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CN-121988444-A - Autonomous operation method of automatic crushing system and engineering machinery

CN121988444ACN 121988444 ACN121988444 ACN 121988444ACN-121988444-A

Abstract

The invention discloses an autonomous operation method of an automatic crushing system and engineering machinery, the method comprises the steps of obtaining pressure P0 of a small cavity of a movable arm and current C0 of a solenoid valve for descending the movable arm, controlling a brake arm to descend according to comparison of the pressure P0 and a preset pressure threshold Paim to carry out supporting, responding to the fact that the pressure P0 is more than or equal to the Paim, reducing the pressure C0 to the preset current threshold Cmin, starting crushing operation, obtaining the pressure P0 of the small cavity of the movable arm and the pressure P1 of the large cavity of the movable arm in the crushing operation process, judging that the vehicle is idle, and stopping the crushing operation if the current time P0 is less than or equal to the pressure P1 and the current time P0 is more than P1. The invention can automatically identify the blank strike and timely stop the crushing operation, reduce the labor intensity, protect the crushing hammer body and reduce the dependence on the skilled operator.

Inventors

  • HU BING
  • XING ZECHENG
  • LI SHUICONG
  • WANG DUNKUN

Assignees

  • 徐州徐工挖掘机械有限公司

Dates

Publication Date
20260508
Application Date
20260318

Claims (10)

  1. 1. An autonomous operating method of an automatic crushing system, comprising: Acquiring a movable arm small cavity pressure P0 and a movable arm descending electromagnetic valve current C0; Controlling a brake arm to descend according to the comparison of P0 and a preset pressure threshold value Paim to prop up the vehicle, reducing C0 to a preset current threshold value Cmin in response to P0 being more than or equal to Paim, and starting crushing operation; in the crushing operation process, acquiring a small cavity pressure P0 of a movable arm and a large cavity pressure P1 of the movable arm; If the current time P0 is less than or equal to P1 and the previous time P0 is more than P1, judging that the impact is idle, and stopping the crushing operation.
  2. 2. The autonomous operation method of an automatic crushing system according to claim 1, wherein the preset pressure threshold Paim is a boom cavity pressure value when the chassis of the excavator is lifted to 5 °, and the preset current threshold Cmin is a minimum current that breaks through a current dead zone of a boom-down solenoid valve.
  3. 3. The autonomous operation method of an automatic crushing system according to claim 1, further comprising: Acquiring a vibration pressure curve of a main pump in the crushing operation process; calculating a vibration period T0 and a peak-to-peak value V of a vibration pressure curve; If T0 is larger than the preset period threshold Tmax or V is larger than the preset peak threshold Vmax, the idle striking is judged, and the crushing operation is stopped.
  4. 4. The method according to claim 3, wherein the preset cycle threshold Tmax is a minimum cycle of the vibration pressure curve at the time of idle driving, and the preset peak threshold Vmax is a minimum peak-to-peak value of the vibration pressure curve at the time of idle driving, and wherein the peak-to-peak value is a difference between a peak and a trough.
  5. 5. The autonomous operation method of an automatic crushing system according to claim 1, further comprising: Acquiring duration time T1 of the crushing operation; If T1 is larger than the preset time threshold Tset, the idle beating is judged, and the crushing operation is stopped.
  6. 6. The autonomous operating method of an automatic crushing system according to claim 5, wherein the preset time threshold Tset is calculated by: Tset=(235-2×W)/3, wherein W is the tonnage of the excavator.
  7. 7. The autonomous operation method of an automatic crushing system according to claim 1, further comprising: acquiring a real-time handle signal; If the rest handle signals except the movable arm descending action are obtained, the crushing operation is stopped.
  8. 8. The method of autonomous operation of an automatic crushing system according to claim 1, wherein stopping the crushing operation includes controlling the output current of the brake arm lowering solenoid current C0 and the crushing solenoid current C1 to be 0.
  9. 9. An automatic crushing system for performing the autonomous working method of any one of claims 1 to 8, comprising: The movable arm small cavity pressure sensor is used for collecting pressure values in the movable arm small cavity when the movable arm descends; The movable arm large cavity pressure sensor is used for collecting pressure values in the movable arm large cavity when the movable arm is lifted; the main pump pressure sensor is used for collecting the pressure of the main pump; The input end of the controller is connected with the movable arm small cavity pressure sensor, the movable arm large cavity pressure sensor and the main pump pressure sensor, and the output end of the controller is connected with the movable arm descending electromagnetic valve, the movable arm ascending electromagnetic valve, the crushing electromagnetic valve and the main pump; the controller is used for collecting pressure signals of the pressure sensors, calculating and outputting control signals for controlling the brake arm descending electromagnetic valve, the movable arm ascending electromagnetic valve, the crushing electromagnetic valve and the main pump; the main pump outputs corresponding hydraulic oil to the main valve according to the received control signals, the movable arm descending electromagnetic valve, the movable arm ascending electromagnetic valve and the breaking electromagnetic valve control the valve core of the main valve to act according to the received control signals, and the main valve outputs corresponding hydraulic oil to the movable arm oil cylinder and the breaking hammer according to the control of each electromagnetic valve to execute the action.
  10. 10. A working machine comprising the automatic crushing system of claim 9.

Description

Autonomous operation method of automatic crushing system and engineering machinery Technical Field The invention relates to an autonomous operation method of an automatic crushing system and engineering machinery, and belongs to the technical field of automatic control of engineering machinery. Background The crushing of rock, concrete structures, metallurgical slag or large waste components is one of the core production links in the industrial fields of mining, building demolition, metallurgical slag treatment, waste material recovery and the like. At present, crushing operation mainly depends on manual operation, an operator controls the crushing hammer to work by stepping on a crushing pedal, crushing is stopped by loosening the pedal, and meanwhile, whether an idle striking phenomenon exists is judged by means of naked eye observation and experience. The traditional manual operation mode has the following defects: The labor intensity is high, the violent vibration and recoil force generated when the breaking hammer works are transmitted to operators through the operating device, and the operators are easy to fatigue and even musculoskeletal injury are caused during long-time operation; the operation efficiency is low, namely subjectivity and delay are judged manually, the idle beating phenomenon cannot be recognized in time and corresponding measures are taken, the crushing rhythm is discontinuous, and the overall operation efficiency is limited; The intelligent level is low, key parameters (such as crushing points, crushing angles and striking force) in the operation process cannot be collected and analyzed in real time, optimization of a crushing strategy is difficult to realize, and construction of intelligent mines or intelligent construction sites is not facilitated. Aiming at the problems, partial prior art tries to realize automatic start-stop control of the breaking hammer by additionally installing a sensor, but still fails to solve the problem of automatic identification of the idle striking phenomenon, and highly depends on the proficiency of operators, so that the labor intensity cannot be fundamentally reduced, and the intelligent level of the operation can not be improved. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides an autonomous operation method of an automatic crushing system and engineering machinery, which can automatically identify idle striking and timely stop crushing operation, reduce labor intensity, protect a crushing hammer body and reduce dependence on a skilled operator. 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 method of autonomous operation of an automatic crushing system, comprising: Acquiring a movable arm small cavity pressure P0 and a movable arm descending electromagnetic valve current C0; Controlling a brake arm to descend according to the comparison of P0 and a preset pressure threshold value Paim to prop up the vehicle, reducing C0 to a preset current threshold value Cmin in response to P0 being more than or equal to Paim, and starting crushing operation; in the crushing operation process, acquiring a small cavity pressure P0 of a movable arm and a large cavity pressure P1 of the movable arm; If the current time P0 is less than or equal to P1 and the previous time P0 is more than P1, judging that the impact is idle, and stopping the crushing operation. With reference to the first aspect, optionally, the preset pressure threshold Paim is a boom small cavity pressure value when the chassis of the excavator is lifted to 5 degrees, and the preset current threshold Cmin is a minimum current breaking through a current dead zone of the boom-down electromagnetic valve. With reference to the first aspect, optionally, the method further includes: Acquiring a vibration pressure curve of a main pump in the crushing operation process; calculating a vibration period T0 and a peak-to-peak value V of a vibration pressure curve; If T0 is larger than the preset period threshold Tmax or V is larger than the preset peak threshold Vmax, the idle striking is judged, and the crushing operation is stopped. With reference to the first aspect, optionally, the preset period threshold Tmax is a minimum period of the vibration pressure curve during idle driving, and the preset peak threshold Vmax is a minimum peak value of the vibration pressure curve during idle driving, wherein the peak value is a difference value between a peak value and a trough. With reference to the first aspect, optionally, the method further includes: Acquiring duration time T1 of the crushing operation; If T1 is larger than the preset time threshold Tset, the idle beating is judged, and the crushing operation is stopped. With reference to the first aspect, optionally, the preset time threshold Tset is calculated by the following formula: Tset=(235-2×