CN114215803A - Engineering machine, walking system and control method - Google Patents

Engineering machine, walking system and control method Download PDF

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Publication number
CN114215803A
CN114215803A CN202111594067.9A CN202111594067A CN114215803A CN 114215803 A CN114215803 A CN 114215803A CN 202111594067 A CN202111594067 A CN 202111594067A CN 114215803 A CN114215803 A CN 114215803A
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China
Prior art keywords
pressure
value
displacement
motor
walking
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CN202111594067.9A
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Chinese (zh)
Inventor
邓东
朱建新
何松泉
刘仁辉
陈浩文
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Sunward Intelligent Equipment Co Ltd
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Sunward Intelligent Equipment Co Ltd
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Priority to CN202111594067.9A priority Critical patent/CN114215803A/en
Publication of CN114215803A publication Critical patent/CN114215803A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention discloses an engineering machine, a walking system and a control method, wherein the control method is suitable for the walking system, and the walking system comprises a hydraulic pump and a walking motor; the control method comprises the following steps: acquiring an input speed, a pressure value at an outlet of a hydraulic pump or at an inlet of a walking motor; and adjusting the displacement of the walking motor according to the pressure value and the input speed. The control method provided by the invention can avoid high-voltage impact in the starting state or high-speed walking mode of the engineering machinery in the implementation process; the probability of overflow of the hydraulic system when the torque is lower in the high-speed running mode is reduced; thereby prolonging the service life of the hydraulic motor and the related transmission components; the probability of overflow of a hydraulic system in the walking process is reduced, and energy is saved; in addition, under specific conditions, the displacement of the hydraulic motor can be actively increased, the driving torque is improved, and the driving force of the whole machine is improved.

Description

Engineering machine, walking system and control method
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a control method. In addition, the invention also relates to a walking system for implementing the control method and engineering machinery comprising the walking system.
Background
In a walking system of an existing crawler-type hydraulic excavator, a hydraulic pump is connected with a hydraulic motor through a pipeline, and the hydraulic motor drives mechanical transmission parts such as a speed reducer, a driving wheel and a crawler to move, so that the excavator walks. Before the walking action, a driver selects a low-speed running mode or a high-speed running mode, the set command is sent to the controller, the controller correspondingly adjusts the displacement of the walking hydraulic motor through an electric system, the low-speed running corresponds to the large displacement of the hydraulic motor, and the high-speed running corresponds to the small displacement of the hydraulic motor. In the existing electric control system and control method, no matter the driver selects a high-speed walking mode or a low-speed walking mode, the setting command is immediately executed through the controller, and the hydraulic motor immediately corresponds to the set displacement and keeps unchanged.
The magnitude of the starting acceleration of the excavator depends on the driving torque of the hydraulic motor, and the driving torque is equal to the product of the hydraulic oil pressure and the displacement of the hydraulic motor. For safety protection, the hydraulic system is provided with an overflow valve, so that if the hydraulic motor is in a small displacement state, the maximum driving torque is relatively low; if the hydraulic motor is in a high displacement state, the maximum driving torque is relatively high. If a driver quickly starts the hydraulic pump to drive the hydraulic motor to rotate, the hydraulic motor needs to drive related mechanical transmission parts to drive the excavator with large inertia to start, and the hydraulic motor with small displacement can easily cause a hydraulic system to generate high-pressure impact under the condition of the same oil supply flow of the hydraulic pump. When the driver selects the high-speed walking mode, the initial displacement of the hydraulic motor is in a small displacement state before the excavator starts to walk, so that the excavator is easy to start to cause high-pressure impact of a hydraulic system. In the work of working over the years, the excavator can frequently start and walk, the high-speed walking mode can cause high-pressure impact of a hydraulic system to be more frequent, and a hydraulic motor and related components are more easily damaged, so that economic loss is caused to a user.
In the process of excavator walking, under the high-speed walking mode, the hydraulic motor is always in small displacement, is limited by the overflow valve to set pressure, and the maximum driving torque is relatively low, and in the muddy road surface or the steering process, the driving resistance is larger, and a hydraulic system is easier to generate high-pressure overflow, so that the excavator cannot continue to run due to insufficient driving force and wastes energy.
In summary, how to provide a control method capable of reducing pressure shock is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a control method, which can effectively reduce pressure impact of a hydraulic system during a traveling start and a traveling process of an engineering machine in a high-speed traveling mode, reduce a pressure impact probability of the engineering machine in the high-speed traveling mode, and prolong service lives of a hydraulic motor and related transmission components; the probability of overflow of a hydraulic system in the walking process is reduced, and energy is saved; in addition, under specific conditions, the displacement of the hydraulic motor can be actively increased, the driving torque is improved, and the driving force of the whole machine is improved.
Another object of the present invention is to provide a traveling system for implementing the control method and a construction machine including the traveling system.
In order to achieve the above purpose, the invention provides the following technical scheme:
a control method is applicable to a walking system, wherein the walking system comprises a hydraulic pump and a walking motor; the control method comprises the following steps:
acquiring an input speed, a pressure value at an outlet of the hydraulic pump or at an inlet of the walking motor;
and adjusting the displacement of the walking motor according to the pressure value and the input speed.
Optionally, the walking motor is a two-stage displacement-adjustable motor; the adjusting of the displacement of the travel motor according to the pressure value and the input speed includes:
judging whether the type of the input speed is a high-speed mode or not, if so, adjusting the displacement of the walking motor according to the pressure value; if not, the type of the input speed is a low-speed mode, and the next step is carried out;
modulating the travel motor to a large displacement.
Optionally, the determining whether the type of the input speed is a high-speed mode includes:
judging whether the input speed is greater than a first speed preset value or not, if so, determining that the input speed is in a high-speed mode; if not, judging whether the input speed is smaller than a second speed preset value, and if so, judging that the input speed is in a low-speed mode; the second preset speed value is less than or equal to the first preset speed value.
Optionally, said adjusting a displacement of said travel motor according to said pressure value comprises:
judging whether the pressure value is continuously smaller than a first pressure preset value and continuously larger than zero, if so, controlling the walking motor to adjust to a large discharge after a first preset time; if not, entering the next step;
judging whether the pressure value is continuously larger than a second pressure preset value and continuously smaller than a third pressure preset value, wherein the third pressure preset value is larger than the second pressure preset value, and the second pressure preset value is larger than or equal to the first pressure preset value; if so, controlling the walking motor to adjust to a small displacement after a second preset time; if not, entering the next step;
judging whether the pressure value is continuously larger than the third pressure preset value, if so, controlling the walking motor to adjust to a large discharge after third preset time; if not, maintaining the current displacement state of the walking motor.
Optionally, the travel motor is a continuously variable displacement motor; the adjusting of the displacement of the travel motor according to the pressure value and the input speed includes:
judging whether the pressure value is continuously smaller than a first pressure preset value or continuously larger than a third pressure preset value, if so, controlling the walking motor to gradually increase from the current displacement to the maximum displacement; if not, entering the next step;
Judging whether the pressure value is continuously greater than a second pressure preset value and continuously less than a third pressure preset value, if so, controlling the walking motor to be gradually adjusted from the current displacement to a displacement set value after a fourth preset time, wherein the displacement set value is a preset displacement of the walking motor corresponding to the input speed; if not, maintaining the current displacement state of the walking motor;
the third preset pressure value is greater than the second preset pressure value, and the second preset pressure value is greater than or equal to the first preset pressure value.
A walking system for implementing the control method of any one of the above, the walking system comprising:
a hydraulic pump;
the walking motor is connected with the hydraulic pump through a hydraulic pipeline;
a pressure acquisition device for acquiring a pressure value at an outlet of the hydraulic pump or an inlet of the traveling motor;
a speed acquisition device for acquiring a numerical value of an input speed or a type of the input speed;
the controller is used for receiving the pressure value acquired by the pressure acquisition equipment and the input speed acquired by the speed acquisition equipment and adjusting the displacement of the walking motor according to the pressure value and the input speed;
The hydraulic pump, the travel motor, the pressure acquisition device and the speed acquisition device are all connected with the controller.
Optionally, the hydraulic pump and the traveling motor are in open connection or closed connection.
Optionally, the hydraulic control system further comprises a throttle valve arranged on a hydraulic pipeline connecting the hydraulic pump and the traveling motor, and a state detection module connected with the throttle valve, wherein the state detection module is used for detecting the opening degree of the throttle valve and transmitting the detection result to the controller;
the state detection module is connected with the controller.
A construction machine comprising the walking system of any one of the above.
Optionally, the engineering machine is a crawler hydraulic excavator, a rotary drilling rig, a rock drilling rig, a crane, a bulldozer, a wheel hydraulic excavator, a wheel loader or an agricultural machine.
In the process of implementing the control method provided by the invention, firstly, the input speed and the pressure value at the outlet of the hydraulic pump or the inlet of the walking motor are acquired, and then the displacement of the walking motor is adjusted according to the pressure value and the input speed.
Compared with the prior art, the control method provided by the invention can adjust the displacement of the walking motor according to the input speed and the pressure value at the outlet of the hydraulic pump or at the inlet of the walking motor in the implementation process, and adjust the displacement of the walking motor to different states according to different input speeds and different pressure values, so that high-pressure impact is avoided in the starting state or high-speed walking mode of the engineering machinery; the probability of overflow of the hydraulic system when the torque is lower in the high-speed running mode is reduced; thereby prolonging the service life of the hydraulic motor and the related transmission components; the probability of overflow of a hydraulic system in the walking process is reduced, and energy is saved; in addition, under specific conditions, the displacement of the hydraulic motor can be actively increased, the driving torque is improved, and the driving force of the whole machine is improved.
In addition, the invention also provides a walking system for implementing the control method and engineering machinery comprising the walking system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a first embodiment of an open-type walking system provided in the present invention;
fig. 2 is a schematic structural diagram of a closed-type traveling system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a second embodiment of the open-type walking system provided by the present invention;
FIG. 4 is a flowchart illustrating a first embodiment of a control method according to the present invention;
fig. 5 is a flowchart illustrating a second embodiment of the control method according to the present invention.
In fig. 1-5:
1 is a speed acquisition device, 2 is a controller, 3 is a pressure acquisition device, 4 is a hydraulic pump, 5 is an oil tank, 6 is a traveling motor, 7 is a throttle valve, and 8 is a state detection module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a control method, which can effectively reduce the pressure impact of a hydraulic system in the process of starting and walking when the engineering machinery walks in a high-speed walking mode, reduce the pressure impact probability of the engineering machinery in the high-speed running mode and prolong the service life of a hydraulic motor and related transmission components; the probability of overflow of a hydraulic system in the walking process is reduced, and energy is saved; in addition, under specific conditions, the displacement of the hydraulic motor can be actively increased, the driving torque is improved, and the driving force of the whole machine is improved.
The other core of the invention is to provide a walking system for implementing the control method and a construction machine comprising the walking system.
Please refer to fig. 1-5.
The specific embodiment discloses a control method, which is suitable for a walking system, wherein the walking system comprises a hydraulic pump 4 and a walking motor 6; the control method comprises the following steps:
in step S1, the input speed, the pressure value at the outlet of the hydraulic pump 4 or at the inlet of the traveling motor 6 is acquired.
In the above step S1, a pressure value at the outlet of the hydraulic pump 4 is generally obtained, and a pressure sensor is provided at the outlet of the hydraulic pump 4.
Step S2, the displacement of the travel motor 6 is adjusted according to the pressure value and the input speed.
It should be noted that the input speed may be a specific speed value, or may also be speed type information such as a high speed, a low speed, and the like, which is determined specifically according to an actual situation, and is not described herein again.
In the process of implementing the control method provided by the present embodiment, first, the input speed and the pressure value at the outlet of the hydraulic pump 4 or the inlet of the traveling motor 6 need to be acquired, and then the displacement of the traveling motor 6 is adjusted according to the pressure value and the input speed.
Compared with the prior art, in the implementation process of the control method provided by the specific embodiment, the displacement of the traveling motor 6 is adjusted according to the input speed and the pressure value at the outlet of the hydraulic pump 4 or the inlet of the traveling motor 6, and the displacement of the traveling motor 6 is adjusted to different states according to different input speeds and different pressure values, so that high-pressure impact is avoided in the starting state or the high-speed traveling mode of the engineering machine; the probability of overflow of the hydraulic system when the torque is lower in the high-speed running mode is reduced; thereby prolonging the service life of the hydraulic motor and the related transmission components; the probability of overflow of a hydraulic system in the walking process is reduced, and energy is saved; in addition, under specific conditions, the displacement of the hydraulic motor can be actively increased, the driving torque is improved, and the driving force of the whole machine is improved.
In a specific embodiment, the travel motor 6 is a two-stage displacement-adjustable motor, and the step S2 includes:
step S21, judging whether the type of the input speed is a high-speed mode, if so, adjusting the displacement of the walking motor 6 according to the pressure value; if not, the type of the input speed is a low-speed mode, and the next step is carried out;
in step S22, the travel motor 6 is modulated to a large displacement.
When the input speed is a specific value, the step S21 of determining whether the type of the input speed is the high speed mode includes:
step S211, judging whether the input speed is greater than a first speed preset value, if so, the input speed is in a high-speed mode; if not, judging whether the input speed is smaller than a second speed preset value, if so, determining that the input speed is in a low-speed mode; the second speed preset value is less than or equal to the first speed preset value.
In the step S211, if the input speed is in the high speed mode, the displacement of the travel motor 6 is adjusted according to the pressure value; if the input speed is in the low speed mode, the travel motor 6 is modulated to a large displacement.
When it is determined that the input speed is the high speed mode, the adjusting the displacement of the travel motor 6 according to the pressure value in step S21 includes:
step S212, judging whether the pressure value is continuously smaller than a first pressure preset value and continuously larger than zero, if so, controlling the walking motor 6 to adjust to a large displacement after a first preset time; if not, entering the next step;
Step S213, judging whether the pressure value is continuously greater than the second pressure preset value and continuously smaller than a third pressure preset value, wherein the third pressure preset value is greater than the second pressure preset value, and the second pressure preset value is greater than or equal to the first pressure preset value; if so, controlling the walking motor 6 to adjust to a small displacement after a second preset time; if not, entering the next step;
step S214, judging whether the pressure value is continuously larger than a third pressure preset value, if so, controlling the walking motor 6 to adjust to a large discharge after a third preset time; if not, the current displacement state of the walking motor 6 is maintained.
In this specific embodiment, the first pressure preset value, the second pressure preset value, and the third pressure preset value are pressure reference values preset according to actual conditions, and can be adjusted according to changes of the actual conditions; the first preset time, the second preset time and the third preset time are preset time periods, and the specific time length needs to be determined according to actual conditions; the concepts of continuously being greater than or continuously being less than or equal to the pressure value mentioned in the present embodiment are not the judgment of the instantaneous pressure value, but the average value or the median of the pressure value within a certain time range, and the like, and are specifically determined according to the actual situation.
Preferably, the second pressure preset value is larger than the first pressure preset value, a certain reference time period is reserved, and error adjustment caused by fluctuation of the pressure value is avoided.
In this embodiment, the travel motor 6 is a two-stage displacement-adjustable motor, and in the low-speed mode, the travel motor 6 is adjusted to a large displacement position to avoid pressure shock; in the high-speed mode, when the pressure value is continuously greater than the third pressure preset value or the pressure is continuously less than the first pressure preset value and is greater than zero, the walking motor 6 is adjusted to a large-displacement position, the pressure impact probability of the engineering machinery in the high-speed running mode is reduced, the service life of a walking system is prolonged, the overflow probability is reduced, and the energy is saved; when the displacement of the motor is increased, the driving torque can be improved, and the driving force of the whole machine is improved. In addition, when the pressure value is continuously greater than the second preset pressure value and less than the third preset pressure value, the walking motor 6 is controlled to adjust to the small displacement after the second preset time, so that the walking motor 6 is ensured to always realize the large displacement starting, and the pressure impact in the starting process is reduced.
In a specific embodiment, the travel motor 6 is a continuously variable displacement motor, and the step S2 includes:
Step S23, determining whether the pressure value is continuously smaller than the first pressure preset value and larger than zero or continuously larger than a third pressure preset value, if yes, controlling the travel motor 6 to gradually increase from the current displacement to the maximum displacement; if not, entering the next step;
step S24, determining whether the pressure value is continuously greater than the second pressure preset value and continuously less than the third pressure preset value, if so, controlling the traveling motor 6 to gradually adjust from the current displacement to a displacement set value after a fourth preset time, where the displacement set value is a preset displacement of the traveling motor 6 corresponding to the input speed, and if not, maintaining the current displacement state of the traveling motor 6.
In this embodiment, the traveling motor 6 is a motor with continuously adjustable displacement, so the input speed is a specific value in general, and the input speed of any specific value has the corresponding preset displacement of the traveling motor 6, which can be determined according to actual conditions.
In this embodiment, the third preset pressure value is greater than the second preset pressure value, and the second preset pressure value is greater than or equal to the first preset pressure value; the first pressure preset value, the second pressure preset value and the third pressure preset value are preset pressure reference values according to actual conditions, and can be adjusted according to changes of the actual conditions; the fourth preset time is a preset time period, and the specific time length needs to be determined according to actual conditions; the concepts of continuously being greater than or continuously being less than or equal to the pressure value mentioned in the present embodiment are not the judgment of the instantaneous pressure value, but the average value or the median of the pressure value within a certain time range, and the like, and are specifically determined according to the actual situation.
In this embodiment, if the pressure value is continuously greater than the third preset pressure value or the pressure value is continuously less than the first preset pressure value and is greater than zero, the current displacement of the traveling motor 6 is gradually increased to the maximum displacement, and if the pressure value is continuously greater than the second preset pressure value and is less than the third preset pressure value, the traveling motor 6 is controlled to be gradually adjusted from the current displacement to a displacement set value, where the displacement set value is a preset displacement of the traveling motor 6 corresponding to the input speed; the pressure impact probability of the engineering machinery can be reduced, the service life of a walking system is prolonged, the overflow probability is reduced, and the energy is saved; when the displacement of the motor is increased, the driving torque can be improved, and the driving force of the whole machine is improved. And ensures that the walking motor 6 always realizes large-displacement starting, and reduces the pressure impact in the starting process.
In addition to the above control method, the present invention also provides a walking system for implementing the control method disclosed in the above embodiment, the walking system including:
a hydraulic pump 4;
the traveling motor 6 is connected with the hydraulic pump 4 through a hydraulic pipeline;
a pressure acquisition device 3 for acquiring a pressure value at an outlet of the hydraulic pump 4 or an inlet of the traveling motor 6;
a speed acquisition device 1 for acquiring a numerical value of an input speed or a type of the input speed;
The controller 2 is used for receiving the pressure value acquired by the pressure acquisition equipment 3 and the input speed acquired by the speed acquisition equipment 1 and adjusting the displacement of the walking motor 6 according to the pressure value and the input speed;
the hydraulic pump 4, the traveling motor 6, the pressure obtaining apparatus 3, and the speed obtaining apparatus 1 are all connected to the controller 2.
As shown in fig. 1, an oil tank 5 is provided, and the hydraulic pump 4 and the traveling motor 6 are connected in an open manner, and as shown in fig. 2, the oil tank 5 is provided, and the hydraulic pump 4 and the traveling motor 6 are connected in a closed manner.
As shown in fig. 3, the hydraulic control system further comprises a throttle valve 7 disposed in a hydraulic pipeline connecting the hydraulic pump 4 and the traveling motor 6, and a state detection module 8 connected to the throttle valve 7, wherein the state detection module 8 is configured to detect an opening degree of the throttle valve 7 and transmit a detection result to the controller 2; the status detection module 8 is connected to the controller 2.
Through setting up choke valve 7 and state detection module 8, state detection module 8 gathers throttle valve 7's opening degree state to with this signal transmission to controller 2, controller 2 can be more accurate according to throttle valve 7's opening degree state judgement running gear's running state.
Besides the above traveling system, the present invention also provides an engineering machine including the above traveling system, and the structure of other parts of the engineering machine refers to the prior art and is not described herein again.
The engineering machinery can be a crawler-type hydraulic excavator, a rotary drilling rig, a rock drilling rig, a crane, a bulldozer, a wheel type hydraulic excavator, a wheel type loader, agricultural machinery and the like, or other mechanical equipment, and is determined according to actual conditions.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.
The construction machine, the traveling system, and the control method according to the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (10)

1. A control method is applied to a walking system, wherein the walking system comprises a hydraulic pump (4) and a walking motor (6); the control method is characterized by comprising the following steps:
acquiring an input speed, a pressure value at an outlet of the hydraulic pump (4) or at an inlet of the traveling motor (6);
adjusting the displacement of the travel motor (6) according to the pressure value and the input speed.
2. A control method according to claim 1, characterised in that the walking motor (6) is a two-stage displacement-adjustable motor; -said adjusting the displacement of said walking motor (6) as a function of said pressure value and said input speed, comprises:
judging whether the type of the input speed is a high-speed mode or not, if so, adjusting the displacement of the walking motor (6) according to the pressure value; if not, the type of the input speed is a low-speed mode, and the next step is carried out;
modulating the travel motor (6) to a large displacement.
3. The control method according to claim 2, wherein the input speed is a specific numerical value, and the determining whether the type of the input speed is a high speed mode includes:
judging whether the input speed is greater than a first speed preset value or not, if so, determining that the input speed is in a high-speed mode; if not, judging whether the input speed is smaller than a second speed preset value, and if so, judging that the input speed is in a low-speed mode; the second preset speed value is less than or equal to the first preset speed value.
4. The control method according to claim 2, characterized in that said adjusting the displacement of said walking motor (6) according to said pressure value comprises:
judging whether the pressure value is continuously smaller than a first pressure preset value and continuously larger than zero, if so, controlling the walking motor (6) to adjust to a large displacement after a first preset time; if not, entering the next step;
judging whether the pressure value is continuously larger than a second pressure preset value and continuously smaller than a third pressure preset value, wherein the third pressure preset value is larger than the second pressure preset value, and the second pressure preset value is larger than or equal to the first pressure preset value; if yes, controlling the walking motor (6) to adjust to a small displacement after a second preset time; if not, entering the next step;
judging whether the pressure value is continuously larger than the third pressure preset value or not, if so, controlling the walking motor (6) to adjust to a large displacement after third preset time; if not, the current displacement state of the walking motor (6) is maintained.
5. A control method according to claim 1, characterised in that the walking motor (6) is a continuously variable displacement motor; -said adjusting the displacement of said walking motor (6) as a function of said pressure value and said input speed, comprises:
Judging whether the pressure value is continuously smaller than a first pressure preset value or continuously larger than a third pressure preset value, if so, controlling the walking motor (6) to gradually increase from the current displacement to the maximum displacement; if not, entering the next step;
judging whether the pressure value is continuously greater than a second pressure preset value and continuously less than a third pressure preset value, if so, controlling the walking motor (6) to be gradually adjusted from the current displacement to a displacement set value after a fourth preset time, wherein the displacement set value is the preset displacement of the walking motor (6) corresponding to the input speed; if not, maintaining the current displacement state of the walking motor (6);
the third preset pressure value is greater than the second preset pressure value, and the second preset pressure value is greater than or equal to the first preset pressure value.
6. A walking system for implementing the control method according to any one of claims 1 to 5, the walking system comprising:
a hydraulic pump (4);
the traveling motor (6) is connected with the hydraulic pump (4) through a hydraulic pipeline;
a pressure acquisition device (3) for acquiring a pressure value at an outlet of the hydraulic pump (4) or at an inlet of the travel motor (6);
A speed acquisition device (1) for acquiring a value of an input speed or a type of the input speed;
the controller (2) is used for receiving the pressure value acquired by the pressure acquisition device (3) and the input speed acquired by the speed acquisition device (1) and adjusting the displacement of the walking motor (6) according to the pressure value and the input speed;
the hydraulic pump (4), the traveling motor (6), the pressure acquisition device (3) and the speed acquisition device (1) are all connected with the controller (2).
7. Walking system according to claim 6, characterized in that there is an open or closed connection between the hydraulic pump (4) and the walking motor (6).
8. The walking system of claim 6, further comprising a throttle valve (7) provided in a hydraulic line connecting the hydraulic pump (4) and the walking motor (6), and a state detection module (8) connected to the throttle valve (7), the state detection module (8) being configured to detect an opening degree of the throttle valve (7) and transmit a detection result to the controller (2);
the state detection module (8) is connected with the controller (2).
9. A working machine, characterized in that it comprises a walking system according to any one of claims 6-8.
10. The work machine of claim 9, wherein the work machine is a crawler hydraulic excavator, a rotary drilling rig, a rock drilling rig, a crane, a bulldozer, a wheel hydraulic excavator, a wheel loader, or an agricultural machine.
CN202111594067.9A 2021-12-23 2021-12-23 Engineering machine, walking system and control method Pending CN114215803A (en)

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CN210194734U (en) * 2019-06-19 2020-03-27 雷沃工程机械集团有限公司 Automatic walking high-low speed switching device of excavator, electric control system and excavator
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JPH02144824U (en) * 1989-05-09 1990-12-07
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