CN115059138B - Running control method and running control system for wheel excavator and wheel excavator - Google Patents
Running control method and running control system for wheel excavator and wheel excavator Download PDFInfo
- Publication number
- CN115059138B CN115059138B CN202210885018.9A CN202210885018A CN115059138B CN 115059138 B CN115059138 B CN 115059138B CN 202210885018 A CN202210885018 A CN 202210885018A CN 115059138 B CN115059138 B CN 115059138B
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- gear
- creep
- switch
- electromagnetic valve
- valve
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000008859 change Effects 0.000 claims abstract description 13
- 239000003921 oil Substances 0.000 claims description 33
- 239000012208 gear oil Substances 0.000 claims description 10
- 239000010720 hydraulic oil Substances 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a running control method and a running control system of a wheel excavator and the wheel excavator, wherein the method comprises the following steps: judging whether a signal of a creep switch is received or not: if the creep switch signal is received, controlling the creep electromagnetic valve to change the direction; if the creep switch signal is not received, keeping the creep electromagnetic valve unchanged; judging whether a signal of a gear switch is received or not: 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 or not: if the two solenoid valves are matched, the gear solenoid valve is kept unchanged; if the signals are not matched, signals of the pressure switch are obtained; if the gear switch signal is not received, the gear electromagnetic valve is kept unchanged; judging whether the pressure switch signal meets the preset condition: if the preset condition is met, controlling the gear electromagnetic valve to change direction; if the preset condition is not met, the gear solenoid valve is kept unchanged, and the gear of the gearbox is failed to switch; the invention can perform safe and reliable running control.
Description
Technical Field
The invention relates to a running control method and a running control system of a wheel excavator and the wheel excavator, and belongs to the technical field of engineering machinery.
Background
Compared with the traditional crawler excavator, the wheel excavator has the advantages of being mobile, flexible, high in running speed and the like, and long-distance movement can be achieved. For different working conditions, the wheel excavator generally realizes gear switching of running speed by changing the reduction ratio of the gearbox, different speed gears correspond to different torques, for example, large torque is required when the ground is soft or climbs a slope, a low-speed gear is hung, the running speed is slow but stronger, and a flat cement pavement needs a high-speed gear to be hung, so that running can be faster. And the structure of the gear box used by the wheel type excavator with different tonnages is also different. The large-tonnage wheel excavator gearbox has a complex structure and can realize gear shifting in running, while the small-tonnage wheel excavator gearbox is generally low in price and simple in structure, can not realize gear shifting in running and needs to stop gear shifting.
The existing small-tonnage wheel type excavator mostly changes the running speed through the gear of a gearbox, and in order to meet the requirement of stopping 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 the rotating speed sensor is transmitted to a controller through an electric signal, and when a driver performs gear shifting operation, the controller analyzes the current speed and judges whether gear shifting is allowed or not; the scheme mode is too single and cannot meet the actual use requirement.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a running control method and a running control system of a wheel excavator and the wheel excavator, and solves the technical problem that the speed control scheme of the existing small-tonnage wheel excavator is too single in mode and cannot meet requirements.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a travel control method of a wheel excavator, including:
judging whether a signal of a gear switch is received or not:
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 or not: if the two solenoid valves are matched, the gear solenoid valve is kept unchanged; if the signals are not matched, signals of the pressure switch are obtained; if the gear switch signal is not received, the gear electromagnetic valve is kept unchanged;
Judging whether the pressure switch signal meets the preset condition:
If the preset condition is met, controlling the gear electromagnetic valve to change the direction, so that the gear of the gearbox is switched; if the preset condition is not met, the gear electromagnetic valve is kept unchanged, and the 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 judging whether a signal of the inching switch is received:
If the slow-running switch signal is received, controlling the slow-running electromagnetic valve to change the direction, so that the large-displacement of the running motor is locked; if the creep switch signal is not received, the creep electromagnetic valve is kept unchanged.
In a second aspect, the present invention provides a travel control system of a wheel excavator, the travel control system adopting a travel control method of a wheel excavator as described above; the running control system comprises a hydraulic oil tank, a hydraulic pump, a running motor, a gearbox, a creep solenoid valve, a gear solenoid valve, a brake cylinder, a pressure switch, a brake foot valve, a creep switch, a gear switch and a controller;
The oil outlets of the hydraulic oil tanks are respectively connected to the oil inlets of the creep solenoid valve, the gear solenoid valve and the brake pedal valve through the hydraulic pump, the oil outlets of the creep solenoid valve are connected to the oil inlet of the traveling motor, and the two oil outlets of the gear solenoid valve are respectively connected to the high-speed gear oil inlet and the low-speed gear oil inlet of the gearbox; the oil outlet of the brake pedal valve is connected to the brake cylinder and the pressure switch; the oil return port of the slow solenoid valve, the gear solenoid valve and the brake pedal valve is connected to the oil return port of the hydraulic oil tank; the pressure switch, the creep switch, the gear switch, the creep 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 present invention provides a wheeled excavator comprising a control system employing a control method for the travelling speed of a wheeled excavator as described above.
Compared with the prior art, the invention has the beneficial effects that:
The invention provides a running control method and a running control system of a wheel excavator and the wheel excavator.A controller judges whether a gearbox is allowed to shift gears or not by collecting a brake pressure signal, and is suitable for vehicles of which the gearbox needs to be stopped and shifted; after the brake pressure signal meets the preset condition, the gear shift switch is controlled to switch between high speed and low speed of the gearbox, so that the device 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 demands are met.
Drawings
Fig. 1 is a flowchart of a travel control method of a wheel excavator according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a travel control system of a wheel excavator according to a second embodiment of the present invention;
Marked in the figure as:
1. the hydraulic oil tank, 2, the hydraulic pump, 3, the walking motor, 4, the gearbox, 5, the creep solenoid valve, 6, the gear solenoid valve, 7, the brake cylinder, 8, the pressure switch, 9, the braking foot valve.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Embodiment one:
as shown in fig. 1, an embodiment of the present invention provides a travel control method for a wheel excavator, including the steps of:
s1, judging whether a signal of a slow switch is received or not:
If the slow-running switch signal is received, controlling the slow-running electromagnetic valve to change the direction, so that the large-displacement of the running motor is locked; if the creep switch signal is not received, keeping the creep electromagnetic valve unchanged;
s2, judging whether a signal of a gear switch is received or not:
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 or not: if the two solenoid valves are matched, the gear solenoid valve is kept unchanged; if the signals are not matched, signals of the pressure switch are obtained; if the gear switch signal is not received, the gear electromagnetic valve is kept unchanged;
the gear switch signal comprises a high-speed gear and a low-speed gear, 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 preset conditions or not:
If the preset condition is met, controlling the gear electromagnetic valve to change the direction, so that the gear of the gearbox is switched; if the preset condition is not met, the gear electromagnetic valve is kept unchanged, and the 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.
Embodiment two:
As shown in fig. 2, the present invention provides a travel control system for a wheel excavator according to the first embodiment, wherein the travel control system adopts a travel control method for a wheel 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 creep solenoid valve 5, a gear solenoid valve 6, a brake cylinder 7, a pressure switch 8, a brake foot valve 9, a creep switch, a gear switch and a controller; the connection relation is as follows:
The oil outlet of the hydraulic oil tank 1 is respectively connected to the oil inlets of the creep solenoid valve 5, the gear solenoid valve 6 and the brake pedal valve 9 through the hydraulic pump 2, the oil outlet of the creep solenoid valve 5 is connected to the oil inlet of the traveling motor 3, and the two oil outlets of the gear solenoid valve 6 are respectively connected to the high-speed gear oil inlet B and the low-speed gear oil inlet A of the gearbox 4; the oil outlet of the brake pedal valve 9 is connected to the brake cylinder 7 and the pressure switch 8; the oil return port of the retarder solenoid valve 5, the gear solenoid valve 6 and the brake pedal valve 9 is connected to the oil return port of the hydraulic oil tank 1; the pressure switch, the creep switch, the gear switch, the creep electromagnetic valve 5 and the gear electromagnetic valve 6 are respectively and electrically connected with the controller. In addition, the controller is also connected with a display component 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 on.
The working principle of the running control system is as follows:
When the vehicle is in a low-speed gear running state (namely, the state of a gear electromagnetic valve is in a low-speed gear state), a driver wants to change to a high-speed gear running state, 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, a brake pressure signal is detected to reach a preset pressure value and the time meets the requirement, the gear switch is stirred, a controller collects that the gear switch is the high-speed gear signal at the moment, the gear electromagnetic valve 6 is in the low-speed gear state, an instruction is sent to enable the electromagnetic valve 6 to obtain electricity, the gear electromagnetic valve 6 commutates, an oil outlet A is communicated with a high-speed gear oil inlet B of a gearbox 4, the pressure oil of the hydraulic pump 2 enters the high-speed gear oil inlet B of the gearbox 4 through the gear electromagnetic valve 6, the gearbox 4 is pushed to change to the high-speed gear, and the speed is high due to small reduction ratio of the gearbox 4 and the running motor 3 in the high-speed gear state.
When the vehicle runs in a low-speed gear, the driver only lightly steps on the brake to reduce the speed and dials the gear switch when the driver wants to change to the high-speed gear, the controller collects that the gear switch is in the high-speed gear signal, the gear electromagnetic valve 6 is in the low-speed gear state, but the detected brake pressure does not reach the preset pressure value, and an instruction is sent to enable the instrument to display the gear-shifting failure information, and at the moment, the vehicle runs in the low-speed gear even though the gear switch is in the high-speed gear. The driver's situation of erroneously touching the shift switch while the vehicle is running is controlled in the same manner as in this case.
When the vehicle runs in a low-speed gear, a driver wants to change to a high-speed gear, the driver immediately dials a gear switch after stepping on a brake foot valve 9, the controller collects that the gear switch is in a high-speed gear signal, a gear electromagnetic valve 6 is in a low-speed gear state, the brake pressure is detected to reach a preset pressure value, but the locking time is not up to the preset time, an instruction is sent to enable an instrument to display gear shifting 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, an instruction berth-giving is sent to enable the gear electromagnetic valve 6 to obtain electricity, the gear electromagnetic valve 6 is reversed, an oil outlet A is communicated with a high-speed gear oil inlet B of a gearbox 4, and pressure oil of a hydraulic pump 2 enters the high-speed gear oil inlet B of the gearbox 4 through the gear electromagnetic valve 6 to push the gearbox 4 to change to the high-speed gear.
When the vehicle is in a high-speed gear, the vehicle stops and is flameout, the gear electromagnetic valve 6 is powered off, the gear electromagnetic valve 6 is reset, the gear electromagnetic valve 6 is changed into a low-speed gear state, after the re-ignition is started, the controller collects that the gear switch is a high-speed gear signal, the gear electromagnetic valve 6 is in a low-speed gear state, but the brake pressure is detected to not reach a preset pressure value, and an instruction is sent to enable the instrument to display gear shifting failure information.
When the vehicle runs at a low speed gear, the controller collects a creep signal, sends an instruction, the creep electromagnetic valve 5 is powered on, pressure oil of the hydraulic pump 2 enters the oil inlet P of the traveling motor 3 through the creep electromagnetic valve 5, the variable piston of the traveling motor is displaced, the displacement of the motor is increased, the speed is reduced, the displacement of the motor is increased to a maximum state, the torque of the whole vehicle is maximum at the moment, and the state is suitable for road conditions such as a muddy road or a steep slope.
When the vehicle runs in a high-speed gear (namely, the state of a gear electromagnetic valve is in a high-speed gear state), the creep switch is stirred, the controller collects a creep signal and sends an instruction, the creep electromagnetic valve 5 is electrified, pressure oil of the hydraulic pump 2 enters an oil inlet P of the traveling motor 3 through the creep electromagnetic valve 5, the variable piston of the traveling motor 3 is displaced, the displacement of the traveling motor 3 is increased, the speed is reduced, the displacement of the traveling motor 3 is increased to a maximum state at the moment, and the torque of the whole vehicle is increased. The state is suitable for the situation that a hollow road surface suddenly appears in front of the vehicle when the vehicle runs at a high speed gear, and can avoid the weakness and the setback caused by untimely variable of the running motor 3.
Embodiment III:
the embodiment of the invention provides a wheel excavator, which comprises a control system, wherein the control system adopts the control method for the running speed of the wheel excavator.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (5)
1. The running control system of the wheel type excavator is characterized by comprising a hydraulic oil tank, a hydraulic pump, a running motor, a gearbox, a creep solenoid valve, a gear solenoid valve, a brake cylinder, a pressure switch, a brake foot valve, a creep switch, a gear switch and a controller;
The oil outlets of the hydraulic oil tanks are respectively connected to the oil inlets of the creep solenoid valve, the gear solenoid valve and the brake pedal valve through the hydraulic pump, the oil outlets of the creep solenoid valve are connected to the oil inlet of the traveling motor, and the two oil outlets of the gear solenoid valve are respectively connected to the high-speed gear oil inlet and the low-speed gear oil inlet of the gearbox; the oil outlet of the brake pedal valve is connected to the brake cylinder and the pressure switch; the oil return port of the slow solenoid valve, the gear solenoid valve and the brake pedal valve is connected to the oil return port of the hydraulic oil tank; the pressure switch, the creep switch, the gear switch, the creep electromagnetic valve and the gear electromagnetic valve are respectively and electrically connected with the controller;
The running control method adopted by the running control system comprises the following steps:
judging whether a signal of a gear switch is received or not:
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 or not: if the two solenoid valves are matched, the gear solenoid valve is kept unchanged; if the signals are not matched, signals of the pressure switch are obtained; if the gear switch signal is not received, the gear electromagnetic valve is kept unchanged;
Judging whether the pressure switch signal meets the preset condition:
If the preset condition is met, controlling the gear electromagnetic valve to change the direction, so that the gear of the gearbox is switched; if the preset condition is not met, the gear electromagnetic valve is kept unchanged, and the gear switching of the gearbox fails.
2. The travel control system of a wheeled excavator of claim 1 wherein the controller is further connected to a display unit.
3. The travel control system of a wheel excavator according to claim 1, wherein the brake pedal valve is provided with a lock mechanism.
4. The travel control system of a wheeled excavator of claim 1 wherein the predetermined condition is the pressure switch signal reaching a predetermined pressure value for a predetermined time.
5. The travel control system of a wheel excavator of claim 1 further comprising determining whether a creep switch signal is received:
If the slow-running switch signal is received, controlling the slow-running electromagnetic valve to change the direction, so that the large-displacement of the running motor is locked; if the creep switch signal is not received, the creep electromagnetic valve is kept unchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210885018.9A CN115059138B (en) | 2022-07-26 | 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 | 2022-07-26 | Running control method and running control system for wheel excavator and wheel excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115059138A CN115059138A (en) | 2022-09-16 |
| CN115059138B true CN115059138B (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210885018.9A Active CN115059138B (en) | 2022-07-26 | 2022-07-26 | Running control method and running control system for wheel excavator and wheel excavator |
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| CN (1) | CN115059138B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
-
2022
- 2022-07-26 CN CN202210885018.9A patent/CN115059138B/en active Active
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 |
|---|
| 新型电控变速阀设计及问题分析;姜友山、韦海云、赵建军、金轲;建筑机械化(第第10期期);第78-79页 * |
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| CN115059138A (en) | 2022-09-16 |
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