Hydraulic engineering machinery crushing control method and system

Abstract

The invention discloses a hydraulic engineering machinery crushing control method and system, and the method comprises the steps: obtaining a crawler belt jacking angle set value in response to a monitor in a crushing mode; in response to opening of the breaking switch key and no action except breaking and movable arm descending, acquiring an initial reference angle of the vehicle, calculating a target value of a track angle, and determining a target range of the track angle; the movable arm is controlled to descend until the crawler angle is within the crawler angle target range, and the descending action of the movable arm is stopped; controlling the breaking hammer to start working in response to the situation that the crawler angle is within the crawler angle target range; in the crushing working process, the crawler belt angle is gradually decreased, the descending action of the movable arm is automatically controlled, it is guaranteed that the crawler belt angle is within the crawler belt angle target range, and crawler belt angle closed-loop control is formed.

Description

Technical Field

[0001] The present application belongs to the technical field of engineering machinery control, and specifically relates to a hydraulic engineering machinery crushing control method and system. Background Art

[0002] When the excavator is in crushing condition, the driver often presses down the boom and the track is lifted up to a certain angle. At the same time, due to the gravity of the vehicle, the force on the top of the breaker rod increases, thereby increasing the crushing force. At the same time, pressing down the boom avoids the phenomenon of empty hitting, protects the breaker and working device, and extends their service life.

[0003] However, during the entire process, the driver has to manually operate the handle to achieve the boom downward movement. Also, due to the large impact and vibration of the crushing condition, the handle shakes more violently than in other conditions, which increases the difficulty of controlling the handle and easily causes fatigue during long-term operation. At the same time, the boom downward range must be frequently adjusted to ensure the striking force, which wastes time and reduces work efficiency. Summary of the invention

[0004] Purpose: In view of at least one of the above technical problems, the present application provides a hydraulic engineering machinery crushing control method and system to solve the problems of empty hitting and insufficient striking force when hydraulic engineering machinery is crushing.

[0005] Technical solution: To solve the above technical problems, the technical solution adopted by this application is:

[0006] In a first aspect, a hydraulic engineering machinery crushing control method is provided, comprising:

[0007] In response to the monitor being in the crushing mode, the crawler track jacking angle setting value is obtained ;

[0008] In response to the crushing switch key being turned on and no action other than crushing and boom lowering, the vehicle initial reference angle is obtained ;

[0009] According to the vehicle's initial reference angle and track jacking angle setting value Calculate the target track angle ;

[0010] According to the track angle target value and the first deviation value , determine the target range of track angle ( , );

[0011] The control arm valve core is opened, the arm lowering action is started, and the hydraulic engineering machinery is lifted up until the crawler angle When the crawler angle is within the target range, the boom valve core is closed and the boom lowering action stops; the crawler angle is the angle formed by the crawler and the ground;

[0012] Response to track angle When the track angle is within the target range, the crushing valve core is controlled to open and the breaker hammer starts working;

[0013] During the crushing process, as the breaker hammer strikes deeper, the vehicle falls and the track angle will become smaller and smaller in response to the track angle Less than the lower limit of the track angle target range , control the boom lowering action to ensure the track angle It is within the target track angle range, forming a closed-loop control of the track angle.

[0014] According to a second aspect, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program implements the method when executed by a processor.

[0015] In a third aspect, a controller is provided, including a processor and a storage medium;

[0016] The storage medium is used to store instructions;

[0017] The processor is configured to operate according to the instructions to execute the method.

[0018] In a fourth aspect, a hydraulic engineering machinery crushing control system is provided, comprising the controller described above.

[0019] In some embodiments, the hydraulic engineering machinery crushing control system further includes:

[0020] A monitor, used for selecting a working mode of the hydraulic engineering machinery, and when the crushing mode is selected, prompting the driver to set a crawler jacking angle setting value, and sending the working mode and crawler jacking angle setting value to the controller;

[0021] A gyroscope, used to monitor the initial reference angle of the vehicle and the track angle, and upload them to the controller;

[0022] A manipulator, used for monitoring the motion signal and sending it to the controller;

[0023] A crushing switch, used to turn on or off the crushing condition, connected to the controller signal;

[0024] The boom valve core valve-controlled electromagnetic proportional pressure reducing valve is used to control the opening or closing of the boom lowering and boom raising actions.

[0025] Crushing valve core valve-controlled electromagnetic proportional pressure reducing valve, used to control the opening or closing of the crushing action;

[0026] The boom valve core valve-controlled electromagnetic proportional pressure reducing valve and the crushing valve core valve-controlled electromagnetic proportional pressure reducing valve are respectively connected to the controller signal.

[0027] In a fifth aspect, a hydraulic engineering machinery is provided, which is equipped with the controller or the hydraulic engineering machinery crushing control system.

[0028] Compared with the prior art, the beneficial effects achieved by this application are:

[0029] During the crushing operation, the vehicle automatically presses the boom down, monitors the track angle through gyroscope data, and adjusts the boom descent range in real time to achieve closed-loop control of the vehicle's jacking angle. This intelligently adjusts the angle and effectively avoids the occurrence of empty crushing. At the same time, due to the gravity of the vehicle, the crushing impact force is positively increased, thereby improving the impact force. The entire process can be achieved automatically, saving posture adjustment time and improving work efficiency. At the same time, it reduces the driver's fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 This is a schematic diagram of a hydraulic engineering machinery crushing control system according to an embodiment of the present application;

[0032] Figure 2 This is a schematic flow chart of the hydraulic engineering machinery crushing control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use.

[0034] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only used to explain the relative position relationship, movement, etc. between the components in a certain posture. If the specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0035] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0036] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0037] In order to solve the problems of empty hitting and insufficient striking force when hydraulic engineering machinery is crushing, the present application provides a hydraulic engineering machinery crushing control method and system.

[0038] Example 1: Figure 1 , Figure 2 As shown, the present application provides a hydraulic engineering machinery crushing control system, including a controller, the controller including a processor and a storage medium; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the steps of the following hydraulic engineering machinery crushing control method;

[0039] like Figure 1 As shown, the hydraulic engineering machinery crushing control system also includes:

[0040] A monitor, used for selecting a working mode of the hydraulic engineering machinery, and when the crushing mode is selected, prompting the driver to set a crawler jacking angle setting value, and sending the working mode and crawler jacking angle setting value to the controller;

[0041] A gyroscope, used to monitor the initial reference angle of the vehicle and the track angle, and upload them to the controller;

[0042] A manipulator, used for monitoring the motion signal and sending it to the controller;

[0043] A crushing switch, used to turn on or off the crushing condition, connected to the controller signal;

[0044] The boom valve core valve-controlled electromagnetic proportional pressure reducing valve is used to control the opening or closing of the boom lowering and boom raising actions.

[0045] Crushing valve core valve-controlled electromagnetic proportional pressure reducing valve, used to control the opening or closing of the crushing action;

[0046] The boom valve core valve-controlled electromagnetic proportional pressure reducing valve and the crushing valve core valve-controlled electromagnetic proportional pressure reducing valve are respectively connected to the controller signal.

[0047] Furthermore, the hydraulic engineering machinery crushing control system further includes a hydraulic main valve, and the hydraulic main valve includes:

[0048] A boom valve core is connected to the boom valve core valve-controlled electromagnetic proportional pressure reducing valve, and is used to control the position of the boom valve core through the boom valve core valve-controlled electromagnetic proportional pressure reducing valve, and control the boom to descend, ascend or stop;

[0049] A crushing valve core is connected to the crushing valve core valve-controlled electromagnetic proportional pressure reducing valve, and is used to control the position of the crushing valve core through the valve core valve-controlled electromagnetic proportional pressure reducing valve to control the opening or closing of the crushing action;

[0050] The hydraulic pump provides working oil to the boom valve core and the crushing valve core, and also provides oil source for the system.

[0051] In this embodiment, the controller controls the output pressure of the boom valve core valve-controlled electromagnetic proportional pressure reducing valve and the crushing valve core valve-controlled electromagnetic proportional pressure reducing valve by outputting current. The boom valve core valve-controlled electromagnetic proportional pressure reducing valve and the crushing valve core valve-controlled electromagnetic proportional pressure reducing valve control the movement speed and range of the hydraulic main valve core through output pressure to realize various actions of the excavator.

[0052] In some embodiments, the monitor provides the driver with multiple working mode quick selection keys, such as crushing mode, excavation mode, leveling mode, etc. The monitor allows the driver to set the track jacking angle parameter in the crushing mode, and the setting parameter range can be limited for safety considerations.

[0053] The crushing switch key is connected to the controller and is used to monitor the enabling of the crushing operation. When the crushing switch key is pressed, it indicates that the crushing operation is in progress, and when it is pressed again, it indicates that the crushing operation is ended.

[0054] The operating device is a device that can move the excavator through manual operation. It can be an electronically controlled operating device that can send an operating signal to the control to determine the current operation status; it can also be a hydraulic pilot control valve, in which case a pressure sensor needs to be installed to send a pilot signal to the controller to determine the current operation status.

[0055] Example 2: Figure 2 As shown, the present application also provides a hydraulic engineering machinery crushing control method, comprising:

[0056] In response to the monitor being in the crushing mode, the crawler track jacking angle setting value is obtained ;

[0057] In response to the crushing switch being turned on (crushing working condition), and no action other than crushing and boom lowering, the vehicle initial reference angle is obtained ;

[0058] According to the vehicle's initial reference angle and track jacking angle setting value Calculate the target track angle ;

[0059] According to the track angle target value and the first deviation value , determine the target range of track angle ( , );

[0060] The control arm valve core is opened, the arm lowering action is started, and the hydraulic engineering machinery is lifted up until the crawler angle When the crawler angle is within the target range, the boom valve core is closed and the boom lowering action stops; the crawler angle is the angle formed by the crawler and the ground;

[0061] Response to track angle When the track angle is within the target range, the crushing valve core is controlled to open and the breaker hammer starts working;

[0062] During the crushing process, as the breaker hammer strikes deeper, the vehicle falls and the track angle will become smaller and smaller in response to the track angle Less than the lower limit of the track angle target range , control the boom lowering action to ensure the track angle It is within the target track angle range, forming a closed-loop control of the track angle.

[0063] In some embodiments, the hydraulic engineering machinery crushing control method further includes:

[0064] Determine the vehicle reference angle range based on the vehicle initial reference angle and the second deviation value b ;

[0065] In response to the crushing switch being closed and the track angle Greater than the upper limit of the vehicle reference angle range , control the boom to rise; until the track angle Located within the vehicle reference angle range Within the range, the boom rising action is controlled to stop.

[0066] In this embodiment, the controller uses the crushing key signal and vehicle-related data to identify whether the breaker is working. When the crushing stops working for more than 3 seconds and the track angle is If the angle is greater than the upper limit of the vehicle reference angle range, the controller controls the boom valve core to open the boom, and the boom will slowly rise and the crawler will fall back to the ground; this mainly takes into account the impact of the ground level reference change caused by the crushing impact and the gravity of the vehicle. The monitor will beep and prompt the interface during the whole process, and the operator can also directly operate the prompt interface to cancel this function.

[0067] In some embodiments, the hydraulic engineering machinery crushing control method further includes: in response to detecting that a walking motion signal is generated, reacquiring an initial reference angle of the vehicle and updating a target track angle value.

[0068] During this process, if the driver changes the impact point, he will often control other actions. The controller receives or monitors the control device signal to determine whether there are actions other than crushing and boom lowering. If so, the boom automatic lowering control function will immediately exit to ensure that other operating performances of the vehicle are not affected. Therefore, in some embodiments, the hydraulic engineering machinery crushing control method further includes: during the boom lowering control process, in response to actions other than crushing and boom lowering, controlling the boom lowering action to stop and exiting the boom automatic lowering control function.

[0069] During the crushing operation, the vehicle automatically presses the boom downward and adjusts the boom's descent range in real time by acquiring data from the embedded gyroscope, achieving closed-loop control of the vehicle's jacking angle and intelligently adjusting the angle, effectively avoiding the occurrence of empty crushing. At the same time, due to the gravity of the vehicle, the crushing impact force is positively increased, thereby improving the impact force. The entire process can be achieved automatically, saving posture adjustment time and improving work efficiency; at the same time, it reduces the driver's fatigue.

[0070] Embodiment 3: The embodiment of the present application provides a controller, including a processor and a storage medium;

[0071] The storage medium is used to store instructions;

[0072] The processor is configured to operate according to the instructions to execute the method.

[0073] Embodiment 4: The embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the method when executed by a processor.

[0074] Embodiment 5: The embodiment of the present application provides a hydraulic engineering machinery equipped with the controller or the hydraulic engineering machinery crushing control system.

[0075] In this embodiment, the hydraulic engineering machinery takes a hydraulic excavator as an example.

[0076] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt 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 codes.

[0077] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate 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.

[0078] 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.

[0079] 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.

[0080] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, technicians in this industry should understand that the present application will have various changes and improvements without departing from the principles and spirit. These improvements should also be regarded as the scope of protection of the present application and are not limited to the above embodiments.

Claims

1. A hydraulic engineering machinery crushing control method, characterized in that: include: In response to the monitor being in the crushing mode, the crawler track jacking angle setting value is obtained ; In response to the crushing switch key being turned on and no action other than crushing and boom lowering, the vehicle initial reference angle is obtained ; According to the vehicle's initial reference angle and track jacking angle setting value Calculate the target track angle ; According to the track angle target value and the first deviation value , determine the target range of track angle ( , ); The control arm valve core is opened, the arm lowering action is started, and the hydraulic engineering machinery is lifted up until the crawler angle When the track angle is within the target range, the boom valve core is closed and the boom lowering action stops; The track angle is the angle between the track and the ground; Response to track angle When the track angle is within the target range, the crushing valve core is controlled to open and the breaker hammer starts working; During the crushing process, as the breaker hammer strikes deeper, the vehicle falls and the track angle will become smaller and smaller in response to the track angle Less than the lower limit of the track angle target range , control the boom lowering action to ensure the track angle It is within the target track angle range, forming a closed-loop control of the track angle.

2. The hydraulic engineering machinery crushing control method according to claim 1, characterized in that: Also includes: Determine the vehicle reference angle range based on the vehicle initial reference angle and the second deviation value b ; In response to the crushing switch being closed and the track angle Greater than the upper limit of the vehicle reference angle range , control the boom to rise; until the track angle Located within the vehicle reference angle range Within the range, the boom rising action is controlled to stop.

3. The hydraulic engineering machinery crushing control method according to claim 1 or 2, characterized in that: Also includes: In response to detecting that a walking motion signal is generated, the initial reference angle of the vehicle is reacquired, and the target value of the track angle is updated.

4. The hydraulic engineering machinery crushing control method according to claim 1, characterized in that: Also includes: During the boom lowering control process, in response to actions other than crushing and boom lowering, the boom lowering action is controlled to stop, and the boom automatic lowering control function is exited.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

6. A controller, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the method according to any one of claims 1 to 4.

7. A hydraulic engineering machinery crushing control system, characterized in that: Includes the controller as claimed in claim 6.

8. The hydraulic engineering machinery crushing control system according to claim 7, characterized in that: The hydraulic engineering machinery crushing control system also includes: A monitor, used for selecting a working mode of the hydraulic engineering machinery, and when the crushing mode is selected, prompting the driver to set a crawler jacking angle setting value, and sending the working mode and crawler jacking angle setting value to the controller; A gyroscope, used to monitor the initial reference angle of the vehicle and the track angle, and upload them to the controller; A manipulator, used for monitoring the motion signal and sending it to the controller; A crushing switch, used to turn on or off the crushing condition, connected to the controller signal; The boom valve core valve-controlled electromagnetic proportional pressure reducing valve is used to control the opening or closing of the boom lowering and boom raising actions. Crushing valve core valve-controlled electromagnetic proportional pressure reducing valve, used to control the opening or closing of the crushing action; The boom valve core valve-controlled electromagnetic proportional pressure reducing valve and the crushing valve core valve-controlled electromagnetic proportional pressure reducing valve are respectively connected to the controller signal.

9. The hydraulic engineering machinery crushing control system according to claim 8, characterized in that: It also includes a hydraulic main valve, the hydraulic main valve comprising: A boom valve core is connected to the boom valve core valve-controlled electromagnetic proportional pressure reducing valve, and is used to control the position of the boom valve core through the boom valve core valve-controlled electromagnetic proportional pressure reducing valve, and control the boom to descend, ascend or stop; The crushing valve core is connected to the crushing valve core valve-controlled electromagnetic proportional pressure reducing valve, and is used to control the position of the crushing valve core through the valve core valve-controlled electromagnetic proportional pressure reducing valve to control the opening or closing of the crushing action.

10. A hydraulic engineering machine, characterized in that: The invention is provided with the controller as claimed in claim 6 or the hydraulic engineering machinery crushing control system as claimed in any one of claims 7 to 9.

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