Speed ​​control method and system for executing actions of construction machinery actuator

Abstract

The present invention relates to a method and system for controlling the speed of an engineering machinery actuator to perform an action, wherein the method for controlling the speed of an engineering machinery actuator to perform an action comprises: detecting the progress of the engineering machinery actuator to perform an action; adjusting the maximum output power of a driving mechanism used to drive the actuator to perform the action according to the progress of the actuator to perform the action, thereby adjusting the execution speed of the action. By detecting the progress of the actuator to perform an action and limiting the maximum output power of the driving mechanism according to the progress, the present invention can reduce the magnitude of the operator's control effect on the actuator speed at the same operating amplitude, reduce the impact of the operator's misoperation, increase the operator's adjustable range, improve the accuracy of manual operation, ensure the safety of the actuator to perform the action, and avoid the actuator from being impacted.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a method and system for controlling the speed of an execution mechanism of an engineering machinery. Background Art

[0002] The boom on the crane is located between the turntable and the hook, and is used to support the parts that carry heavy objects. The boom of the crane often changes the boom angle through luffing operation to achieve changes in the operating range; the length of the boom is changed through telescopic operation to achieve changes in the lifting height.

[0003] The boom has a certain range of variable angle and length. To improve the working efficiency, the boom and telescopic operation speed is faster. However, when the emergency stop position is reached at a faster speed, it will cause a greater impact. At present, it generally relies on manual judgment and operation. If the manual operation is not skilled, it may still cause impact and there is also the risk of misoperation.

[0004] It should be noted that the information disclosed in the background technology section of the present invention is only intended to increase the understanding of the overall background of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for controlling the speed of an execution mechanism of an engineering machinery, so as to solve the problem in the prior art that a boom is prone to generate a large impact when approaching a limit position.

[0006] To achieve the above object, the present invention provides a method for controlling the speed of an engineering machinery actuator when executing an action, comprising:

[0007] Detect the progress of the execution of the action of the actuator of the construction machinery;

[0008] According to the progress of the actuator to perform the action, the maximum output power of the driving mechanism used to drive the actuator to perform the action is adjusted, thereby adjusting the execution speed of the action.

[0009] Optionally, the operation of adjusting the maximum output power of a driving mechanism used to drive the actuator to perform the action, and thus adjusting the execution speed of the action, according to the progress of the actuator to perform the action includes:

[0010] The action has an extreme position, and the action stops when it is executed along the first direction to the extreme position. When the progress of the actuator executing the action along the first direction reaches a preset proportion, the maximum output power of the driving mechanism used to drive the engineering machinery to execute the action is reduced to reduce the execution speed of the action.

[0011] Optionally, the operation of reducing the maximum output power of a driving mechanism for driving the engineering machinery to perform an action includes:

[0012] The maximum output power of a driving mechanism used to drive the engineering machinery to perform an action is gradually reduced, first kept constant and then gradually reduced, or first gradually reduced and then remained constant.

[0013] Optionally, the action is a reciprocating action, and the actuator is reset when the action is performed in a second direction opposite to the first direction, and the method further includes:

[0014] When the actuator is reset, the maximum output power of the driving mechanism is increased to increase the execution speed of the action.

[0015] Optionally, the operation of increasing the maximum output power of the driving mechanism includes:

[0016] The maximum output power of the driving mechanism is gradually increased or first gradually increased and then kept unchanged.

[0017] Optionally, the maximum output power changes according to a first preset change trend, and the first preset change trend includes a linear change trend, a curve change trend or a segmented change trend.

[0018] Optionally, the driving mechanism includes a driving element and an electric proportional control valve, the electric proportional control valve is used to control the flow of a hydraulic oil circuit that provides hydraulic oil to the driving element, and the operation of adjusting the maximum output power of the driving mechanism for driving the actuator to perform an action includes:

[0019] Adjust the maximum input current of the control end of the electric proportional control valve.

[0020] Optionally, the driving mechanism includes a driving element, a solenoid valve and an operating handle, the operating handle is operated to adjust the opening of the solenoid valve, the solenoid valve is used to control the flow of a hydraulic oil circuit that provides hydraulic oil to the driving element, and the operation of adjusting the maximum output power of the driving mechanism used to drive the actuator to perform an action includes:

[0021] Adjust the maximum output current of the operating handle.

[0022] Optionally, the driving mechanism includes a driving element, a hydraulic pump and a displacement adjustment device, the hydraulic pump is used to provide hydraulic oil to the driving element, the displacement adjustment device is used to adjust the displacement of the hydraulic pump, and the operation of adjusting the maximum output power of the driving mechanism for driving the actuator to perform an action includes:

[0023] Adjust the maximum control current of the displacement regulating device to adjust the maximum displacement of the hydraulic pump.

[0024] Optionally, the actuator includes a boom, the action includes a boom amplitude change action, and the progress of the action includes a boom amplitude change angle; and / or, the action includes a boom telescopic action, and the progress of the action includes a real-time length of the boom.

[0025] To achieve the above object, the present invention further provides a speed control system for an engineering machinery actuator to perform an action, comprising:

[0026] A driving mechanism, used to drive an actuator of the engineering machinery to perform a preset action;

[0027] A progress detection device for detecting the progress of the execution of the action by the actuator; and

[0028] The speed regulating device is connected to the progress detection device signal and is used to adjust the maximum output power of the driving mechanism according to the detection result of the progress detection device, thereby adjusting the execution speed of the action.

[0029] Optionally, the action has an extreme position, and the action stops when it is executed in the first direction to the extreme position. The speed regulating device is used to reduce the maximum output power of the driving mechanism used to drive the engineering machinery to execute the action when the progress detection device detects that the progress of the actuator executing the action in the first direction reaches a preset proportion, so as to reduce the execution speed of the action.

[0030] Optionally, the speed regulating device is used to gradually reduce the maximum output power of the driving mechanism, to first keep it constant and then gradually reduce it, or to first gradually reduce it and then keep it constant.

[0031] Optionally, the action is a reciprocating action, and the actuator is reset when the action is performed in a second direction opposite to the first direction. The speed regulating device is also used to increase the maximum output power of the driving mechanism when the actuator is reset to increase the execution speed of the action.

[0032] Optionally, the speed regulating device is used to gradually increase the maximum output power of the driving mechanism or to first gradually increase and then remain unchanged.

[0033] Optionally, the maximum output power changes according to a first preset change trend, and the first preset change trend includes a linear change trend, a curve change trend or a segmented change trend.

[0034] Optionally, the driving mechanism includes a driving element and an electric proportional control valve, the electric proportional control valve is used to control the flow of the hydraulic oil circuit that provides hydraulic oil to the driving element, and the speed regulating device is used to adjust the maximum input current of the control end of the electric proportional control valve.

[0035] Optionally, the driving mechanism includes a driving element, a solenoid valve and an operating handle, the operating handle is operated to adjust the opening of the solenoid valve, the solenoid valve is used to control the flow of the hydraulic oil circuit that provides hydraulic oil to the driving element, and the speed regulating device is used to adjust the maximum output current of the operating handle.

[0036] Optionally, the driving mechanism includes a driving element, a hydraulic pump and a displacement regulating device, the hydraulic pump is used to provide hydraulic oil to the driving element, the displacement regulating device is used to adjust the displacement of the hydraulic pump, and the speed regulating device is used to adjust the maximum control current of the displacement regulating device to adjust the maximum displacement of the hydraulic pump.

[0037] In order to achieve the above-mentioned object, the present invention further provides an engineering machinery, including a speed control system for executing actions of the above-mentioned engineering machinery actuator.

[0038] Optionally, the engineering machinery further includes an actuator, the actuator includes a boom, the action includes a boom amplitude change action, and the progress of the action includes a boom amplitude change angle; and / or, the action includes a boom telescopic action, and the progress of the action includes the real-time length of the boom.

[0039] Based on the above technical solution, the present invention can reduce the operator's control effect on the actuator speed at the same operating range by detecting the progress of the actuator's execution action and limiting the maximum output power of the driving mechanism according to the progress, reduce the impact of the operator's misoperation, increase the operator's adjustable range, improve the accuracy of manual operation, ensure the safety of the actuator's execution action, and avoid impact on the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0041] Figure 1 The figure is a schematic structural diagram of a boom in one embodiment of an engineering machine of the present invention before lifting.

[0042] Figure 2 It is a schematic structural diagram of a boom in one embodiment of an engineering machinery of the present invention when it is lifted to a first height.

[0043] Figure 3 It is a schematic structural diagram of the boom in one embodiment of the engineering machinery of the present invention when it is lifted to the second height.

[0044] Figure 4 It is a schematic diagram of the structure of the boom in one embodiment of the engineering machinery of the present invention when it is lifted to the limit position.

[0045] Figure 5It is a schematic diagram of the variation trend of the maximum output power in one embodiment of the speed control system of the engineering machinery actuator of the present invention.

[0046] Figure 6 It is a schematic diagram of the variation trend of the maximum output power in another embodiment of the speed control system for the execution of actions by the engineering machinery actuator of the present invention.

[0047] Figure 7 This is a schematic diagram of the change trend of the maximum output power in another embodiment of the speed control system for the execution of actions by the engineering machinery actuator of the present invention.

[0048] Figure 8 This is a schematic diagram of the change trend of the maximum output power in another embodiment of the speed control system for the execution of actions by the engineering machinery actuator of the present invention.

[0049] In the figure:

[0050] 1. Boom; 2. Tracks; 3. Chassis frame; 4. Outriggers; 5. Turntable. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] In the description of the present invention, it should be understood that the terms "center", "lateral", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0053] In order to solve the problem in the prior art that the crane boom is prone to large impact when approaching the extreme position, the inventor has made structural improvements to the construction machinery. By limiting the maximum output power of the driving mechanism that drives the actuator to perform the action, the operator's control effect on the actuator speed at the same operating amplitude can be reduced, the impact of the operator's misoperation can be reduced, the operator's adjustable range can be increased, the accuracy of manual operation can be improved, the safety of the actuator's execution of the action can be ensured, and the actuator can be protected from impact.

[0054] Based on the above improvements, the present invention provides a speed control system for an engineering machinery actuator to perform an action, the system comprising a driving mechanism, a progress detection device and a speed regulating device, the driving mechanism being used to drive the engineering machinery actuator to perform a preset action, the progress detection device being used to detect the progress of the actuator performing the action, the speed regulating device being connected to the progress detection device by signal, the speed regulating device being used to adjust the maximum output power of the driving mechanism according to the detection result of the progress detection device, thereby adjusting the execution speed of the action.

[0055] The methods used in the prior art to adjust the execution speed of the actuator action are mostly to reduce the operating speed or directly adjust the size of the driving force supplied to the actuator, while the output power of the driving mechanism does not change. In the embodiment provided by the present invention, the maximum output power of the driving mechanism is changing, so the execution speed of the actuator action can be controlled more directly, effectively and safely.

[0056] Furthermore, the action has an extreme position, and the action stops when it is executed in the first direction to the extreme position. The speed regulating device is used to reduce the maximum output power of the driving mechanism used to drive the engineering machinery to execute the action when the progress detection device detects that the progress of the actuator executing the action in the first direction reaches a preset proportion, so as to reduce the execution speed of the action.

[0057] Optionally, the speed regulating device is used to gradually reduce the maximum output power of the driving mechanism, keep it constant first and then gradually reduce it, or first gradually reduce it and then keep it constant. This can effectively reduce the impact.

[0058] Optionally, the maximum output power changes according to a first preset change trend, and the first preset change trend includes a linear change trend, a curve change trend or a segmented change trend.

[0059] like Figure 5 As shown, the X-axis represents the progress of the actuator's execution of the action, and the Y-axis represents the maximum output power of the actuator. In normal operation, the maximum output power of the actuator is Y1. When it reaches the position X1 close to the limit (the progress of the actuator's execution of the action is 80% at this time), the maximum output power of the actuator begins to gradually decrease in a linear trend. When it reaches the limit position X2 (the progress of the actuator's execution of the action is 95% at this time), the maximum output power is Y2, and then it is maintained at the maximum output power unchanged to the limit position X3 (the progress of the actuator's execution of the action is 100% at this time).

[0060] like Figure 6As shown, during normal operation, the maximum output power of the actuator is Y1. When it reaches the position X1 close to the limit (the progress of the actuator's execution is 80%), the maximum output power of the actuator begins to gradually decrease in a curve change trend. When it reaches the limit position X2 (the progress of the actuator's execution is 95%), the maximum output power is Y2, and then maintains the maximum output power unchanged to the limit position X3 (the progress of the actuator's execution is 100%).

[0061] like Figure 7 As shown, during normal operation, the maximum output power of the actuator is Y1. When it reaches the position X1 close to the limit (the progress of the actuator's execution is 80%), the maximum output power of the actuator begins to gradually decrease with another curve change trend. When it reaches the limit position X2 (the progress of the actuator's execution is 95%), the maximum output power is Y2, and then maintains the maximum output power unchanged to the limit position X3 (the progress of the actuator's execution is 100%).

[0062] like Figure 8 As shown, during normal operation, the maximum output power of the actuator is Y1. When it reaches the position X1 close to the limit (the progress of the actuator's execution is 80%), the maximum output power of the actuator begins to gradually decrease with another curve change trend. When it reaches the limit position X2 (the progress of the actuator's execution is 95%), the maximum output power is Y2, and then maintains the maximum output power unchanged to the limit position X3 (the progress of the actuator's execution is 100%).

[0063] In other embodiments, the variation trend of the maximum output power of the actuator may also be other nonlinear variation trends, not limited to Figures 5 to 8 The position where the maximum output power starts to decrease can also be adjusted appropriately, for example, a trend of gradual decrease can be adopted throughout the whole process. Among them, the segmented change trend can be divided into at least two sections, and the change trend of each section can be of the same type but with different amplitudes, or different types of change trends can be adopted.

[0064] In an optional embodiment, the action is a reciprocating action, and the actuator is reset when the action is performed in a second direction opposite to the first direction. The speed regulating device is also used to increase the maximum output power of the driving mechanism when the actuator is reset, so as to increase the execution speed of the action. This setting can make the speed of the action slowly increase when it starts to reverse, avoiding the impact and shaking of the actuator caused by a very high speed at the beginning.

[0065] Optionally, the speed regulating device is used to gradually increase the maximum output power of the driving mechanism or to first gradually increase and then remain unchanged.

[0066] In the above embodiments, there are many ways to adjust the maximum output power of the actuator, which can be flexibly selected according to actual conditions in practical applications. Three specific adjustment methods are introduced below.

[0067] The first type: the driving mechanism includes a driving element and an electric proportional control valve, the electric proportional control valve is used to control the flow of the hydraulic oil circuit that provides hydraulic oil to the driving element, and the speed regulating device is used to adjust the maximum input current of the control end of the electric proportional control valve.

[0068] The second type: the driving mechanism includes a driving element, a solenoid valve and an operating handle. The operating handle is operated to adjust the opening of the solenoid valve. The solenoid valve is used to control the flow of the hydraulic oil circuit that provides hydraulic oil to the driving element. The speed regulating device is used to adjust the maximum output current of the operating handle.

[0069] The third type: the driving mechanism includes a driving element, a hydraulic pump and a displacement adjustment device, the hydraulic pump is used to provide hydraulic oil to the driving element, the displacement adjustment device is used to adjust the displacement of the hydraulic pump, and the speed adjustment device is used to adjust the maximum control current of the displacement adjustment device to adjust the maximum displacement of the hydraulic pump. The driving element may include a hydraulic motor and / or a hydraulic cylinder.

[0070] Based on the above-mentioned speed control system for the execution of actions by the engineering machinery actuator, the present invention further proposes an engineering machinery, which includes the above-mentioned speed control system for the execution of actions by the engineering machinery actuator.

[0071] Optionally, the engineering machinery further includes an actuator, the actuator includes a boom, the action includes a boom amplitude change action, and the progress of the action includes a boom amplitude change angle; and / or, the action includes a boom telescopic action, and the progress of the action includes the real-time length of the boom.

[0072] The present invention also provides a method for controlling the speed of an engineering machinery actuator when executing an action, comprising:

[0073] Detect the progress of the execution of the action of the actuator of the construction machinery;

[0074] According to the progress of the actuator to perform the action, the maximum output power of the driving mechanism used to drive the actuator to perform the action is adjusted, thereby adjusting the execution speed of the action.

[0075] Furthermore, according to the progress of the actuator executing the action, the operation of adjusting the maximum output power of the driving mechanism used to drive the actuator to execute the action, thereby adjusting the execution speed of the action includes:

[0076] The action has an extreme position, and the action stops when it is executed along the first direction to the extreme position. When the progress of the actuator executing the action along the first direction reaches a preset proportion, the maximum output power of the driving mechanism used to drive the engineering machinery to execute the action is reduced to reduce the execution speed of the action.

[0077] Optionally, the operation of reducing the maximum output power of a driving mechanism for driving the engineering machinery to perform an action includes:

[0078] The maximum output power of a driving mechanism used to drive the engineering machinery to perform an action is gradually reduced, first kept constant and then gradually reduced, or first gradually reduced and then remained constant.

[0079] In an optional embodiment, the action is a reciprocating action, and the actuator is reset when the action is performed in a second direction opposite to the first direction, and the method further includes:

[0080] When the actuator is reset, the maximum output power of the driving mechanism is increased to increase the execution speed of the action.

[0081] Optionally, the operation of increasing the maximum output power of the driving mechanism includes:

[0082] The maximum output power of the driving mechanism is gradually increased or first gradually increased and then kept unchanged.

[0083] In each of the above embodiments, the maximum output power changes according to a first preset change trend, and the first preset change trend includes a linear change trend, a curve change trend, or a segmented change trend.

[0084] In one embodiment, the driving mechanism includes a driving element and an electric proportional control valve, the electric proportional control valve is used to control the flow of a hydraulic oil circuit that provides hydraulic oil to the driving element, and the operation of adjusting the maximum output power of the driving mechanism used to drive the actuator to perform an action includes:

[0085] Adjust the maximum input current of the control end of the electric proportional control valve.

[0086] In another embodiment, the driving mechanism includes a driving element, a solenoid valve and an operating handle, the operating handle is operated to adjust the opening of the solenoid valve, the solenoid valve is used to control the flow of a hydraulic oil circuit that provides hydraulic oil to the driving element, and the operation of adjusting the maximum output power of the driving mechanism used to drive the actuator to perform an action includes:

[0087] Adjust the maximum output current of the operating handle.

[0088] In yet another embodiment, the driving mechanism includes a driving element, a hydraulic pump and a displacement adjustment device, the hydraulic pump is used to provide hydraulic oil to the driving element, the displacement adjustment device is used to adjust the displacement of the hydraulic pump, and the operation of adjusting the maximum output power of the driving mechanism for driving the actuator to perform an action includes:

[0089] Adjust the maximum control current of the displacement regulating device to adjust the maximum displacement of the hydraulic pump.

[0090] In each of the above embodiments, the actuator includes a boom, the action includes a boom amplitude change action, and the progress of the action includes the boom amplitude change angle; and / or, the action includes a boom telescopic action, and the progress of the action includes the real-time length of the boom.

[0091] The positive technical effects of the speed control system for the execution of actions by the engineering machinery actuators in the above-mentioned embodiments are also applicable to engineering machinery and the speed control method for the execution of actions by the engineering machinery actuators, which will not be described in detail here.

[0092] The working process of an embodiment of the speed control method and system for executing an action of an engineering machinery actuator of the present invention and the engineering machinery is described below:

[0093] Take a crane as an example of construction machinery, a boom as an example of the actuator, and the boom's amplitude change and extension and retraction as an example of the action.

[0094] like Figure 1 As shown, the crane comprises a boom 1, crawlers 2, a chassis frame 3, legs 4 and a turntable 5. The turntable 5 is mounted on the chassis frame 3, and the boom 1 is mounted on the turntable 5. The legs 4 are supported on the ground for supporting the boom 1.

[0095] The boom 1 is generally driven by a winch or a hydraulic cylinder, taking the driving element as an example. When the boom 1 is extended to the maximum angle or extended to the maximum length, the action must be stopped, otherwise the boom 1 will be overturned or damaged by impact. Figures 1 to 4 As shown, it is a schematic diagram of the structure of the boom 1 before lifting, lifting to the first height, lifting to the second height and lifting to the limit position.

[0096] When the boom 1 starts to change its amplitude: when it is detected that the amplitude change angle is 80°, the maximum output power of the hydraulic cylinder is gradually reduced to gradually reduce the amplitude change speed of the boom 1 until the amplitude change angle is 95°. Then the boom 1 can be slowly changed to the extreme position at a lower speed.

[0097] When the boom 1 is performing the luffing and lowering action: first adjust the maximum output power of the hydraulic cylinder to a smaller value, and then after the boom 1 leaves the extreme position, slowly increase the maximum output power of the hydraulic cylinder to gradually increase the luffing speed of the boom 1 until the luffing angle is 80°. The maximum output power can be kept constant and maintained until the boom 1 completes the landing, ensuring that the speed in the second half of the luffing process is constant.

[0098] When the boom 1 is extending: when it is detected that the real-time length of the boom 1 is 80% of the maximum length of the boom 1, the maximum output power of the hydraulic cylinder is gradually reduced to gradually reduce the extension speed of the boom 1 until the real-time length of the boom 1 is extended to 95% of the maximum length of the boom 1. Then the boom 1 can be slowly extended to the limit position at a lower speed.

[0099] When the boom 1 is retracting: first adjust the maximum output power of the hydraulic cylinder to a smaller value, and then after the boom 1 leaves the limit position, slowly increase the maximum output power of the hydraulic cylinder to gradually increase the retraction speed of the boom 1, until the real-time length of the boom 1 is retracted to 80% of the maximum length of the boom 1, the maximum output power can be kept constant, and the power can be maintained until the boom 1 is fully retracted, ensuring that the speed in the second half of the retraction process is constant.

[0100] Through the description of multiple embodiments of the speed control method and system for the execution of actions by the engineering machinery actuator of the present invention, it can be seen that the speed control method and system embodiments of the speed control method for the execution of actions by the engineering machinery actuator of the present invention detect the progress of the execution of the action by the actuator, and when approaching the limit position, gradually reduce the maximum output power of the driving mechanism, so as to avoid sudden speed changes of the actuator, which may cause tipping of the boom or impact damage, etc.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A method for controlling the speed of an execution mechanism of an engineering machinery, characterized in that: include: Detect the progress of the execution of the action of the actuator of the construction machinery; According to the progress of the execution of the action by the execution mechanism, the maximum output power of the driving mechanism used to drive the execution mechanism to execute the action is adjusted, thereby adjusting the execution speed of the action; The operation of adjusting the maximum output power of a driving mechanism used to drive the actuator to perform the action according to the progress of the actuator to perform the action, thereby adjusting the execution speed of the action includes: The action has an extreme position, and the action stops when it is performed along the first direction to the extreme position. When the progress of the execution mechanism of the action along the first direction reaches a preset proportion, the maximum output power of the driving mechanism used to drive the engineering machinery to perform the action is reduced, so as to reduce the execution speed of the action; The action is a reciprocating action, and the actuator is reset when the action is performed in a second direction opposite to the first direction. The method further includes: When the actuator is reset, the maximum output power of the driving mechanism is increased to increase the execution speed of the action.

2. The method for controlling the speed of an engineering machinery actuator according to claim 1, characterized in that: The operation of reducing the maximum output power of the driving mechanism for driving the engineering machine to perform the action includes: The maximum output power of the driving mechanism used to drive the engineering machinery to perform the action is gradually reduced, first kept constant and then gradually reduced, or first gradually reduced and then remained constant.

3. The method for controlling the speed of an engineering machinery actuator according to claim 1, characterized in that: The operation of increasing the maximum output power of the driving mechanism includes: The maximum output power of the driving mechanism is gradually increased or first gradually increased and then kept unchanged.

4. The method for controlling the speed of an engineering machinery actuator according to claim 1, characterized in that: The maximum output power changes according to a first preset change trend, and the first preset change trend includes a linear change trend, a curve change trend or a segmented change trend.

5. The method for controlling the speed of an engineering machinery actuator according to claim 1, characterized in that: The driving mechanism includes a driving element and an electric proportional control valve, wherein the electric proportional control valve is used to control the flow of a hydraulic oil circuit that provides hydraulic oil to the driving element, and the operation of adjusting the maximum output power of the driving mechanism used to drive the actuator to perform the action includes: The maximum input current of the control end of the electric proportional control valve is adjusted.

6. The method for controlling the speed of an engineering machinery actuator according to claim 1, characterized in that: The driving mechanism includes a driving element, a solenoid valve and an operating handle, wherein the operating handle is operated to adjust the opening of the solenoid valve, and the solenoid valve is used to control the flow of a hydraulic oil circuit that provides hydraulic oil to the driving element. The operation of adjusting the maximum output power of the driving mechanism used to drive the actuator to perform the action includes: The maximum output current of the operating handle is adjusted.

7. The method for controlling the speed of an engineering machinery actuator according to claim 1, characterized in that: The driving mechanism comprises a driving element, a hydraulic pump and a displacement adjusting device, wherein the hydraulic pump is used to provide hydraulic oil to the driving element, and the displacement adjusting device is used to adjust the displacement of the hydraulic pump. The operation of adjusting the maximum output power of the driving mechanism for driving the actuator to perform the action comprises: The maximum control current of the displacement regulating device is adjusted to adjust the maximum displacement of the hydraulic pump.

8. The method for controlling the speed of an engineering machinery actuator according to claim 1, characterized in that: The actuator includes a boom, the action includes a boom amplitude change action, and the progress of the action includes a boom amplitude change angle; and / or, the action includes a telescopic action of the boom, and the progress of the action includes a real-time length of the boom.

9. A speed control system for an engineering machinery actuator to execute an action, characterized in that: include: A driving mechanism, used to drive an actuator of the engineering machinery to perform a preset action; A progress detection device, used to detect the progress of the execution of the action by the execution mechanism; and A speed regulating device, connected to the progress detection device by signal, for regulating the maximum output power of the driving mechanism according to the detection result of the progress detection device, thereby regulating the execution speed of the action; The action has an extreme position, and the action stops when it is performed along the first direction to the extreme position, and the speed regulating device is used to reduce the maximum output power of the driving mechanism used to drive the engineering machinery to perform the action when the progress detection device detects that the progress of the execution mechanism of the action along the first direction reaches a preset proportion, so as to reduce the execution speed of the action; The action is a reciprocating action. When the action is performed in a second direction opposite to the first direction, the actuator is reset. The speed regulating device is also used to increase the maximum output power of the driving mechanism when the actuator is reset, so as to increase the execution speed of the action.

10. The speed control system for the execution of actions by the engineering machinery actuator according to claim 9, characterized in that: The speed regulating device is used to gradually reduce the maximum output power of the driving mechanism, keep it constant first and then gradually reduce it, or gradually reduce it first and then keep it constant.

11. The speed control system for the execution of actions by the engineering machinery actuator according to claim 9, characterized in that: The speed regulating device is used to gradually increase the maximum output power of the driving mechanism or to gradually increase it and then keep it unchanged.

12. The speed control system for the execution of actions by the engineering machinery actuator according to claim 9, characterized in that: The maximum output power changes according to a first preset change trend, and the first preset change trend includes a linear change trend, a curve change trend or a segmented change trend.

13. The speed control system for the execution of actions by the engineering machinery actuator according to claim 9, characterized in that: The driving mechanism includes a driving element and an electric proportional control valve, wherein the electric proportional control valve is used to control the flow of a hydraulic oil circuit that provides hydraulic oil to the driving element, and the speed regulating device is used to adjust the maximum input current of the control end of the electric proportional control valve.

14. The speed control system for the execution of actions by the engineering machinery actuator according to claim 9, characterized in that: The driving mechanism includes a driving element, a solenoid valve and an operating handle. The operating handle is operated to adjust the opening of the solenoid valve. The solenoid valve is used to control the flow of the hydraulic oil circuit that provides hydraulic oil to the driving element. The speed regulating device is used to adjust the maximum output current of the operating handle.

15. The speed control system for the execution of actions by the engineering machinery actuator according to claim 9, characterized in that: The driving mechanism includes a driving element, a hydraulic pump and a displacement regulating device, wherein the hydraulic pump is used to provide hydraulic oil to the driving element, the displacement regulating device is used to adjust the displacement of the hydraulic pump, and the speed regulating device is used to adjust the maximum control current of the displacement regulating device to adjust the maximum displacement of the hydraulic pump.

16. An engineering machine, characterized in that: It comprises a speed control system for executing actions of an engineering machinery actuator as described in any one of claims 9 to 15.

17. The engineering machine according to claim 16, characterized in that: It also includes an actuator, the actuator includes a boom, the action includes a variable amplitude action of the boom, and the progress of the action includes the variable amplitude angle of the boom; and / or, the action includes a telescopic action of the boom, and the progress of the action includes the real-time length of the boom.

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