CN110397100B - Excavator control system, excavator and excavator control method - Google Patents
Excavator control system, excavator and excavator control method Download PDFInfo
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- CN110397100B CN110397100B CN201910586310.9A CN201910586310A CN110397100B CN 110397100 B CN110397100 B CN 110397100B CN 201910586310 A CN201910586310 A CN 201910586310A CN 110397100 B CN110397100 B CN 110397100B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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- Engineering & Computer Science (AREA)
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- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The application relates to the technical field of engineering machinery, in particular to an excavator control system, an excavator and an excavator control method, which comprise the following steps: the movable arm lifting oil way comprises a movable arm valve core and a movable arm oil cylinder, the main pump, the movable arm valve core and the movable arm oil cylinder are sequentially connected in series, the movable arm lifting oil way further comprises a controller and a delay valve, the control end of the movable arm valve core and the delay valve are connected in series, and the controller is in communication connection with the delay valve. This application can avoid when the swing arm is return suddenly and is stopped, and the flow in the main oil way of gyration increases suddenly, leads to the gyration to accelerate suddenly, and the operation is uncoordinated, and can take place dangerous technical problem when carrying out the loading operation.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to an excavator control system, an excavator and an excavator control method.
Background
At present, the problem of the uncoordinated compound action of a hydraulic system often occurs in the industry of excavators, and the problem of the uncoordinated compound action of the hydraulic system is solved by solving the problem of the unbalanced flow distribution of a main valve by various means; specifically, flow distribution of the boom main oil path and the swing main oil path is generally achieved by means of fixed throttling, but in the process, when the boom is suddenly returned to the end, the flow in the swing main oil path is suddenly increased, so that the swing is suddenly accelerated, the main oil path is subjected to pressure impact due to quick return, the composite action is not coordinated, and danger is caused when the truck loading operation is carried out.
Disclosure of Invention
The application aims to provide an excavator control system, an excavator and an excavator control method, so as to avoid the technical problems that when a movable arm is suddenly returned to an end, the flow in a main rotation oil way is suddenly increased, the rotation is suddenly accelerated, the operation is not coordinated, and danger can occur during loading operation.
In order to achieve the purpose, the following technical scheme is adopted in the application:
one aspect of the present application provides an excavator control system comprising: the system comprises a main pump and a movable arm lifting oil way, wherein the movable arm lifting oil way comprises a movable arm valve core and a movable arm oil cylinder, and the main pump, the movable arm valve core and the movable arm oil cylinder are sequentially connected in series;
the control end of the movable arm valve core is connected with the delay valve in series, and the controller is in communication connection with the delay valve.
Preferably, the hydraulic control system comprises a pressure switch, wherein the pressure switch is connected between the time delay valve and the control end of the movable arm valve core, and the pressure switch is in communication connection with the controller. So as to obtain the pressure condition in real time through the pressure switch, and then implement control according to the pressure condition.
Preferably, the hydraulic control system further comprises a boom rotation oil path and a rotation damping solenoid valve which is in communication connection with the controller, wherein the boom lifting oil path is connected in parallel with the boom rotation oil path; the movable arm rotary oil way comprises a rotary motor, a rotary damping valve and a rotary valve core, the main pump, the rotary damping valve, the rotary valve core and the rotary motor are sequentially connected in series, and the rotary damping solenoid valve is connected to the control end of the rotary damping valve.
When the time delay valve is controlled to be in an opening state, pilot pressure at the moment of returning the movable arm is monitored in real time through the pressure switch, the return time delay control of the movable arm valve core can be realized, meanwhile, the linear return control of the rotary damping valve is further realized, and further, the pressure impact caused by rapid increase of rotary flow due to sudden return of the rotary damping valve can be further reduced.
The rotary damping solenoid valve is controlled by outputting current according to the load of the movable arm, the rotary damping valve is further controlled, the opening of the throttling port is adjusted in a linear mode according to the load of the movable arm oil cylinder, and therefore the load distribution rationality between the lifting and the rotation of the movable arm of the excavator can be further realized on the basis of effectively preventing the pressure of a main oil way from being rapidly increased when the lifting of the movable arm is suddenly stopped, and the operation coordination performance of the excavator can be effectively improved so as to adapt to different working conditions.
Another aspect of the present application provides an excavator including the excavator control system described above.
According to the excavator provided by the embodiment of the application, the excavator control system provided by the embodiment of the application is adopted, the delay valve is arranged on a movable arm lifting oil path of a hydraulic part, and an electric control part, namely a controller, which is in cooperative fit is designed; the controller is in communication connection with the delay valve and automatically controls the delay time of the delay valve; when the lifting of the movable arm of the excavator is suddenly stopped, the controller can effectively and reliably realize return delay control on the valve core of the movable arm through the delay valve, so that the rapid increase of the pressure of the main oil way caused by the sudden stopping of the lifting of the movable arm can be effectively prevented, and the danger caused by rotary impact due to the sudden opening of the rotary damping valve is avoided.
A third aspect of the present application provides an excavator control method implemented by applying the excavator control system described above, where the excavator control method includes:
and if the controller receives a signal that the movable arm oil cylinder stops operating in the process that the movable arm lifting oil way and the movable arm rotating oil way operate simultaneously, the controller controls the delay valve to be opened so as to carry out extension control on the return time of the movable arm valve core on the control end of the movable arm valve core.
Preferably, after the controlling the delay valve to be opened, the method further includes:
the controller obtains a pressure signal of the movable arm lifting oil way in real time during the time when the delay valve is controlled to be in an opening state;
controlling a rotary damping solenoid valve to open according to a pressure signal of the movable arm lifting oil way so as to perform first return control on a control end of a rotary damping valve in the movable arm rotary oil way, wherein the first return control is used for enabling the oil quantity in the movable arm rotary oil way to increase linearly;
the rotary damping solenoid valve is connected to the control end of the rotary damping valve and is in communication connection with the controller.
Preferably, the method comprises the following steps:
the controller acquires a pressure signal of the movable arm lifting oil way in real time in the process that the movable arm lifting oil way and the movable arm rotating oil way operate simultaneously;
if the received pressure signal shows that the load of the corresponding movable arm oil cylinder is increased, controlling a rotary damping electromagnetic valve to open according to the pressure signal of the movable arm lifting oil way so as to perform second return control on a control end of a rotary damping valve, wherein the second return control is used for enabling the oil quantity in the movable arm rotary oil way to be linearly reduced;
the rotary damping solenoid valve is connected to the control end of the rotary damping valve and is in communication connection with the controller.
Preferably, the acquiring, in real time, a pressure signal of the boom lift oil path includes:
the controller controls at least one pressure switch in communication connection with the controller to detect a pressure signal of the boom lifting oil circuit, wherein the pressure switch is connected between the delay valve and the control end of the boom valve core.
Preferably, the signal indicating that the boom cylinder stops operating is a signal indicating that the boom raising oil path does not have the boom pressure and the boom swing oil path has the swing pressure.
Preferably, before the controlling the delay valve to be opened, the method further includes:
presetting a delay period for controlling the delay valve to be in an open state;
correspondingly, the time length for prolonging the return time of the movable arm valve core is less than or equal to the delay period.
The technical scheme provided by the application can achieve the following beneficial effects:
according to the excavator control system, the excavator and the excavator control method, the delay valve is arranged on the movable arm lifting oil path of the hydraulic part, and the electric control part, namely the controller, which is in cooperative fit is designed; the controller is in communication connection with the delay valve and automatically controls the delay time of the delay valve; when the lifting of the movable arm of the excavator is suddenly stopped, the controller can effectively and reliably realize return delay control on the valve core of the movable arm through the delay valve, so that the rapid increase of the pressure of the main oil way caused by the sudden stopping of the lifting of the movable arm can be effectively prevented, and the danger caused by the rotary impact (namely the pressure impact of the main oil way caused by the rapid return) caused by the sudden opening of the rotary damping valve is avoided.
Additional features of the present application and advantages thereof will be set forth in the description which follows, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It should be apparent that the drawings in the following description are embodiments of the present application and that other drawings may be derived from those drawings by a person of ordinary skill in the art without inventive step.
Fig. 1 is a schematic structural diagram of an excavator control system according to an embodiment of the present application.
Reference numerals:
1-a manual pilot valve; 2-a time delay valve;
3-a pressure switch; 4-a controller;
5-a rotary damping solenoid valve; 6-a rotary damper valve;
7-a rotary valve core; 8-a boom spool;
9-the main pump; 10-a boom cylinder;
11-a rotary motor; 12-a boom lift circuit;
13-movable arm rotation oil path.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. 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 application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like 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, and 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 application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to 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 meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
As shown in fig. 1, an aspect of the embodiments of the present application provides an excavator control system including: the system comprises a main pump 9, a movable arm lifting oil way 12 and a movable arm rotation oil way 13, wherein the movable arm lifting oil way 12 is connected with the movable arm rotation oil way 13 in parallel;
the movable arm lifting oil way 12 comprises a movable arm valve core 8 and a movable arm oil cylinder, and the main pump 9, the movable arm valve core 8 and the movable arm oil cylinder 10 are sequentially connected in series;
the control device comprises a movable arm valve core 8, a control end of the movable arm valve core 8, a delay valve 2 and a manual pilot valve 1, and is characterized by further comprising a controller 4, the delay valve 2 and the manual pilot valve 1, wherein the control end of the movable arm valve core, the delay valve 2 and the manual pilot valve 1 are sequentially connected in series, and the controller 4 is in communication connection with the delay valve 2.
In the control system of the excavator, a hydraulic part is provided with a delay valve 2 on a movable arm lifting oil path, and an electric control part, namely a controller 4, which is matched with the hydraulic part in a coordinated mode is designed; the controller 4 is in communication connection with the delay valve 2 and automatically controls the delay time of the delay valve; when the lifting of the movable arm of the excavator is suddenly stopped, the controller can effectively and reliably realize return delay control on the valve core of the movable arm through the delay valve, so that the rapid increase of the pressure of the main oil way caused by the sudden stopping of the lifting of the movable arm can be effectively prevented, and the danger caused by the rotary impact (namely the pressure impact of the main oil way caused by the rapid return) caused by the sudden opening of the rotary damping valve is avoided.
Preferably, the excavator control system provided by the embodiment of the application comprises a pressure switch 3, wherein the pressure switch 3 is connected between the time delay valve 2 and the control end of the movable arm valve core 8, and the pressure switch 3 is in communication connection with the controller 4. So as to obtain the pressure condition in real time through the pressure switch 3 and further implement control according to the pressure condition.
Preferably, the excavator control system provided by the embodiment of the present application includes a rotary damping solenoid valve 5 in communication connection with the controller 4, the boom rotary oil path 13 includes a rotary motor 11, a rotary damping valve 6 and a rotary valve core 7, the main pump 9, the rotary damping valve 6, the rotary valve core 7 and the rotary motor 11 are sequentially connected in series, and the rotary damping solenoid valve 5 is connected to a control end of the rotary damping valve 6.
During the time that the control delay valve 2 is in an open state, the pilot pressure at the moment of returning the movable arm is monitored in real time through the pressure switch 3, and the return delay control of the movable arm valve core 8 can be realized (namely, the controller can control the delay time parameter through the flow control of the delay valve 2); meanwhile, linear return control of the rotary damping valve 6 can be further realized, and further pressure impact caused by rapid increase of rotary flow due to sudden return of the rotary damping valve 6 can be further reduced (namely, the controller can monitor pressure through a pressure switch, and finally controls the parameter of controlling the return oil quantity through controlling the flow of the rotary damping valve 6 on the boom rotary oil path 13). The controller can control the rotary damping solenoid valve 5 according to the output current of the movable arm load, the movable arm load can be transmitted to the controller through the sensor, then the opening degree of a throttling opening of the rotary damping valve 6 is further controlled through the rotary damping solenoid valve 5, finally the opening degree of the throttling opening is output in a linear mode, adjustment is carried out according to the difference of the load of the movable arm oil cylinder 10, further load distribution rationality between the lifting and the rotation of the movable arm of the excavator can be further realized on the basis of effectively preventing the pressure of a main oil way from being rapidly increased when the lifting of the movable arm is suddenly stopped, and the operation coordination performance of the excavator can be effectively improved so as to adapt to different working conditions.
Another aspect of the present application provides an excavator, including the excavator control system provided by the embodiment of the present application. At the moment that the composite action movable arm stops, the delay valve is opened to control the return time of the main valve core of the movable arm, so that the pressure impact of a main oil way caused by quick return is avoided; meanwhile, the pressure switch monitors the pressure in the time delay process, feeds the pressure back to the controller, controls the opening of the rotary damping solenoid valve and prevents the rotary damping valve from rapidly returning to cause the sudden increase of the rotary flow.
In order to effectively prevent the main oil circuit pressure from being rapidly increased when the lifting of the movable arm is suddenly stopped so as to avoid the danger caused by the rotary impact due to the sudden opening of the rotary damping valve 6, the application provides an excavator control method, the excavator control method can be implemented by applying all or part of the contents in the excavator control system, and the excavator control method specifically comprises the following contents:
step S1: if the controller 4 receives a signal to stop the operation of the boom cylinder 10 while the boom-up oil path 12 and the boom rotation oil path 13 are simultaneously operating, the controller controls the delay valve 2 to be opened to perform an extension control of the return time of the boom spool 8 to the control end of the boom spool 8.
It can be understood that, in the process of the simultaneous operation of the boom raising oil path 12 and the boom rotation oil path 13, the controller 4 may perform real-time or periodic monitoring on the operation condition of the boom cylinder 10, if a signal that the boom cylinder 10 stops operating is monitored, the delay valve 2 connected in communication with the controller is controlled to be opened, and the opened delay valve 2 (delay time parameter control) performs delay control on the control end of the boom spool 8 connected thereto according to an instruction of the controller 4, so as to extend the return time of the boom spool 8 connected thereto by the control end of the boom spool 8.
Preferably, in order to effectively improve the reliability of acquiring the signal for stopping the operation of the boom cylinder 10 to further prevent the rapid increase of the main line pressure caused when the boom raising is suddenly terminated, the signal for stopping the operation of the boom cylinder 10 may be a signal for indicating that the boom raising line 12 has no boom pressure and the boom swing line 13 has a swing pressure.
That is, at the moment when the compound-action boom stops, the controller 4 outputs a signal to control the boom-up delay valve 2, so as to avoid the swing flow impact caused by the sudden return of the boom, and the pressure signal received by the controller 4 is a no-boom and swing signal.
As can be seen from the above description, in the excavator control method provided in the embodiment of the present application, by providing the delay valve 2 on the boom lifting oil path, when the boom lifting of the excavator is suddenly terminated, the return delay control on the boom valve spool 8 can be effectively and reliably implemented, and thus, the rapid increase of the pressure in the main oil path caused by the sudden termination of the boom lifting can be effectively prevented, so as to avoid the danger caused by the swing impact due to the sudden opening of the swing damping valve 6.
Preferably, based on the above, in order to further improve the reliability of the return delay control on the boom spool 8, in an embodiment of the excavator control method, step S01 executed sequentially is further included before step S1, specifically referring to the following:
step S01: presetting a delay period for controlling the delay valve 2 to be in an open state; correspondingly, the time length for prolonging the return time of the movable arm valve core 8 is less than or equal to the delay period.
Specifically, the optimal delay time of the delay valve 2 in the open state may be determined according to the results of multiple delay experiments, and the optimal delay time is used as a delay period, and the delay period is prestored to the controller 4.
Preferably, in order to further reduce the reliability of the process of pressure shock caused by the rapid increase of the swing flow rate due to the sudden return of the swing damping valve 6, in an embodiment of the excavator control method, a step S21 and a step S22 are further specifically included after S1, wherein the step S21 and the step S22 are sequentially performed after the step S1, specifically referring to the following:
step S21: the controller 4 acquires a pressure signal of the boom-raising oil passage 12 in real time while controlling the delay valve 2 to be in the open state.
In step S21, a pressure switch 3 may be disposed between the delay valve 2 and the boom main spool in advance, and the controller 4 may control at least one pressure switch 3 communicatively connected thereto to detect a pressure signal of the boom lift oil path 12, where the pressure switch 3 is connected between the delay valve 2 and the control end of the boom spool 8, so as to effectively improve the reliability of obtaining the pressure signal of the boom lift oil path 12, and further reduce a process of pressure shock caused by a rapid increase of the swing flow due to sudden return of the swing damping valve 6.
Step S22: controlling a rotary damping solenoid valve 5 to be opened according to a pressure signal of a boom lifting oil circuit 12 to perform first return control on a control end of a rotary damping valve 6 in a boom rotary oil circuit 13, wherein the first return control is used for enabling the oil amount in the boom rotary oil circuit 13 to rise linearly; wherein, the rotary damping solenoid valve 5 is connected to the control end of the rotary damping valve 6, and the rotary damping solenoid valve 5 is in communication connection with the controller 4.
It can be understood that, in the process of simultaneously operating the boom raising oil path 12 and the boom rotation oil path 13, the controller 4 may obtain the pressure signal of the boom raising oil path 12 in real time or periodically while controlling the delay valve 2 to be in the open state, if the pressure signal of the boom raising oil path 12 is monitored and the rotation damping solenoid valve 5 in communication connection with the pressure signal of the boom raising oil path 12 is controlled to be opened according to the pressure signal of the boom raising oil path 12, the rotation damping solenoid valve 5 controls the control end of the rotation damping valve 6 connected thereto to perform the first returning control for linearly raising the oil amount in the boom rotation oil path 13 according to the instruction of the controller 4. Therefore, while the control delay valve 2 is in the open state, the pilot pressure at the moment of boom return is monitored in real time through the pressure switch 3, so that the return delay control of the boom spool 8 can be realized, meanwhile, the linear return control of the rotary damping valve 6 can be further realized, and further, the pressure impact caused by the rapid increase of the rotary flow due to the sudden return of the rotary damping valve 6 can be further reduced.
That is to say, the pressure switch 3 can monitor the pilot pressure (after time delay) at the moment of returning the movable arm in real time, so as to control the rotary damping valve 6 to linearly return, and avoid the danger caused by rotary impact due to sudden opening of the rotary damping valve 6.
Preferably, in order to further realize the rationality of load distribution between the boom lifting and the swing of the excavator on the basis of effectively preventing the rapid increase of the main oil circuit pressure caused by the sudden termination of the boom lifting, in an embodiment of the excavator control method, the excavator control method further specifically comprises a step S3, wherein the step S3 and the step S1 have no necessary sequential execution relationship, and are executed according to the corresponding working conditions of the boom of the excavator, and may also be executed simultaneously, and the step S3 may be composed of a step S31 and a step S32, specifically referring to the following contents:
step S31: the controller 4 acquires a pressure signal of the boom-up oil path 12 in real time during simultaneous operation of the boom-up oil path 12 and the boom rotation oil path 13.
In step S31, a pressure switch 3 may be provided in advance between the delay valve 2 and the boom main spool, and the controller 4 may control at least one pressure switch 3 communicatively connected thereto to detect a pressure signal of the boom lift oil path 12, where the pressure switch 3 is connected between the delay valve 2 and the control end of the boom spool 8, so as to effectively improve the reliability of obtaining the pressure signal of the boom lift oil path 12, and further ensure the load distribution rationality between the boom lift and the swing of the excavator.
Step S32: if the received pressure signal indicates that the load of the corresponding boom cylinder 10 is increased, controlling the rotation damping solenoid valve 5 to be opened according to the pressure signal of the boom lifting oil path 12 to perform a second return control on the control end of the rotation damping valve 6, wherein the second return control is used for linearly decreasing the oil amount in the boom rotation oil path 13; wherein, the rotary damping solenoid valve 5 is connected to the control end of the rotary damping valve 6, and the rotary damping solenoid valve 5 is in communication connection with the controller 4.
It can be understood that, in the process of simultaneously operating the boom lifting oil path 12 and the boom rotation oil path 13, the controller 4 may obtain a pressure signal of the boom lifting oil path 12 in real time or periodically while controlling the delay valve 2 to be in an open state, if the monitored pressure signal indicates that the load of the corresponding boom cylinder 10 is increased, the rotation damping solenoid valve 5 in communication connection with the monitored pressure signal is controlled to be opened according to the pressure signal of the boom lifting oil path 12, and the rotation damping solenoid valve 5 performs second return control on the control end of the rotation damping valve 6 according to an instruction of the controller 4, so as to linearly decrease the oil amount in the boom rotation oil path 13.
Specifically, when the movable arm lifts and rotates, the orifice size of the rotary damping valve 6 is inversely proportional to the rotary main pressure, and the opening size of the rotary damping solenoid valve 5 is proportional to the rotary main pressure; the signal (for example, the strength of the signal) collected by the pressure switch 3 is proportional to the pressure of the boom main oil circuit, so when the load of the boom is large, the signal collected by the pressure switch 3 is transmitted to the controller 4, and the controller 4 outputs a corresponding current value to control the opening of the rotary damping solenoid valve 5, so as to control the opening of the rotary damping valve 6, increase the rotary load, and further distribute the flow to the boom.
As can be seen from the above description, in the excavator control method provided in the embodiment of the present application, the rotation damping solenoid valve 5 is controlled according to the magnitude of the load of the boom, the rotation damping valve 6 is further controlled, the opening of the orifice is adjusted in a linear manner according to the difference in the load of the boom cylinder 10, and thus the load distribution rationality between the boom lifting and the rotation of the excavator can be further realized on the basis of effectively preventing the rapid increase of the pressure of the main oil path caused by the sudden termination of the boom lifting, and the coordination performance of the excavator operation can be effectively improved to adapt to different working conditions.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Furthermore, those skilled in the art will appreciate that while some of the embodiments described above include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the claims above, any of the claimed embodiments may be used in any combination. Additionally, the information disclosed in this background section is only for enhancement of understanding of the general background of the application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Claims (8)
1. Excavator control system characterized in that includes: a main pump and a boom lift oil path; the movable arm lifting oil way comprises a movable arm valve core and a movable arm oil cylinder, and the main pump, the movable arm valve core and the movable arm oil cylinder are sequentially connected in series;
the device also comprises a controller and a time delay valve; the control end of the movable arm valve core is connected with the delay valve in series, and the controller is in communication connection with the delay valve;
the pressure switch is connected between the delay valve and the control end of the movable arm valve core and is in communication connection with the controller, and the pressure switch monitors pilot pressure at the moment of return of the movable arm in real time and controls return delay of the movable arm valve core;
the hydraulic control system further comprises a movable arm rotary oil way and a rotary damping electromagnetic valve which is in communication connection with the controller, wherein the movable arm lifting oil way is connected with the movable arm rotary oil way in parallel; the swing arm rotation oil path comprises a rotation motor, a rotation damping valve and a rotation valve core, the main pump, the rotation damping valve, the rotation valve core and the rotation motor are sequentially connected in series, the rotation damping solenoid valve is connected to the control end of the rotation damping solenoid valve, the rotation damping valve comprises a throttling port, the rotation damping valve is controlled by the linear return of the pressure switch, and the opening of the throttling port is controlled by the rotation damping solenoid valve and is output in a linear mode.
2. An excavator comprising the excavator control system of claim 1.
3. The excavator control method implemented by applying the excavator control system according to claim 1 or 2, the excavator control method comprising:
and if the controller receives a signal that the movable arm oil cylinder stops operating in the process that the movable arm lifting oil way and the movable arm rotating oil way operate simultaneously, the controller controls the delay valve to be opened so as to carry out extension control on the return time of the movable arm valve core on the control end of the movable arm valve core.
4. The excavator control method according to claim 3, further comprising, after the controlling the delay valve to be opened:
the controller obtains a pressure signal of the movable arm lifting oil way in real time during the time when the delay valve is controlled to be in an opening state;
controlling a rotary damping solenoid valve to open according to a pressure signal of the movable arm lifting oil way so as to perform first return control on a control end of a rotary damping valve in the movable arm rotary oil way, wherein the first return control is used for enabling the oil quantity in the movable arm rotary oil way to increase linearly;
the rotary damping solenoid valve is connected to the control end of the rotary damping valve and is in communication connection with the controller.
5. The excavator control method of claim 3, comprising:
the controller acquires a pressure signal of the movable arm lifting oil way in real time in the process that the movable arm lifting oil way and the movable arm rotating oil way operate simultaneously;
if the received pressure signal shows that the load of the corresponding movable arm oil cylinder is increased, controlling a rotary damping electromagnetic valve to open according to the pressure signal of the movable arm lifting oil way so as to perform second return control on a control end of a rotary damping valve, wherein the second return control is used for enabling the oil quantity in the movable arm rotary oil way to be linearly reduced;
the rotary damping solenoid valve is connected to the control end of the rotary damping valve and is in communication connection with the controller.
6. The excavator control method according to claim 4 or 5, wherein the acquiring the pressure signal of the boom raising oil path in real time includes:
the controller controls at least one pressure switch in communication connection with the controller to detect a pressure signal of the boom lifting oil circuit, wherein the pressure switch is connected between the delay valve and the control end of the boom valve core.
7. The excavator control method of claim 3, wherein the signal indicating that the boom cylinder is stopped is a signal indicating that the boom raising oil passage has no boom pressure and the boom swing oil passage has a swing pressure.
8. The excavator control method according to claim 3, further comprising, before the controlling the delay valve to be opened:
presetting a delay period for controlling the delay valve to be in an open state;
correspondingly, the time length for prolonging the return time of the movable arm valve core is less than or equal to the delay period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910586310.9A CN110397100B (en) | 2019-07-01 | 2019-07-01 | Excavator control system, excavator and excavator control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| JPH08302751A (en) * | 1995-04-28 | 1996-11-19 | Sumitomo Constr Mach Co Ltd | Boom-lifting priority hydraulic circuit for hydraulic shovel |
| CN101793272A (en) * | 2008-12-23 | 2010-08-04 | 斗山英维高株式会社 | Hydraulic circuit for construction machinery |
| CN102108720A (en) * | 2009-12-23 | 2011-06-29 | 斗山英维高株式会社 | Hydraulic system for preventing sudden gyration of construction machinery |
| JP2012077855A (en) * | 2010-10-03 | 2012-04-19 | Tadao Osuga | Turning control hydraulic circuit of construction machinery |
| CN103649553A (en) * | 2011-07-01 | 2014-03-19 | 神钢建设机械株式会社 | Construction machine |
| CN108699811A (en) * | 2016-09-23 | 2018-10-23 | 日立建机株式会社 | Engineering machinery |
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- 2019-07-01 CN CN201910586310.9A patent/CN110397100B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08302751A (en) * | 1995-04-28 | 1996-11-19 | Sumitomo Constr Mach Co Ltd | Boom-lifting priority hydraulic circuit for hydraulic shovel |
| CN101793272A (en) * | 2008-12-23 | 2010-08-04 | 斗山英维高株式会社 | Hydraulic circuit for construction machinery |
| CN102108720A (en) * | 2009-12-23 | 2011-06-29 | 斗山英维高株式会社 | Hydraulic system for preventing sudden gyration of construction machinery |
| JP2012077855A (en) * | 2010-10-03 | 2012-04-19 | Tadao Osuga | Turning control hydraulic circuit of construction machinery |
| CN103649553A (en) * | 2011-07-01 | 2014-03-19 | 神钢建设机械株式会社 | Construction machine |
| CN108699811A (en) * | 2016-09-23 | 2018-10-23 | 日立建机株式会社 | Engineering machinery |
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| CN110397100A (en) | 2019-11-01 |
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