CN112340606B - Multifunctional emergency equipment energy-saving system and control method thereof - Google Patents

Multifunctional emergency equipment energy-saving system and control method thereof Download PDF

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Publication number
CN112340606B
CN112340606B CN202011229428.5A CN202011229428A CN112340606B CN 112340606 B CN112340606 B CN 112340606B CN 202011229428 A CN202011229428 A CN 202011229428A CN 112340606 B CN112340606 B CN 112340606B
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arm
signal
angle sensor
length
action
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CN112340606A (en
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王恒
陈成
李军
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Jiangsu XCMG Construction Machinery Institute Co Ltd
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Jiangsu XCMG Construction Machinery Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies

Abstract

The invention discloses an energy-saving system of multifunctional emergency equipment and a control method thereof.A first arm long angle sensor is arranged on a first arm and used for detecting the length and the inclination angle of the first arm; the second arm long angle sensor is arranged on the second arm and used for detecting the length and the inclination angle of the second arm; the inclination angle sensor is arranged on the machine tool and used for detecting the inclination angle of the machine tool; the electric control handle gives out PWM control signals, and after the PWM control signals are processed by the controller, voltage signals are output, so that the pressure switching valve is powered on or powered off, and the hydraulic pump works in different modes; the electric proportional multi-way valve receives a current signal, controls the flow of a valve core of the electric proportional multi-way valve, inputs the flow into a hydraulic actuating mechanism, and the hydraulic actuating mechanism respectively controls the length and the inclination angle of the first arm and the second arm; the display is used for displaying the working mode and the state of the whole vehicle. The invention reduces the energy consumption of the system in the standby stage and the working stage, reduces the operation cost of equipment, reduces the emission of the equipment and prolongs the service life of a hydraulic pump and hydraulic elements.

Description

Multifunctional emergency equipment energy-saving system and control method thereof
Technical Field
The invention relates to an energy-saving system of multifunctional emergency equipment and a control method thereof, belonging to the technical field of emergency rescue mechanical equipment.
Background
The multifunctional emergency equipment comprises a plurality of sub-hydraulic systems such as a lifting system (including rotation), a grabbing system, a climbing platform and a breaking-in system, and the working modes of the sub-hydraulic systems need to be frequently switched when the sub-hydraulic systems work. Particularly, during actual operation, the no-load standby time is long, the hydraulic system works under different working conditions, and the energy consumption of the system, namely the fuel economy, is also different. The work of the rescue equipment is carried out in places which are relatively difficult to supply, the low energy consumption means that the equipment has strong cruising ability, and the significance of saving people and relieving disasters is self-evident. Meanwhile, the low energy consumption is significant to the operation cost and the emission reduction.
At present, all equipment for researching equipment energy consumption is mobile equipment with relatively single working condition, such as a crane, energy conservation mainly focuses on potential energy recovery in the falling process of an arm support or a winch, and the potential energy is generally stored by an energy accumulator or is converted into electric energy by being connected with a generator and is stored by a storage battery. The existing equipment which can realize multiple functions of lifting, grabbing, climbing a platform, breaking and dismantling and the like on the vehicle is few, the working mode and the control mode of each sub-hydraulic system are all in the exploration stage, and the research on the energy consumption of the equipment is also few. When the existing engineering equipment works on a machine, a hydraulic pump is always in a constant pressure mode, the system pressure is in a cut-off pressure value in the mode, and the system pressure is higher.
Disclosure of Invention
The purpose is as follows: the method aims to overcome the defects that the equipment in the prior art is single in working condition, basically does not have a multi-tool and multi-mode operation process, does not have mode identification and action identification, cannot enable the system to work in a state with the lowest energy consumption through a control program, and cannot realize the function of reducing the energy consumption. The invention provides an energy-saving system of multifunctional emergency equipment and a control method thereof.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a multifunctional emergency equipment energy-saving system comprises: the first arm length and angle sensor is mounted on the first arm and used for detecting the length and the inclination angle of the first arm; the second arm length and angle sensor is arranged on the second arm and used for detecting the length and the inclination angle of the second arm; the inclination angle sensor is arranged on the machine tool and used for detecting the inclination angle of the machine tool; the electric control handle gives out a PWM control signal, and after the PWM control signal is processed by the controller, a voltage signal is output to enable the pressure switching valve to be powered on or powered off for enabling the hydraulic pump to work in different modes; the electric proportional multi-way valve receives a current signal, controls the flow of a valve core of the electric proportional multi-way valve, inputs the flow into a hydraulic actuating mechanism, and the hydraulic actuating mechanism respectively controls the length and the inclination angle of the first arm and the second arm; the display is used for displaying the working mode and the state of the whole vehicle.
As a preferred scheme, the working mode and the state of the whole vehicle comprise the real-time arm length and the inclination angle of the first arm and the second arm.
Preferably, the hydraulic pump is a variable displacement pump, and two modes of the constant pressure difference variable displacement pump and the constant pressure variable displacement pump can be switched through the pressure switching valve.
As a preferable scheme, the hydraulic actuating mechanism comprises a first arm amplitude variation cylinder, a first arm telescopic cylinder, a second arm amplitude variation cylinder and a second arm telescopic cylinder, wherein the first arm realizes the extension and amplitude variation of the first arm through the first arm amplitude variation cylinder and the first arm telescopic cylinder, and the second arm realizes the extension and amplitude variation of the second arm through the second arm amplitude variation cylinder and the second arm telescopic cylinder.
Preferably, the implement is a platform or a stone grabber.
Preferably, the electric control handle, the display, the controller and the electric proportional multi-way valve are arranged on the rotary table.
Preferably, the pressure switching valve and the hydraulic pump are mounted on a chassis.
A control method of an energy-saving system of multifunctional emergency equipment comprises the following steps:
if the whole vehicle is started and powered on, the controller identifies the tilt angle sensor signal, if the tilt angle sensor has no signal input, the whole vehicle is judged to be in a lifting working condition, and an operator is prompted on the display to confirm;
the controller does not output signals to the pressure switching valve, and the hydraulic pump works in a constant pressure difference mode;
when the electric control handle acts, the controller identifies the signal types of the first arm amplitude, the first arm stretching, the second arm amplitude and the second arm stretching, and sends a current signal to the electric proportional multi-way valve, the electric proportional multi-way valve is opened under the control of the electric control handle, pressure oil enters the hydraulic actuating mechanism, and the first arm or the second arm realizes amplitude or stretching action;
in the action process of the electric control handle, the controller simultaneously detects signals of the first arm length angle sensor and the second arm length angle sensor, judges whether the first arm and the second arm stretch or change the amplitude according to the length signals and the angle signals detected by the first arm length angle sensor and the second arm length angle sensor, compares the signals with the identification result of the action signal of the electric control handle, and prompts an error on the display and terminates the action until the fault is eliminated if the signals do not accord with the identification result of the action signal of the electric control handle; if the comparison is consistent, all actions are normal;
if the whole vehicle is started and powered on, the controller recognizes that the tilt angle sensor has signal input, the whole vehicle is judged to be a machine working condition, the machine working condition comprises a platform or grabbing, and an operator is prompted on a display to confirm;
when the electric control handle sends a first arm or second arm telescopic action signal, the controller identifies that the handle signal is the first arm or second arm telescopic action signal, at the moment, the controller does not output a signal to the pressure switching valve, the hydraulic pump works in a constant pressure difference mode, the electric proportional multi-way valve is opened under the control of the electric control handle, pressure oil enters the hydraulic actuating mechanism, and the first arm or the second arm realizes telescopic action;
when the electric control handle sends a first arm or second arm amplitude-variable action signal, the controller identifies that the handle signal is a first arm or second arm amplitude-variable signal, at the moment, the controller outputs a signal to the pressure switching valve, the hydraulic pump works in a constant pressure mode, the pump working pressure is the cutting pressure of the hydraulic pump, the electric proportional multi-way valve is opened under the control of the electric control handle, pressure oil enters the hydraulic actuating mechanism, and the first arm or the second arm realizes amplitude-variable action; in the action process of the electric control handle, the controller simultaneously detects signals of the first arm length angle sensor, the second arm length angle sensor and the inclination angle sensor, judges the action types of the first arm and the second arm according to the signal types detected by the sensors, compares the action types with the identification result of the action signals of the electric control handle, and if the action types do not accord with the identification result, prompts an error on the display and stops the action until the fault is eliminated.
As the preferred scheme, the hydraulic pump works in a constant pressure difference mode, and the pressure of the hydraulic pump is 2-3 Mpa; the hydraulic pump works in a constant pressure mode, and the pressure of the hydraulic pump is 20-30 MPa.
Preferably, the types of signals detected by the sensor include: length signal, angle signal, first arm and second arm action type include the flexible or luffing.
Has the advantages that: the invention provides an energy-saving system of multifunctional emergency equipment and a control method thereof, which mainly enable a hydraulic system, mainly a hydraulic pump, to be in a working state with lower energy consumption by automatically identifying the working condition and action of the multifunctional equipment and through an intelligent control system, reduce the energy consumption of the standby stage and the working stage of the system, reduce the operation cost of the equipment, reduce the emission of the equipment and prolong the service life of the hydraulic pump and hydraulic elements. Its advantages are as follows:
1. the automatic identification of different working conditions and different actions of the multifunctional emergency equipment is realized.
2. Through the intelligent control system, the hydraulic system is in a working state with lower energy consumption, the energy consumption of the system is reduced, and further the operation cost and the emission of equipment are reduced.
3. The service life of the hydraulic pump and the hydraulic element is prolonged, and the maintenance cost of the equipment is reduced.
Drawings
Fig. 1 is a schematic view of a mechanical structure of the multifunctional emergency equipment.
Fig. 2 is a schematic diagram of an energy-saving system of the multifunctional emergency equipment.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in figure 1, the working arm of the multifunctional emergency equipment adopts a mixed structure form, and comprises a rotary table 2 arranged on a chassis 1, wherein a first arm 3 is connected with the rotary table 2 through a pin shaft, and the amplitude variation action is realized through an amplitude variation oil cylinder 4 of the first arm. The first arm 3 is a first-stage telescopic arm, and telescopic action is realized through a first arm telescopic oil cylinder 5. The second arm 8 is connected with the first arm 3 through a first link mechanism 6 and a second arm variable amplitude cylinder 7, the first link mechanism 6 and the second arm variable amplitude cylinder 7 realize the unfolding and folding of the second arm 8, and the first arm and the second arm are arranged in parallel and have an included angle ranging from 0 degree to 180 degrees. The second arm 8 is a first-stage telescopic arm, and telescopic action is realized through a second arm telescopic oil cylinder 9. The implement 13 and the second arm 8 are connected by a quick connector 11, and the posture of the implement 13 is adjusted by the second link mechanism 10 and the implement oil cylinder 12. The implement 13 may be a platform or a matched stone grabber.
A first arm long angle sensor is installed on the first arm 3, a second arm long angle sensor is installed on the second arm 8, and an inclination angle sensor is installed on the machine tool 13. An electric control handle, a display, a controller and an electric proportional multi-way valve are arranged on the rotary table 2. The chassis 1 is provided with a pressure switching valve and a hydraulic pump. The first arm amplitude cylinder 4, the first arm telescopic cylinder 5, the second arm amplitude cylinder 7 and the second arm telescopic cylinder 9 are hydraulic actuating mechanisms.
As shown in fig. 2, an energy saving system of a multifunctional emergency equipment comprises: the device comprises a first arm length angle sensor, an inclination angle sensor, a second arm length angle sensor, an electric control handle, a controller, a display, a hydraulic pump, a pressure switching valve, an electric proportional multi-way valve, a hydraulic actuating mechanism, a first arm and a second arm.
The first arm length and angle sensor is mounted on the first arm and detects the length and inclination angle of the first arm. The second arm length and angle sensor is mounted on the second arm and detects the length and inclination angle of the second arm. The inclination angle sensor is arranged on the machine tool and used for detecting the inclination angle of the machine tool. The electric control handle gives out PWM control signals, and after the PWM control signals are processed by the controller, voltage signals are output, so that the pressure switching valve is powered on or powered off, and the hydraulic pump works in different modes. The electric proportional multi-way valve receives a current signal, controls the flow of a valve core of the electric proportional multi-way valve, inputs the flow into the hydraulic actuating mechanism, and the hydraulic actuating mechanism respectively controls the length and the inclination angle of the first arm and the second arm. The display is used for displaying the working mode and the state of the whole vehicle and comprises the real-time arm length and the inclination angle of the first arm and the second arm. The first and second boom motions are divided into telescoping and luffing motions, which cause changes in the length and angle of the working boom, respectively. The hydraulic pump is a variable pump, and two modes of the constant pressure difference variable pump and the constant pressure variable pump can be switched by the pressure switching valve.
A control method of an energy-saving system of multifunctional emergency equipment comprises the following steps:
if the whole vehicle is started and powered on, the controller firstly identifies the tilt angle sensor signal, if the tilt angle sensor has no signal input, the whole vehicle is judged to be in a hoisting working condition, and an operator is prompted on the display to confirm.
The controller does not output signals to the pressure switching valve, the hydraulic pump works in a constant pressure difference mode, the hydraulic pump is in a low-pressure and low-flow operation state under the standby state when the electric control handle does not act, the pressure is generally 2-3Mpa, and therefore the power loss of the hydraulic system is about 1.5KW at the moment.
When the electric control handle acts, the controller identifies the signal types of the first arm amplitude, the first arm stretching, the second arm amplitude and the second arm stretching, and sends a current signal to the electric proportional multi-way valve, the electric proportional multi-way valve is opened under the control of the electric control handle, pressure oil enters the hydraulic actuating mechanism, and the first arm or the second arm realizes amplitude or stretching action.
In the action process of the electric control handle, the controller simultaneously detects signals of the first arm length angle sensor and the second arm length angle sensor, judges whether the first arm and the second arm stretch or change the amplitude according to the length signals and the angle signals detected by the first arm length angle sensor and the second arm length angle sensor, compares the length signals and the angle signals with the identification result of the action signals of the electric control handle, and prompts errors on the display and stops the action until the faults are eliminated if the length signals and the angle signals are inconsistent; if the comparison is consistent, all actions are normal.
If the whole vehicle is started and powered on, the controller recognizes that the tilt angle sensor has signal input, the whole vehicle is judged to be a machine working condition, the working condition comprises a platform or grabbing, and an operator is prompted on the display to confirm.
When the electric control handle sends a first arm or second arm stretching action signal, the controller identifies that the handle signal is the first arm or second arm stretching signal, at the moment, the controller does not output a signal to the pressure switching valve, the hydraulic pump works in a constant pressure difference mode, the electric proportional multi-way valve is opened under the control of the electric control handle, pressure oil enters the hydraulic actuating mechanism, and the first arm or the second arm realizes stretching action.
When the electric control handle sends a first arm or second arm amplitude-variable action signal, the controller identifies that the handle signal is a first arm or second arm amplitude-variable signal, at the moment, the controller outputs a signal to the pressure switching valve, the hydraulic pump works in a constant pressure mode, the pump working pressure is the cut-off pressure of the hydraulic pump, and the pump working pressure is generally set to be 20-30 MPa according to needs. The electric proportional multi-way valve is opened under the control of the electric control handle, pressure oil enters the hydraulic actuating mechanism, and the first arm or the second arm realizes amplitude variation action. In the action process of the electric control handle, the controller simultaneously detects signals of the first arm length angle sensor, the second arm length angle sensor and the inclination angle sensor, judges the action types (stretching or amplitude changing) of the first arm and the second arm according to the signal types (length signals and angle signals) detected by the sensors, compares the action types with the identification result of the action signals of the electric control handle, and prompts errors on the display and terminates the action until the faults are eliminated if the action types do not accord with the identification result.
According to the technical parameters provided by a hydraulic pump manufacturer, when the pump works in a cut-off pressure and small flow state, the pressure loss of the system is about 6KW, the power loss of the double pumps is over 12KW, the working condition avoids the long-time work of the pump under the cut-off pressure, and the power is saved by 9KW under the standby working condition. Meanwhile, the time of the pump working under a high-pressure working condition is reduced, and the service lives of the pump and a hydraulic element are prolonged.
The controller judges the actions of the first arm and the second working arm according to signals of the long angle sensor, the inclination angle sensor and the electric control handle, identifies the working condition of the whole vehicle, and enables the pressure switching valve to be powered on or powered off through an electric control signal, so that the hydraulic pump works in different modes. The hydraulic pump is a variable pump, and two modes of the constant pressure difference variable pump and the constant pressure variable pump can be switched through the pressure switching valve. The electric proportional multi-way valve receives a current signal processed by the electric control handle and sent to the controller, the current signal is in direct proportion to the flow of a valve core of the multi-way valve, and the flow determines the running speed of the hydraulic actuating mechanism, namely the moving speed of the first arm and the second arm. The display is used for displaying the working mode and the state of the whole vehicle, in particular the real-time arm length and the inclination angle of the first arm and the second arm.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (2)

1. A control method of an energy-saving system of a multifunctional emergency equipment comprises the following steps: first arm, second arm, its characterized in that: the first arm length and angle sensor is arranged on the first arm and used for detecting the length and the inclination angle of the first arm; the second arm length and angle sensor is arranged on the second arm and used for detecting the length and the inclination angle of the second arm; the inclination angle sensor is arranged on the machine tool and used for detecting the inclination angle of the machine tool; the electric control handle gives out a PWM control signal, and after the PWM control signal is processed by the controller, a voltage signal is output to enable the pressure switching valve to be powered on or powered off for enabling the hydraulic pump to work in different modes; the electric proportional multi-way valve receives a current signal, controls the flow of a valve core of the electric proportional multi-way valve, inputs the flow into a hydraulic actuating mechanism, and the hydraulic actuating mechanism respectively controls the length and the inclination angle of the first arm and the second arm; the display is used for displaying the working mode and the state of the whole vehicle; the method is characterized in that: the method comprises the following steps:
if the whole vehicle is started and powered on, the controller identifies the tilt angle sensor signal, if the tilt angle sensor has no signal input, the whole vehicle is judged to be in a lifting working condition, and an operator is prompted on the display to confirm;
the controller does not output signals to the pressure switching valve, and the hydraulic pump works in a constant pressure difference mode;
when the electric control handle acts, the controller identifies the signal types of the first arm amplitude, the first arm stretching, the second arm amplitude and the second arm stretching, and sends a current signal to the electric proportional multi-way valve, the electric proportional multi-way valve is opened under the control of the electric control handle, pressure oil enters the hydraulic actuating mechanism, and the first arm or the second arm realizes amplitude or stretching action;
in the action process of the electric control handle, the controller simultaneously detects signals of the first arm length angle sensor and the second arm length angle sensor, judges whether the first arm and the second arm stretch or change the amplitude according to the length signals and the angle signals detected by the first arm length angle sensor and the second arm length angle sensor, compares the length signals and the angle signals with the identification result of the action signals of the electric control handle, and prompts errors on the display and stops the action until the faults are eliminated if the length signals and the angle signals are inconsistent; if the comparison is consistent, all actions are normal;
if the whole vehicle is started and powered on, the controller recognizes that the tilt angle sensor has signal input, the whole vehicle is judged to be a machine working condition, the machine working condition comprises a platform or grabbing, and an operator is prompted on a display to confirm;
when the electric control handle sends a first arm or second arm telescopic action signal, the controller identifies that the handle signal is the first arm or second arm telescopic action signal, at the moment, the controller does not output a signal to the pressure switching valve, the hydraulic pump works in a constant pressure difference mode, the electric proportional multi-way valve is opened under the control of the electric control handle, pressure oil enters the hydraulic actuating mechanism, and the first arm or the second arm realizes telescopic action;
when the electric control handle sends a first arm or second arm amplitude-variable action signal, the controller identifies that the handle signal is a first arm or second arm amplitude-variable signal, at the moment, the controller outputs a signal to the pressure switching valve, the hydraulic pump works in a constant pressure mode, the pump working pressure is the cutting pressure of the hydraulic pump, the electric proportional multi-way valve is opened under the control of the electric control handle, pressure oil enters the hydraulic actuating mechanism, and the first arm or the second arm realizes amplitude-variable action; in the action process of the electric control handle, the controller simultaneously detects signals of the first arm length angle sensor, the second arm length angle sensor and the inclination angle sensor, judges the action types of the first arm and the second arm according to the signal types detected by the sensors, compares the action types with the identification result of the action signals of the electric control handle, and if the action types do not accord with the identification result, prompts an error on the display and stops the action until the fault is eliminated.
2. The control method according to claim 1, characterized in that: the hydraulic pump works in a constant pressure difference mode, and the pressure of the hydraulic pump is 2-3 Mpa; the hydraulic pump works in a constant pressure mode, and the pressure of the hydraulic pump is 20-30 MPa.
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