve position control instruction of electric proportional load sensing multi-way valve according to descending signal, outputting corresponding current value to electric proportional load sensing multi-way valve, so that spool is located at third valve position; when spool is switched to first valve position, handle performs ascending action, handle ascending stroke value is introduced into current control strategy calculation, valve position opening degree current value at ascending time is generated, and valve position opening degree current value at ascending time is increased with increasing handle ascending stroke value, so that valve position opening degree is increased, until push shovel cylinder displacement signal approaches limit value of ascending position, valve position opening degree current value at ascending time is reduced, so that ascending speed is slowed down; ​ When the spool is switched to the third valve position, the handle performs a lowering action, the handle lowering stroke value is introduced into the current control strategy calculation, the valve position opening degree current value at the time of lowering is generated, and the valve position opening degree current value at the time of lowering is increased with the increase of the handle lowering stroke value, so that the valve position opening degree is increased, until the push shovel oil cylinder displacement signal approaches the limit value of the lowering position, the valve position opening degree current value at the time of lowering is reduced, and the lowering speed is slowed down.

2. The method of claim 1, wherein the pushdozer control is adapted for use with a backfill compactor, and wherein When the push shovel is lowered, the valve position adjustment current signal is generated according to the comparison result of the real-time current signal of the electric proportional load sensing multi-way valve and the factory-provided current value, including: When the real-time current signal of the electric proportional load sensing multi-way valve is greater than or equal to the minimum control current value provided by the factory to open the fast lowering position, the current signal to control the electric proportional load sensing multi-way valve to switch to the fourth valve position is generated, so that the push shovel is quickly lowered; When the real-time current signal of the electric proportional load sensing multi-way valve is greater than or equal to the minimum control current value provided by the factory to open the floating position, the current signal to control the electric proportional load sensing multi-way valve to switch to the fifth valve position is generated, so that the push shovel is in a floating state.

3. The method of claim 1, wherein the method is applied to a push shovel control system of a backfill compactor. The handle upstroke value or handle downstroke value is introduced into the current control strategy calculation, and the expression of the valve position opening degree current value at the time of up or down is generated as follows: ； In the formula, I_min is the minimum control current value provided by the electric proportional load sensing multi-way valve factory, I_max is the maximum control current value provided by the electric proportional load sensing multi-way valve factory, and D is the handle stroke value.

4. A pushdozer control system for a backfill compactor, characterized by, including: controller, electric proportional load sensing multi-way valve, handle, push shovel, push shovel oil cylinder, displacement sensor and working pump; The controller is electrically connected with the electric proportional load sensing multi-way valve, the handle and the displacement sensor respectively, used to receive 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 sensing multi-way valve, and execute the steps of the method in claim 1; The electric proportional load sensing multi-way valve is connected with the working pump, used to receive the oil source provided by the working pump; The electric proportional load sensing multi-way valve is connected with the small cavity and the large cavity of the push shovel oil cylinder through the oil port A and the oil port B respectively, and connected with the oil tank through the oil return port T1; The handle sends a signal to the controller, and the controller outputs a corresponding current value to the electric proportional load sensing multi-way valve; The electric proportional load sensing multi-way valve is electrically connected with the controller through two proportional electromagnets arranged at both ends, and the two proportional electromagnets obtain corresponding current values respectively, then control the spool displacement to switch the valve position; The valve position includes the first valve position, the second valve position, the third valve position, the fourth valve position and the fifth valve position; When the handle sends an up signal to the controller, the current values output by the controller to the two proportional electromagnets of the electric proportional load sensing multi-way valve are I_up and 0; the electric proportional load sensing multi-way valve is in the first valve position of the spool, the pressure oil port P1 of the electric proportional load sensing multi-way valve is communicated with the pressure oil port P of the working pump, the working pump pressure oil flows through the oil port A into the small cavity of the push shovel oil cylinder, the large cavity of the push shovel oil cylinder returns to the oil port B of the electric proportional load sensing multi-way valve, and then flows back to the oil tank through the oil return port T1 of the electric proportional load sensing multi-way valve, in this process, the push shovel oil cylinder is retracted, and the push shovel performs an up action. When the handle sends a neutral signal to the controller, the controller outputs 0 to the two proportional solenoids of the electric proportional load-sensing multi-way valve; the electric proportional load-sensing multi-way valve is in the second valve position of the valve core, the electric proportional load-sensing multi-way valve is not connected with the push shovel oil cylinder, no oil enters the push shovel oil cylinder, the push shovel oil cylinder is not in action, and the push shovel is not in action; When the handle sends a lowering signal to the controller, the controller outputs 0 and I_down to the two proportional solenoids of the electric proportional load-sensing multi-way valve; the electric proportional load-sensing multi-way valve is in the third valve position of the valve core, the pressure oil port P1 of the electric proportional load-sensing multi-way valve is connected with the pressure oil port P of the working pump, the pressure oil enters the large cavity of the push shovel oil cylinder through the oil port B, the oil return of the small cavity of the push shovel oil cylinder enters the oil port A of the electric proportional load-sensing multi-way valve, and then flows back to the oil tank through the oil return port T1 of the electric proportional load-sensing multi-way valve, in the process, the push shovel oil cylinder extends, and the push shovel performs a lowering action; When the push shovel performs a lowering action, the controller outputs corresponding current values to the two proportional solenoids of the electric proportional load-sensing multi-way valve according to the comparison result of the real-time current signal of the electric proportional load-sensing multi-way valve and the related factory-set current value; the valve core is in the fourth valve position or the fifth valve position.

5. A pushdozer control system suitable for use with a backfill compactor as set forth in claim 4, wherein, When the valve core is in the fourth valve position, the oil port A and the oil port B of the electric proportional load-sensing multi-way valve have a regeneration circuit, the oil return of the small cavity of the push shovel oil cylinder enters the oil port A of the electric proportional load-sensing multi-way valve, a part of the hydraulic oil enters the oil port B through the regeneration circuit, and then enters the large cavity of the push shovel oil cylinder through the oil port B, so as to accelerate the extension of the push shovel oil cylinder and the fast lowering of the push shovel. When the valve core is in the fifth valve position, the large cavity of the push shovel oil cylinder and the oil port B of the electric proportional load-sensing multi-way valve are connected, the small cavity of the push shovel oil cylinder and the oil port A of the electric proportional load-sensing multi-way valve are connected, the hydraulic oil in the push shovel oil cylinder flows to the oil tank through the oil return port T1 of the electric proportional load-sensing multi-way valve, and the push shovel is in a floating state.

6. A pushdozer control system suitable for use with a backfill compactor as set forth in claim 4, wherein, The controller is also electrically connected with a display screen, and a control parameter table of the push shovel oil cylinder displacement signal and the push shovel height is preset in the controller, so as to visually output the height of the push shovel to the display screen through the push shovel oil cylinder displacement signal.

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