A hydraulic engineering machinery crushing control method and system

Abstract

This application discloses a hydraulic engineering machinery crushing control method and system. The method includes: in response to the monitor being in crushing mode, acquiring the track lifting angle setpoint; in response to the crushing switch being turned on and no actions other than crushing and boom lowering, acquiring the initial reference angle of the vehicle, calculating the track angle target value, and determining the track angle target range; controlling the boom to lower until the track angle is within the track angle target range, at which point the boom lowering action stops; in response to the track angle being within the track angle target range, controlling the breaker to start working; during the crushing operation, as the track angle gradually decreases, automatically controlling the boom lowering action to ensure that the track angle is within the track angle target range, thus forming a closed-loop control of the track angle.

Description

Technical Field

[0001] This application belongs to the field of engineering machinery control technology, specifically relating to a hydraulic engineering machinery crushing control method and system. Background Technology

[0002] When an excavator is in crushing operation, the operator often presses down the boom, which lifts the tracks at a certain angle. At the same time, due to the weight of the vehicle, the force on the top of the breaker's chisel increases, thereby increasing the crushing force. Meanwhile, pressing down the boom avoids the phenomenon of dry-firing, protecting the breaker and working device, and extending their service life.

[0003] However, throughout the process, the operator has to manually operate the lever to lower the boom. Because the impact and vibration of the crushing operation are large, the lever shakes more violently than in other conditions, which increases the difficulty of lever control and can easily cause fatigue during long-term operation. At the same time, the operator has to frequently adjust the boom lowering amplitude to ensure the impact force, which wastes time and reduces work efficiency. Summary of the Invention

[0004] Objective: In view of at least one of the above technical problems, this application provides a hydraulic engineering machinery crushing control method and system to solve the problems of dry crushing and insufficient impact force in hydraulic engineering machinery during crushing.

[0005] Technical solution: To solve the above-mentioned technical problems, the technical solution adopted in this application is as follows:

[0006] Firstly, a hydraulic engineering machinery crushing control method is provided, including:

[0007] In response to the monitor being in crushing mode, the track lifting angle setpoint is obtained. ;

[0008] In response to the opening of the crushing switch, and with no movement other than crushing and boom lowering, the initial reference angle of the vehicle is obtained. ;

[0009] Based on the vehicle's initial reference angle Track lifting angle setting value The target value of the track angle was calculated. ;

[0010] Based on the target value of the track angle and the first deviation value Determine the target range of track angle ( , );

[0011] The boom valve opens, initiating the boom descent action and lifting the hydraulic machinery up to the track angle. When the target track angle is within the range, the boom valve core is closed, and the boom lowering action stops; where the track angle is the angle formed by the track and the ground.

[0012] Response to track angle When the track angle is within the target range, the control opens the breaker valve core, and the breaker starts working;

[0013] During the crushing operation, as the breaker hammer penetrates deeper, the entire vehicle descends, and the track angle... It will get smaller and smaller, responding to the track angle. Less than the lower limit of the target range of track angle Control the boom descent to maintain track angle. Within the target range of track angle, a closed-loop control of track angle is formed.

[0014] In a second aspect, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method.

[0015] Thirdly, 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] Fourthly, a hydraulic engineering machinery crushing control system is provided, including the aforementioned controller.

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

[0020] The monitor is used to select the working mode of the hydraulic engineering machinery. When the crushing mode is selected, it prompts the driver to set the track lifting angle setting value and sends the working mode and track lifting angle setting value to the controller.

[0021] A gyroscope is used to monitor the vehicle's initial reference angle and track angle, and upload the data to the controller.

[0022] A control device for monitoring motion signals and sending them to the controller;

[0023] The crushing on / off switch is used to turn the crushing operation on or off and is connected to the controller signal.

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

[0025] The crusher valve core valve-controlled electromagnetic proportional pressure reducing valve is 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 breaker valve core valve-controlled electromagnetic proportional pressure reducing valve are respectively connected to the controller for signal transmission.

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

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

[0029] During the crushing operation, the vehicle automatically lowers its boom and monitors the track angle via gyroscope data, adjusting the boom descent in real time to achieve closed-loop control of the vehicle's lifting angle. This intelligent angle adjustment effectively prevents the crushing process from being interrupted. Simultaneously, the vehicle's gravity positively increases the crushing impact force, enhancing its effectiveness. The entire process is automated, saving posture adjustment time and improving operational efficiency. It also reduces driver fatigue. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0032] Figure 2 This is a schematic diagram of the hydraulic engineering machinery crushing control method according to an embodiment of this application. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use.

[0034] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific orientation. If the specific orientation changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing this application and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

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

[0036] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In order to solve the problems of dry striking and insufficient striking force in hydraulic engineering machinery during crushing, this application proposes a crushing control method and system for hydraulic engineering machinery.

[0038] Example 1: As Figure 1 , Figure 2 As shown, this 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] The monitor is used to select the working mode of the hydraulic engineering machinery. When the crushing mode is selected, it prompts the driver to set the track lifting angle setting value and sends the working mode and track lifting angle setting value to the controller.

[0041] A gyroscope is used to monitor the vehicle's initial reference angle and track angle, and upload the data to the controller.

[0042] A control device for monitoring motion signals and sending them to the controller;

[0043] The crushing on / off switch is used to turn the crushing operation on or off and is connected to the controller signal.

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

[0045] The crusher valve core valve-controlled electromagnetic proportional pressure reducing valve is 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 breaker valve core valve-controlled electromagnetic proportional pressure reducing valve are respectively connected to the controller for signal transmission.

[0047] Furthermore, the hydraulic engineering machinery crushing control system also includes a hydraulic main valve, which comprises:

[0048] The boom valve core is connected to the boom valve core valve-controlled electromagnetic proportional pressure reducing valve, and is used to control the working position of the boom valve core through the boom valve core valve-controlled electromagnetic proportional pressure reducing valve, and control the boom to descend, rise or stop.

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

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

[0051] In this embodiment, the controller controls the output pressure of the boom valve core electromagnetic proportional pressure reducing valve and the breaker valve core electromagnetic proportional pressure reducing valve by controlling the output current. The boom valve core electromagnetic proportional pressure reducing valve and the breaker valve core electromagnetic proportional pressure reducing valve use their output pressure to control the movement speed and range of the hydraulic main valve core, thereby realizing various actions of the excavator.

[0052] In some embodiments, the monitor provides the driver with quick selection keys for various working conditions, such as crushing mode, digging mode, and leveling mode. In crushing mode, the driver can set the track jacking angle parameter, and for safety reasons, the range of the set parameter can be limited.

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

[0054] The control device is a device that enables the excavator to move through manual operation. It can be an electronic control device that can send control signals to the controller to determine the current action status; or it can be a hydraulic pilot control valve, in which case a pressure sensor needs to be installed to send pilot signals to the controller to determine the current action status.

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

[0056] In response to the monitor being in crushing mode, the track lifting angle setpoint is obtained. ;

[0057] In response to the opening of the crushing switch (operating in crushing mode), and with no actions other than crushing and boom lowering, the initial reference angle of the vehicle is obtained. ;

[0058] Based on the vehicle's initial reference angle Track lifting angle setting value The target value of the track angle was calculated. ;

[0059] Based on the target value of the track angle and the first deviation value Determine the target range of track angle ( , );

[0060] The boom valve opens, initiating the boom descent action and lifting the hydraulic machinery up to the track angle. When the target track angle is within the range, the boom valve core is closed, and the boom lowering action stops; where the track angle is the angle formed by the track and the ground.

[0061] Response to track angle When the track angle is within the target range, the control opens the breaker valve core, and the breaker starts working;

[0062] During the crushing operation, as the breaker hammer penetrates deeper, the entire vehicle descends, and the track angle... It will get smaller and smaller, responding to the track angle. Less than the lower limit of the target range of track angle Control the boom descent to maintain track angle. Within the target range of track angle, a closed-loop control of track angle is formed.

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

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

[0065] In response to the crushing switch being closed and the track angle being adjusted... Greater than the upper limit of the vehicle reference angle range Control the boom to rise; until the track angle is reached. Located within the vehicle reference angle range Within the specified range, control the boom's upward movement to stop.

[0066] In this embodiment, the controller identifies whether the hydraulic breaker is working by using the breaker on / off key signal and relevant vehicle data. If the breaker stops working for more than 3 seconds and the track angle... When the angle exceeds the upper limit of the vehicle's reference angle range, the controller activates the boom valve core, causing the boom to rise and open, allowing it to slowly ascend while the tracks return to the ground. This primarily considers the impact of the impact of the crushing and the vehicle's weight on changes in the ground's horizontal reference. Throughout the process, the monitor will provide beeping and on-screen prompts. The operator can also directly interact with the on-screen prompts to cancel this function.

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

[0068] During this process, if the driver changes the striking point, they often perform other actions. The controller determines whether there are actions other than breaking and boom lowering by receiving or monitoring signals from the control device. If so, the automatic boom lowering control function will immediately disengage to ensure that other operational performance of the vehicle is not affected. Therefore, in some embodiments, the hydraulic engineering machinery breaking control method further includes: during the boom lowering control process, in response to actions other than breaking and boom lowering, stopping the boom lowering action and disengaging the automatic boom lowering control function.

[0069] During the crushing operation, the vehicle automatically lowers its boom and adjusts the boom descent in real time by acquiring data from the embedded gyroscope. This achieves closed-loop control of the vehicle's lifting angle, intelligently adjusting the angle to effectively prevent the crushing process from being interrupted. At the same time, the vehicle's gravity positively increases the crushing impact force, enhancing the crushing power. The entire process is automated, saving posture adjustment time and improving work efficiency. It also reduces driver fatigue.

[0070] Example 3: This 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] Example 4: This application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method.

[0074] Example 5: This application provides a hydraulic engineering machinery, which is equipped with the controller or the hydraulic engineering machinery crushing control system described above.

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

[0076] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application 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.

[0077] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0078] 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.

[0079] 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.

[0080] The above description is only a preferred embodiment of this application. It should be noted that those skilled in the art should understand that various changes and improvements may be made to this application without departing from the principles and spirit. These improvements should also be considered within the scope of protection of this application and are not limited to the above embodiments.

Claims

1. A method for controlling the crushing of hydraulic engineering machinery, characterized in that, include: In response to the monitor being in crushing mode, the track lifting angle setpoint is obtained. ; In response to the opening of the crushing switch, and with no movement other than crushing and boom lowering, the initial reference angle of the vehicle is obtained. ; Based on the vehicle's initial reference angle Track lifting angle setting value The target value of the track angle was calculated. ; Based on the target value of the track angle and the first deviation value Determine the target range of track angle ( , ); The boom valve opens, initiating the boom descent action and lifting the hydraulic machinery up to the track angle. When the target track angle is within the range, the boom valve core is closed, and the boom lowering action stops; The track angle is the angle formed between the track and the ground. Response to track angle When the track angle is within the target range, the control opens the breaker valve core, and the breaker starts working; During the crushing operation, as the breaker hammer penetrates deeper, the entire vehicle descends, and the track angle... It will get smaller and smaller, responding to the track angle. Less than the lower limit of the target range of track angle Control the boom descent to maintain track angle. Within the target range of track angle, a closed-loop control of track angle is formed; Determine the vehicle reference angle range based on the initial reference angle and the second deviation value b. ; In response to the crushing switch being closed and the track angle being adjusted... Greater than the upper limit of the vehicle reference angle range Control the boom to rise; until the track angle is reached. Located within the vehicle reference angle range Within the specified range, control the boom's upward movement to stop.

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

3. The hydraulic engineering machinery crushing control method according to claim 1, characterized in that, Also includes: During the boom descent control process, in response to any action other than breaking and boom descent, the boom descent action is stopped and the automatic boom descent control function is deactivated.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method according to any one of claims 1 to 3.

5. A controller, characterized in that, Including processor and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the method according to any one of claims 1 to 3.

6. A hydraulic engineering machinery crushing control system, characterized in that, Includes the controller as described in claim 5.

7. The hydraulic engineering machinery crushing control system according to claim 6, characterized in that, The hydraulic engineering machinery crushing control system also includes: The monitor is used to select the working mode of the hydraulic engineering machinery. When the crushing mode is selected, it prompts the driver to set the track lifting angle setting value and sends the working mode and track lifting angle setting value to the controller. A gyroscope is used to monitor the vehicle's initial reference angle and track angle, and upload the data to the controller. A control device for monitoring motion signals and sending them to the controller; The crushing on / off switch is used to turn the crushing operation on or off and is connected to the controller signal. The boom valve core-controlled electromagnetic proportional pressure reducing valve is used to control the opening or closing of the boom lowering and raising actions. The crusher valve core valve-controlled electromagnetic proportional pressure reducing valve is used to control the opening or closing of the crushing action; The boom valve core valve-controlled electromagnetic proportional pressure reducing valve and the breaker valve core valve-controlled electromagnetic proportional pressure reducing valve are respectively connected to the controller for signal transmission.

8. The hydraulic engineering machinery crushing control system according to claim 7, characterized in that, It also includes a hydraulic main valve, which comprises: The boom valve core is connected to the boom valve core valve-controlled electromagnetic proportional pressure reducing valve, and is used to control the working position of the boom valve core through the boom valve core valve-controlled electromagnetic proportional pressure reducing valve, and control the boom to descend, rise 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 working position of the crushing valve core through the valve core valve-controlled electromagnetic proportional pressure reducing valve, thereby controlling the opening or closing of the crushing action.

9. A hydraulic engineering machine, characterized in that, The device is equipped with the controller as described in claim 5 or the hydraulic engineering machinery crushing control system as described in any one of claims 6 to 8.

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