CN116104149A - Double-jointed arm control system and control method thereof - Google Patents

Abstract

The invention discloses a double-jointed arm control system and a control method thereof, wherein a reversing valve group is driven by a switching mode electromagnetic valve to realize variable operation, so that convenient operation of controlling different actions by the same pilot switch is realized; the invention discloses a virtual-real double-redundancy pilot control strategy based on a man-machine interaction interface and a multifunctional operating handle in a multi-fault mode, solves the problem of urgent danger prevention capability of the system, and enhances the reliability of the control system. The electronic tag-based root-hunting differential start-stop strategy is adopted, different slope control strategies are set according to different configurations and actions, the start-stop stability of the double-section arm is improved, and the operation is more stable. The invention improves the controllability of the electrohydraulic system, and the intelligent control of the system is more convenient; the virtual-real dual-redundancy pilot control is realized, the controllability of the system in an emergency mode is improved, and the system configuration is more flexible; aiming at different double-jointed arm start-stop characteristics, accurate matching control is realized, system impact is reduced, and the action is more stable.

Description

Double-jointed arm control system and control method thereof

Technical Field

The invention relates to a double-jointed arm control system and a control method thereof, belonging to the technical field of electro-hydraulic control of an excavator.

Background

Currently, in the European and American high-end market, the 'one-machine-multi-function' of the excavator is a key requirement of customers. When the excavator is in the multifunctional application field, the working condition adaptability of the excavator can be effectively improved by configuring a multi-tool system, changing the structural configuration of the tool device and the like. But simultaneously, the system control pilot switches are more, the arrangement is difficult, and the operation is complex. Therefore, how to improve the convenience and reliability of various pilot operations is an important technology for multifunctional application of the excavator.

The double-pitch arm of the excavator is configured by adding a pitch adjusting arm between a conventional big arm and a bucket rod for changing the working envelope of the excavator. The double-knuckle arm excavator can freely change the working radius by adjusting the telescopic distance of the adjusting arm oil cylinder, is suitable for changing the excavating range under a specific working environment, and is simple to operate.

The adjusting arm has various structural forms, and is mainly divided into three forms of a long-short telescopic type, an adduction external swinging type and a left-right swinging type, wherein the adduction external swinging type structural technology is generally adopted. The main current regulating arms in the market at present mostly adopt hydraulic control pedal control, and the telescopic control of the oil cylinder of the regulating arms is realized through a hydraulic control pilot direct drive control valve.

However, the adjusting arm is used as a functional configuration for adjusting the working envelope of the excavator, the use frequency of the adjusting arm is low, the complexity of the control system and the cost of the whole machine can be improved by arranging a special control system, and particularly, when the machine is provided with a plurality of machine operating systems, the control is more complicated, so that the use convenience is greatly affected.

The existing liquid control mode is simpler, but the electrohydraulic intelligent control degree is lower, and a hydraulic pilot pedal is required to be additionally arranged, so that the cost is higher, and the economical efficiency is poor; the operation convenience of the system is further reduced under the condition that the operation pilot of the system is more; meanwhile, the system does not have redundant operation, cannot meet emergency operation under a fault mode of a pilot system, and is insufficient in operation safety. When different adjusting arms are configured in the same machine type, quick matching cannot be realized through electric control.

Disclosure of Invention

The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a double-jointed arm control system and a control method thereof.

The technical scheme is as follows: in order to solve the technical problems, the invention adopts the following technical scheme:

in a first aspect, a dual articulated arm control system comprises: the system comprises a main controller, a first pilot sensor, a second pilot sensor, a mode electromagnetic valve, a first pilot proportional valve, a second pilot proportional valve, an operation switch, a mode switch and a main pump proportional valve.

The first pilot sensor, the second pilot sensor, the mode electromagnetic valve, the first pilot proportional valve, the second pilot proportional valve and the main pump proportional valve are respectively and electrically connected with the main controller; the operation switch and the mode switch are electrically connected to the main controller, or the bus module and the main controller are adopted by the operation switch and the mode switch to realize bus interconnection.

Further comprises: the device comprises a pilot oil source block, a pilot control valve, a reversing valve, a switching valve group, a first execution oil cylinder and a second execution oil cylinder.

The pilot pressure is transmitted to the pilot control valve, the mode electromagnetic valve, the first pilot proportional valve and the second pilot proportional valve through the pilot oil source block respectively.

The pilot control valve comprises a first pilot control valve and a second pilot control valve, a first pilot sensor is arranged on a pilot oil path of the first pilot control valve, and a second pilot sensor is arranged on a pilot oil path of the second pilot control valve. The pilot oil pressure signals in the pilot oil paths of the first pilot control valve and the second pilot control valve are respectively sent to the main controller through the first pilot sensor and the second pilot sensor.

The operation switch is used for sending a control signal to the first pilot proportional valve or/and the second pilot proportional valve through the main controller.

The switching valve group comprises a first switching valve group and a second switching valve group, and pilot pressure generated by the mode electromagnetic valve respectively controls the first switching valve group and the second switching valve group. The first switching valve group is respectively provided with two outlets, one outlet A2 is communicated with the rodless oil cavity of the first execution oil cylinder, and the other outlet is communicated with the rodless oil cavity of the second execution oil cylinder. The second switching valve group is respectively provided with two outlets, one outlet B2 is communicated with the rod oil cavity of the first execution oil cylinder, and the other outlet B1 is communicated with the rod oil cavity of the second execution oil cylinder.

The generated working oil pressure is communicated with the input port of the reversing valve through the main pump proportional valve, the reversing valve is respectively provided with two outlets, one outlet is communicated with the input port of the first switching valve group, and the other outlet is communicated with the input port of the second switching valve group.

The mode switch is used for sending a control signal to the mode electromagnetic valve through the main controller.

The pilot pressures output by the first pilot proportional valve and the second pilot proportional valve are respectively connected with valve core caps at two ends of the reversing valve and are used for controlling the conduction and closing of two outlets of the reversing valve.

The first execution oil cylinder is used for driving the adjusting arm, and the second execution oil cylinder is used for driving the big arm.

The system is characterized by further comprising an electronic monitor, wherein the main controller and the electronic monitor are connected through a bus, and the electronic monitor is used for inputting signals for controlling the first pilot proportional valve or the second pilot proportional valve to the main controller.

Preferably, the operation switch is a sliding key type two-way switch integrated on the leading operation handle, or is a push button switch or a two-way operation trigger.

Preferably, the mode switch is a push button switch integrated on the pilot operation handle, or other forms of push button switches distributed in the operation area, including but not limited to an integrated switch panel.

As a preferable scheme, the electronic monitor is an electronic monitor installed on the excavator, and the electronic monitor is a touch screen or a non-touch screen; or the electronic monitor is equivalent off-vehicle equipment which is controlled by coupling realized through wireless communication, and the electronic monitor is not limited to a remote control handle, a PAD and a mobile phone.

Preferably, the main controller matches the target value and the change rate of the current of the pilot proportional solenoid valve according to the target value and the change rate of the pilot pressure sensor.

Preferably, the main controller controls the target flow and the flow mutation rate of the main pump proportional valve by controlling the current value of the main pump proportional valve.

In a second aspect, a method for switching a dual-arm mode of a dual-arm control system includes the steps of:

step 1: the main controller detects the state of the mode switch, and if the mode switch is pressed for a long time, the main controller judges to enter the double-jointed arm mode switching mode.

Step 2: after entering the double-section arm mode switching mode, the control arm mode or the large arm mode is respectively entered through a short-press mode switch.

Step 3: when the regulating arm mode is entered, the main controller is electrified through the driving mode electromagnetic valve, the hydraulic pilot oil from the pilot oil source block is electrified through the mode electromagnetic valve, the A2 of the first switching valve bank is driven, and the B2 of the second switching valve bank is conducted.

Step 4: the first pilot control valve or the second pilot control valve is controlled by operating the pilot control handle, a pressure signal detected by the first pilot pressure sensor or the second pilot sensor is sent to the main controller, the main controller drives the first pilot proportional valve or the second pilot proportional valve, the first pilot proportional valve or the second pilot proportional valve drives the reversing valve to switch corresponding outlets, and high-pressure oil enters the first switching valve bank or the second switching valve bank through the corresponding outlets and is used for realizing the expansion and contraction of the first execution oil cylinder corresponding to the regulating arm.

Step 5: when the main controller enters the large arm mode, the main controller loses power through the driving mode electromagnetic valve, the hydraulic pilot oil from the pilot oil source block drives A1 of the first switching valve group after passing through the mode electromagnetic valve, and B1 of the second switching valve group is conducted.

Step 6: the first pilot control valve or the second pilot control valve is controlled by operating the pilot control handle, a pressure signal detected by the first pilot pressure sensor or the second pilot pressure sensor is sent to the main controller, the main controller drives the first pilot proportional valve or the second pilot proportional valve, the first pilot proportional valve or the second pilot proportional valve drives the reversing valve to switch corresponding outlets, and high-pressure oil enters the first switching valve bank or the second switching valve bank through the corresponding outlets and is used for realizing the expansion and contraction of the second execution oil cylinder corresponding to the big arm.

Step 7: and after entering the double-arm mode switching mode, exiting the double-arm mode switching mode by long-pressing a mode switch.

Preferably, the method further comprises: when the mode of switching the double-arm mode is entered, the electronic monitor receives a state signal from the controller of switching the double-arm mode, and the electronic monitor presents a double-arm virtual action simulation interface on the main interface and is used for displaying whether the current pilot control handle controls the big arm mode or the regulating arm mode.

In a third aspect, a virtual dual redundancy control method of a dual-jointed arm control system includes the steps of:

step 1: and the main controller acquires the configuration condition of the engineering machinery pilot control handle according to the engineering machinery model information.

Step 2: if the configuration condition of the pilot control handle is a conventional handle, when the main controller judges that the first pilot sensor or the second pilot sensor is in fault, the double-pitch arm control system judges that the single-side fault exists, if the main controller is in a large-arm mode at present, the main controller is electrified through a driving mode electromagnetic valve, the hydraulic pilot oil from the pilot oil source block is electrified through the mode electromagnetic valve and drives A1 of the first switching valve group, and B1 of the second switching valve group is conducted. The conventional handle operates the first pilot control valve or the second pilot control valve which is not failed by the pilot sensor, a pressure signal detected by the first pilot sensor or the second pilot sensor which is not failed by the pilot sensor is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the second execution oil cylinder corresponding to the large arm. The mode switch sends a signal of the first pilot control valve or the second pilot control valve for replacing the control of the failure of the pilot sensor to the main controller by the normal handle operation, and the normal handle function of single-side failure is realized by the normal handle operation without single-side failure.

Step 3: if the configuration condition of the pilot control handle is a conventional handle, when the main controller judges that the first pilot sensor or the second pilot sensor is in fault, the double-pitch arm control system judges that the single-side fault exists, if the main controller is in a regulating arm mode at present, the main controller is electrified through a driving mode electromagnetic valve, the hydraulic pilot oil from the pilot oil source block is conducted through the mode electromagnetic valve and then drives the A2 of the first switching valve group, and the B2 of the second switching valve group is conducted. The conventional handle operates the first pilot control valve or the second pilot control valve which is not failed by the pilot sensor, a pressure signal detected by the first pilot sensor or the second pilot sensor which is not failed by the pilot sensor is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the first execution oil cylinder corresponding to the regulating arm. The mode switch sends a signal of the first pilot control valve or the second pilot control valve for replacing the control of the failure of the pilot sensor to the main controller by the normal handle operation, and the normal handle function of single-side failure is realized by the normal handle operation without single-side failure.

Step 4: if the configuration condition of the pilot control handle is a conventional handle, when the main controller judges that both the first pilot sensor and the second pilot sensor are in failure, the double-pitch arm control system judges that the double-pitch arm control system is in double-pitch failure, and the mode switch is used for switching between a large-arm mode or a regulating arm mode. And controlling the first pilot proportional valve or the second pilot proportional valve through a pilot control interface on the electronic monitor interface, wherein the control is used for realizing the extension and retraction of the second execution oil cylinder corresponding to the big arm or the first execution oil cylinder corresponding to the adjusting arm.

In a fourth aspect, a virtual dual redundancy control method of a dual-jointed arm control system includes the steps of:

step 1: and the main controller acquires the configuration condition of the engineering machinery pilot control handle according to the engineering machinery model information.

Step 2: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that the first pilot sensor or the second pilot sensor is in fault, the double-pitch arm control system judges that the single-side fault exists, if the main controller is in a large-arm mode at present, the main controller is electrified through a driving mode electromagnetic valve, the hydraulic pilot oil from the pilot oil source block is electrified through the mode electromagnetic valve and then drives the A1 of the first switching valve bank, and the B1 of the second switching valve bank is conducted. The multifunctional handle operates the first pilot control valve or the second pilot control valve which is not failed by the pilot sensor, a pressure signal detected by the first pilot sensor or the second pilot sensor which is not failed by the pilot sensor is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the second execution oil cylinder corresponding to the large arm. The mode switch sends out a signal for replacing the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor by operating the switch on the multifunctional handle to the main controller, and the multifunctional handle function of single-side fault is realized by operating the switch on the multifunctional handle. Or the mode switch sends a signal of the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor to the main controller by the operation of the multifunctional handle, and the multifunctional handle function of single-side fault is realized by the operation of the multifunctional handle without single-side fault.

Step 3: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that the first pilot sensor or the second pilot sensor is in fault, the double-pitch arm control system judges that the single-side fault exists, if the main controller is in the regulating arm mode at present, the main controller is electrified through a driving mode electromagnetic valve, the hydraulic pilot oil from the pilot oil source block is conducted through the mode electromagnetic valve and then drives the A2 of the first switching valve group, and the B2 of the second switching valve group is conducted. The multifunctional handle operates the first pilot control valve or the second pilot control valve which is not failed by the pilot sensor, a pressure signal detected by the first pilot sensor or the second pilot sensor which is not failed by the pilot sensor is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the first execution oil cylinder corresponding to the regulating arm. The mode switch sends out a signal for replacing the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor by operating the switch on the multifunctional handle to the main controller, and the multifunctional handle function of single-side fault is realized by operating the switch on the multifunctional handle. Or the mode switch sends a signal of the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor to the main controller by the operation of the multifunctional handle, and the multifunctional handle function of single-side fault is realized by the operation of the multifunctional handle without single-side fault.

Step 4: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that both the first pilot sensor and the second pilot sensor are in failure, the double-pitch arm control system judges that the double-pitch arm control system is in double-pitch failure, and the mode switch is used for switching between a large-arm mode or an adjusting arm mode. The control of the first pilot proportional valve or the second pilot proportional valve is realized by operating an operation switch with a bidirectional regulation function on the multifunctional handle, and the control is used for realizing the extension and retraction of a second execution cylinder corresponding to the big arm or a first execution cylinder corresponding to the regulation arm.

Preferably, the method further comprises a step 5.

The step 5: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that both the first pilot sensor and the second pilot sensor are in failure, the double-pitch arm control system judges that the double-pitch arm control system is in double-pitch failure, and the mode switch is used for switching between a large-arm mode or an adjusting arm mode. The control of the first pilot proportional valve or the second pilot proportional valve is realized through operating a first operation switch with a unidirectional regulation function on the multifunctional handle, and the control is used for realizing the expansion and contraction of a second execution cylinder corresponding to the big arm or a first execution cylinder corresponding to the regulation arm.

As a preferred scheme, the method further comprises the following step 6:

the step 6: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that both the first pilot sensor and the second pilot sensor are in failure, the double-pitch arm control system judges that the double-pitch arm control system is in double-pitch failure, and the mode switch is used for switching between a large-arm mode or an adjusting arm mode. And controlling the first pilot proportional valve or the second pilot proportional valve through a pilot control interface on the electronic monitor interface, wherein the control is used for realizing the extension and retraction of the second execution oil cylinder corresponding to the big arm or the first execution oil cylinder corresponding to the adjusting arm.

The beneficial effects are that: according to the double-jointed arm control system and the control method thereof, electrohydraulic coupling pilot control is adopted, the reversing valve group is driven by the switching mode electromagnetic valve to realize variable operation, and the convenient operation of controlling different actions by the same pilot switch is realized; the invention discloses a virtual-real double-redundancy pilot control strategy based on a man-machine interaction interface and a multifunctional operating handle in a multi-fault mode, solves the problem of urgent danger prevention capability of a system in fault modes such as single-side fault, double-side fault and the like of the operating pilot, and enhances the reliability of a control system. The electronic tag-based root-hunting differential start-stop strategy is adopted, different slope control strategies are set according to different configurations and actions, the start-stop stability of the double-section arm is improved, and the operation is more stable.

According to the invention, the controllability of the electrohydraulic system is improved through pilot coupling control, and the intelligent control of the system is more convenient; the configurable pilot control based on the multiple fault modes is adopted, so that virtual-real dual-redundancy pilot control is realized, the controllability of the system in the emergency mode is improved, and the system configuration is more flexible; meanwhile, aiming at the condition that the configuration of the excavator is changed greatly, a differential control strategy is adopted, and aiming at different double-section-arm start-stop characteristics, accurate matching control is realized, system impact is reduced, and the action is more stable.

Drawings

FIG. 1 is a block diagram of a dual-jointed arm control system of an excavator in accordance with the present invention.

Fig. 2 is a hydraulic schematic of the present invention.

Fig. 3 is a flow chart of the two-jointed arm mode switching control.

Fig. 4 is a pilot double redundancy control flow diagram based on multiple failure modes.

Description of the embodiments

The invention will be further described with reference to specific examples.

As shown in fig. 1, a first embodiment is a dual articulated arm control system, comprising: a main controller 1, a first pilot sensor 2, a second pilot sensor 3, a mode solenoid valve 4, a first pilot proportional valve 5, a second pilot proportional valve 6, an electronic monitor 7, a second operation switch 8, a first operation switch 9, a mode switch 10, and a main pump proportional valve 11.

The main controller 1 and the electronic monitor 7 are interconnected through buses, and the first pilot sensor 2, the second pilot sensor 3, the mode electromagnetic valve 4, the first pilot proportional valve 5, the second pilot proportional valve 6 and the main pump proportional valve 11 are respectively and electrically connected with the main controller 1; the first operation switch 9, the second operation switch 8 and the mode switch 10 are electrically connected to the main controller, and the three switches can also adopt a bus module and the main controller to realize bus interconnection.

As shown in fig. 2, further includes: a pilot oil source block 12, a pilot control valve 13, a reversing valve 14, a switching valve group 15, a first execution cylinder 16, and a second execution cylinder 17.

A pilot pump (not shown in fig. 2) generates pilot pressure that is transmitted to pilot control valve 13, mode solenoid valve 4, first pilot proportional valve 5, and second pilot proportional valve 6, respectively, via pilot oil source block 12.

The pilot control valve 13 comprises a first pilot control valve 13-1 and a second pilot control valve 13-2, wherein a first pilot sensor 2 is arranged on a pilot oil path of the first pilot control valve 13-1, and a second pilot sensor 3 is arranged on a pilot oil path of the second pilot control valve 13-2. The pilot control handles (not shown in fig. 2) respectively control the first pilot control valve 13-1 and the second pilot control valve 13-2, are used for changing the pilot oil pressure in the pilot oil paths of the first pilot control valve 13-1 and the second pilot control valve 13-2, and respectively send the pilot oil pressure to the main controller 1 through the first pilot sensor 2 and the second pilot sensor 3.

The first operation switch 9 is used for sending a control signal to the first pilot proportional valve 5 or/and the second pilot proportional valve 6 through the main controller 1, and the second operation switch 8 is used for sending a control signal to the first pilot proportional valve 5 or/and the second pilot proportional valve 6 through the main controller 1.

The switching valve group 15 comprises a first switching valve group 15-1 and a second switching valve group 15-2, and the pilot pressure generated by the mode electromagnetic valve 4 controls the first switching valve group 15-1 and the second switching valve group 15-2 respectively. The first switching valve group 15-1 is respectively provided with two outlets, one outlet A2 is communicated with the rodless oil cavity of the first execution oil cylinder 16, and the other outlet A1 is communicated with the rodless oil cavity of the second execution oil cylinder 17. The second switching valve group 15-2 has two outlets respectively, one outlet B2 is communicated with the rod oil cavity of the first execution cylinder 16, and the other outlet B1 is communicated with the rod oil cavity of the second execution cylinder 17.

Working oil pressure generated by a main pump (not shown in fig. 2) is communicated with an input port of a reversing valve 14 through a main pump proportional valve 11, the reversing valve 14 is respectively provided with two outlets, one outlet is communicated with an input port of a first switching valve group 15-1, and the other outlet is communicated with an input port of a second switching valve group 15-2.

The mode switch 10 is used for sending a control signal to the mode electromagnetic valve 4 through the main controller 1.

The pilot pressures output by the first pilot proportional valve 5 and the second pilot proportional valve 6 are respectively connected with valve core caps at two ends of the reversing valve 14 and are used for controlling the conduction and closing of two outlets of the reversing valve 14.

The first actuating cylinder 16 is used for driving the adjusting arm, and the second actuating cylinder 17 is used for driving the big arm.

The electronic monitor 7 is used for inputting a signal for controlling the first pilot proportional valve 5 or the second pilot proportional valve 6 to the main controller 1.

As shown in fig. 3, a second embodiment of a method for switching a dual-arm mode of a dual-arm control system includes the following steps:

step 1: the main controller 1 detects the state of the mode switch 10, and if the mode switch is long pressed, the main controller judges to enter the double-jointed arm mode switching mode.

Step 2: after entering the double-section arm mode switching mode, the control arm mode or the large arm mode is respectively entered through a short-press mode switch.

Step 3: when the regulating arm mode is entered, the main controller is powered through the driving mode electromagnetic valve 4, and the hydraulic pilot oil from the pilot oil source block 12 is driven through the mode electromagnetic valve 4 to drive the A2 of the first switching valve group 15-1, and the B2 of the second switching valve group 15-2 is conducted.

Step 4: the first pilot control valve or the second pilot control valve is controlled by operating the pilot control handle, a pressure signal detected by the first pilot pressure sensor 2 or the second pilot sensor 3 is sent to the main controller 1, the main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6, the first pilot proportional valve 5 or the second pilot proportional valve 6 drives the reversing valve 14 to switch corresponding outlets, and high-pressure oil enters the first switching valve bank 15-1 or the second switching valve bank 15-2 through the corresponding outlets and is used for realizing expansion and contraction of the first execution oil cylinder 16 corresponding to the regulating arm.

Step 5: when the main controller enters the large arm mode, the main controller loses power through the driving mode electromagnetic valve 4, and the hydraulic pilot oil from the pilot oil source block 12 drives the A1 of the first switching valve group 15-1 after passing through the mode electromagnetic valve 4, and the B1 of the second switching valve group 15-2 is conducted.

Step 6: the first pilot control valve or the second pilot control valve is controlled by operating the pilot control handle, a pressure signal detected by the first pilot pressure sensor 2 or the second pilot pressure sensor 3 is sent to the main controller 1, the main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6, the first pilot proportional valve 5 or the second pilot proportional valve 6 drives the reversing valve 14 to switch corresponding outlets, and high-pressure oil enters the first switching valve bank 15-1 or the second switching valve bank 15-2 through the corresponding outlets and is used for realizing the extension and retraction of the second execution oil cylinder 17 corresponding to the big arm.

Step 7: and after entering the double-arm mode switching mode, exiting the double-arm mode switching mode by long-pressing a mode switch.

Further, the method further comprises the following steps: when entering the double-arm mode switching mode, the electronic monitor 7 receives a state signal from the double-arm switching mode of the controller 1, and the electronic monitor presents a double-arm virtual action simulation interface on the main interface for displaying whether the current pilot control handle controls the big arm mode or the adjusting arm mode, so that the current state of an operator is intuitively reminded.

As shown in fig. 4, a virtual dual redundancy control method of a dual-jointed arm control system according to a third embodiment includes the following steps:

step 1: the main controller 1 obtains the configuration condition of the engineering machinery pilot control handle according to the engineering machinery model information.

Step 2: if the configuration condition of the pilot control handle is a conventional handle, when the main controller judges that the first pilot sensor 2 or the second pilot sensor 3 is in fault, the double-jointed arm control system judges that the single-sided fault exists, and the mode switch cannot switch the double-jointed arm mode. If the main controller is in the large arm mode, the main controller is powered through the driving mode electromagnetic valve 4, and the hydraulic pilot oil from the pilot oil source block 12 is driven to A1 of the first switching valve group 15-1 after passing through the mode electromagnetic valve 4, and B1 of the second switching valve group 15-2 is conducted. The conventional handle operates the first pilot control valve or the second pilot control valve which is not failed in the pilot sensor, the pressure signal detected by the first pilot sensor 2 or the second pilot sensor 3 which is not failed in the pilot sensor is sent to the main controller 1, and the main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6 to achieve extension or retraction of the second execution oil cylinder 17 corresponding to the big arm. The mode switch sends a signal of the first pilot control valve or the second pilot control valve for replacing the control of the failure of the pilot sensor to the main controller by the normal handle operation, and the normal handle function of single-side failure is realized by the normal handle operation without single-side failure.

Step 3: if the configuration condition of the pilot control handle is a conventional handle, when the main controller judges that the first pilot sensor 2 or the second pilot sensor 3 is in fault, the double-jointed arm control system judges that the single-sided fault exists, and the mode switch cannot switch the double-jointed arm mode. If the control arm mode is the current regulation arm mode, the main controller is powered through the driving mode electromagnetic valve 4, and the hydraulic pilot oil from the pilot oil source block 12 is driven to A2 of the first switching valve group 15-1 after passing through the mode electromagnetic valve 4, and B2 of the second switching valve group 15-2 is conducted. The conventional handle operates the first pilot control valve or the second pilot control valve which is not failed in the pilot sensor, the pressure signal detected by the first pilot sensor 2 or the second pilot sensor 3 which is not failed in the pilot sensor is sent to the main controller 1, and the main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6 to achieve extension or retraction of the first execution oil cylinder 16 corresponding to the regulating arm. The mode switch sends a signal of the first pilot control valve or the second pilot control valve for replacing the control of the failure of the pilot sensor to the main controller by the normal handle operation, and the normal handle function of single-side failure is realized by the normal handle operation without single-side failure.

Step 4: if the configuration of the pilot control handle is a conventional handle, when the main controller judges that both the first pilot sensor 2 and the second pilot sensor 3 are faulty, the double-jointed arm control system judges that the double-jointed arm control system is faulty, and the mode switch is used for switching between a big arm mode or a regulating arm mode. The control of the first pilot proportional valve 5 or the second pilot proportional valve 6 is realized through a pilot control interface on the interface of the electronic monitor 7, so as to realize the extension and retraction of the second execution cylinder 17 corresponding to the big arm or the first execution cylinder 16 corresponding to the adjusting arm.

Step 5: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that the first pilot sensor 2 or the second pilot sensor 3 is in fault, the double-jointed arm control system judges that the single-sided fault exists, and the mode switch cannot switch the double-jointed arm mode. If the main controller is in the large arm mode, the main controller is powered through the driving mode electromagnetic valve 4, and the hydraulic pilot oil from the pilot oil source block 12 is driven to A1 of the first switching valve group 15-1 after passing through the mode electromagnetic valve 4, and B1 of the second switching valve group 15-2 is conducted. The multifunctional handle operates the first pilot control valve or the second pilot control valve which is not failed in the pilot sensor, the pressure signal detected by the first pilot sensor 2 or the second pilot sensor 3 which is not failed in the pilot sensor is sent to the main controller 1, and the main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6 to achieve extension or retraction of the second execution oil cylinder 17 corresponding to the big arm. The mode switch sends out a signal for replacing the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor by operating the switch on the multifunctional handle to the main controller, and the multifunctional handle function of single-side fault is realized by operating the switch on the multifunctional handle. Or the mode switch sends a signal of the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor to the main controller by the operation of the multifunctional handle, and the multifunctional handle function of single-side fault is realized by the operation of the multifunctional handle without single-side fault.

Step 6: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that the first pilot sensor 2 or the second pilot sensor 3 is in fault, the double-jointed arm control system judges that the single-sided fault exists, and the mode switch cannot switch the double-jointed arm mode. If the control arm mode is the current regulation arm mode, the main controller is powered through the driving mode electromagnetic valve 4, and the hydraulic pilot oil from the pilot oil source block 12 is driven to A2 of the first switching valve group 15-1 after passing through the mode electromagnetic valve 4, and B2 of the second switching valve group 15-2 is conducted. The multifunctional handle operates the first pilot control valve or the second pilot control valve which is not failed in the pilot sensor, the pressure signal detected by the first pilot sensor 2 or the second pilot sensor 3 which is not failed in the pilot sensor is sent to the main controller 1, and the main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6 to achieve extension or retraction of the first execution oil cylinder 16 corresponding to the regulating arm. The mode switch sends out a signal for replacing the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor by operating the switch on the multifunctional handle to the main controller, and the multifunctional handle function of single-side fault is realized by operating the switch on the multifunctional handle. Or the mode switch sends a signal of the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor to the main controller by the operation of the multifunctional handle, and the multifunctional handle function of single-side fault is realized by the operation of the multifunctional handle without single-side fault.

Step 7: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that the first pilot sensor 2 and the second pilot sensor 3 are both in fault, the double-jointed arm control system judges that the double-jointed arm control system is in double-sided fault, and the mode switch is used for switching between a big arm mode or a regulating arm mode. The control of the first pilot proportional valve 5 or the second pilot proportional valve 6 is realized by operating an operation switch with a bidirectional adjusting function on the multifunctional handle, so as to realize the extension and retraction of the second execution cylinder 17 corresponding to the big arm or the first execution cylinder 16 corresponding to the adjusting arm.

Further, the method further comprises the step 8: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that the first pilot sensor 2 and the second pilot sensor 3 are both in fault, the double-jointed arm control system judges that the double-jointed arm control system is in double-sided fault, and the mode switch is used for switching between a big arm mode or a regulating arm mode. The first operation switch with a unidirectional regulation function on the multifunctional handle is operated, and the second operation switch is used for controlling the first pilot proportional valve 5 or the second pilot proportional valve 6 and realizing the extension and retraction of the second execution oil cylinder 17 corresponding to the big arm or the first execution oil cylinder 16 corresponding to the regulation arm.

Further, step 9: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that the first pilot sensor 2 and the second pilot sensor 3 are both in fault, the double-jointed arm control system judges that the double-jointed arm control system is in double-sided fault, and the mode switch is used for switching between a big arm mode or a regulating arm mode. The control of the first pilot proportional valve 5 or the second pilot proportional valve 6 is realized through a pilot control interface on the interface of the electronic monitor 7, so as to realize the extension and retraction of the second execution cylinder 17 corresponding to the big arm or the first execution cylinder 16 corresponding to the adjusting arm.

Examples

A double-arm control system comprises a main controller 1, a first pilot sensor 2, a second pilot sensor 3, a mode electromagnetic valve 4, a first pilot proportional valve 5, a second pilot proportional valve 6, an electronic monitor 7, a second operation switch 8, a first operation switch 9, a mode switch 10 and a main pump proportional valve 11.

Preferably, the main pump proportional valve can be any proportional valve used for controlling the flow of the required double-jointed arm in the branch pump system, and can be a direct proportion or an inverse proportion electromagnetic proportional valve.

Preferably, the electronic monitor adopts CAN bus communication, and CAN also adopt any other bus communication mode.

Preferably, the first operation switch and the second operation switch may be a sliding key type two-way switch integrated on the pilot operation handle, or may be a push button switch or a two-way operation trigger.

Preferably, the mode switch may be a button switch integrated on the pilot operation handle, or may be other forms of button switches distributed in the operation area, including but not limited to an integrated switch panel.

Preferably, the electronic monitor may be an excavator mounted electronic monitor, which may be a touch screen electronic monitor or a non-touch screen electronic monitor. Meanwhile, the electronic monitor can also be equivalent off-vehicle equipment for coupling control realized through wireless communication, including mobile equipment such as a remote control handle, a PAD, a mobile phone and the like.

Examples

A method for switching the mode of a double-arm control system comprises the following steps:

when the system is powered on, the main controller 1 detects the state of the mode switch 10, if the mode switch is long pressed, the main controller judges that the mode switch state of the double-jointed arm is entered, meanwhile, the electronic monitor 7 receives the state signal of the double-jointed arm switch mode from the main controller 1, and the electronic monitor displays a double-jointed arm virtual action simulation interface on the main interface for displaying the current pilot control handle or operating the switch to control the big arm mode or the regulating arm mode, thereby intuitively reminding an operator of the current state.

The main controller 1 will further detect the mode switch 10 signal, if the mode switch is pressed for a long time, the system will exit the double-arm switching mode, if the system is pressed for a short time, the system will enter the double-arm switching mode, each time the mode switch is pressed for a short time, the system will realize control switching between the big arm mode and the adjusting arm mode, if the system is pressed for a long time again, the double-arm switching mode will exit.

When entering the double-jointed arm switching mode, if the first short press is performed, the main controller enters the regulating arm mode, the main controller is electrified through the driving mode electromagnetic valve 4, the hydraulic pilot oil from the pilot oil source block 12 is commutated through the mode electromagnetic valve 4 and then drives the switching valve group 15, at the moment, if an operator operates the pilot control valve 13 through the pilot control handle, the first pilot pressure sensor 2 or the second pilot pressure sensor 3 changes the detected pressure signal to the main controller 1, the main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6, at the moment, the switching valve 14 is switched to a corresponding working oil way, the high-pressure oil from the system flows through the switching valve 14 and the switching valve group 15 to further reach the first executing oil cylinder 16, and the first executing oil cylinder 16 is used for driving the regulating arm to act.

For example: the pilot control handle is pushed forward to drive the first pilot control valve 13-1 to act, the corresponding first pilot pressure sensor generates a pressure signal, the pressure signal is sent to the main controller 1, the main controller 1 enables the first pilot proportional valve 5 to be powered on, the slide valve in the reversing valve 14 moves to send working oil pressure to the second switching valve group 15-2, and the working oil is injected into the large cavity of the first execution oil cylinder 16 through the outlet B2 of the second switching valve group 15-2, so that the large arm descends. Similarly, the pilot control handle is pulled back, and working oil pressure is injected into the small cavity of the first execution cylinder 16 through the outlet A2 of the first switching valve group 15-1, so that the large arm rises.

When entering the double-jointed arm switching mode, if the main controller enters the big arm mode after the first short pressing and presses again, the main controller stops driving the mode electromagnetic valve 4 to be electrified, the switching valve group 15 is kept at the initial position, at the moment, if an operator operates the pilot control valve 13 through the pilot control handle, the first pilot pressure sensor 2 or the second pilot pressure sensor 3 changes the detected pressure signal to the main controller 1, the main controller 1 drives the first pilot proportional valve 5 or the second pilot proportional valve 6, at the moment, the reversing valve 14 is switched to the corresponding working oil way, high-pressure oil from the system flows through the reversing valve 14 and the switching valve group 15 to further reach the second executing oil cylinder 17, and the second executing oil cylinder 17 is used for driving the big arm to act.

For example: the pilot control handle is pushed forward to drive the first pilot control valve 13-1 to act, the corresponding first pilot pressure sensor generates a pressure signal, the pressure signal is sent to the main controller 1, the main controller 1 enables the first pilot proportional valve 5 to be powered on, the slide valve in the reversing valve 14 moves to send working oil pressure to the second switching valve group 15-2, and the working oil is injected into a large cavity of the second execution oil cylinder 17 through an outlet B1 of the second switching valve group 15-2, so that the regulating arm descends. Similarly, the pilot control handle is pulled back, and working oil pressure is injected into the small cavity of the second execution oil cylinder 17 through the outlet A1 of the first switching valve group 15-1, so that the adjusting arm rises.

In summary, through the setting of the mode switch, the function that a pilot control handle simultaneously controlled big arm and regulating arm has been realized.

Examples

A virtual double redundancy control method of a double-jointed arm control system comprises the following steps:

the invention discloses a virtual-real double-redundancy pilot control strategy based on a man-machine interaction interface and a multifunctional operation handle in a multi-fault mode, solves the problem of system emergency risk avoidance capability in fault modes such as single-side fault, double-side fault and the like of the operation pilot operation handle, and enhances the reliability of a control system.

Firstly, after the system is electrified, the main controller 1 judges model information, then judges the configuration condition of a machine pilot control handle, the pilot control handle can be configured with a conventional hydraulic handle (without a multi-machine operation button, a bidirectional sliding key and a bidirectional trigger), the multifunctional hydraulic handle 1 (with a button switch), the multifunctional hydraulic handle 2 (with a bidirectional sliding key or a bidirectional trigger and a linear output) has multiple handle modes, and the system performs redundancy control according to the handle modes.

The main controller judges whether the first pilot pressure sensor 2 and the second pilot pressure sensor 3 are faulty, if the system is a single pilot pressure sensor fault at this time, the system will judge that the system is a single-side fault, and when the single-side fault exists, the pilot control handle can only realize one function of forward pushing or backward pulling, that is, can only realize the ascending or descending of the big arm or the adjusting arm. If both the two pilot pressure sensors are in a fault state at this time, the system determines that the two-sided fault exists, and when the two-sided fault exists, the large arm or the adjusting arm cannot be controlled through forward pushing or backward pulling of the pilot control handle.

If the handle is in a normal handle state, the mode switch is disabled to enable the double-arm switching function, at this time, the electronic monitor pops up the corresponding frame on the main interface for dynamically prompting the output states of the pilot control handle (i.e. the pilot control valve) and the big arm and the regulating arm, so that an operator can be guided to correctly use the double-arm machine in an emergency, for example, the system enters a big arm regulating mode, at this time, the pilot control handle operates one side of the pilot control valve 13 where the pilot pressure sensor is normal, and will be firstly used for controlling the appointed action, for example, the pilot control handle pushes forward corresponding to the first pilot control valve to work, then the big arm descends, one side where the sensor is abnormal cannot be normally controlled, the mode switch is configured as a big arm action switching switch for switching the big arm action, i.e. the operation of the pilot control handle pushes forward is regarded as the operation of pulling back the pilot control handle, at this time, the normal side of the pilot handle can realize the operation of the double-unilateral function according to the mode switch switching state, i.e. the pilot control handle pushes forward corresponding to the first pilot control valve to work, the second pilot proportional valve 6 is powered, the working oil pressure is injected into the first switching cylinder 16 through the outlet A2 of the first switching cylinder 15-1, so that the big arm is lifted. Thereby solving the problem of single-side failure of the pilot control valve. The same applies to the adjusting arm mode of the system.

The pop-up interface is provided with a big arm or regulating arm mode shortcut link, clicking the link can enter a big arm or regulating arm virtual operation pilot control interface, emergency operation of the big arm or regulating arm can be realized through instrument virtual operation, if the pilot pressure sensor is in a bilateral fault state, the system can support to directly enter a virtual pilot operation state on the electronic monitor, and the virtual operation can support bidirectional actions of the big arm and the regulating arm.

If the pilot control handle is in a multifunctional handle state, in a unilateral or multilateral fault mode, the system prompts whether to allow the sliding key operation (or trigger operation) of the multifunctional handle through the electronic monitor, for example, the forward pushing function of the multifunctional handle fails, and the forward pushing function of the multifunctional handle can be replaced by an operation switch which is adjusted unidirectionally like the operation of a conventional handle. The forward pushing and backward pulling functions of the multifunctional handle are disabled, the forward pushing and backward pulling functions of the multifunctional handle can be replaced by using one operation switch with two-way adjustment, and the forward pushing and backward pulling functions of the multifunctional handle can be replaced by using two operation switches with one-way adjustment. If the function is allowed, the electronic monitor guides an operator to configure a bidirectional sliding key on the pilot handle as a double-arm operation switch, at the moment, the bidirectional sliding key switch is temporarily called a newly-endowed double-arm operation switch from the originally defined function, and the function is reset after the system is powered off. Meanwhile, the electronic monitor is also supported to be set into a virtual pilot operation mode, and when the electronic monitor is in virtual operation, a sliding key switch of the multifunctional handle is not temporarily solicited, and the sliding key switch keeps the originally appointed corresponding function.

Examples

The conventional handle includes: single-sided faults or double-sided faults.

When single side faults occur, one side of the pilot control handle is used for controlling two sides of the pilot control handle simultaneously through unidirectional action and mode switching of the pilot control handle.

For example: the front and back pushing and pulling of the pilot control handle respectively control the large arm to ascend and descend, and after a sensor on one side for controlling the ascending is broken, the pilot control handle for controlling the descending is pushed forwards and converted into the control of the large arm to ascend through the switching of the mode keys.

After the pilot control handle fails bidirectionally, the pilot control handle cannot control the action of the double-section arm at the moment, so that a virtual switch displayed on the instrument is used for controlling the corresponding action, for example, two groups of virtual keys are designed on an instrument interface for controlling the ascending and descending of the big arm and the adjusting arm.

The multifunctional handle comprises: single-sided faults or double-sided faults. Because of the multifunctional keys, the defects of faults of the pilot pressure sensor can be overcome by utilizing the bidirectional sliding keys on the pilot control handle for controlling other actions, and a user can select the solicited sliding keys on the instrument interface for operating the big arm and the adjusting arm through visual operation guidance of the instrument.

In addition, virtual key operation can be used on the instrument interface, and the principle is the same as the control mode of the bilateral fault of the conventional handle. When the single-side fault occurs, in order to operate safety, the sliding key is arranged on the multifunctional handle, so that a control mode of the conventional handle in the single-side fault is not adopted any more, and safety is improved.

Examples

The excavator double-jointed arm control method comprises a root hunting differentiated start-stop control method based on an electronic tag:

after the system is electrified, the main controller can judge model information, meanwhile, the main controller judges the target value and the change rate of the pilot pressure sensor, and the main controller is matched with different pilot proportional solenoid valve current target values and change rates by combining system configuration information, so that the linear output of the hydraulic pilot and the power-on and power-off current change slope are flexibly controlled.

The system can also realize the target flow of the system under different configurations by changing the current value of the main pump proportional valve 11, and meanwhile, the main controller can also change the flow mutation rate according to different configuration information, so as to realize accurate matching of different starting characteristics and reduce the start-stop impact.

The system also judges a double-section arm mode, controls the current values of the pilot proportional valve and the main pump proportional valve respectively aiming at the big arm mode and the regulating arm mode, and realizes accurate matching.

If the system judges that the virtual operation mode is in the fault mode at present, the main controller limits the operation speed of the double-jointed arm and realizes the speed reduction of a certain amplitude, thereby solving the problem of safe operation under the virtual operation and improving the operation safety.

The foregoing is only a preferred embodiment of the invention, it being 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 present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.

Claims (13)

1. A dual-jointed arm control system, characterized by: comprising the following steps: the system comprises a main controller, a first pilot sensor, a second pilot sensor, a mode electromagnetic valve, a first pilot proportional valve, a second pilot proportional valve, an operation switch, a mode switch and a main pump proportional valve;

the first pilot sensor, the second pilot sensor, the mode electromagnetic valve, the first pilot proportional valve, the second pilot proportional valve and the main pump proportional valve are respectively and electrically connected with the main controller; the operation switch and the mode switch are electrically connected to the main controller, or the bus module and the main controller are adopted by the operation switch and the mode switch to realize bus interconnection;

further comprises: the device comprises a pilot oil source block, a pilot control valve, a reversing valve, a switching valve group, a first execution oil cylinder and a second execution oil cylinder;

The pilot pressure is respectively transmitted to a pilot control valve, a mode electromagnetic valve, a first pilot proportional valve and a second pilot proportional valve through a pilot oil source block;

the pilot control valve comprises a first pilot control valve and a second pilot control valve, a first pilot sensor is arranged on a pilot oil path of the first pilot control valve, and a second pilot sensor is arranged on a pilot oil path of the second pilot control valve; the pilot oil pressure signals in the pilot oil paths of the first pilot control valve and the second pilot control valve are respectively sent to the main controller through the first pilot sensor and the second pilot sensor;

the operation switch is used for sending a control signal to the first pilot proportional valve or/and the second pilot proportional valve through the main controller;

the switching valve group comprises a first switching valve group and a second switching valve group, and pilot pressure generated by the mode electromagnetic valve respectively controls the first switching valve group and the second switching valve group; the first switching valve group is respectively provided with two outlets, one outlet A2 is communicated with the rodless oil cavity of the first execution oil cylinder, and the other outlet is communicated with the rodless oil cavity of the second execution oil cylinder; the second switching valve group is respectively provided with two outlets, one outlet B2 is communicated with the rod oil cavity of the first execution oil cylinder, and the other outlet B1 is communicated with the rod oil cavity of the second execution oil cylinder;

The generated working oil pressure is communicated with an input port of a reversing valve through a main pump proportional valve, the reversing valve is respectively provided with two outlets, one outlet is communicated with an input port of a first switching valve group, and the other outlet is communicated with an input port of a second switching valve group;

the mode switch is used for sending a control signal to the mode electromagnetic valve through the main controller;

the pilot pressures output by the first pilot proportional valve and the second pilot proportional valve are respectively connected with valve core caps at two ends of the reversing valve and are used for controlling the conduction and closing of two outlets of the reversing valve;

the first execution oil cylinder is used for driving the adjusting arm, and the second execution oil cylinder is used for driving the big arm.

2. A dual knuckle arm control system according to claim 1, wherein: the electronic monitor is used for inputting signals for controlling the first pilot proportional valve or the second pilot proportional valve to the main controller.

3. A dual knuckle arm control system according to claim 1, wherein: the operating switch is a sliding key type two-way switch integrated on the leading operating handle, or is a push button switch or a two-way operating trigger.

4. A dual knuckle arm control system according to claim 1, wherein: the mode switch is a push button switch integrated on the pilot operation handle or other forms of push button switches distributed in the operation area, including but not limited to an integrated switch panel.

5. A dual knuckle arm control system according to claim 2, wherein: the electronic monitor is an electronic monitor installed on the excavator, and the electronic monitor is a touch screen or a non-touch screen; or the electronic monitor is equivalent off-vehicle equipment which is controlled by coupling realized through wireless communication, and the electronic monitor is not limited to a remote control handle, a PAD and a mobile phone.

6. A dual knuckle arm control system according to claim 1, wherein: the main controller matches the current target value and the change rate of the pilot proportional solenoid valve according to the target value and the change rate of the pilot pressure sensor.

7. A dual knuckle arm control system according to claim 1, wherein: and the main controller controls the target flow and the flow mutation rate of the main pump proportional valve by controlling the current value of the main pump proportional valve.

8. A double-arm mode switching method of a double-arm control system is characterized in that: the method comprises the following steps:

Step 1: the main controller detects the state of the mode switch, and if the mode switch is pressed for a long time, the main controller judges to enter a double-jointed arm mode switching mode;

step 2: after entering a double-section arm mode switching mode, respectively entering an adjusting arm mode or a big arm mode through a short-press mode switch;

step 3: when the regulating arm mode is entered, the main controller is electrified through the driving mode electromagnetic valve, the hydraulic pilot oil from the pilot oil source block is electrified through the mode electromagnetic valve to drive A2 of the first switching valve group, and B2 of the second switching valve group is conducted;

step 4: the control method comprises the steps that a pilot control handle is operated to control a first pilot control valve or a second pilot control valve, a pressure signal detected by a first pilot pressure sensor or a second pilot pressure sensor is sent to a main controller, the main controller drives a first pilot proportional valve or a second pilot proportional valve, the first pilot proportional valve or the second pilot proportional valve drives a reversing valve to switch corresponding outlets, and high-pressure oil enters a first switching valve bank or a second switching valve bank through the corresponding outlets and is used for realizing expansion and contraction of a first execution oil cylinder corresponding to an adjusting arm;

step 5: when the main controller enters the large arm mode, the electromagnetic valve in the driving mode is powered off, the hydraulic pilot oil from the pilot oil source block drives the A1 of the first switching valve group after passing through the electromagnetic valve in the mode, and the B1 of the second switching valve group is conducted;

Step 6: the control method comprises the steps that a pilot control handle is operated to control a first pilot control valve or a second pilot control valve, a pressure signal detected by a first pilot pressure sensor or a second pilot pressure sensor is sent to a main controller, the main controller drives a first pilot proportional valve or a second pilot proportional valve, the first pilot proportional valve or the second pilot proportional valve drives a reversing valve to switch corresponding outlets, and high-pressure oil enters a first switching valve bank or a second switching valve bank through the corresponding outlets and is used for realizing expansion and contraction of a second execution oil cylinder corresponding to a big arm;

step 7: and after entering the double-arm mode switching mode, exiting the double-arm mode switching mode by long-pressing a mode switch.

9. The method for switching the mode of the double-jointed arm according to claim 8, wherein: further comprises: when the mode of switching the double-arm mode is entered, the electronic monitor receives a state signal from the controller of switching the double-arm mode, and the electronic monitor presents a double-arm virtual action simulation interface on the main interface and is used for displaying whether the current pilot control handle controls the big arm mode or the regulating arm mode.

10. A virtual double redundancy control method of a double-jointed arm control system is characterized in that: the method comprises the following steps:

Step 1: the main controller obtains the configuration condition of a pilot control handle of the engineering machinery according to the type information of the engineering machinery;

step 2: if the configuration condition of the pilot control handle is a conventional handle, when the main controller judges that the first pilot sensor or the second pilot sensor is in fault, the double-pitch arm control system judges that the single-side fault exists, if the main controller is in a large-arm mode at present, the main controller is electrified through a driving mode electromagnetic valve, the hydraulic pilot oil from a pilot oil source block is electrified through the mode electromagnetic valve and then drives A1 of a first switching valve group, and B1 of a second switching valve group is conducted; the conventional handle operates the first pilot control valve or the second pilot control valve which is not failed by the pilot sensor, a pressure signal detected by the first pilot sensor or the second pilot sensor which is not failed by the pilot sensor is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the second execution oil cylinder corresponding to the big arm; the mode switch sends a signal of a first pilot control valve or a second pilot control valve for replacing the fault of the pilot sensor by normal handle operation to the main controller, and the normal handle function of single-side fault is realized by normal handle operation without single-side fault;

Step 3: if the configuration condition of the pilot control handle is a conventional handle, when the main controller judges that the first pilot sensor or the second pilot sensor is in fault, the double-pitch arm control system judges that the single-side fault exists, if the main controller is in a regulating arm mode at present, the main controller is electrified through a driving mode electromagnetic valve, the hydraulic pilot oil from a pilot oil source block is electrified through the mode electromagnetic valve and then drives A2 of a first switching valve group, and B2 of a second switching valve group is conducted; the conventional handle operates the first pilot control valve or the second pilot control valve which is not failed by the pilot sensor, a pressure signal detected by the first pilot sensor or the second pilot sensor which is not failed by the pilot sensor is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the first execution oil cylinder corresponding to the regulating arm; the mode switch sends a signal of a first pilot control valve or a second pilot control valve for replacing the fault of the pilot sensor by normal handle operation to the main controller, and the normal handle function of single-side fault is realized by normal handle operation without single-side fault;

step 4: if the configuration condition of the pilot control handle is a conventional handle, when the main controller judges that both the first pilot sensor and the second pilot sensor are in failure, the double-pitch arm control system judges that the double-pitch arm control system is in double-pitch failure, and the mode switch is used for switching between a large-arm mode or an adjusting arm mode; and controlling the first pilot proportional valve or the second pilot proportional valve through a pilot control interface on the electronic monitor interface, wherein the control is used for realizing the extension and retraction of the second execution oil cylinder corresponding to the big arm or the first execution oil cylinder corresponding to the adjusting arm.

11. A virtual double redundancy control method of a double-jointed arm control system is characterized in that: the method comprises the following steps:

step 1: the main controller obtains the configuration condition of a pilot control handle of the engineering machinery according to the type information of the engineering machinery;

step 2: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that the first pilot sensor or the second pilot sensor is in fault, the double-pitch arm control system judges that the single-side fault exists, if the main controller is in a large-arm mode at present, the main controller is electrified through a driving mode electromagnetic valve, the hydraulic pilot oil from a pilot oil source block is electrified through the mode electromagnetic valve and then drives A1 of a first switching valve group, and B1 of a second switching valve group is conducted; the multifunctional handle operates the first pilot control valve or the second pilot control valve which is not failed by the pilot sensor, a pressure signal detected by the first pilot sensor or the second pilot sensor which is not failed by the pilot sensor is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the second execution oil cylinder corresponding to the big arm; the mode switch sends a signal for replacing the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor by operating the switch on the multifunctional handle to the main controller, and the multifunctional handle function of single-side fault is realized by operating the switch on the multifunctional handle; or the mode switch sends a signal of the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor to the main controller by the operation of the multifunctional handle, and the multifunctional handle function of single-side fault is realized by the operation of the multifunctional handle without single-side fault;

Step 3: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that the first pilot sensor or the second pilot sensor is in fault, the double-pitch arm control system judges that the single-side fault exists, if the main controller is in a regulating arm mode at present, the main controller is electrified through a driving mode electromagnetic valve, the hydraulic pilot oil from a pilot oil source block is electrified through the mode electromagnetic valve and then drives A2 of a first switching valve group, and B2 of a second switching valve group is conducted; the multifunctional handle operates the first pilot control valve or the second pilot control valve which is not failed by the pilot sensor, a pressure signal detected by the first pilot sensor or the second pilot sensor which is not failed by the pilot sensor is sent to the main controller, and the main controller drives the first pilot proportional valve or the second pilot proportional valve to realize the extension or retraction of the first execution oil cylinder corresponding to the regulating arm; the mode switch sends a signal for replacing the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor by operating the switch on the multifunctional handle to the main controller, and the multifunctional handle function of single-side fault is realized by operating the switch on the multifunctional handle; or the mode switch sends a signal of the first pilot control valve or the second pilot control valve for controlling the fault of the pilot sensor to the main controller by the operation of the multifunctional handle, and the multifunctional handle function of single-side fault is realized by the operation of the multifunctional handle without single-side fault;

Step 4: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that both the first pilot sensor and the second pilot sensor are in failure, the double-pitch arm control system judges that the double-pitch arm control system is in double-pitch failure, and the mode switch is used for switching between a large-arm mode or an adjusting arm mode; the control of the first pilot proportional valve or the second pilot proportional valve is realized by operating an operation switch with a bidirectional regulation function on the multifunctional handle, and the control is used for realizing the extension and retraction of a second execution cylinder corresponding to the big arm or a first execution cylinder corresponding to the regulation arm.

12. The virtual dual redundancy control method of claim 11, wherein: further comprises: step 5;

the step 5: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that both the first pilot sensor and the second pilot sensor are in failure, the double-pitch arm control system judges that the double-pitch arm control system is in double-pitch failure, and the mode switch is used for switching between a large-arm mode or an adjusting arm mode; the control of the first pilot proportional valve or the second pilot proportional valve is realized through operating a first operation switch with a unidirectional regulation function on the multifunctional handle, and the control is used for realizing the expansion and contraction of a second execution cylinder corresponding to the big arm or a first execution cylinder corresponding to the regulation arm.

13. The virtual dual redundancy control method of claim 11, wherein: further comprising, step 6:

the step 6: if the configuration condition of the pilot control handle is a multifunctional handle, when the main controller judges that both the first pilot sensor and the second pilot sensor are in failure, the double-pitch arm control system judges that the double-pitch arm control system is in double-pitch failure, and the mode switch is used for switching between a large-arm mode or an adjusting arm mode; and controlling the first pilot proportional valve or the second pilot proportional valve through a pilot control interface on the electronic monitor interface, wherein the control is used for realizing the extension and retraction of the second execution oil cylinder corresponding to the big arm or the first execution oil cylinder corresponding to the adjusting arm.

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