A protection control method, device and excavator when pilot operation fails

Abstract

The embodiments of the present invention provide a protection control method, device and excavator when a pilot operation fails, and relate to the field of excavator control technology. The protection control method when a pilot operation fails provided by the embodiments of the present invention is used for an excavator, and includes obtaining a protection control instruction; controlling the corresponding actuator to operate at a preset power. The preset power is lower than the operating power of the actuator, so that when the pilot operation fails, the operator can control the operation of the actuator according to demand. At the same time, because the operating power of the actuator is lower than the operating power, the actuator can complete the response action at a low speed and slow motion, so as to move the excavator to a safe position, eliminate the safety hazards caused by the failure of the pilot operation unit to the operator and mechanical equipment, and have higher safety performance.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator control, and in particular to a protection control method and device and an excavator when a pilot operation fails. Background Art

[0002] Excavators are a type of construction machinery commonly used in engineering construction. Currently, fully electronically controlled excavators have become a development trend in the excavator field because they can more accurately control the coordination of the excavator's movements and reduce operating fuel consumption.

[0003] However, the reliability of the control circuit in the fully electric excavator is not as good as that of the hydraulic control system. For example, when the pilot operation of the electric excavator fails, the existing excavator cannot operate, posing a great safety hazard to the operator and mechanical equipment. Summary of the invention

[0004] The purpose of the present invention includes, for example, providing a protection control method when a pilot operation fails, which can solve the above-mentioned problems existing in the prior art.

[0005] The purpose of the present invention also includes providing a protection control device when the pilot operation fails, which can solve the above-mentioned problems existing in the prior art.

[0006] Another object of the present invention is to provide an excavator comprising the above-mentioned protection control device when the pilot operation fails.

[0007] The embodiments of the present invention can be implemented as follows:

[0008] An embodiment of the present invention provides a protection control method for an excavator when a pilot operation fails, which includes:

[0009] Obtain protection control instructions;

[0010] Control the corresponding actuator to operate at the preset power;

[0011] Wherein, the preset power is lower than the operating power of the actuator.

[0012] Optionally, the step of controlling the corresponding actuator to operate at a preset power includes:

[0013] Controlling a pump in the oil supply system of the excavator to supply oil to the actuator at a preset displacement P1;

[0014] The preset displacement P1 is lower than the operating displacement P2 of the pump.

[0015] Optionally, the step of controlling the corresponding actuator to operate at a preset power includes:

[0016] Controlling the electronically controlled main valve in the oil supply system of the excavator to open to a preset opening degree K1;

[0017] The preset opening K1 is smaller than the operating opening K2 of the electric-controlled main valve.

[0018] Optionally, the step of controlling the corresponding actuator to operate at a preset power includes:

[0019] Controlling a pump in the oil supply system of the excavator to supply oil to the actuator at a preset displacement P1; and controlling an electrically controlled main valve in the oil supply system of the excavator to open at a preset opening K1;

[0020] The preset displacement P1 is lower than the operating displacement P2 of the pump; and the preset opening K1 is smaller than the operating opening K2 of the electric-controlled main valve.

[0021] Optionally, the above P1:P2=0.15-0.25.

[0022] Optionally, the above K1:K2=0.15-0.25.

[0023] Optionally, the above-mentioned actuators include the boom, dipper arm, bucket and walking device of the excavator.

[0024] The embodiment of the present invention also provides a protection control device when the pilot operation fails, which includes a controller for obtaining a protection control instruction; the controller is used to control the corresponding actuator to operate at a preset power; wherein the preset power is lower than the operating power of the actuator.

[0025] Optionally, the protection control device when the above-mentioned pilot operation fails also includes a touch screen panel electrically connected to the controller, and the touch screen panel is used to issue the protection control instruction to the controller.

[0026] An embodiment of the present invention further provides an excavator, which includes any one of the above-mentioned protection control devices for when the pilot operation fails.

[0027] The beneficial effects of the protection control method, device and excavator when the pilot operation fails according to the embodiments of the present invention include, for example:

[0028] The embodiment of the present invention provides a protection control method for an excavator when a pilot operation fails, which includes obtaining a protection control instruction; controlling the corresponding actuator to operate at a preset power. The preset power is lower than the operating power of the actuator, so that when the pilot operation fails, the operator can control the actuator to operate according to demand, and at the same time, because the operating power of the actuator is lower than the operating power, the actuator can complete the response action at a low speed and slow motion, so as to move the excavator to a safe position, eliminate the safety hazards caused by the failure of the pilot operation unit to the operator and the mechanical equipment, and have higher safety performance.

[0029] The embodiment of the present invention also provides a protection control device when the pilot operation fails, which includes a controller, the controller is used to obtain the protection control instruction, and according to the obtained protection control instruction, the corresponding actuator is controlled to operate at a preset power; wherein the preset power is lower than the operating power of the actuator. In this way, when the pilot operation fails, the operator can control the operation of the actuator according to the demand, and at the same time, because the operating power of the actuator is lower than the operating power, the actuator can complete the response action at a low speed and slow motion, so as to move the excavator to a safe position, eliminate the safety hazards caused by the failure of the pilot operation unit to the operator and the mechanical equipment, and have higher safety performance.

[0030] The embodiment of the present invention further provides an excavator, which includes the above-mentioned protection control device when the pilot operation fails. Since the excavator includes the above-mentioned protection control device when the pilot operation fails, it also has the beneficial effect of high safety performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A block diagram of the components of an excavator provided in Embodiment 1 of the present invention;

[0033] Figure 2 A flow chart of a protection control method when a pilot operation fails provided in Embodiment 2 of the present invention;

[0034] Figure 3 A flowchart of a protection control method when a pilot operation fails provided in Embodiment 3 of the present invention;

[0035] Figure 4 This is a flow chart of the protection control method when the pilot operation fails provided in Example 4 of the present invention.

[0036] Icons: 100-excavator; 110-pilot operating unit; 111-electric control handle; 112-electric control foot valve; 120-controller; 130-oil supply system; 131-pump; 132-electric control main valve; 140-actuator; 141-boom; 142-arm; 143-bucket; 144-slewing mechanism; 145-first walking mechanism; 146-second walking mechanism; 150-input member; 151-first button area; 152-second button area; 153-third button area; 154-fourth button area; 155-fifth button area; 156-sixth button area; 160-protection control device when pilot operation fails. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0042] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0043] It should be noted that in the description of this embodiment, “connection” should be understood in a broad sense, and can be either a direct connection or an indirect connection.

[0044] Example 1

[0045] Figure 1 This is a block diagram of the components of the excavator 100 provided in this embodiment. Figure 1 The present embodiment provides an excavator 100, which includes a pilot operation unit 110 and a protection control device 160 for when the pilot operation fails. The protection control device 160 for when the pilot operation fails includes an input member 150, a controller 120, and an actuator 140. In the present embodiment, the controller 120 and the actuator 140 of the protection control device 160 for when the pilot operation fails are both existing structures in the excavator 100. It can be understood that in other embodiments, the controller 120 and the actuator 140 for performing protection control when the pilot operation fails can also be separately provided according to requirements.

[0046] The pilot operation unit 110 is electrically connected to the controller 120, and the controller 120 is electrically connected to the actuator 140. When the excavator 100 is operating normally, the operator uses the pilot operation unit 110 to send a pilot operation signal to the controller 120, and the controller 120 controls the corresponding actuator 140 to operate according to the received pilot operation signal. When the operator uses the pilot operation unit 110 to perform a pilot operation, and the actuator 140 cannot complete the corresponding operation, it is determined that the excavator 100 is in a state of pilot operation failure. At this time, the operator uses the input member 150 to send a protection control instruction to the controller 120, and the controller 120 controls the corresponding actuator 140 to operate at a preset power according to the received protection control instruction, wherein the preset power is lower than the operating power of the actuator 140.

[0047] Specifically, the pilot operation unit 110 includes an electric control handle 111 and an electric control foot valve 112 of the excavator 100. The displacement of the electric control handle 111 and the electric control foot valve 112 are sent to the controller 120 via a CAN (controller 120 local area network) signal. The controller 120 controls the actuator 140 to perform corresponding operations according to the received signal. When the electric control handle 111 or the electric control foot valve 112 is displaced and the corresponding actuator 140 cannot respond, it is determined that the excavator 100 is in a pilot operation failure state.

[0048] The actuator 140 includes a boom 141, an arm 142, a bucket 143, and a traveling device of the excavator 100. The boom 141, the arm 142, the bucket 143, and the traveling device of the excavator 100 are respectively connected to the controller 120, so as to complete corresponding operations under the control of the controller 120. Optionally, the traveling device includes a slewing mechanism 144 for driving the excavator 100 to slew, a first traveling mechanism 145 for driving the excavator 100 to move left, and a second traveling mechanism 146 for driving the excavator 100 to move right.

[0049] Furthermore, the excavator 100 also includes an oil supply system 130 for driving the boom 141, the arm 142, the bucket 143, the slewing mechanism 144, the first traveling mechanism 145 and the second traveling mechanism 146. The boom 141, the arm 142, the bucket 143, the slewing mechanism 144, the first traveling mechanism 145 and the second traveling mechanism 146 are all provided with hydraulic cylinders or hydraulic motors to form an oil supply circuit with the oil supply system 130. The oil supply system 130 is electrically connected to the controller 120, and the oil supply system 130 drives the corresponding actuator 140 to perform operations according to the control signal sent by the controller 120.

[0050] Optionally, the oil supply system 130 includes a pump 131 and an electrically controlled main valve 132. The pump 131 forms an oil supply circuit with the actuator 140 through the electrically controlled main valve 132. When the oil supply system 130 receives a control signal from the controller 120, the pump 131 starts to pump oil, the electrically controlled main valve 132 opens, and the hydraulic oil pumped out by the pump 131 flows to the corresponding actuator 140 through the electrically controlled main valve 132, thereby driving the actuator 140 to operate.

[0051] It should be noted that in this embodiment, the actuator 140 is a hydraulic drive element, and the controller 120 is electrically connected to the oil supply system 130 to control the response of the actuator 140. It can be understood that in other embodiments, when the actuator 140 is an electrical control component, the controller 120 can also be directly electrically connected to the actuator 140.

[0052] In this embodiment, the input member 150 is a touch screen panel, and the touch screen panel is configured with a key area for issuing a protection control instruction to the controller 120. There are multiple key areas, and specifically, in this embodiment, the touch screen panel is configured with six key areas, which are a first key area 151, a second key area 152, a third key area 153, a fourth key area 154, a fifth key area 155, and a sixth key area 156.

[0053] The first key area 151 is used to send a protection control instruction to the controller 120 for controlling the operation of the boom 141 of the excavator 100. Optionally, the first key area 151 includes two key parts, and the two key parts are used to send a protection control instruction to the controller 120 for controlling the boom 141 of the excavator 100 to perform an ascending and descending action. The second key area 152 is used to send a protection control instruction to the controller 120 for controlling the operation of the dipper arm 142 of the excavator 100. Optionally, the second key area 152 includes two key parts, and the two key parts are used to send a protection control instruction to the controller 120 for controlling the dipper arm 142 of the excavator 100 to perform an unloading and excavating action. The third key area 153 is used to send a protection control instruction to the controller 120 for controlling the operation of the bucket 143 of the excavator 100. Optionally, the third key area 153 includes two key parts, and the two key parts are used to send a protection control instruction to the controller 120 for controlling the bucket 143 of the excavator 100 to perform an unloading and excavating action. The fourth key area 154 is used to send a protection control instruction to the controller 120 for controlling the operation of the slewing mechanism 144 of the excavator 100. Optionally, the fourth key area 154 includes two key parts, and the two key parts are used to send a protection control instruction to the controller 120 for controlling the slewing mechanism 144 of the excavator 100 to perform left and right slewing actions. The fifth key area 155 is used to send a protection control instruction to the controller 120 for controlling the operation of the first walking mechanism 145 of the excavator 100. Optionally, the fifth key area 155 includes two key parts, and the two key parts are used to send a protection control instruction to the controller 120 for controlling the first walking mechanism 145 of the excavator 100 to perform forward and backward actions. The sixth key area 156 is used to send a protection control instruction to the controller 120 for controlling the operation of the second walking mechanism 146 of the excavator 100. Optionally, the sixth key area 156 includes two key parts, and the two key parts are used to send a protection control instruction to the controller 120 for controlling the second walking mechanism 146 of the excavator 100 to perform forward and backward actions.

[0054] When the controller 120 receives the protection control command issued by the touch screen panel, the controller 120 controls the oil control system to supply a small amount of oil, thereby driving the corresponding actuator 140 to operate at a preset power, so as to move the excavator 100 to a safe position and eliminate the safety hazard caused by the failure of the pilot operation of the excavator 100. The preset power is lower than the operating power of the actuator 140. Optionally, the preset power is 15%-25% of the operating power. Optionally, the preset power is 15%, 20% or 25% of the operating power.

[0055] In order to prevent accidental operation of the touch screen panel when the excavator 100 is operating normally, the actuator 140 of the excavator 100 operates at a preset power. Furthermore, a lock screen can be set on the touch screen panel. When the operator determines that the excavator 100 is in a state of pilot operation failure, the operator can issue a protective control instruction to the controller through the button area only after the unlocking operation.

[0056] The excavator 100 provided in this embodiment is provided with a protection control device 160 for when the pilot operation fails. When the excavator 100 is in a pilot operation failure state, the operator can input a protection control instruction through the input member 150 to drive the corresponding actuator 140 to operate at low power to move the excavator 100 to a safe position and eliminate the safety hazard caused by the pilot operation failure of the excavator 100. The safety performance of the excavator 100 is higher.

[0057] Example 2

[0058] Figure 2 This is a flow chart of the protection control method when the pilot operation fails provided in this embodiment. Figure 2 This embodiment provides a protection control method for a protection control device when the above-mentioned pilot operation fails. The core concept of the protection control method is: the controller obtains an external protection control instruction, and controls the corresponding actuator to operate at a preset power according to the protection control instruction, wherein the preset power is lower than the operating power of the actuator.

[0059] The specific process of the protection control method is as follows:

[0060] S1: Get protection control instructions.

[0061] The input part is electrically connected to the controller, and the operator sends a protection control instruction to the controller by operating the input part. Specifically, the input part is a touch screen panel, and the touch screen panel is provided with a key area for sending a control command to the controller to control the boom, dipper arm, bucket and travel device of the excavator. The operator can send different protection control instructions by operating different control areas. Optionally, the travel device includes a slewing mechanism for driving the excavator to slew, a first travel mechanism for driving the excavator to move left, and a second travel mechanism for driving the excavator to move right.

[0062] S2: Control the pump in the oil supply system of the excavator to supply oil to the actuator at a preset displacement P1, wherein the preset displacement P1 is lower than the working displacement P2 of the pump.

[0063] The controller controls the pump to supply oil to the corresponding actuator at a preset displacement P1. Since the preset displacement P1 is lower than the operating displacement P2 of the pump, the operating power of the actuator is smaller than that during normal operation, that is, the operating speed of the actuator is reduced. Specifically, when the operator sends a protection control instruction to the controller through the input component to control the operation of the excavator's boom, the controller controls the pump to supply oil to the boom at a preset displacement to drive the boom to respond at a low speed; when the operator sends a protection control instruction to the controller through the input component to control the operation of the excavator's boom, the controller controls the pump to supply oil to the boom at a preset displacement to drive the boom to respond at a low speed; when the operator sends a protection control instruction to the controller through the input component to control the operation of the excavator's bucket, the controller controls the pump to supply oil to the bucket at a preset displacement to drive the bucket to respond at a low speed; when the operator sends a protection control instruction to the controller through the input component to control the operation of the excavator's bucket, the controller controls the pump to supply oil to the bucket at a preset displacement to drive the bucket to respond at a low speed; When a protection control instruction for controlling the operation of the excavator's slewing mechanism is issued, the controller controls the pump to supply oil to the slewing mechanism at a preset displacement to drive the slewing mechanism to respond at a low speed; when the operator sends a protection control instruction for controlling the operation of the first walking mechanism of the excavator to the controller through the input member, the controller controls the pump to supply oil to the first walking mechanism at a preset displacement to drive the first walking mechanism to respond at a low speed; when the operator sends a protection control instruction for controlling the operation of the second walking mechanism of the excavator to the controller through the input member, the controller controls the pump to supply oil to the second walking mechanism at a preset displacement to drive the second walking mechanism to respond at a low speed.

[0064] Specifically, the preset displacement P1 is 15%-25% of the operating displacement P2, that is, P1:P2=0.15-0.25. Optionally, P1:P2=0.15, P1:P2=0.2 or P1:P2=0.25.

[0065] By controlling the pump to supply oil at a low displacement and driving the slow response of the actuator, the excavator can operate slowly and prevent safety problems.

[0066] Example 3

[0067] Figure 3 This is a flow chart of the protection control method when the pilot operation fails provided in this embodiment. Figure 3 This embodiment provides a protection control method for a protection control device when the above-mentioned pilot operation fails. The core concept of the protection control method is: the controller obtains an external protection control instruction, and controls the corresponding actuator to operate at a preset power according to the protection control instruction, wherein the preset power is lower than the operating power of the actuator.

[0068] The specific process of the protection control method is as follows:

[0069] S1: Get protection control instructions.

[0070] The input part is electrically connected to the controller, and the operator sends a protection control instruction to the controller by operating the input part. Specifically, the input part is a touch screen panel, and the touch screen panel is provided with a key area for sending a control command to the controller to control the boom, dipper arm, bucket and travel device of the excavator. The operator can send different protection control instructions by operating different control areas. Optionally, the travel device includes a slewing mechanism for driving the excavator to slew, a first travel mechanism for driving the excavator to move left, and a second travel mechanism for driving the excavator to move right.

[0071] S2: Controlling the electronically controlled main valve in the oil supply system of the excavator to open a preset opening K1, wherein the preset opening K1 is smaller than the operating opening K2 of the electronically controlled main valve.

[0072] The controller controls the electronically controlled main valve to open with a preset opening K1. Since the preset opening K1 is lower than the operating opening K2 of the electronically controlled main valve, the flow of hydraulic oil entering the actuator through the electronically controlled main valve is less than that in normal operation, and the operating power of the actuator is smaller than that in normal operation, that is, the operating speed of the actuator is reduced. Specifically, when the operator sends a protective control instruction to the controller through the input component to control the operation of the boom of the excavator, the controller controls the electronically controlled main valve to supply oil to the boom with a preset opening to drive the boom to respond at a low speed; when the operator sends a protective control instruction to the controller through the input component to control the operation of the dipper arm of the excavator, the controller controls the electronically controlled main valve to supply oil to the dipper arm with a preset opening to drive the dipper arm to respond at a low speed; when the operator sends a protective control instruction to the controller through the input component to control the operation of the bucket of the excavator, the controller controls the electronically controlled main valve to supply oil to the bucket with a preset opening to drive the bucket to respond at a low speed; when the operator sends a protective control instruction to the controller through the input component to control the operation of the bucket of the excavator, the controller controls the electronically controlled main valve to supply oil to the bucket with a preset opening to drive the bucket to respond at a low speed; When a protection control instruction for controlling the operation of the excavator's slewing mechanism is issued, the controller controls the electronically controlled main valve to supply oil to the slewing mechanism with a preset opening to drive the slewing mechanism to respond at a low speed; when the operator sends a protection control instruction for controlling the operation of the first walking mechanism of the excavator to the controller through the input member, the controller controls the electronically controlled main valve to supply oil to the first walking mechanism with a preset opening to drive the first walking mechanism to respond at a low speed; when the operator sends a protection control instruction for controlling the operation of the second walking mechanism of the excavator to the controller through the input member, the controller controls the electronically controlled main valve to supply oil to the second walking mechanism with a preset opening to drive the second walking mechanism to respond at a low speed.

[0073] Specifically, the preset opening K1 is 15%-25% of the operating opening K2, that is, K1:K2=0.15-0.25. Optionally, K1:K2=0.15, K1:K2=0.2 or K1:K2=0.25.

[0074] By controlling the electronically controlled main valve to supply oil at a low opening, the actuator is driven to respond slowly, allowing the excavator to operate slowly while preventing safety problems.

[0075] Example 4

[0076] Figure 4 This is a flow chart of the protection control method when the pilot operation fails provided in this embodiment. Figure 4 This embodiment provides a protection control method for a protection control device when the above-mentioned pilot operation fails. The core concept of the protection control method is: the controller obtains an external protection control instruction, and controls the corresponding actuator to operate at a preset power according to the protection control instruction, wherein the preset power is lower than the operating power of the actuator.

[0077] The specific process of the protection control method is as follows:

[0078] S1: Get protection control instructions.

[0079] The input part is electrically connected to the controller, and the operator sends a protection control instruction to the controller by operating the input part. Specifically, the input part is a touch screen panel, and the touch screen panel is provided with a key area for sending a control command to the controller to control the boom, dipper arm, bucket and travel device of the excavator. The operator can send different protection control instructions by operating different control areas. Optionally, the travel device includes a slewing mechanism for driving the excavator to slew, a first travel mechanism for driving the excavator to move left, and a second travel mechanism for driving the excavator to move right.

[0080] S2: Control the pump in the oil supply system of the excavator to supply oil to the actuator at a preset displacement P1, and control the electronically controlled main valve in the oil supply system of the excavator to open a preset opening K1, wherein the preset displacement P1 is lower than the operating displacement P2 of the pump, and the preset opening K1 is smaller than the operating opening K2 of the electronically controlled main valve.

[0081] The controller controls the pump to supply oil to the corresponding actuator at a preset displacement P1, and at the same time the electronically controlled main valve opens the preset opening K1. Since the preset displacement P1 is lower than the operating displacement P2 of the pump, the preset opening K1 is smaller than the operating opening K2 of the electronically controlled main valve. Therefore, the operating power of the actuator is smaller than that during normal operation, that is, the operating speed of the actuator is reduced. Specifically, when the operator sends a protective control instruction for controlling the operation of the excavator's boom to the controller through the input component, the controller controls the pump to supply oil to the boom with a preset displacement and the electronically controlled main valve with a preset opening to drive the boom to respond at a low speed; when the operator sends a protective control instruction for controlling the operation of the excavator's boom to the controller through the input component, the controller controls the pump to supply oil to the boom with a preset displacement and the electronically controlled main valve with a preset opening to drive the boom to respond at a low speed; when the operator sends a protective control instruction for controlling the operation of the excavator's bucket to the controller through the input component, the controller controls the pump to supply oil to the bucket with a preset displacement and the electronically controlled main valve with a preset opening to drive the bucket to respond at a low speed; when the operator sends a protective control instruction for controlling the operation of the excavator's bucket to the controller through the input component, the controller controls the pump to supply oil to the bucket with a preset displacement and the electronically controlled main valve with a preset opening to drive the bucket to respond at a low speed When a protection control instruction for controlling the operation of the excavator's slewing mechanism is issued, the controller controls the pump to supply oil to the slewing mechanism with a preset displacement and the electronically controlled main valve with a preset opening, so as to drive the slewing mechanism to respond at a low speed; when the operator sends a protection control instruction for controlling the operation of the first traveling mechanism of the excavator to the controller through the input component, the controller controls the pump to supply oil to the first traveling mechanism with a preset displacement and the electronically controlled main valve with a preset opening, so as to drive the first traveling mechanism to respond at a low speed; when the operator sends a protection control instruction for controlling the operation of the second traveling mechanism of the excavator to the controller through the input component, the controller controls the pump to supply oil to the second traveling mechanism with a preset displacement and the electronically controlled main valve with a preset opening, so as to drive the second traveling mechanism to respond at a low speed.

[0082] Specifically, the preset displacement P1 is 15%-25% of the operating displacement P2, that is, P1:P2=0.15-0.25. Optionally, P1:P2=0.15, P1:P2=0.2 or P1:P2=0.25. The preset opening K1 is 15%-25% of the operating opening K2, that is, K1:K2=0.15-0.25. Optionally, K1:K2=0.15, K1:K2=0.2 or K1:K2=0.25.

[0083] By controlling the pump to operate at a low displacement and the electronically controlled main valve to open at a low opening, oil is supplied and the slow response of the actuator is driven, so that the excavator can operate slowly and prevent safety problems. Since the pump and the electronically controlled main valve are both operated at a value lower than the normal operation, the pump displacement matches the opening of the electronically controlled main valve, making the oil supply system work more reasonably and reliably.

[0084] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A protection control method for pilot operation failure, which is implemented when an operator determines that an excavator (100) is in a pilot operation failure state, characterized in that: The excavator (100) comprises a pilot operation unit (110) and a protection control device (160) for when the pilot operation fails, wherein the protection control device (160) for when the pilot operation fails comprises an input element (150), a controller (120) and an actuator (140); The pilot operation unit (110) is electrically connected to the controller (120), and the controller (120) is electrically connected to the actuator (140). When the excavator (100) is operating normally, the operator uses the pilot operation unit (110) to send a pilot operation signal to the controller (120), and the controller (120) controls the corresponding actuator (140) to operate according to the received pilot operation signal. When the operator uses the pilot operation unit (110) to perform a pilot operation, and the actuator (140) cannot complete the corresponding operation, it is determined that the excavator (100) is in a pilot operation failure state. At this time, the operator uses the input member (150) to send a protection control instruction to the controller (120), and the controller (120) controls the corresponding actuator (140) to operate at a preset power according to the received protection control instruction, wherein the preset power is lower than the operating power of the actuator (140); The pilot operation unit (110) comprises an electric control handle (111) and an electric control foot valve (112) of the excavator (100). The displacement of the electric control handle (111) and the electric control foot valve (112) are sent to the controller (120) via a controller local area network signal. The controller (120) controls the actuator (140) to perform corresponding operations according to the received signal. When the electric control handle (111) or the electric control foot valve (112) is displaced and the corresponding actuator (140) cannot respond, it is determined that the excavator (100) is in a pilot operation failure state.

2. The protection control method when the pilot operation fails according to claim 1, characterized in that: The step of controlling the corresponding actuator (140) to operate at a preset power comprises: Controlling a pump (131) in an oil supply system (130) of the excavator (100) to supply oil to the actuator (140) at a preset displacement P1; Wherein, the preset displacement P1 is lower than the operating displacement P2 of the pump (131).

3. The protection control method when the pilot operation fails according to claim 1, characterized in that: The step of controlling the corresponding actuator (140) to operate at a preset power comprises: Controlling the electric control main valve (132) in the oil supply system (130) of the excavator (100) to open to a preset opening degree K1; The preset opening K1 is smaller than the operating opening K2 of the electrically controlled main valve (132).

4. The protection control method when the pilot operation fails according to claim 1, characterized in that: The step of controlling the corresponding actuator (140) to operate at a preset power comprises: Controlling a pump (131) in the oil supply system (130) of the excavator (100) to supply oil to the actuator at a preset displacement P1; and controlling an electrically controlled main valve (132) in the oil supply system (130) of the excavator (100) to open at a preset opening K1; The preset displacement P1 is lower than the operating displacement P2 of the pump (131); and the preset opening K1 is smaller than the operating opening K2 of the electrically controlled main valve (132).

5. The protection control method when the pilot operation fails according to claim 2 or 4, characterized in that: P1:P2=0.15-0.

25.

6. The protection control method when the pilot operation fails according to claim 3 or 4, characterized in that: K1:K2=0.15-0.

25.

7. The protection control method when the pilot operation fails according to any one of claims 1 to 4, characterized in that: The actuator (140) includes a boom (141), a dipper arm (142), a bucket (143) and a traveling device of the excavator.

8. The protection control method when the pilot operation fails according to claim 1, characterized in that: The protection control device (160) for when the pilot operation fails further comprises a touch screen panel electrically connected to the controller (120), wherein the touch screen panel is used to issue the protection control instruction to the controller (120).

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