CN103306329A - Control system for micro-controlling hydraulic shear based on excavating machine and method and excavating machine - Google Patents
Control system for micro-controlling hydraulic shear based on excavating machine and method and excavating machine Download PDFInfo
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- CN103306329A CN103306329A CN2013102058303A CN201310205830A CN103306329A CN 103306329 A CN103306329 A CN 103306329A CN 2013102058303 A CN2013102058303 A CN 2013102058303A CN 201310205830 A CN201310205830 A CN 201310205830A CN 103306329 A CN103306329 A CN 103306329A
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Abstract
The invention discloses a control system for micro-controlling a hydraulic shear based on an excavating machine and a method and an excavating machine. The system comprises a glide button, a controller, a proportioning valve, an interflow valve, and a sensor, wherein the proportioning valve is arranged on a rear pump, the interflow valve is arranged on a bucket, the glide button is connected with the controller, the controller is connected with the proportioning valve and the interflow valve respectively, opening degrees of the proportioning valve and the interflow valve are adjusted according to adjusting signals sent by the glide button, the sensor is connected with the interflow valve through the controller, the sensor is used for sensing the main pressure of the hydraulic shear, and transmitting the sensed signals to the interflow valve through the processing of the controller, and the interflow valve adjusts the opening degree according to the received signals. The method has the benefits that the precision of rotation and positioning of the hydraulic shear is improved, and then the working efficiency of the hydraulic shear is promoted, and realizes the protection for the hydraulic shear, facilitates the improvement for the service life of the hydraulic shear, and realizes the closer of an actual speed and a set speed by micro-controlling the hydraulic shear.
Description
Technical field
The present invention relates to a kind of control system and method for excavator, relate in particular to a kind of hydraulic shear micro-control control system based on excavator and method and excavator.
Background technology
At present, the equipment of hydraulic crawler excavator mainly is scraper bowl, requirement along with expanding economy and operating mode, the equipment of Multiple Type is such as hydraulic shear, quartering hammer, the equipments such as quick change, requirement to auxiliary working apparatus is more and more higher, accurate positioning, operating efficiency is high, for traditional hydraulic shear rotary control system and method be: the flow of controlling complete machine by the proportion magnetic valve of handle button control pump, simultaneously, by electromagnetic valve secondary pressure control hydraulic shear revolution action, wherein because the handle push button signalling only is a high or low level, therefore output signal also is a fixed value, and then so that the rotating speed of hydraulic shear can't change, cause and in turning course, can cause hydraulic shear to be difficult to accurate location, simultaneously, when the hydraulic shear working flow is excessive, the discharge capacity of hydraulic oil is certain, and then causes main pump to build the pressure, and affects the digging machine normal operation.
Summary of the invention
In view of this, the present invention proposes a kind of hydraulic shear micro-control control system based on excavator and method and excavator, is difficult to the problem of locating and easily causing main pump to build the pressure with the solution hydraulic shear.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of hydraulic shear micro-control control system based on excavator, be applied to the revolution control of hydraulic shear on the excavator, excavator also includes hydraulic system, rear pump and scraper bowl, wherein, the pressure that the hydraulic oil of hydraulic system enters hydraulic shear is a pressure, and the pressure of the hydraulic oil that flows out from hydraulic shear is secondary pressure; Hydraulic shear micro-control control system based on excavator comprises slippage button, controller, proportioning valve, converging valve and sensor;
Proportioning valve is arranged on the rear pump, and converging valve is arranged on the scraper bowl;
The slippage button is connected with controller, and controller is connected with converging valve with proportioning valve respectively, and the processing of slippage button via controller sends conditioning signal to proportioning valve and converging valve; Proportioning valve and converging valve are regulated aperture according to the conditioning signal that receives, and are used for regulating a pressure of hydraulic shear
The sensor via controller is connected with converging valve, sensor is used for the main size of pressing of sensing hydraulic shear, and the processing of the signal via controller that senses is transferred on the converging valve, converging valve is used for regulating the secondary pressure of hydraulic shear according to the Signal Regulation aperture that receives.
Above-mentioned hydraulic shear micro-control control system based on excavator, wherein, proportioning valve and converging valve are electromagnetic valve, slippage button via controller sends the aperture of voltage value signal electromagnetic valve for adjusting to electromagnetic valve, regulate pressure and the secondary pressure of hydraulic shear, determine simultaneously the current value size on the electromagnetic valve.
Above-mentioned hydraulic shear micro-control control system based on excavator, wherein, controller comprises the stall control device; The stall control device is connected with proportioning valve with rear pump respectively; The stall control device receives the current value on the proportioning valve in real time.
Above-mentioned hydraulic shear micro-control control system based on excavator, wherein, controller comprises main pressure control device; Main pressure control device is connected with converging valve with sensor respectively; Main pressure control device receives the current value on the converging valve in real time.
Above-mentioned hydraulic shear micro-control control system based on excavator, wherein, controller is all by the corresponding PWM(Pulse Width Modulation of output, pulse width modulation) signal change proportioning valve and/aperture of converging valve.
Above-mentioned hydraulic shear micro-control control system based on excavator, wherein, stall control device and main pressure control device are the PID(Proportion-Integration-Differentiation. proportional-integral-differential) controller.
A kind of hydraulic shear micro-control control method based on excavator is applied to such as above-mentioned hydraulic shear micro-control control system based on excavator, and the particular content of the method comprises at least:
(1) relation on the magnitude of voltage that sends according to the slippage button and the corresponding electromagnetic valve between the size of electric current is determined the current value relation on magnitude of voltage and proportioning valve and the converging valve sent of slippage button, and the signal of slippage button is set; The current value that sends on magnitude of voltage and proportioning valve and the converging valve according to the slippage button concerns, the relation of the electric current of the corresponding electromagnetic valve of voltage of debugging slippage button, and the velocity interval that satisfies simultaneously hydraulic shear is for from 0 to the hydraulic shear maximum operating speed, and the relation of the electric current of the electromagnetic valve of the electric current of the left rotating electromagnetic valve of hydraulic shear and hydraulic shear right-hand rotation;
(2) according to flow through when this main pressure value flow of converging valve of the main pressure value of hydraulic shear and hydraulic shear, determine hydraulic shear main press and the current value of converging valve between relation curve, again according to the requirement of strength of hydraulic shear, further definite hydraulic shear is determined the relation of the maximum allowed current of main pressure and converging valve when strength limit, and then definite main pressure-maximum allowed current curve.
Above-mentioned hydraulic shear micro-control control method based on excavator, wherein, the signal sets of slippage button is 0～5V, wherein, meta is 2.5V.
Above-mentioned hydraulic shear micro-control control method based on excavator wherein, determines that at the slippage button setting current value on the proportioning valve is big or small according to voltage-current curve; Determine to allow maximum stream flow and the corresponding current value of this flow of passing ratio valve according to voltage-current curve, and this current value is set in the stall control device as the stall Limited Current; With the stall Limited Current value on the proportioning valve with set difference between the current value as the stall set-point.
Above-mentioned hydraulic shear micro-control control method based on excavator wherein, is judged the actual current value on the proportioning valve and is set between the current value deviation whether occurs according to the stall set-point; When deviation occurring between the actual current value on the proportioning valve and the setting current value, stall control device Comparative Examples valve is regulated, and eliminates the deviation between actual current value and the setting current value, and then guarantees a pressure of hydraulic shear.
Above-mentioned hydraulic shear micro-control control method based on excavator, wherein, according to flow through when this main pressure value flow of converging valve of the main pressure value of hydraulic shear and hydraulic shear, determine hydraulic shear main press and the current value of converging valve between relation curve, again according to the requirement of strength of hydraulic shear, further definite hydraulic shear is determined the relation of the maximum allowed current of main pressure and converging valve when strength limit, and then definite main pressure-maximum allowed current curve; In conjunction with the current value of leading pressure-maximum allowed current curve and setting by the slippage button, determine the maximum allowed current value on the converging valve and set current value, and the difference between the maximum allowed current value on the converging valve and the setting current value is pressed set-point as the master.
Above-mentioned hydraulic shear micro-control control method based on excavator wherein, is judged the actual current value on the converging valve and is set between the current value deviation whether occurs according to set-point; When deviation occurring between the actual current value on the converging valve and the setting current value, main pressure control device is regulated converging valve, eliminates the deviation between actual current value and the setting current value, and then guarantees the secondary pressure of hydraulic shear.
In addition, a kind of excavator wherein, comprises such as above-mentioned hydraulic shear micro-control control system based on excavator.
The beneficial effect of technique scheme is:
1, the speed that makes hydraulic shear by control slippage button changes with the aperture of slippage button, has greatly improved the accuracy that the hydraulic shear revolution is located, and then has promoted the operating efficiency of hydraulic shear;
2, by the main Flow-rate adjustment that participates in hydraulic shear of pressing, prevent that effectively the master of hydraulic shear from pressing overrate, and then hydraulic shear is protected, be conducive to improve the application life of hydraulic shear.
3, finely tune by the flow of controller control hydraulic shear, and then the speed of control hydraulic shear finely tunes, so that the actual speed of hydraulic shear is more close to the setting speed of hydraulic shear.
Description of drawings
The accompanying drawing that consists of a part of the present invention is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 the present invention is based on the hydraulic shear micro-control control system of excavator and the schematic block diagram of embodiment of the method.
Fig. 2 the present invention is based on the hydraulic shear micro-control control system of excavator and the schematic process flow diagram of embodiment of the method.
Fig. 3 is the voltage that the present invention is based on hydraulic shear micro-control control system and the embodiment of the method for excavator-current relationship schematic diagram.
Fig. 4 is the main pressure-current relationship schematic diagram that the present invention is based on hydraulic shear micro-control control system and the embodiment of the method for excavator.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Need to prove, in the situation that do not conflict, embodiment and the feature among the embodiment among the present invention can make up mutually.
Basic thought of the present invention is: design a kind of hydraulic shear micro-control control system and method based on excavator, at excavator slippage button, controller, proportioning valve, converging valve and sensor are set, to play the effect that hydraulic shear is difficult to locate and easily cause the problem that main pump builds the pressure that solves.
Below in conjunction with accompanying drawing, each preferred embodiment of the present invention is described further:
See figures.1.and.2, a kind of hydraulic shear micro-control control system and method based on excavator are applied to the revolution control of hydraulic shear on the excavator, and excavator also includes rear pump and scraper bowl; Hydraulic shear micro-control control system based on excavator comprises slippage button, controller, proportioning valve, converging valve and sensor; Proportioning valve is arranged on the rear pump, and converging valve is arranged on the scraper bowl; The slippage button is connected with controller, and controller is connected with converging valve with proportioning valve respectively, and the processing of slippage button via controller sends conditioning signal to proportioning valve and converging valve; Proportioning valve and converging valve are regulated aperture according to the conditioning signal that receives, and are used for regulating pressure of hydraulic shear and the secondary pressure of hydraulic shear; The sensor via controller is connected with converging valve, sensor is used for the main size of pressing of sensing hydraulic shear, and the processing of the signal via controller that senses is transferred on the converging valve, converging valve is used for regulating the secondary pressure of hydraulic shear according to the Signal Regulation aperture that receives.
The operating principle of technique scheme is: rear pump is used for providing flow and pressure to hydraulic shear, and rear pump flows into hydraulic shear to the fluid that hydraulic shear provides through proportioning valve, discharges fluid by converging valve; Wherein, proportioning valve is arranged on the rear pump, converging valve is arranged on the scraper bowl, slippage button via controller is connected with converging valve with proportioning valve respectively, and transmit conditioning signal after via controller is processed to proportioning valve and converging valve, the aperture that is used for control ratio valve and converging valve, and then regulate pressure and the secondary pressure of hydraulic shear; Sensor also is connected with converging valve, by the main signal via controller of pressing that senses converging valve is finely tuned; When stall conditions appearred in rear pump, the proportioning valve that is arranged on the rear pump also was used for the stall flow that rear pump is exported under stall conditions is regulated.
With reference to Fig. 3, on the basis of technique scheme, further, proportioning valve and converging valve are electromagnetic valve, slippage button via controller sends the aperture of voltage value signal electromagnetic valve for adjusting to electromagnetic valve, regulate pressure and the secondary pressure of hydraulic shear, determine simultaneously the current value size on the electromagnetic valve; Relation on the magnitude of voltage that sends according to the slippage button and the corresponding electromagnetic valve between the size of electric current is determined the current value relation on magnitude of voltage and proportioning valve and the converging valve sent of slippage button; To the voltage of the electric current of the voltage of slippage button and electromagnetic valve-current relationship establishing method be: be 0～5V with the signal sets of slippage button, wherein, meta is 2.5V; The current value that sends on magnitude of voltage and proportioning valve and the converging valve according to the slippage button concerns, the relation of the electric current of the corresponding electromagnetic valve of voltage of debugging slippage button, and the velocity interval that satisfies simultaneously hydraulic shear is for from 0 to the hydraulic shear maximum operating speed, and the relation of the electric current of the electromagnetic valve of the electric current of the left rotating electromagnetic valve of hydraulic shear and hydraulic shear right-hand rotation.
Concrete, above-mentioned voltage and the voltage of the electric current of electromagnetic valve-current relationship establishing method to the slippage button is: to the voltage of the electric current of the voltage of slippage button and electromagnetic valve-current relationship establishing method be: be 0～5V with the signal sets of slippage button, wherein, meta is 2.5V; The current value that sends on magnitude of voltage and proportioning valve and the converging valve according to the slippage button concerns, the relation of the electric current of the corresponding electromagnetic valve of voltage of debugging slippage button, be set in 0～2.5V change procedure, so that the electric current of the voltage of described slippage button and described electromagnetic valve is inverse relation, and set the electric current that be the left rotating described electromagnetic valve of described hydraulic shear this moment; Be set in 2.5～5V change procedure, so that the proportional relation of the electric current of the voltage of described slippage button and described electromagnetic valve, and setting is the electric current of the described electromagnetic valve of hydraulic shear right-hand rotation at this moment.
Further, according to and make voltage-current relationship curve map according to the voltage of the electric current of the voltage of above-mentioned slippage button and electromagnetic valve-current relationship establishing method.
On the basis of technique scheme, further, controller comprises the stall control device; The stall control device is connected with proportioning valve with rear pump respectively; Determine that at the slippage button setting current value on the proportioning valve is big or small according to voltage-current curve; Determine to allow maximum stream flow and the corresponding current value of this flow of passing ratio valve according to voltage-current curve, and this current value is set in the stall control device as the stall Limited Current; With the stall Limited Current value on the proportioning valve with set difference between the current value as the stall set-point; The stall control device receives the current value on the proportioning valve in real time, and judges the actual current value on the proportioning valve and set between the current value deviation whether occurs according to the stall set-point; When deviation occurring between the actual current value on the proportioning valve and the setting current value, stall control device Comparative Examples valve is regulated, and eliminates the deviation between actual current value and the setting current value, and then guarantees a pressure of hydraulic shear.
With reference to Fig. 4, on the basis of technique scheme, further, controller comprises main pressure control device; Main pressure control device is connected with converging valve with sensor respectively; According to flow through when this main pressure value flow of converging valve of the main pressure value of hydraulic shear and hydraulic shear, determine hydraulic shear main press and the current value of converging valve between relation curve, again according to the requirement of strength of hydraulic shear, further definite hydraulic shear is determined the relation of the maximum allowed current of main pressure and converging valve when strength limit, and then definite main pressure-maximum allowed current curve; Wherein, be set in mainly when pressing less than 150KG, the maximum allowed current value is zero, and then so that the master of hydraulic shear when being pressed in less than 150KG, converging valve need not to open; When main pressure surpassed 150KG, converging valve was opened and too much flow is discharged, and avoids the situation that causes rear pump to build the pressure.
Further, in conjunction with the current value of leading pressure-maximum allowed current curve and setting by the slippage button, determine the maximum allowed current value on the converging valve and set current value, and the difference between the maximum allowed current value on the converging valve and the setting current value is pressed set-point as the master; Main pressure control device receives the current value on the converging valve in real time, and judges the actual current value on the converging valve and set between the current value deviation whether occurs according to set-point; When deviation occurring between the actual current value on the converging valve and the setting current value, main pressure control device is regulated converging valve, eliminates the deviation between actual current value and the setting current value, and then guarantees the secondary pressure of hydraulic shear.
On the basis of technique scheme, further, the controller of mentioning in the technique scheme all changes the aperture of proportioning valve and/converging valve by the corresponding pwm signal of output; Wherein, pwm signal is to utilize the numeral of microprocessor to export a kind of very effective technology that analog circuit is controlled, and in can the control circuit output frequency constant situation, adjusts its dutycycle, regulated output voltage by Voltage Feedback.
On the basis of technique scheme, further, stall control device and the main pressure control device mentioned in technique scheme are the PID controller; Wherein, the PID controller is backfeed loop parts common in Industry Control Application, by data and a reference value of collecting are compared, then be used for calculating new input value according to the difference of collecting data and reference data, purpose is to allow the data of system reach or remains on reference value, and then make system more accurate, more stable.
Can find out from the various embodiments described above, advantage of the present invention is:
1, the speed that makes hydraulic shear by control slippage button changes with the aperture of slippage button, has greatly improved the accuracy that the hydraulic shear revolution is located, and then has promoted the operating efficiency of hydraulic shear;
2, by the main Flow-rate adjustment that participates in hydraulic shear of pressing, prevent that effectively the master of hydraulic shear from pressing overrate, and then hydraulic shear is protected, be conducive to improve the application life of hydraulic shear.
3, finely tune by the flow of controller control hydraulic shear, and then the speed of control hydraulic shear finely tunes, so that the actual speed of hydraulic shear is more close to the setting speed of hydraulic shear.
The embodiment of the invention also provides a kind of excavator, this excavator is provided with above-mentioned any hydraulic shear micro-control control system and method based on excavator, because above-mentioned any hydraulic shear micro-control control system and method based on excavator has above-mentioned technique effect, therefore, be provided with this and also should possess corresponding technique effect based on the hydraulic shear micro-control control system of excavator and the excavator of method, its specific implementation process is similar to the above embodiments, does not hereby give unnecessary details.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (13)
1. hydraulic shear micro-control control system based on excavator, be applied to the revolution control of hydraulic shear on the excavator, described excavator also includes hydraulic system, rear pump and scraper bowl, wherein, the pressure that the hydraulic oil of described hydraulic system enters described hydraulic shear is a pressure, and the pressure of the hydraulic oil that flows out from described hydraulic shear is secondary pressure; It is characterized in that, described hydraulic shear micro-control control system based on excavator comprises slippage button, controller, proportioning valve, converging valve and sensor;
Described proportioning valve is arranged on the described rear pump, and described converging valve is arranged on the described scraper bowl;
Described slippage button is connected with described controller, described controller respectively with described proportioning valve be connected converging valve and be connected, described slippage button sends conditioning signal through the processing of described controller to described proportioning valve and described converging valve; Described proportioning valve and described converging valve are regulated aperture according to the conditioning signal that receives, and are used for regulating a pressure of described hydraulic shear;
Described sensor is connected with described converging valve through described controller, described sensor is used for the main size of pressing of the described hydraulic shear of sensing, and the signal that senses is transferred on the described converging valve through the processing of described controller, described converging valve is used for regulating the secondary pressure of described hydraulic shear according to the Signal Regulation aperture that receives.
2. as claimed in claim 1 based on the hydraulic shear micro-control control system of excavator, it is characterized in that, described proportioning valve and described converging valve are electromagnetic valve, described slippage button sends the aperture that voltage value signal is regulated described electromagnetic valve through described controller to described electromagnetic valve, regulate pressure and the secondary pressure of described hydraulic shear, determine simultaneously the current value size on the described electromagnetic valve.
3. as claimed in claim 2 based on the hydraulic shear micro-control control system of excavator, it is characterized in that, described controller comprises described stall control device; Described stall control device respectively with described rear pump be connected proportioning valve and be connected; Described stall control device receives the current value on the described proportioning valve in real time.
4. as claimed in claim 2 based on the hydraulic shear micro-control control system of excavator, it is characterized in that, described controller comprises described main pressure control device; Described main pressure control device respectively with described sensor be connected converging valve and be connected; Described main pressure control device receives the current value on the described converging valve in real time.
As described in any one in the claim 1 to 4 based on the hydraulic shear micro-control control system of excavator, it is characterized in that, described controller all by export corresponding pwm signal change described proportioning valve and/aperture of described converging valve.
As described in claim 3 or 4 based on the hydraulic shear micro-control control system of excavator, it is characterized in that, described stall control device and described main pressure control device are the PID controller.
7. the hydraulic shear micro-control control method based on excavator is applied to it is characterized in that such as the described hydraulic shear micro-control control system based on excavator of any one in the above-mentioned claim 1 to 6,
The particular content of the method comprises at least:
(1) relation on the magnitude of voltage that sends according to described slippage button and the corresponding described electromagnetic valve between the size of electric current, the current value that sends on magnitude of voltage and described proportioning valve and the described converging valve of determining described slippage button concerns, the signal of described slippage button is set; The current value that sends on magnitude of voltage and described proportioning valve and the described converging valve according to described slippage button concerns, debug the relation of electric current of the corresponding described electromagnetic valve of voltage of described slippage button, and the velocity interval that satisfies simultaneously described hydraulic shear is for from 0 to described hydraulic shear maximum operating speed, and the relation of the electric current of the described electromagnetic valve of the electric current of the left rotating described electromagnetic valve of described hydraulic shear and described hydraulic shear right-hand rotation;
(2) according to flow through when this main pressure value flow of described converging valve of the main pressure value of described hydraulic shear and described hydraulic shear, determine described hydraulic shear main press and the current value of described converging valve between relation curve, again according to the requirement of strength of described hydraulic shear, further definite described hydraulic shear is determined the relation of the maximum allowed current of main pressure and described converging valve when strength limit, and then definite main pressure-maximum allowed current curve.
8. as claimed in claim 7 based on the hydraulic shear micro-control control method of excavator, it is characterized in that, the signal sets of described slippage button is 0～5V, and wherein, meta is 2.5V.
9. as claimed in claim 7 based on the hydraulic shear micro-control control method of excavator, it is characterized in that, determine that at described slippage button the setting current value on the described proportioning valve is big or small according to described voltage-current curve; Determine permission by maximum stream flow and the corresponding current value of this flow of described proportioning valve according to described voltage-current curve, and this current value is set in described stall control device as the stall Limited Current; With the stall Limited Current value on the described proportioning valve with set difference between the current value as the stall set-point.
10. as claimed in claim 9 based on the hydraulic shear micro-control control method of excavator, it is characterized in that, judge the actual current value on the described proportioning valve and set between the current value deviation whether occurs according to described stall set-point; When deviation occurring between the actual current value on the described proportioning valve and the setting current value, described stall control device is regulated described proportioning valve, eliminate the deviation between described actual current value and the described setting current value, and then guarantee a pressure of described hydraulic shear.
11. as claimed in claim 7 based on the hydraulic shear micro-control control method of excavator, it is characterized in that, according to flow through when this main pressure value flow of described converging valve of the main pressure value of described hydraulic shear and described hydraulic shear, determine described hydraulic shear main press and the current value of described converging valve between relation curve, again according to the requirement of strength of described hydraulic shear, further definite described hydraulic shear is determined the relation of the maximum allowed current of main pressure and described converging valve when strength limit, and then definite main pressure-maximum allowed current curve; In conjunction with the described current value of leading pressure-maximum allowed current curve and setting by described slippage button, determine the maximum allowed current value on the described converging valve and set current value, and the difference between the maximum allowed current value on the described converging valve and the setting current value is pressed set-point as the master.
12. based on the hydraulic shear micro-control control method of excavator, it is characterized in that as claimed in claim 11, judge the actual current value on the described converging valve and set between the current value deviation whether occurs according to described set-point; When deviation occurring between the actual current value on the described converging valve and the setting current value, described main pressure control device is regulated described converging valve, eliminate the deviation between described actual current value and the described setting current value, and then guarantee the secondary pressure of described hydraulic shear.
13. an excavator is characterized in that, comprises such as each described hydraulic shear micro-control control system based on excavator in the above-mentioned claim 1 to 6.
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| CN109610551A (en) * | 2018-12-11 | 2019-04-12 | 中联重科股份有限公司 | Scraper bowl cocurrent control method, device and hydraulic crawler excavator |
| CN115387415A (en) * | 2022-07-29 | 2022-11-25 | 三一重机有限公司 | Pose resetting control method, device and system and working machine |
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