CN109778938A - One kind is based on broken operating condition excavator adaptive power control device and method - Google Patents
One kind is based on broken operating condition excavator adaptive power control device and method Download PDFInfo
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- CN109778938A CN109778938A CN201910065582.4A CN201910065582A CN109778938A CN 109778938 A CN109778938 A CN 109778938A CN 201910065582 A CN201910065582 A CN 201910065582A CN 109778938 A CN109778938 A CN 109778938A
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Abstract
The invention discloses one kind based on broken operating condition excavator adaptive power control device and method, including master controller, and the engine controller, speed probe, the first main pump pressure sensor, the second main pump pressure sensor, revolution pilot pressure sensor, broken pilot pressure sensor, the first main pump proportioning valve and the second main pump proportioning valve that are connected with the master controller；Speed probe is also connected with engine controller.The present invention acquires the pressure value of cracking pressure sensor or the output of rotation pressure sensor by master controller, and the pressure value based on acquisition effectively identifies crushing operation and non-crushing operation state under broken operating condition, and the power control of two kinds of different work states is automatically switched, to meet the needs of power demand is different under different operating conditions, excavator energy-saving effect can effectively be promoted by power adaptive.
Description
Technical field
The invention belongs to excavator electrohydraulic control technology fields, and in particular to one kind is based on broken operating condition excavator power certainly
Adaptive control apparatus and method.
Background technique
21 century, with the rapid development of our country's economy, the fields development such as national basis construction and mining was fast so far
Suddenly, excavator demand persistently rises.Hydraulic breaking hammer is a kind of novel breaking tool, has that noise is small, crushing performance is excellent
More, the features such as energy conservation and environmental protection.From measuring the key technical index excavator of quartering hammer industry development with from the point of view of hammer rate, 2006 with
Carrying out our quartering hammer rates is only 6.2%, and by 2016, only the digging machine disintegrating hammer rate of 10 years time China was developed to
20%, the developed countries such as America and Europe digging machine disintegrating hammer rate reaches 35% according to statistics, and the states such as Japan and Korea S are more up to 60%, therefore China
Hydraulic breaking hammer has huge development space.
In recent years, Environmental Protection in China department starts to reinforce the supervise and examine dynamics to environmental protection, makes in strict control engineering to explosive
Dosage, therefore excavator carrying quartering hammer has increasingly important role in engineering construction and mining.
Currently, producer compares limitation to the power control of quartering hammer both at home and abroad, the automatic switchover of power cannot achieve, therefore
The power match of broken operating condition often in order to meet broken operating condition when excavator other movements power demand, need lifting system
Power causes to generate unnecessary overflow waste when broken work, cannot achieve preferable energy-saving effect.
Summary of the invention
In view of the above-mentioned problems, the present invention proposes one kind based on broken operating condition excavator adaptive power control device and side
Method is set to the pressure sensor signal in hydraulic system by master controller acquisition, is effectively known based on the pressure sensor signal
Not Po Sui crushing operation and non-crushing operation state under operating condition, and the power control of two kinds of different work states is cut automatically
It changes, to meet the needs of power demand is different under different operating conditions, excavator energy conservation can effectively be promoted by power adaptive
Effect.
It realizes above-mentioned technical purpose, reaches above-mentioned technical effect, the invention is realized by the following technical scheme:
In a first aspect, the present invention provides one kind based on broken operating condition excavator adaptive power control device, comprising:
Master controller；
Engine controller, the engine controller are connected with the master controller；
Speed probe, the speed probe are used to monitor the revolving speed of the engine in excavator, output end and institute
The input terminal for stating engine controller is connected；
First main pump pressure sensor and the second main pump pressure sensor；The first main pump pressure sensor and the second master
Pump pressure sensor is respectively used to the oil outlet of the first main pump being set on excavator and the second main pump, and it is main to detect first respectively
The pressure of pump and the second main pump oil outlet, the output end of the two are connected with the input terminal of the master controller；
Pilot pressure sensor is turned round, the revolution pilot pressure sensor is used for the revolution pilot circuit set on excavator
In, the oil pressure of acquisition revolution pilot circuit output；
Broken pilot pressure sensor, the broken pilot pressure sensor are used for the broken pilot circuit set on excavator
In, acquire the oil pressure of broken pilot circuit output；
First main pump proportioning valve and the second main pump proportioning valve, the first main pump proportioning valve and the second main pump proportioning valve difference
For in excavator the first main pump and the second main pump be connected, the control terminal of the two with the output end phase of the master controller
Even, according to the discharge capacity of control signal control the first main pump and the second main pump of master controller output.
Preferably, the first main pump pressure sensor, the second main pump pressure sensor, revolution pilot pressure sensor and
Broken pilot pressure sensor is all made of voltage sensor, exports the voltage signal of 0.5-4.5V.
Preferably, the first main pump pressure sensor, the second main pump pressure sensor, revolution pilot pressure sensor and
Broken pilot pressure sensor is all made of amperometric sensor, exports the current signal of 4-20mA.
Second aspect, the present invention provides one kind based on broken operating condition excavator adaptive power control method, including with
Lower step:
(1) when operator open guide's security solenoid valve, guide's security solenoid valve obtain it is electric, with guide's security solenoid valve phase
Hydraulic pilot circuit even is switched on；
(2) after operator starts the engine of excavator, engine controller is got from speed probe to be started
The tach signal of machine simultaneously sends master controller by bus for the tach signal；
(3) it is had been turned on when master controller determines engine, master controller starts detection and is set to broken pilot circuit output
The pressure signal of pilot pressure sensor output is crushed at end, if the pressure value of broken pilot pressure sensor output be greater than or
When person is equal to the cracking pressure for being crushed pilot valve in excavator main valve, then master controller is automatically into breaking patterns, and will be with
The current value of the second connected main pump proportioning valve of second main pump is adjusted to predetermined target value, during adjustment, master controller
The pressure signal of the second main pump pressure sensor of acquisition output in real time, to determine whether the discharge capacity of the second main pump reaches wanting for setting
It asks, the second main pump pressure sensor is set to the oil outlet of the second main pump, and second main pump is used to supply for broken circuit
Oil；
(4) pilot valve is turned round when master controller detects that the pressure value of revolution pilot pressure sensor output is greater than in main valve
When core cracking pressure or the signal of the first main pump pressure sensor be greater than the first main pump zero load pressure value after, and master controller examine
When measuring the pressure value of broken pilot pressure sensor output less than the cracking pressure for being crushed pilot valve, master controller enters mark
The current value of second main pump proportioning valve and the first main pump proportioning valve is adjusted to predeterminated target by quasi- operating mode, master controller
Value, the first main pump pressure sensor are set to the oil outlet of the first main pump, and first main pump is used to supply for rotary loop
Oil, the first main pump proportioning valve are connected in the first main pump, control the discharge capacity of the first main pump.
Preferably, in the step (3) during adjustment, master controller acquires the second main pump pressure sensing in real time
The pressure signal of device output, after the requirement that setting whether is reached with the discharge capacity of the second main pump of judgement further include:
The current value of first main pump proportioning valve is adjusted to zero simultaneously by master controller.
It is preferably, described to be had been turned on when master controller determines transmitter, specifically:
Master controller detects that the revolving speed of engine is greater than given threshold, then determines that engine has been turned on.
Preferably, the first main pump zero load pressure value refers to the unloaded oil pressure generated when vehicle does not have any movement.
Preferably, the first main pump pressure sensor, the second main pump pressure sensor, revolution pilot pressure sensor and
Broken pilot pressure sensor is all made of voltage sensor, exports the voltage signal of 0.5-4.5V.
Preferably, the first main pump pressure sensor, the second main pump pressure sensor, revolution pilot pressure sensor and
Broken pilot pressure sensor is all made of amperometric sensor, exports the current signal of 4-20mA.
Preferably, the current value of the second main pump proportioning valve and the first main pump proportioning valve is adjusted to pre- by the master controller
Target value, specifically:
The current value of second main pump proportioning valve and the first main pump proportioning valve is adjusted to predeterminated target by the master controller
Value, to meet power required when excavator is turned round and walked.
Compared with prior art, beneficial effects of the present invention:
The present invention proposes that one kind based on broken operating condition excavator adaptive power control device and method, passes through master controller
The pressure value of cracking pressure sensor or the output of rotation pressure sensor is acquired, and the pressure value based on acquisition is effectively identified and broken
Crushing operation and non-crushing operation state under broken operating condition, and the power control of two kinds of different work states is automatically switched,
To meet the needs of power demand is different under different operating conditions, excavator energy conservation effect can effectively be promoted by power adaptive
Fruit.
Detailed description of the invention
Fig. 1 is the overall structure based on broken operating condition excavator adaptive power control device of an embodiment of the present invention
Schematic diagram；
Fig. 2 is the process signal based on broken operating condition excavator adaptive power control method of an embodiment of the present invention
Figure；
In figure:
1. master controller, 2. first main pump pressure sensors, 3. second main pump pressure sensors, 4. revolution pilot pressures pass
Sensor, 5. broken pilot pressure sensors, 6. first main pump proportioning valves, 7. second main pump proportioning valves, 8. guide's security solenoid valves,
9. engine controller, 10. speed probes.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
Excavator in the prior art includes: pioneer pump, the first main pump, the second main pump, hydraulic pilot circuit, guide mostly
Security solenoid valve, revolution pilot circuit, broken pilot circuit, main valve, rotary loop and broken circuit；
The pioneer pump is arranged in series with the first main pump, the second main pump；
The input terminal of guide's security solenoid valve is connected with the output end of the pioneer pump, output end and hydraulic pilot
The input terminal in circuit is connected；
The output end in the hydraulic pilot circuit is connected with the revolution pilot circuit and broken pilot circuit respectively, when with
When turning round the connected circuit guide switch of pilot circuit and opening, hydraulic pilot circuit is revolution pilot circuit fuel feeding, when with it is broken
When the connected broken guide switch of pilot circuit is opened, hydraulic pilot circuit is broken pilot circuit fuel feeding；
The input terminal of the main valve is connected with the revolution pilot circuit and broken pilot circuit respectively, output end difference
It is connected with the rotary loop and broken circuit, rotary loop is supplied by the first main pump fuel feeding, the broken circuit by the second main pump
Oil specifically, in the main valve includes broken pilot valve and revolution pilot valve, when revolution pilot valve is opened, the
Oil in one main pump flows into rotary loop through main valve, and when broken pilot valve is opened, the oil in the second main pump is through main valve stream
Enter broken circuit, quartering hammer is located on broken circuit.
Based on above-mentioned excavator, as shown in Figure 1, the embodiment of the invention provides one kind based on broken operating condition excavator function
Rate adaptive controller, comprising:
Master controller 1；
Engine controller 9, the engine controller 9 are connected with the master controller 1, it is preferable that the two passes through total
Line is connected；
Speed probe 10, the speed probe 10 are used to monitor the revolving speed of the engine in excavator, output end
It is connected with the input terminal of the engine controller 9；
First main pump pressure sensor 2 and the second main pump pressure sensor 3；The first main pump pressure sensor 2 and
Two main pump pressure sensors 3 are respectively used to the oil outlet of the first main pump being set on excavator and the second main pump, detect respectively
The pressure of first main pump and the second main pump oil outlet, the output end of the two are connected with the input terminal of the master controller 1；
Pilot pressure sensor 4 is turned round, the revolution pilot pressure sensor 4 is used to be set in revolution pilot circuit, adopt
The oil pressure of collection revolution pilot circuit output；
Broken pilot pressure sensor 5, the broken pilot pressure sensor 5 are used to be set in broken pilot circuit, adopt
Collect the oil pressure of broken pilot circuit output；In the specific implementation, it is connected with broken floor push on the broken pilot circuit, when
When operative employee personnel open the broken floor push, the oil circuit of broken pilot circuit is switched on, i.e. hydraulic pilot circuit is broken
Broken pilot circuit fuel feeding, quartering hammer are started to work；
First main pump proportioning valve 6 and the second main pump proportioning valve 7, the first main pump proportioning valve 6 and the second main pump proportioning valve 7
Be respectively used to in excavator the first main pump and the second main pump be connected, the control terminal of the two is defeated with the master controller 1
Outlet is connected, according to the discharge capacity of control signal control the first main pump and the second main pump that master controller 1 exports；
In the preferred embodiment of the embodiment of the present invention, the speed probe 10, the first main pump pressure sensor 2,
Two main pump pressure sensors 3, revolution pilot pressure sensor 4 and broken pilot pressure sensor 5 are all made of voltage sensor,
The voltage signal or amperometric sensor for exporting 0.5-4.5V, export the current signal of 4-20mA.
In conclusion in the embodiment of the present invention based on the broken operating condition excavator adaptive power control device course of work
Specifically:
(1) after operator opens guide's security solenoid valve 8, guide's security solenoid valve 8 must be electric, with guide's safety electromagnetic
The connected hydraulic pilot circuit of valve 8 is switched on, i.e. pioneer pump fuel feeding into hydraulic pilot circuit；
(2) after operator starts the engine of excavator, engine controller 9 gets hair from speed probe 10
The tach signal of motivation simultaneously sends master controller 1 by bus for the tach signal；
(3) (when detecting that the revolving speed of engine is greater than given threshold, then sentence when judgement master controller 1 has been actuated while
Determine transmitter to have been actuated while, the given threshold goes to set according to the actual situation, for example can be set to 650rpm), and it is broken
The oil circuit of broken pilot circuit is switched on (when it is implemented, it is broken to be connected by operative employee personnel opening with broken pilot circuit
Connection can be realized in floor push), master controller 1 starts to detect the pressure signal that broken pilot pressure sensor 5 exports, if
The pressure value that broken pilot pressure sensor 5 detects is more than or equal in main valve the cracking pressure for being crushed pilot valve, then
For master controller 1 automatically into breaking patterns, i.e. the second main pump passes through main valve to broken circuit fuel feeding, by the second main pump proportioning valve 7
Current value be adjusted to predetermined target value, the power control of the second main pump is being adjusted for meeting broken power demand for control at this time
In whole process, the pressure signal of the second main pump pressure sensor 3 of the acquisition output in real time of master controller 1, to determine the second main pump
Discharge capacity whether reach the requirement of setting；Simultaneously in order to further realize energy conservation, master controller 1 is simultaneously by the first main pump proportioning valve
6 current value is adjusted to zero, and the absorption power of the second main pump is preferably minimized；
(4) it is turned round first when master controller 1 detects that the pressure value that revolution pilot pressure sensor 4 detects is greater than in main valve
When guide valve core cracking pressure or after the signal of the first main pump pressure sensor 2 is greater than the first main pump zero load pressure value, described the
One main pump zero load pressure value refers to the unloaded oil pressure generated when vehicle does not have any movement, generally 3MP or so, and main control
When device 1 detects that the pressure value that broken pilot pressure sensor 5 exports is less than the cracking pressure of broken pilot valve, master controller
1 enter normal operating mode (i.e. guarantee excavator revolution and walking motion), master controller 1 by the second main pump proportioning valve 7 with
And first the value current value of main pump proportioning valve 6 be adjusted to predetermined target value, realize the absorption for promoting the first main pump and the second main pump
Power, to meet the power demand of excavator under normal operating mode.
Embodiment 2
As shown in Fig. 2, the embodiment of the invention provides one kind to be based on broken operating condition excavator adaptive power control method,
Specifically includes the following steps:
Step 1, after operator opens guide's security solenoid valve 8, guide's security solenoid valve 8 must be electric, with guide's safety
The connected hydraulic pilot circuit of solenoid valve 8 is switched on, i.e. pioneer pump fuel feeding into hydraulic pilot circuit；
Step 2, after operator starts the engine of excavator, engine controller 9 is obtained from speed probe 10
To engine tach signal and master controller 1 is sent by bus by the tach signal；
Step 3, when judgement master controller 1 has been actuated while (when detecting that the revolving speed of engine is greater than given threshold, then
Determine that transmitter has been actuated while that the given threshold goes to set according to the actual situation, for example can be set to 650rpm), and
The oil circuit of broken pilot circuit is switched on (when it is implemented, it is broken to be connected by operative employee personnel opening with broken pilot circuit
Connection can be realized in broken floor push), master controller 1 starts to detect the pressure signal that broken pilot pressure sensor 5 exports, such as
Fruit is crushed the pressure value that pilot pressure sensor 5 detects and is more than or equal in main valve the cracking pressure for being crushed pilot valve,
Then for master controller 1 automatically into breaking patterns, i.e. the second main pump passes through main valve to broken circuit fuel feeding, by the second main pump proportioning valve
7 current value is adjusted to predetermined target value, and the power control of the second main pump is being adjusted for meeting broken power demand for control at this time
In whole process, the pressure signal of the second main pump pressure sensor 3 of the acquisition output in real time of master controller 1, to determine the second main pump
Discharge capacity whether reach the requirement of setting；Simultaneously in order to further realize energy conservation, master controller 1 is simultaneously by the first main pump proportioning valve
6 current value is adjusted to zero, and the absorption power of the second main pump is preferably minimized；
Step 4, it is returned when master controller 1 detects that the pressure value that revolution pilot pressure sensor 4 detects is greater than in main valve
When turning pilot valve cracking pressure or after the signal of the first main pump pressure sensor 2 is greater than the first main pump zero load pressure value, institute
It states the first main pump zero load pressure value and refers to the unloaded oil pressure generated when vehicle does not have any movement, generally 3MP or so, and master
When controller 1 detects that the pressure value that broken pilot pressure sensor 5 exports is less than the cracking pressure of broken pilot valve, master control
Device 1 processed enters normal operating mode, and master controller 1 is by the second main pump proportioning valve 7 and the value current value of the first main pump proportioning valve 6
It is adjusted to predetermined target value, to meet power required when excavator is turned round and walked, realizes and promotes the first main pump and the
The absorption power of two main pumps, to meet the power demand of excavator under normal operating mode.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. one kind is based on broken operating condition excavator adaptive power control device characterized by comprising
Master controller；
Engine controller, the engine controller are connected with the master controller；
Speed probe, the speed probe are used to monitor the revolving speed of the engine in excavator, output end and the hair
The input terminal of motivation controller is connected；
First main pump pressure sensor and the second main pump pressure sensor；The first main pump pressure sensor and the second main pump pressure
Force snesor be respectively used to be set to excavator on the first main pump and the second main pump oil outlet, detect respectively the first main pump and
The pressure of second main pump oil outlet, the output end of the two are connected with the input terminal of the master controller；
Pilot pressure sensor is turned round, the revolution pilot pressure sensor is used in the revolution pilot circuit of excavator,
The oil pressure of acquisition revolution pilot circuit output；
Broken pilot pressure sensor, the broken pilot pressure sensor are used in the broken pilot circuit of excavator,
Acquire the oil pressure of broken pilot circuit output；
First main pump proportioning valve and the second main pump proportioning valve, the first main pump proportioning valve and the second main pump proportioning valve are respectively used to
With in excavator the first main pump and the second main pump be connected, the control terminal of the two is connected with the output end of the master controller,
According to the discharge capacity of control signal control the first main pump and the second main pump of master controller output.
2. according to claim 1 a kind of based on broken operating condition excavator adaptive power control device, it is characterised in that:
The first main pump pressure sensor, the second main pump pressure sensor, revolution pilot pressure sensor and broken pilot pressure pass
Sensor is all made of voltage sensor, exports the voltage signal of 0.5-4.5V.
3. according to claim 1 a kind of based on broken operating condition excavator adaptive power control device, it is characterised in that:
The first main pump pressure sensor, the second main pump pressure sensor, revolution pilot pressure sensor and broken pilot pressure pass
Sensor is all made of amperometric sensor, exports the current signal of 4-20mA.
4. one kind is based on broken operating condition excavator adaptive power control method, which comprises the following steps:
(1) when operator opens guide's security solenoid valve, guide's security solenoid valve obtains electric, is connected with guide's security solenoid valve
Hydraulic pilot circuit is switched on；
(2) after operator starts the engine of excavator, engine controller gets engine from speed probe
Tach signal simultaneously sends master controller by bus for the tach signal；
(3) it is had been turned on when master controller determines engine, master controller starts detection and is set to broken pilot circuit output
The pressure signal of broken pilot pressure sensor output, if the pressure value of broken pilot pressure sensor output is greater than or waits
When being crushed the cracking pressure of pilot valve in excavator main valve, then master controller is automatically into breaking patterns, and will be with second
The current value of the second connected main pump proportioning valve of main pump is adjusted to predetermined target value, and during adjustment, master controller is real-time
The pressure signal of the second main pump pressure sensor output is acquired, to determine whether the discharge capacity of the second main pump reaches the requirement of setting,
The second main pump pressure sensor is set to the oil outlet of the second main pump, and second main pump is used for as broken circuit fuel feeding；
(4) when master controller detects that the pressure value of revolution pilot pressure sensor output is greater than revolution pilot valve in main valve and opens
When opening pressure or after the signal of the first main pump pressure sensor is greater than the first main pump zero load pressure value, and master controller detects
When the pressure value of broken pilot pressure sensor output is less than the cracking pressure of broken pilot valve, master controller enters standard work
The current value of second main pump proportioning valve and the first main pump proportioning valve is adjusted to predetermined target value by operation mode, master controller, institute
The oil outlet that the first main pump pressure sensor is set to the first main pump is stated, first main pump is used to be rotary loop fuel feeding, institute
It states the first main pump proportioning valve to be connected in the first main pump, controls the discharge capacity of the first main pump.
5. according to claim 4 a kind of based on broken operating condition excavator adaptive power control device, it is characterised in that:
In the step (3) during adjustment, master controller acquire in real time the second main pump pressure sensor output pressure letter
Number, after the requirement that setting whether is reached with the discharge capacity of the second main pump of judgement further include:
The current value of first main pump proportioning valve is adjusted to zero simultaneously by master controller.
6. according to claim 4 a kind of based on broken operating condition excavator adaptive power control method, it is characterised in that:
It is described to be had been turned on when master controller determines transmitter, specifically:
Master controller detects that the revolving speed of engine is greater than given threshold, then determines that engine has been turned on.
7. according to claim 4 a kind of based on broken operating condition excavator adaptive power control method, it is characterised in that:
The first main pump zero load pressure value refers to the unloaded oil pressure generated when vehicle does not have any movement.
8. according to claim 4 a kind of based on broken operating condition excavator adaptive power control method, it is characterised in that:
The first main pump pressure sensor, the second main pump pressure sensor, revolution pilot pressure sensor and broken pilot pressure pass
Sensor is all made of voltage sensor, exports the voltage signal of 0.5-4.5V.
9. according to claim 4 a kind of based on broken operating condition excavator adaptive power control method, it is characterised in that:
The first main pump pressure sensor, the second main pump pressure sensor, revolution pilot pressure sensor and broken pilot pressure pass
Sensor is all made of amperometric sensor, exports the current signal of 4-20mA.
10. according to claim 4 a kind of based on broken operating condition excavator adaptive power control method, feature exists
In: the current value of the second main pump proportioning valve and the first main pump proportioning valve is adjusted to predetermined target value by the master controller, tool
Body are as follows:
The current value of second main pump proportioning valve and the first main pump proportioning valve is adjusted to predetermined target value by the master controller, with
Meet power required when excavator is turned round and walked.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111855071A (en) * | 2020-07-23 | 2020-10-30 | 上海华兴数字科技有限公司 | Party rejection identification method and device, electronic equipment and storage medium |
| CN115030248A (en) * | 2022-06-29 | 2022-09-09 | 中联重科土方机械有限公司 | Positive flow excavator and crushing control method, crushing control device and controller thereof |
| CN115030248B (en) * | 2022-06-29 | 2024-04-19 | 中联重科土方机械有限公司 | Positive flow excavator, crushing control method thereof, crushing control device and controller |
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| CN104005446A (en) * | 2014-04-01 | 2014-08-27 | 上海海希工业通讯股份有限公司 | Positive flow control method and system of excavator and excavator |
| CN203977477U (en) * | 2014-08-05 | 2014-12-03 | 山河智能装备股份有限公司 | A kind of excavator having for different operating modes switching hydraulic circuits |
| CN109024752A (en) * | 2018-08-10 | 2018-12-18 | 徐州徐工挖掘机械有限公司 | Excavator walking operating condition adaptive control system, control method and excavator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111855071A (en) * | 2020-07-23 | 2020-10-30 | 上海华兴数字科技有限公司 | Party rejection identification method and device, electronic equipment and storage medium |
| CN115030248A (en) * | 2022-06-29 | 2022-09-09 | 中联重科土方机械有限公司 | Positive flow excavator and crushing control method, crushing control device and controller thereof |
| CN115030248B (en) * | 2022-06-29 | 2024-04-19 | 中联重科土方机械有限公司 | Positive flow excavator, crushing control method thereof, crushing control device and controller |
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