CN115059138A - Travel control method and travel control system for wheel excavator, and wheel excavator - Google Patents
Travel control method and travel control system for wheel excavator, and wheel excavator Download PDFInfo
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- CN115059138A CN115059138A CN202210885018.9A CN202210885018A CN115059138A CN 115059138 A CN115059138 A CN 115059138A CN 202210885018 A CN202210885018 A CN 202210885018A CN 115059138 A CN115059138 A CN 115059138A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000003921 oil Substances 0.000 claims description 35
- 239000010720 hydraulic oil Substances 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 239000012208 gear oil Substances 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention discloses a running control method and a running control system of a wheel type excavator and the wheel type excavator, wherein the method comprises the following steps: judging whether a signal of a slow moving switch is received: if a slow moving switch signal is received, controlling the slow moving electromagnetic valve to reverse; if the slow moving switch signal is not received, keeping the slow moving electromagnetic valve unchanged; judging whether a signal of a gear switch is received: if the gear switch signal is received, acquiring the state of the gear electromagnetic valve, and judging whether the gear switch signal is matched with the state of the gear electromagnetic valve: if the gear electromagnetic valve is matched with the gear electromagnetic valve, keeping the gear electromagnetic valve unchanged; if not, acquiring a signal of the pressure switch; if the gear switch signal is not received, keeping the gear electromagnetic valve unchanged; judging whether the pressure switch signal meets a preset condition: if the preset conditions are met, controlling the gear electromagnetic valve to reverse; if the preset condition is not met, keeping the gear electromagnetic valve unchanged, and failing to switch gears of the gearbox; the invention can perform safe and reliable driving control.
Description
Technical Field
The invention relates to a running control method and a running control system of a wheel type excavator and the wheel type excavator, and belongs to the technical field of engineering machinery.
Background
Compared with the traditional crawler excavator, the wheel excavator has the advantages of mobility, flexibility, high driving speed and the like, and can realize long-distance movement. For different working conditions, the wheel excavator generally switches the gears of the running speed by changing the reduction ratio of the gearbox, different speed gears correspond to different torques, for example, the ground is soft or a slope is climbed, a large torque is needed, a low-speed gear is hung, the running speed is slow but stronger, and a flat cement road surface needs to be hung with a high-speed gear to run faster. The gear box structure used by the wheel excavator with different tonnages is also different. The large-tonnage wheel type excavator gearbox is complex in structure and can realize gear shifting during running, while the small-tonnage wheel type excavator gearbox is generally low in price and simple in structure, cannot realize gear shifting during running and needs to be stopped for gear shifting.
The existing small-tonnage wheeled excavator mostly changes the running speed through the gear of a gearbox, and in order to meet the requirements of parking and gear shifting, the existing scheme is that a rotating speed sensor is arranged on the gearbox, the rotating speed sensor monitors the rotating speed of the gearbox in real time and transmits the rotating speed to a controller through an electric signal, and when a driver performs gear shifting operation, the controller analyzes the current speed and judges whether the gear shifting is allowed or not; the scheme mode is too single, and the actual use requirement cannot be met.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a running control method and a running control system of a wheel type excavator and the wheel type excavator, and solves the technical problem that the speed control scheme mode of the existing small-tonnage wheel type excavator is too single and cannot meet the requirement.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method for controlling travel of a wheel excavator, comprising:
judging whether a signal of a gear switch is received:
if the gear switch signal is received, acquiring the state of the gear electromagnetic valve, and judging whether the gear switch signal is matched with the state of the gear electromagnetic valve: if the gear electromagnetic valve is matched with the gear electromagnetic valve, keeping the gear electromagnetic valve unchanged; if not, acquiring a signal of the pressure switch; if the gear switch signal is not received, keeping the gear electromagnetic valve unchanged;
judging whether the pressure switch signal meets a preset condition:
if the preset conditions are met, controlling the gear electromagnetic valve to reverse, and switching the gears of the gearbox; if the preset condition is not met, the gear electromagnetic valve is kept unchanged, and gear switching of the gearbox fails.
Optionally, the preset condition is that the pressure switch signal reaches a preset pressure value and lasts for a preset time.
Optionally, the method further includes determining whether a signal of the slow moving switch is received:
if a slow moving switch signal is received, the slow moving electromagnetic valve is controlled to change direction, so that the large displacement of the moving motor is locked; and if the slow moving switch signal is not received, keeping the slow moving electromagnetic valve unchanged.
In a second aspect, the invention provides a travel control system of a wheeled excavator, wherein the travel control system adopts a travel control method of the wheeled excavator; the running control system comprises a hydraulic oil tank, a hydraulic pump, a running motor, a gearbox, a slow running electromagnetic valve, a gear electromagnetic valve, a brake cylinder, a pressure switch, a brake pedal valve, a slow running switch, a gear switch and a controller;
the hydraulic oil tank is characterized in that oil outlets of the hydraulic oil tank are respectively connected to oil inlets of a slow-moving electromagnetic valve, a gear electromagnetic valve and a brake pedal valve through a hydraulic pump, the oil outlet of the slow-moving electromagnetic valve is connected to the oil inlet of a traveling motor, and two oil outlets of the gear electromagnetic valve are respectively connected to a high-speed gear oil inlet and a low-speed gear oil inlet of a gearbox; an oil outlet of the brake pedal valve is connected to a brake cylinder and a pressure switch; oil return ports of the slow moving electromagnetic valve, the gear electromagnetic valve and the brake pedal valve are connected to an oil return port of the hydraulic oil tank; the pressure switch, the slow moving switch, the gear switch, the slow moving electromagnetic valve and the gear electromagnetic valve are respectively and electrically connected with the controller.
Optionally, a display component is further connected to the controller.
Optionally, a locking mechanism is arranged on the brake pedal valve.
In a third aspect, the invention provides a wheeled excavator, comprising a control system, wherein the control system adopts the control method for the traveling speed of the wheeled excavator.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a running control method and a running control system of a wheel excavator and the wheel excavator, wherein a controller judges whether to allow a gearbox to shift or not by acquiring a brake pressure signal, and is suitable for a vehicle of which the gearbox needs to be stopped and shifted; after the braking pressure signal meets the preset condition, the gear shifting switch is controlled to switch between the high speed and the low speed of the gearbox, so that the method is simple, practical, safe and reliable; by controlling the gear of the gearbox and the displacement of the motor, the speed mode of the vehicle is increased, and more working condition requirements are met.
Drawings
Fig. 1 is a flowchart of a method for controlling the travel of a wheeled excavator according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a travel control system of a wheeled excavator according to a second embodiment of the present invention;
labeled as:
1. the hydraulic brake system comprises a hydraulic oil tank, 2, a hydraulic pump, 3, a walking motor, 4, a gearbox, 5, a slow-moving electromagnetic valve, 6, a gear electromagnetic valve, 7, a brake cylinder, 8, a pressure switch, 9 and a brake pedal valve.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
as shown in fig. 1, an embodiment of the present invention provides a method for controlling travel of a wheeled excavator, including the steps of:
s1, judging whether a signal of a slow moving switch is received:
if a slow moving switch signal is received, the slow moving electromagnetic valve is controlled to change direction, so that the large displacement of the moving motor is locked; if the signal of the slow moving switch is not received, the slow moving electromagnetic valve is kept unchanged;
s2, judging whether a signal of a gear switch is received:
if the gear switch signal is received, acquiring the state of the gear electromagnetic valve, and judging whether the gear switch signal is matched with the state of the gear electromagnetic valve: if the gear electromagnetic valve is matched with the gear electromagnetic valve, keeping the gear electromagnetic valve unchanged; if not, acquiring a signal of the pressure switch; if the gear switch signal is not received, keeping the gear electromagnetic valve unchanged;
the gear switch signal comprises a high-speed gear signal and a low-speed gear signal, the gear electromagnetic valve state comprises a high-speed gear state and a low-speed gear state, the high-speed gear signal is matched with the high-speed gear state, and the low-speed gear signal is matched with the low-speed gear state.
S3, judging whether the pressure switch signal meets the preset condition:
if the preset conditions are met, controlling the gear electromagnetic valve to reverse, and switching the gears of the gearbox; if the preset condition is not met, the gear electromagnetic valve is kept unchanged, and gear switching of the gearbox fails.
The preset condition is that the pressure switch signal reaches a preset pressure value and lasts for a preset time.
Example two:
as shown in fig. 2, the present invention provides a travel control system of a wheeled excavator according to a first embodiment, wherein the travel control system adopts a travel control method of a wheeled excavator according to the first embodiment; the running control system comprises a hydraulic oil tank 1, a hydraulic pump 2, a running motor 3, a gearbox 4, a slow running electromagnetic valve 5, a gear electromagnetic valve 6, a brake cylinder 7, a pressure switch 8, a brake pedal valve 9, a slow running switch, a gear switch and a controller; the connection relationship is as follows:
an oil outlet of the hydraulic oil tank 1 is respectively connected to oil inlets of a slow-moving solenoid valve 5, a gear solenoid valve 6 and a brake pedal valve 9 through a hydraulic pump 2, an oil outlet of the slow-moving solenoid valve 5 is connected to an oil inlet of a traveling motor 3, and two oil outlets of the gear solenoid valve 6 are respectively connected to a high-speed gear oil inlet B and a low-speed gear oil inlet A of a gearbox 4; an oil outlet of the brake pedal valve 9 is connected to the brake cylinder 7 and the pressure switch 8; oil return ports of the slow moving electromagnetic valve 5, the gear electromagnetic valve 6 and the brake pedal valve 9 are connected to an oil return port of the hydraulic oil tank 1; the pressure switch, the slow moving switch, the gear switch, the slow moving electromagnetic valve 5 and the gear electromagnetic valve 6 are respectively electrically connected with the controller. In addition, the controller is also connected with a display part for displaying information; the brake pedal valve is provided with a locking mechanism for locking and reaching a preset pressure value after the brake pedal valve 9 is stepped to the bottom.
The running control system has the working principle that:
when a vehicle runs at a low-speed gear (namely the state of a gear electromagnetic valve is a low-speed gear state), a driver wants to change to a high-speed gear to run, the driver needs to step on a brake pedal valve 9, pressure oil of a hydraulic pump 2 acts on a brake cylinder 7 and a pressure switch 8 through the brake pedal valve 9, the detected brake pressure signal reaches a preset pressure value and time meets requirements, the gear switch is turned, a controller collects that the gear switch is a high-speed gear signal at the moment, a gear electromagnetic valve 6 is in a low-speed gear state, an instruction is sent to electrify the electromagnetic valve 6, the gear electromagnetic valve 6 is reversed, an oil outlet A is communicated with an oil inlet B of a high-speed gear of a gearbox 4, the pressure oil of the hydraulic pump 2 enters an oil inlet B of the high-speed gear of the gearbox 4 through the gear electromagnetic valve 6 to push the gearbox 4 to be changed into the high-speed gear, and because the reduction ratio of the gearbox 4 and a walking motor 3 in the high-speed gear state is small, the vehicle speed is high.
When the vehicle runs at a low-speed gear, a driver wants to change to a high-speed gear, only the brake is lightly stepped to decelerate, the gear switch is shifted, the controller collects that the gear switch is a high-speed gear signal at the moment, the gear electromagnetic valve 6 is in a low-speed gear state, but the detection brake pressure does not reach a preset pressure value, an instruction is sent out to enable the instrument to display gear shifting failure information, and at the moment, although the gear switch is in the high-speed gear, the vehicle still runs at the low-speed gear. The control mode of the driver is the same as that of the situation when the driver mistakenly hits the gear switch during the running of the vehicle.
When a vehicle runs at a low-speed gear, a driver wants to change to a high-speed gear, the driver immediately dials the gear switch after stepping on the brake pedal valve 9, the controller collects that the gear switch is a high-speed gear signal, the gear solenoid valve 6 is in a low-speed gear state, the brake pressure reaches a preset pressure value, but the locking time is not within a preset time, an instruction is sent to allow the instrument to display gear shift failure information, after the preset time is reached, the controller detects that the brake pressure reaches the preset pressure value and the time meets the requirement, the gear solenoid valve 6 is powered on, the gear solenoid valve 6 is reversed, the oil outlet A is communicated with a high-speed gear oil inlet B of the gearbox 4, pressure oil of the hydraulic pump 2 enters the high-speed gear oil inlet B of the gearbox 4 through the gear solenoid valve 6, and the gearbox 4 is pushed to change into a high-speed gear.
When the vehicle is in the high-speed gear, the vehicle is stopped and flamed out, the gear electromagnetic valve 6 is powered off, the gear electromagnetic valve 6 is reset to be in the low-speed gear state, after the vehicle is started by striking sparks again, the controller collects that the gear switch is a high-speed gear signal at the moment, the gear electromagnetic valve 6 is in the low-speed gear state, but the detection brake pressure does not reach the preset pressure value, and the instrument is sent out to display the gear shifting failure information.
When the vehicle is in low-speed gear position and goes, the controller gathers the signal of slowly going, and the order is given, and slowly going solenoid valve 5 gets electric, and hydraulic pump 2's pressure oil gets into walking motor 3 oil inlet P through slowly going solenoid valve 5, and walking motor variable piston displacement, motor displacement increase, speed reduction, and the motor displacement can increase to maximum condition this moment, and whole car moment of torsion also is the biggest this moment, and this state is applicable to and goes at road conditions such as muddy road or abrupt slope.
When the vehicle is in high-speed gear and traveles (gear solenoid valve state is high-speed gear state promptly), stir and slowly move switch 5, the controller gathers slowly the line signal, give-out instruction, slowly move solenoid valve 5 and receive electricity, the pressure oil of hydraulic pump 2 gets into walking motor 3 oil inlet P through slowly moving solenoid valve 5, walking motor 3 variable piston displacement, walking motor 3 discharge capacity increase, speed reduces, walking motor 3 discharge capacity can increase to maximum condition this moment, whole car moment of torsion increases. This state is suitable for a road surface where a pothole suddenly appears in front when the vehicle is running at a high speed, and can avoid the sense of no force and the feeling of jerk caused by the variable of the traveling motor 3 being not timely.
Example three:
the embodiment of the invention provides a wheeled excavator, which comprises a control system, wherein the control system adopts the control method for the traveling speed of the wheeled excavator.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A travel control method for a wheel excavator, comprising:
judging whether a signal of a gear switch is received:
if the gear switch signal is received, acquiring the state of the gear electromagnetic valve, and judging whether the gear switch signal is matched with the state of the gear electromagnetic valve: if the gear electromagnetic valve is matched with the gear electromagnetic valve, keeping the gear electromagnetic valve unchanged; if not, acquiring a signal of the pressure switch; if the gear switch signal is not received, keeping the gear electromagnetic valve unchanged;
judging whether the pressure switch signal meets a preset condition:
if the preset conditions are met, controlling the gear electromagnetic valve to reverse, and switching the gears of the gearbox; if the preset condition is not met, the gear electromagnetic valve is kept unchanged, and gear switching of the gearbox fails.
2. The travel control method of a wheeled excavator according to claim 1, wherein the preset condition is that the pressure switch signal reaches a preset pressure value for a preset time.
3. The method of claim 1, further comprising determining whether a signal from the jog switch is received:
if a slow moving switch signal is received, the slow moving electromagnetic valve is controlled to change direction, so that the large displacement of the moving motor is locked; if the slow running switch signal is not received, the slow running electromagnetic valve is kept unchanged.
4. A travel control system of a wheeled excavator, characterized in that the travel control system employs a travel control method of a wheeled excavator according to any one of claims 1 to 3; the running control system comprises a hydraulic oil tank, a hydraulic pump, a running motor, a gearbox, a slow running electromagnetic valve, a gear electromagnetic valve, a brake cylinder, a pressure switch, a brake pedal valve, a slow running switch, a gear switch and a controller;
the hydraulic oil tank is characterized in that oil outlets of the hydraulic oil tank are respectively connected to oil inlets of a slow-moving electromagnetic valve, a gear electromagnetic valve and a brake pedal valve through a hydraulic pump, the oil outlet of the slow-moving electromagnetic valve is connected to the oil inlet of a traveling motor, and two oil outlets of the gear electromagnetic valve are respectively connected to a high-speed gear oil inlet and a low-speed gear oil inlet of a gearbox; an oil outlet of the brake pedal valve is connected to a brake cylinder and a pressure switch; oil return ports of the slow moving electromagnetic valve, the gear electromagnetic valve and the brake pedal valve are connected to an oil return port of the hydraulic oil tank; the pressure switch, the slow moving switch, the gear switch, the slow moving electromagnetic valve and the gear electromagnetic valve are respectively and electrically connected with the controller.
5. The travel control system of a wheeled excavator according to claim 4 wherein a display unit is further connected to the controller.
6. The travel control system of a wheeled excavator according to claim 4 wherein the brake pedal valve is provided with a locking mechanism.
7. A wheeled excavator comprising a control system, wherein the control system employs a travel control method of a wheeled excavator according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210885018.9A CN115059138B (en) | 2022-07-26 | Running control method and running control system for wheel excavator and wheel excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210885018.9A CN115059138B (en) | 2022-07-26 | Running control method and running control system for wheel excavator and wheel excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115059138A true CN115059138A (en) | 2022-09-16 |
| CN115059138B CN115059138B (en) | 2024-05-10 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990000967A (en) * | 1997-06-11 | 1999-01-15 | 김재복 | Neutral slow down device for manual transmission for automobile |
| CN202812167U (en) * | 2012-07-27 | 2013-03-20 | 长城汽车股份有限公司 | Hydraulic control system capable of buffering L-gear shifting impact in automatic transmission |
| CN103741759A (en) * | 2013-12-31 | 2014-04-23 | 湖南三一路面机械有限公司 | Engineering vehicle and tender moving device and tender moving control method thereof |
| CN104863564A (en) * | 2015-01-29 | 2015-08-26 | 徐州徐工基础工程机械有限公司 | Display system for torque and push-pull force values of horizontal directional drilling machine |
| CN210133103U (en) * | 2019-06-19 | 2020-03-10 | 一汽解放汽车有限公司 | Auxiliary braking system and vehicle |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990000967A (en) * | 1997-06-11 | 1999-01-15 | 김재복 | Neutral slow down device for manual transmission for automobile |
| CN202812167U (en) * | 2012-07-27 | 2013-03-20 | 长城汽车股份有限公司 | Hydraulic control system capable of buffering L-gear shifting impact in automatic transmission |
| CN103741759A (en) * | 2013-12-31 | 2014-04-23 | 湖南三一路面机械有限公司 | Engineering vehicle and tender moving device and tender moving control method thereof |
| CN104863564A (en) * | 2015-01-29 | 2015-08-26 | 徐州徐工基础工程机械有限公司 | Display system for torque and push-pull force values of horizontal directional drilling machine |
| CN210133103U (en) * | 2019-06-19 | 2020-03-10 | 一汽解放汽车有限公司 | Auxiliary braking system and vehicle |
| CN111075922A (en) * | 2019-11-19 | 2020-04-28 | 贵州詹阳动力重工有限公司 | Walking automatic gear shifting control method of wheel excavator |
Non-Patent Citations (1)
| Title |
|---|
| 姜友山、韦海云、赵建军、金轲: "新型电控变速阀设计及问题分析", 建筑机械化, no. 10, pages 78 - 79 * |
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