阅读说明：本技术 一种工程机械的控制方法及工程机械 (Control method of engineering machinery and engineering machinery ) 是由 陈莉 胡滨 王涛卫 孔海龙 高祥超 于 2020-12-11 设计创作，主要内容包括：本发明涉及工程机械技术领域,具体公开了一种工程机械的控制方法及工程机械,该工程机械的控制方法包括确认当前挡位发生故障并分析故障原因；若仅当前挡位的挡位电磁阀发生故障,则执行自动换挡处理；自动换挡处理包括：判断当前挡位为低挡位、中挡位或高挡位；若当前挡位为中挡位,则判断低挡位的挡位电磁阀是否正常；若低挡位的挡位电磁阀正常,则降挡至低挡位。该工程机械的控制方法,当判断因中挡位的电磁阀发生故障而造成中挡位故障时,控制器主动介入,并将中挡位切换为正常的低挡位,可保证驾乘安全,并防止离合器部件损坏。(The invention relates to the technical field of engineering machinery, and particularly discloses a control method of engineering machinery and the engineering machinery, wherein the control method of the engineering machinery comprises the steps of confirming that a current gear has a fault and analyzing the fault reason; if only the gear electromagnetic valve of the current gear breaks down, executing automatic gear shifting processing; the automatic shift process includes: judging whether the current gear is a low gear, a middle gear or a high gear; if the current gear is the middle gear, judging whether a gear electromagnetic valve of a low gear is normal; and if the electromagnetic valve of the low gear is normal, the gear is shifted down to the low gear. According to the control method of the engineering machinery, when the middle gear fault caused by the fault of the electromagnetic valve of the middle gear is judged, the controller is actively involved, the middle gear is switched to the normal low gear, the driving safety can be ensured, and the damage of a clutch component is prevented.)

1. A method of controlling a construction machine, comprising:

determining that the vehicle is in a driving state;

confirming that the current gear has a fault and analyzing the fault reason;

if only the gear electromagnetic valve of the current gear breaks down, executing automatic gear shifting processing;

the automatic shift process includes:

judging whether the current gear is a low gear, a middle gear or a high gear;

if the current gear is the middle gear, judging whether a gear electromagnetic valve of a low gear is normal;

and if the electromagnetic valve of the low gear is normal, the gear is shifted down to the low gear.

2. The control method of a construction machine according to claim 1, wherein in the automatic shift process, if it is determined that the current gear is the middle gear and the gear solenoid valve of the low gear is failed, it is determined whether the gear solenoid valve of the high gear is normal;

if the gear electromagnetic valve of the high gear is normal, reducing the rotating speed of the engine by a first set value, and then shifting up to the high gear;

if the gear electromagnetic valve of the high gear is in failure; neutral is engaged.

3. The control method of a construction machine according to claim 1, wherein in the automatic shift process, if it is determined that the current gear is the high gear, it is determined whether a gear solenoid valve of the middle gear is normal;

and if the electromagnetic valve of the gear in the middle gear is normal, the gear is shifted down to the middle gear.

4. The control method of a construction machine according to claim 3, wherein in the automatic shift process, if it is determined that the current gear is the high gear and it is determined that the gear solenoid valve of the middle gear is failed, it is determined whether the gear solenoid valve of the low gear is failed;

if the electromagnetic valve at the low gear is normal, the gear is shifted down to the low gear;

and if the gear electromagnetic valve of the low gear is in failure, the neutral gear is engaged.

5. The control method of a construction machine according to claim 1, wherein in the automatic shift process, if it is determined that the current shift position is the low shift position; judging whether the electromagnetic valve of the middle gear is normal;

and if the gear electromagnetic valve of the middle gear is normal, reducing the rotating speed of the engine by a second set value, and then shifting up to the middle gear.

6. The method according to claim 5, wherein in the automatic shift process, if the current gear is determined to be the low gear and the gear solenoid valve of the middle gear is determined to be faulty, it is determined whether the gear solenoid valve of the high gear is faulty;

if the gear electromagnetic valve of the high gear is normal, reducing the rotating speed of the engine by a third set value, and then shifting up to the high gear;

if the gear electromagnetic valve of the high gear is in failure; neutral is engaged.

7. The method according to claim 1, wherein when the current gear is determined to be faulty and the cause of the fault is analyzed, if the directional solenoid valve of the current gear is faulty; neutral is engaged.

8. The method according to claim 1, wherein when the current gear is determined to be faulty and the cause of the fault is analyzed, if only the gear solenoid valve of the current gear is faulty, the method further includes, before executing the automatic shift process:

confirming that the driver has not performed a manually operated shift.

9. The method of controlling a construction machine according to claim 1, wherein the intermediate-gear downshift to the low gear includes: the electromagnetic valve of the low gear is electrified, the current value is preset for the first time, and the clutch of the low gear is pre-charged and is not combined;

the current value of the gear electromagnetic valve of the middle gear is gradually reduced and finally is zero; the current value of the directional electromagnetic valve is gradually reduced to a second preset value, and the directional clutch is not separated yet;

the current value of the low-gear electromagnetic valve is gradually increased to a third set value, the low-gear clutch is combined, and the current value of the direction electromagnetic valve is gradually increased to a fourth set value.

10. A construction machine, characterized by being configured to implement the method of controlling a construction machine according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a control method of engineering machinery and the engineering machinery.

Background

Engineering machinery, such as an electric control bulldozer, often has some faults in the working process, and the faults can be detected by corresponding sensors to give an alarm.

Taking the walking control system having the greatest influence on the whole vehicle as an example, the electrical fault of the walking control system is generally a gear electromagnetic valve fault related to gear shifting. Specifically, according to the mechanical structure of the gearbox, a gear clutch and a direction clutch must be charged with oil at the same time, the gearbox can act, otherwise, the gearbox mechanism has no action reaction, wherein the clutches corresponding to each of the forward 1 gear, the forward 2 gear, the forward 3 gear, the reverse 1 gear, the reverse 2 gear and the reverse 3 gear are controlled by corresponding gear electromagnetic valves; the directional clutches corresponding to forward and backward movements are controlled by directional solenoid valves, and if any one of the solenoid valves fails, normal driving of the vehicle is affected. In the prior art, after a failure of the electromagnetic valve is detected, an alarm is sent to remind a driver. However, if the vehicle is in motion, the driver may not be able to resolve the fault timely and accurately, which may easily affect ride safety and may cause damage to the clutch components.

Disclosure of Invention

The invention aims to: the engineering machinery and the control method thereof are provided to solve the problems that when the engineering machinery in the related technology detects the fault of a gear electromagnetic valve or a direction electromagnetic valve, only an alarm is given, the driving safety is easily affected, and the damage of a clutch component is easily caused.

In one aspect, the present invention provides a method of controlling a construction machine, including:

determining that the vehicle is in a driving state;

confirming that the current gear has a fault and analyzing the fault reason;

if only the gear electromagnetic valve of the current gear breaks down, executing automatic gear shifting processing;

the automatic shift process includes:

judging whether the current gear is a low gear, a middle gear or a high gear;

if the current gear is the middle gear, judging whether a gear electromagnetic valve of a low gear is normal;

and if the electromagnetic valve of the low gear is normal, the gear is shifted down to the low gear.

As a preferred technical scheme of a control method of the engineering machinery, in the automatic gear shifting process, if the current gear is judged to be the middle gear and the gear electromagnetic valve of the low gear is in fault, whether the gear electromagnetic valve of the high gear is normal is judged;

if the gear electromagnetic valve of the high gear is normal, reducing the rotating speed of the engine by a first set value, and then shifting up to the high gear;

if the gear electromagnetic valve of the high gear is in failure; neutral is engaged.

As a preferred technical scheme of a control method of the engineering machinery, in the automatic gear shifting process, if the current gear is judged to be a high gear, whether a gear electromagnetic valve of a middle gear is normal is judged;

and if the electromagnetic valve of the gear in the middle gear is normal, the gear is shifted down to the middle gear.

As a preferred technical scheme of a control method of the engineering machinery, in the automatic gear shifting process, if the current gear is judged to be a high gear and the gear electromagnetic valve of the middle gear is judged to be in fault, whether the gear electromagnetic valve of the low gear is in fault is judged;

if the electromagnetic valve at the low gear is normal, the gear is shifted down to the low gear;

and if the gear electromagnetic valve of the low gear is in failure, the neutral gear is engaged.

As a preferred technical scheme of a control method of the engineering machinery, in the automatic gear shifting process, if the current gear is judged to be a low gear; judging whether the electromagnetic valve of the middle gear is normal;

and if the gear electromagnetic valve of the middle gear is normal, reducing the rotating speed of the engine by a second set value, and then shifting up to the middle gear.

As a preferred technical scheme of a control method of the engineering machinery, in the automatic gear shifting process, if the current gear is judged to be the low gear and the gear electromagnetic valve of the middle gear is judged to be in fault, whether the gear electromagnetic valve of the high gear is in fault is judged;

if the gear electromagnetic valve of the high gear is normal, reducing the rotating speed of the engine by a third set value, and then shifting up to the high gear;

if the gear electromagnetic valve of the high gear is in failure; neutral is engaged.

As an optimal technical scheme of a control method of the engineering machinery, when a current gear is determined to have a fault and the fault reason is analyzed, if the electromagnetic valve in the direction of the current gear has a fault; neutral is engaged.

As a preferred technical solution of the control method for the construction machine, when a failure occurs in a current gear and a cause of the failure is analyzed, if only a gear solenoid valve of the current gear fails, the method further includes, before executing the automatic shift process:

confirming that the driver has not performed a manually operated shift.

As a preferable technical solution of the control method for the construction machine, the intermediate gear downshift to the low gear includes: the electromagnetic valve of the low gear is electrified, the current value is preset for the first time, and the clutch of the low gear is pre-charged and is not combined;

the current value of the gear electromagnetic valve of the middle gear is gradually reduced and finally is zero; the current value of the directional electromagnetic valve is gradually reduced to a second preset value, and the directional clutch is not separated yet;

the current value of the low-gear electromagnetic valve is gradually increased to a third set value, the low-gear clutch is combined, and the current value of the direction electromagnetic valve is gradually increased to a fourth set value.

In another aspect, the present invention provides a construction machine configured to implement the method of controlling a construction machine according to any one of the above aspects.

The invention has the beneficial effects that:

the invention provides a control method of an engineering machine and the engineering machine, wherein the control method of the engineering machine comprises the steps of confirming that the current gear has a fault and analyzing the fault reason; if only the gear electromagnetic valve of the current gear breaks down, executing automatic gear shifting processing; the automatic shift process includes: judging whether the current gear is a low gear, a middle gear or a high gear; if the current gear is the middle gear, judging whether a gear electromagnetic valve of a low gear is normal; and if the electromagnetic valve of the low gear is normal, the gear is shifted down to the low gear. According to the control method of the engineering machinery, when the middle gear fault caused by the fault of the electromagnetic valve of the middle gear is judged, the controller is actively involved, the middle gear is switched to the normal low gear, the driving safety can be ensured, and the damage of a clutch component is prevented.

Drawings

Fig. 1 is a first flowchart of a control method of a construction machine according to an embodiment of the present invention;

FIG. 2 is a second flowchart of a method for controlling a construction machine according to an embodiment of the present invention;

fig. 3 is a flowchart of an automatic shift process in the embodiment of the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

The embodiment provides a construction machine which can be a bulldozer, a loader, an excavator and the like. The engineering machinery comprises a controller, a direction electromagnetic valve for controlling the vehicle to run, a low-gear electromagnetic valve, a middle-gear electromagnetic valve and a high-gear electromagnetic valve. Wherein the vehicle can move forward or backward. The direction solenoid valves, the low gear solenoid valves, the middle gear solenoid valves and the high gear solenoid valves are divided into two groups, one group of direction solenoid valves, one group of low gear solenoid valves, one group of middle gear solenoid valves and one group of high gear solenoid valves are used for controlling the vehicle to move forwards, and the other group of direction solenoid valves, the other group of low gear solenoid valves, the other group of middle gear solenoid valves and the other group of high gear solenoid valves are used for controlling the vehicle to move backwards. According to the former behavior example, the direction electromagnetic valve is used for controlling oil filling or oil draining of the direction clutch so as to enable the direction clutch to be combined or separated, the low-gear electromagnetic valve is used for controlling oil filling or oil draining of the low-gear clutch so as to enable the low-gear clutch to be combined or separated, the middle-gear electromagnetic valve is used for controlling oil filling or oil draining of the middle-gear clutch so as to enable the middle-gear clutch to be combined or separated, and the high-gear electromagnetic valve is used for controlling oil filling or oil draining of the high-gear clutch so as to enable the high-gear clutch to be combined or separated. When the vehicle moves forwards, the controller controls one of the low gear electromagnetic valve, the middle gear electromagnetic valve and the high gear electromagnetic valve to be electrified, the other two electromagnetic valves are not electrified, the direction electromagnetic valve is controlled to be electrified, the gearbox is located at a corresponding gear, and the vehicle can move forwards at the gear. It should be noted that the two gear clutches may not be engaged simultaneously, but the two gear solenoid valves may be energized simultaneously. For example, during a gear shifting operation, when a high gear is switched to a medium gear, the medium gear electromagnetic valve is powered on, but the current value is small, at this time, the medium gear clutch is charged with oil but is kept in a state of being combined but not being combined, the high gear electromagnetic valve is powered on, the high gear clutch is kept in a completely combined state, then the high gear electromagnetic valve is powered off, the high gear clutch is separated, the current value of the low gear electromagnetic valve is increased, and the low gear clutch is combined.

The engineering machinery further comprises a control handle, the control handle is connected with the controller, a driver can switch the vehicle to move forward, stop or move backward by operating the control handle, the engineering machinery further comprises two gear-up and gear-down buttons connected with the controller, one gear-up and gear-down button is used for switching gears when the vehicle moves forward, and the other gear-up and gear-down button is used for switching gears when the vehicle moves backward.

As shown in fig. 1, the present embodiment further provides a method for controlling a construction machine, where the method for controlling a construction machine is implemented by the construction machine, and the method for controlling a construction machine includes:

s100: it is determined that the vehicle is in a driving state.

The controller can be connected with an acceleration sensor arranged on the vehicle to acquire the current vehicle state, wherein the vehicle state comprises a running state and a stopping state.

S200: and confirming the fault of the current gear and analyzing the fault reason.

And if only the gear electromagnetic valve of the current gear fails, executing S300.

S300: and (5) automatic gear shifting processing.

The clutch is maintained at the current gear, the direction clutch and the gear clutch are required to be charged with oil at the same time, and when the current gear breaks down, only the direction clutch is charged with oil, or only the gear clutch is charged with oil, or neither the gear clutch nor the direction clutch is charged with oil. When only the directional electromagnetic valve is in fault, only the current gear clutch is filled with oil; when only the current gear electromagnetic valve has a fault, only the directional clutch is filled with oil; when the current gear electromagnetic valve and the current direction electromagnetic valve both have faults, the current gear clutch and the current direction clutch are not filled with oil. In this embodiment, pressure sensors are provided in the directional clutch, the low range clutch, the middle range clutch, and the high range clutch, and each pressure sensor is connected to the controller. The pressure sensors are used for detecting control oil pressure of the corresponding clutches, and the controller judges whether the current gear clutch or the directional clutch breaks down or not according to pressure values detected by the pressure sensors. Taking the current gear as the low gear and only the low gear solenoid valve breaks down as an example, the pressure sensor on the low gear clutch detects the actual oil pressure, and compared with the set pressure range of the low gear clutch preset in the controller, the actual oil pressure is outside the set pressure range, which indicates that the low gear clutch cannot work normally and the low gear solenoid valve breaks down.

The automatic shift process includes:

s301: and judging that the current gear is a low gear, a middle gear or a high gear.

The controller can acquire that the current gear is a low gear, a middle gear or a high gear according to the position of the current plus-minus gear button.

If the current gear is the middle gear, S302 is executed.

S302: and judging whether the electromagnetic valve at the low gear is normal or not.

If the low gear electromagnetic valve is normal, S303 is executed.

S303: and (5) downshifting to a low gear.

When judging whether the gear electromagnetic valve of the low gear is normal or not, the controller can control the power of the gear electromagnetic valve of the low gear to be on, but the current value of the control current is smaller and is I1, the low gear clutch can be filled with oil but can not be combined, the map1 which corresponds to the control current of the low gear electromagnetic valve and the low gear as the clutch and controls the oil pressure is preset in the controller, the controller obtains the actual oil pressure P1 through a pressure sensor in the low gear clutch and obtains the control current from the map1I1 control oil pressure P ifJudging that the electromagnetic valve at the low gear is normal, if so, judging that the electromagnetic valve at the low gear is normalThe low gear electromagnetic valve is judged to be abnormal, wherein the size of n can be set according to the requirement.

When the gear is shifted down, the controller controls gear switching through the middle gear electromagnetic valve, the low gear electromagnetic valve and the direction electromagnetic valve. The specific process comprises the following steps:

s3031: the gear electromagnetic valve of the low gear is electrified, the current value is preset for the first time, and the gear clutch of the low gear is pre-filled with oil and is not combined yet.

S3032: the current value of the gear electromagnetic valve of the middle gear is gradually reduced and finally is zero; and the current value of the directional solenoid valve is gradually reduced to a second preset value, and the directional clutch is not separated yet.

S3033: the current value of the low-gear electromagnetic valve is gradually increased to a third set value, the low-gear clutch is combined, and the current value of the direction electromagnetic valve is gradually increased to a fourth set value.

According to the control method of the engineering machinery, when the middle gear fault caused by the fault of the electromagnetic valve of the middle gear is judged, the controller is actively involved, the middle gear is switched to the normal low gear, the driving safety can be guaranteed, and the damage of a clutch component is prevented.

Optionally, referring to fig. 2, the method for controlling the gear of the construction machine further includes S210 between S200 and S300.

S210: confirming that the driver has not performed a manually operated shift.

The controller accessible is gathered and is added the downshift button and whether send the signal of telecommunication to judge whether the driver carries out the manual operation of shifting gears, if the driver carries out the manual operation of shifting gears, then the controller no longer intervenes voluntarily, and carries out driver's manual operation.

Optionally, referring to fig. 2, in S200, if the electromagnetic valve in the direction of the current gear fails; s400 is performed.

S400: and (5) neutral gear is engaged.

Taking the vehicle as an example when the vehicle advances, because the low gear, the middle gear and the high gear all need the cooperation of the directional clutch and the corresponding gear clutch to be ensured when the vehicle advances, when the directional electromagnetic valve breaks down, the vehicle cannot keep normal running, and at this time, the gear needs to be switched to the neutral gear to gradually stop the vehicle, so as to prevent accidents and prevent the transmission parts from being damaged.

Alternatively, referring to fig. 3, in S302, if the gear solenoid valve of the low gear fails, S304 is executed.

S304: and judging whether the electromagnetic valve at the high gear is normal or not.

If the high-range solenoid valve is normal, S305 is executed, and if the high-range solenoid valve is abnormal, S306 is executed.

S305: the engine speed is reduced by a first set point and then shifted up to a high gear.

S306: and (5) neutral gear is engaged.

The method for judging whether the high-gear electromagnetic valve is normal is the same as the method for judging the low-gear electromagnetic valve, and is not described herein again. The first set value can be set as required.

Under the condition that the middle gear is abnormal, if only the gear electromagnetic valve of the high gear is normal, the gear is lifted to the position between the high gear to perform engine speed reduction treatment, so that the condition that the vehicle speed suddenly rises too fast to cause a driver to have no time to react and cause safety accidents can be prevented. When the gear electromagnetic valve of the high gear is also abnormal, the gear is shifted to the neutral gear, and the vehicle can stop gradually, so that the safety of the vehicle is ensured.

Alternatively, in S301, if it is determined that the current gear is the high gear, S307 is executed.

S307: judging whether a gear electromagnetic valve of a middle gear is normal or not;

if the gear electromagnetic valve of the middle gear is normal, executing S308, and if the gear electromagnetic valve of the middle gear is judged to be in failure, executing S309.

S308: and (5) downshifting to a middle gear.

S309: and judging whether the gear electromagnetic valve at the low gear is in fault.

If the low gear electromagnetic valve is normal, S310 is executed.

If the gear electromagnetic valve of the low gear is in failure, S306 is executed.

S310: and (5) downshifting to a low gear.

When the high gear is in the gear and the high gear electromagnetic valve is in fault, the gear of the vehicle is preferentially adjusted to the middle gear, and when the middle gear electromagnetic valve is abnormal, the middle gear is adjusted to the low gear, so that the normal running and working of the vehicle can be ensured. When the middle gear electromagnetic valve and the low gear electromagnetic valve are both abnormal, the vehicle is stopped to prevent accidents and prevent parts of the gearbox from being damaged.

Optionally, in S301, if the current gear is determined to be the low gear; s311 is performed.

S311: and judging whether the gear electromagnetic valve of the middle gear is normal or not.

If the electromagnetic valve of the middle gear is normal, S312 is executed; if the gear electromagnetic valve of the middle gear is failed, S313 is executed.

S312: the engine speed is reduced by a second set value and then shifted up to the intermediate gear.

S313: and judging whether the gear electromagnetic valve of the high gear is in fault.

If the electromagnetic valve of the high gear is normal, S314 is executed; if the gear electromagnetic valve of the high gear is in failure; s306 is performed.

S314: the engine speed is reduced by a third set point and then shifted up to the high gear.

The second set value and the third set value can be set according to needs. When the low gear is in the gear, and the low gear solenoid valve breaks down, the gear of vehicle is preferentially adjusted to the middle gear, when the middle gear solenoid valve is abnormal, the middle gear is adjusted to the high gear, and the engine deceleration treatment is carried out before the gear adjustment, so that the vehicle speed is prevented from being instantly improved, and safety accidents are avoided. The normal running and working of the vehicle can be ensured. When the middle gear electromagnetic valve and the high gear electromagnetic valve are both abnormal, the vehicle is stopped to prevent accidents and prevent parts of the gearbox from being damaged.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.