An excavator control system

Abstract

The invention discloses an excavator control system, and relates to the technical field of excavators. The excavator control system comprises a first pump body, a second pump body, a slewing drive unit, a boom oil cylinder, a dipper rod oil cylinder and a bucket oil cylinder. The first pump body and the second pump body are both independently controlled and are both connected to the oil tank; the first pump body is connected to the boom oil cylinder, the dipper rod oil cylinder and the bucket oil cylinder through a multi-way reversing valve to form an execution oil circuit; the second pump body is connected to the slewing drive unit through a slewing valve to form a slewing oil circuit. When the excavator control system provided by the invention has a multi-action compound involving the slewing action of the vehicle, the high load at the start of the slewing no longer acts on the first pump body, so that the compound action of the boom, dipper rod and bucket of the excavator obtains more flow, thereby improving the working efficiency of the excavator; and the second pump body is independently controlled, and when there is a multi-action compound without the slewing action of the vehicle, the second pump body is controlled not to work, thereby saving energy.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to an excavator control system. Background Art

[0002] As the main mining equipment, hydraulic excavator has been developing towards energy saving and safety. Its hydraulic system, as the core component, plays a decisive role in whether the equipment is energy-saving and safe.

[0003] like Figure 1 As shown, the hydraulic system of a hydraulic excavator for mining is usually composed of a front pump 2, a rear pump 3, a pilot pump 15, a first heat dissipation pump 13, a multi-way reversing valve 9, a slewing drive unit 5, a traveling drive unit 16, a boom cylinder 6, an arm cylinder 7, a bucket cylinder 8, a first fan motor 17 and a servo solenoid valve group 19. The principle is that the servo solenoid valve group 19 controls the front pump 2 and the rear pump 3 to output hydraulic oil, and controls the multi-way reversing valve 9 to distribute the hydraulic oil output by the front pump 2 and the rear pump 3 to the traveling drive unit 16, the slewing drive unit 5, the boom cylinder 6, the arm cylinder 7, and the bucket cylinder 8, so as to realize the traveling, slewing, excavation, unloading and other operations of the excavator. When the excavator performs multiple actions, especially when the vehicle rotates, the front pump 2 and the rear pump 3 are affected by the high load of the rotation start-up when delivering flow to each actuator, resulting in a decrease in the flow output by the front pump 2 and the rear pump 3 to the boom cylinder 6, the arm cylinder 7, and the bucket cylinder 8, which greatly reduces the working efficiency of the excavator. Summary of the invention

[0004] The object of the present invention is to provide an excavator control system to improve the working efficiency of the excavator and save energy consumption.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] An excavator control system includes a first pump body, a second pump body, a slewing drive unit, a boom cylinder, an arm cylinder and a bucket cylinder, wherein the first pump body and the second pump body are independently controlled and connected to a fuel tank; the first pump body is connected to the boom cylinder, the arm cylinder and the bucket cylinder via a multi-way reversing valve to form an execution oil circuit; the second pump body is connected to the slewing drive unit via a slewing valve to form a slewing oil circuit.

[0007] As a preferred solution for an excavator control system, the boom cylinder is connected to the multi-way reversing valve via a first regeneration holding valve group.

[0008] As a preferred solution for an excavator control system, the first regeneration valve group is connected between the rod chamber of the boom cylinder and the multi-way reversing valve.

[0009] As a preferred solution for an excavator control system, the first maintaining regeneration valve group includes a first regeneration valve and a first solenoid valve, the first solenoid valve is connected to the first regeneration valve, the first regeneration valve is connected to the rod chamber of the boom cylinder, and the first solenoid valve is used to control whether the first regeneration valve is connected to the rod chamber of the boom cylinder.

[0010] As a preferred solution for an excavator control system, the first maintaining regeneration valve group includes two first one-way valves, and the two first one-way valves are arranged on the maintaining oil circuits of the rod chamber and the rodless chamber of the boom cylinder. The first one-way valve close to the rod chamber of the boom cylinder is used to prevent the oil in the rod chamber of the boom cylinder from flowing into the rodless chamber of the boom cylinder, and the first one-way valve close to the rodless chamber of the boom cylinder is used to prevent the oil in the rodless chamber of the boom cylinder from flowing into the rod chamber of the boom cylinder.

[0011] As a preferred solution of an excavator control system, the boom cylinder is connected to the multi-way reversing valve via a second regeneration holding valve group.

[0012] As a preferred solution for an excavator control system, the second regeneration holding valve group is connected between the rodless chamber of the boom cylinder and the multi-way reversing valve.

[0013] As a preferred solution for an excavator control system, the second maintaining regeneration valve group includes a second regeneration valve and a second solenoid valve, the second solenoid valve is connected to the second regeneration valve, the second regeneration valve is connected to the rodless chamber of the boom cylinder, and the second solenoid valve is used to control whether the second regeneration valve is connected to the rodless chamber of the boom cylinder.

[0014] As a preferred solution for an excavator control system, the second maintaining regeneration valve group also includes two second one-way valves, and the two second one-way valves are arranged on the maintaining oil circuits of the rod chamber and the rodless chamber of the boom cylinder. The second one-way valve close to the rod chamber of the boom cylinder is used to prevent the oil in the rod chamber of the boom cylinder from flowing into the rodless chamber of the boom cylinder, and the second one-way valve close to the rodless chamber of the boom cylinder is used to prevent the oil in the rodless chamber of the boom cylinder from flowing into the rod chamber of the boom cylinder.

[0015] As a preferred solution of an excavator control system, the second pump body is a closed pump, and the rotary valve is a stop valve.

[0016] As a preferred solution for an excavator control system, the second pump body is an open pump, and the rotary valve is a reversing valve.

[0017] Beneficial effects of the present invention:

[0018] The excavator control system provided by the present invention is provided with an independently controlled first pump body and a second pump body. The first pump body supplies oil to the boom cylinder, the dipper arm cylinder and the bucket cylinder in the execution oil circuit through a multi-way reversing valve to drive the excavator to dig and unload. The second pump body supplies oil to the rotary drive unit in the rotary oil circuit through a rotary valve to drive the excavator vehicle to rotate. When the excavator has multiple compound actions involving the vehicle rotation action, the second pump body provides flow output for the vehicle rotation action, and the high load at the start of the rotation no longer acts on the first pump body, so that the compound action of the excavator's boom, dipper arm and bucket obtains more flow, thereby improving the working efficiency of the excavator; and the second pump body is independently controlled. When there is no vehicle rotation action involved in the compound multi-action, the second pump body is controlled not to work, thereby saving energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a hydraulic principle diagram of a control system of an excavator in the prior art;

[0020] Figure 2 is a hydraulic principle diagram of a control system provided by an embodiment of the present invention;

[0021] Figure 3 It is a schematic diagram of the arm cylinder and the first regeneration holding valve group provided in an embodiment of the present invention;

[0022] Figure 4 It is a schematic diagram of the boom cylinder and the second regeneration holding valve group provided in an embodiment of the present invention.

[0023] In the figure:

[0024] 1. Oil tank; 2. Front pump; 3. Rear pump; 4. Second pump body; 5. Rotary drive unit; 6. Boom cylinder; 7. Arm cylinder; 8. Bucket cylinder; 9. Multi-way reversing valve; 10. Rotary valve; 11. First holding regeneration valve group; 12. Second holding regeneration valve group; 13. First cooling pump; 14. Second cooling pump; 15. Pilot pump; 16. Travel drive unit; 17. First fan motor; 18. Second fan motor; 19. Servo solenoid valve group;

[0025] 111. First regeneration valve; 112. First solenoid valve; 113. First non-return valve; 114. First adjustable non-return valve; 115. First safety valve; 116. First hydraulically controlled non-return valve; 121. Second regeneration valve; 122. Second solenoid valve; 123. Second non-return valve; 124. Second adjustable non-return valve; 125. Second safety valve; 126. Second hydraulically controlled non-return valve. DETAILED DESCRIPTION

[0026] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0027] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions 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 cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0028] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0030] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0031] Figure 1 It is a hydraulic principle diagram of the control system of the excavator in the prior art, such as Figure 1As shown, the hydraulic system of the excavator in the prior art, when the excavator performs multiple complex actions, especially when the multiple complex actions involve the rotation action of the vehicle, the front pump 2 and the rear pump 3 deliver flow to each actuator, which is affected by the high load of the rotation start-up, resulting in a decrease in the flow output by the front pump 2 and the rear pump 3 to the boom cylinder 6, the dipper cylinder 7, and the bucket cylinder 8, which greatly reduces the working efficiency of the excavator.

[0032] In addition, since the anti-settling control valve and flow regeneration valve of the boom and the arm are integrated into the multi-way reversing valve 9, due to the limitation of structure and size, the anti-settling valve can only prevent the boom and the arm from falling when the connecting pipeline is fault-free and controllable, but cannot prevent the rapid and uncontrollable falling when the connecting pipeline is suddenly damaged. Moreover, the flow of the regeneration valve is uncontrollable and the regeneration amount is small.

[0033] In order to solve the problem of low working efficiency of excavators in the prior art, Figure 2 is a hydraulic principle diagram of a control system provided by an embodiment of the present invention, such as Figure 2 As shown, this embodiment provides an excavator control system, including a first pump body, a second pump body 4, a rotary drive unit 5, a boom cylinder 6, an arm cylinder 7 and a bucket cylinder 8. The first pump body and the second pump body 4 are independently controlled and are both connected to the oil tank 1; the first pump body is connected to the boom cylinder 6, the arm cylinder 7 and the bucket cylinder 8 via a multi-way reversing valve 9 to form an execution oil circuit; the second pump body 4 is connected to the rotary drive unit 5 through a rotary valve 10 to form a rotary oil circuit.

[0034] The excavator control system provided in this embodiment is provided with an independently controlled first pump body and a second pump body 4. The first pump body supplies oil to the boom cylinder 6, the dipper arm cylinder 7 and the bucket cylinder 8 in the execution oil circuit through a multi-way reversing valve 9 to drive the excavator to dig and unload. The second pump body 4 supplies oil to the rotary drive unit 5 in the rotary oil circuit through a rotary valve 10 to drive the excavator vehicle to rotate. When the excavator has multiple complex actions involving the vehicle rotation action, the second pump body 4 provides flow output for the vehicle rotation action, and the high load at the start of the rotation no longer acts on the first pump body, so that the excavator's boom, dipper arm and bucket compound action obtain more flow, thereby improving the working efficiency of the excavator; and the second pump body 4 is independently controlled. When there is no vehicle rotation action involved in the multiple complex actions, the second pump body 4 is controlled not to work, thereby saving energy.

[0035] As a preferred solution of an excavator control system, the second pump body 4 is a closed pump, and the rotary valve 10 is a stop valve. In this embodiment, the rotary drive unit 5 is a rotary motor, the second pump body 4 is a closed pump, and the closed pump is connected to the rotary motor. The stop valve can prevent the upper vehicle from sliding down due to its own weight when the excavator stops on a sloped ground and the upper vehicle rotates, so that it can maintain its original posture. In this embodiment, the rotary valve 10 is an independent valve group. In other embodiments, the rotary valve 10 can also be integrated into the multi-way reversing valve 9.

[0036] In another optional embodiment of the present invention, the second pump body 4 may also be an open pump, and the rotary valve 10 is a reversing valve. The hydraulic oil in the oil tank 1 enters the rotary motor from the open pump through the reversing valve, and the hydraulic oil in the rotary motor returns to the oil tank 1 from the reversing valve. The reversing valve can switch the output direction of the hydraulic oil of the open pump to change the rotary direction of the vehicle.

[0037] As a preferred solution of an excavator control system, the excavator control system also includes a heat pump, which is integrated in the first pump body and connected to the fan motor. Specifically, the heat pump includes a first heat pump 13 and a second heat pump 14, and the fan motor includes a first fan motor 17 and a second fan motor 18. The first pump body includes a front pump 2 and a rear pump 3. The first heat pump 13 is integrated in the front pump 2 and connected to the first fan motor 17 for engine heat dissipation; the second heat pump 14 is integrated in the rear pump 3 and connected to the second fan motor 18 for heat dissipation of the hydraulic oil circuit. The first heat pump 13 and the second heat pump 14 are both connected to the oil tank 1. The first heat pump 13 provides hydraulic oil to the first fan motor 17 for engine heat dissipation; the second heat pump 14 provides hydraulic oil to the second fan motor 18 for heat dissipation of the hydraulic oil circuit; the setting of the first heat pump 13 and the second heat pump 14 can dissipate the heat of the excavator in time and improve the safety of the excavator.

[0038] As a preferred solution of the excavator control system, the excavator control system further includes a pilot pump 15, which is integrated in the second pump body 4 and connected to the servo solenoid valve group 19. In this embodiment, the oil inlet of the pilot pump 15 is connected to the oil tank 1. The pilot pump 15 is a pump that is started before the first pump body and the second pump body 4 when the excavator is started. In the hydraulic system, it provides pilot pressure oil for the servo solenoid valve group 19, so that the first pump body and the second pump body 4 can be safely opened, and ensure the normal operation of the entire hydraulic system.

[0039] As a preferred solution of the excavator control system, the first pump body, the second pump body 4, the multi-way reversing valve 9 and the rotary valve 10 are all connected to the servo solenoid valve group 19, and the start and stop of the first pump body and the second pump body 4, and the opening and closing of the multi-way reversing valve 9 and the rotary valve 10 are controlled by the servo solenoid valve group 19. The specific structure of the servo solenoid valve group 19 and the specific connection method with the first pump body, the second pump body 4, the multi-way reversing valve 9 and the rotary valve 10 are already existing technologies and will not be repeated here.

[0040] In this embodiment, the multi-way reversing valve 9 includes a first boom valve core, a second boom valve core, a first dipper arm valve core, a second dipper arm valve core, a first bucket valve core, a second bucket valve core, a left travel valve core and a right travel valve core. The front pump 2 is connected to the first boom valve core, the first bucket valve core, the first dipper arm valve core and the left travel valve core, and provides hydraulic oil to the boom cylinder 6, the dipper arm cylinder 7, the bucket cylinder 8 and the travel motor. The rear pump 3 is connected to the second boom valve core, the second bucket valve core, the second dipper arm valve core and the right travel valve core, and provides hydraulic oil to the boom cylinder 6, the dipper arm cylinder 7, the bucket cylinder 8 and the travel motor. It should be noted that the connection method between each valve core inside the multi-way reversing valve 9 and each valve core and its corresponding actuator is already a prior art and will not be repeated here.

[0041] When the excavator is working, when the boom is controlled alone, the hydraulic oil output by the front pump 2 passes through the first boom valve core, and the hydraulic oil output by the rear pump 3 passes through the second boom valve core, and together they provide hydraulic oil for the two boom cylinders 6. When the bucket is controlled alone, the hydraulic oil output by the front pump 2 passes through the first bucket valve core, and the hydraulic oil output by the rear pump 3 passes through the second bucket valve core, and together they provide hydraulic oil for the bucket cylinder 8. When the arm is controlled alone, the hydraulic oil output by the front pump 2 passes through the first arm valve core, and the hydraulic oil output by the rear pump 3 passes through the second arm valve core, and together they provide hydraulic oil for the arm cylinder 7. When the boom, arm and bucket are in motion at the same time, the hydraulic oil output by the front pump 2 passes through the first boom valve core to provide hydraulic oil for the boom cylinder 6, and passes through the first bucket valve core to provide hydraulic oil for the bucket cylinder 8; the hydraulic oil output by the rear pump 3 passes through the second arm valve core to provide hydraulic oil for the arm cylinder 7. The second pump body 4 provides hydraulic oil to the rotary motor through the rotary valve 10 to realize the upper vehicle rotation of the excavator.

[0042] In the prior art, the anti-sinking control valve and flow regeneration valve of the boom and the arm are integrated into the multi-way reversing valve 9, but this arrangement is limited by the valve body structure and size, so that the anti-sinking control valve can only prevent the boom and the arm from descending when the connecting pipeline is fault-free and controllable, but cannot prevent the rapid and uncontrollable descent when the connecting pipeline is suddenly damaged; the flow of the flow regeneration valve is uncontrollable and the regeneration amount is small.

[0043] In order to prevent the boom and the stick from falling rapidly and uncontrollably when the connecting pipeline is suddenly damaged and to prevent the occurrence of safety accidents, the regeneration valve flow of the boom cylinder 6 and the stick cylinder 7 is increased and controllable. The stick cylinder 7 is connected to the multi-way reversing valve 9 through the first regeneration valve group 11; the boom cylinder 6 is connected to the multi-way reversing valve 9 through the second regeneration valve group 12.

[0044] As a preferred solution for excavator control system, Figure 3 : is a schematic diagram of the arm cylinder and the first regeneration valve group provided by an embodiment of the present invention, such as Figure 1 and Figure 3 As shown, the first regeneration valve group 11 is connected between the rod chamber of the boom cylinder 7 and the multi-way reversing valve 9. Since the movement resistance of the boom is applied to the rod chamber of the boom cylinder 7, the boom can maintain its original posture as long as the volume of the oil in the rod chamber of the boom cylinder 7 remains unchanged. When the boom descends, the rodless chamber of the boom cylinder 7 is filled with oil, and the boom accelerates its descent under the action of its own weight. The energy impact generated by the descending weight of the boom can be used to regenerate energy, and the oil in the rod chamber of the boom cylinder 7 is introduced into the rodless chamber of the boom cylinder 7. Therefore, the first maintaining regeneration valve group 11 is connected between the rod chamber of the boom cylinder 7 and the multi-way reversing valve 9. Regardless of whether the pipeline between the multi-way reversing valve 9 and the boom cylinder 7 is disconnected or blocked, the boom can maintain its original posture to avoid safety accidents. It can also reduce the energy loss in the connecting pipeline of the multi-way reversing valve 9 when the oil flows through the boom cylinder 7 during the oil regeneration process, thereby increasing the regeneration flow of the boom cylinder 7.

[0045] As a preferred solution of the excavator control system, the first holding regeneration valve group 11 includes a first regeneration valve 111, a first solenoid valve 112 and two first check valves 113. The first solenoid valve 112 is connected to the first regeneration valve 111, and the first regeneration valve 111 is connected to the rod chamber of the boom cylinder 7. The first solenoid valve 112 is used to control whether the first regeneration valve 111 is connected to the rod chamber of the boom cylinder 7. The two first check valves 113 are arranged on the holding oil path of the rod chamber and the rodless chamber of the boom cylinder 7. The first check valve 113 close to the rod chamber of the boom cylinder 7 is used to prevent the oil in the rod chamber of the boom cylinder 7 from flowing into the rodless chamber of the boom cylinder 7, and the first check valve 113 close to the rodless chamber of the boom cylinder 7 is used to prevent the oil in the rodless chamber of the boom cylinder 7 from flowing into the rod chamber of the boom cylinder 7.

[0046] In this embodiment, when the boom is lowered, oil enters the rodless chamber of the boom cylinder 7 and oil returns to the rod chamber. In order to realize the regeneration of the oil in the boom cylinder 7, the first solenoid valve 112 is controlled to open, and the oil in the first pump body enters the first regeneration valve 111 through the multi-way reversing valve 9 and the first solenoid valve 112, pushing the valve core of the first regeneration valve 111 to move, connecting the first regeneration valve 111 with the rod chamber of the boom cylinder 7, so that the main pressure oil of the rod chamber of the boom cylinder 7 enters the rodless chamber of the boom cylinder 7 through the first regeneration valve 111 and the first one-way valve 113 close to the rodless chamber, fully absorbing the impact energy generated by the deadweight of the boom, and regenerating the energy, and the regenerated oil does not need to flow through the connecting pipeline of the multi-way reversing valve 9, reducing energy loss.

[0047] When the boom rises, oil enters the rod chamber of the boom cylinder 7 and returns to the rodless chamber. The oil of the first pump body enters the rod chamber of the boom cylinder 7 through the multi-way reversing valve 9 and the first check valve 113 close to the rod chamber of the boom cylinder 7, and the oil of the rodless chamber of the boom cylinder 7 returns directly to the oil tank 1.

[0048] When the boom needs to maintain its original posture, the first regeneration valve 111 is not connected to the rod chamber of the boom cylinder 7. The two first one-way valves 113 can prevent the oil in the rod chamber and the rodless chamber of the boom cylinder 7 from communicating with each other, so that the boom can maintain its original posture.

[0049] Preferably, in order to achieve pressure relief, the oil that does not enter the first regeneration valve 111 through the first solenoid valve 112 can also flow directly back to the oil tank 1 .

[0050] Preferably, the first regeneration valve group 11 further includes a first adjustable one-way valve 114, which is disposed between the first regeneration valve 111 and the oil tank 1. When the boom is lowered and the oil in the rod chamber of the boom cylinder 7 is regenerated, the remaining part of the main pressure oil can flow back to the oil tank 1 through the first adjustable one-way valve 114. The first adjustable one-way valve 114 can adjust the flow of the regenerated oil in the boom cylinder 7, so that the regeneration flow of the boom cylinder 7 is controllable.

[0051] Preferably, the first regeneration valve group 11 further includes a first hydraulically controlled one-way valve 116, which is disposed between the first regeneration valve 111 and the oil tank 1. The hydraulically controlled end of the first hydraulically controlled one-way valve 116 is connected to the first solenoid valve 112. Most of the oil passing through the first solenoid valve 112 is used to drive the valve core of the first regeneration valve 111 to move, and a small part of the oil flows into the oil tank 1 through the first hydraulically controlled one-way valve 116 to relieve the pressure of the first regeneration valve 111. At the same time, the oil flowing out of the rod chamber of the boom cylinder 7 can also flow back to the oil tank 1 through the first hydraulically controlled one-way valve 116.

[0052] As a preferred solution of the excavator control system, the first regeneration valve group 11 further includes a first safety valve 115, which is connected to the rod chamber and the rodless chamber of the boom cylinder 7 to protect the boom cylinder 7. When the boom works normally, the first safety valve 115 is in a normally closed state. Only when the boom cylinder 7 exceeds the load, the first safety valve 125 opens to connect the rod chamber and the rodless chamber of the boom cylinder 7.

[0053] It should be noted that if Figure 3 As shown, in the present embodiment, the Mp1, Mp2 and X oil circuits connected to the rod chamber of the boom cylinder 7 in the first maintaining regeneration valve group 11 are pressure test oil circuits of the rod chamber of the boom cylinder 7, and are connected only when the rod chamber of the boom cylinder 7 is pressure tested. During the normal operation of the boom, the Mp1, Mp2 and X oil circuits are not connected to the rod chamber of the boom cylinder 7.

[0054] Figure 4 : is a schematic diagram of the boom cylinder and the second regeneration valve group provided by an embodiment of the present invention, such as Figure 1 and Figure 4 As shown, the second regeneration valve group 12 is connected between the rodless chamber of the boom cylinder 6 and the multi-way reversing valve 9. Since the movement resistance of the boom is applied to the rodless chamber of the boom cylinder 6, the boom can maintain its original posture as long as the volume of oil in the rodless chamber of the boom cylinder 6 remains unchanged. When the boom is lowered, the rod chamber of the boom cylinder 6 is filled with oil, and the boom is accelerated to descend under the action of its own weight. The energy impact generated by the lowering of the boom's own weight can be used to regenerate energy, and the oil in the rodless chamber of the boom cylinder 6 is introduced into the rod chamber of the boom cylinder 6. Therefore, the second regeneration valve group 12 is connected between the rodless chamber of the boom cylinder 6 and the multi-way reversing valve 9. Regardless of whether the pipeline between the multi-way reversing valve 9 and the boom cylinder 6 is disconnected or blocked, the boom can maintain its original posture to avoid safety accidents; it can also reduce the energy loss caused by the oil flowing through the connecting pipeline of the multi-way reversing valve 9 during the oil regeneration process of the boom cylinder 6, thereby increasing the regeneration flow of the boom cylinder 6.

[0055] As a preferred solution of the excavator control system, the second holding regeneration valve group 12 includes a second regeneration valve 121, a second solenoid valve 122 and two second one-way valves 123. The second solenoid valve 122 is connected to the second regeneration valve 121, and the second regeneration valve 121 is connected to the rodless chamber of the boom cylinder 6. The second solenoid valve 122 is used to control whether the second regeneration valve 121 is connected to the rodless chamber of the boom cylinder 6. The two second one-way valves 123 are arranged on the holding oil path of the rod chamber and the rodless chamber of the boom cylinder 6. The second one-way valve 123 close to the rod chamber of the boom cylinder 6 is used to prevent the oil in the rod chamber of the boom cylinder 6 from flowing into the rodless chamber of the boom cylinder 6, and the second one-way valve 123 close to the rodless chamber of the boom cylinder 6 is used to prevent the oil in the rodless chamber of the boom cylinder 6 from flowing into the rod chamber of the boom cylinder 6.

[0056] In this embodiment, when the boom is lowered, the rod chamber of the boom cylinder 6 enters oil, and the rodless chamber returns oil. In order to realize the oil regeneration of the boom cylinder 6, the second solenoid valve 122 is controlled to open, and the oil of the first pump body enters the second regeneration valve 121 through the multi-way reversing valve 9 and the second solenoid valve 122, pushing the valve core of the second regeneration valve 121 to move, connecting the second regeneration valve 121 with the rodless chamber of the boom cylinder 6, so that the main pressure oil of the rodless chamber of the boom cylinder 6 enters the rod chamber of the boom cylinder 6 through the second regeneration valve 121 and the second one-way valve 123 close to the rod chamber, fully absorbing the impact energy generated by the deadweight of the boom, regenerating energy, and the regenerated oil does not need to flow through the connecting pipeline of the multi-way reversing valve 9, reducing energy loss.

[0057] When the boom rises, oil flows into the rodless chamber of the boom oil cylinder 6 and returns to the rod chamber. The oil of the first pump body enters the rodless chamber of the boom oil cylinder 6 through the multi-way reversing valve 9 and the second one-way valve 123 close to the rodless chamber of the boom oil cylinder 6, and the oil of the rod chamber of the boom oil cylinder 6 returns directly to the oil tank 1.

[0058] When the boom needs to maintain its original posture, the second regeneration valve 121 is not connected to the rodless chamber of the boom cylinder 6. The two second one-way valves 123 can prevent the oil in the rod chamber and the rodless chamber of the boom cylinder 6 from communicating with each other, so that the boom can maintain its original posture.

[0059] Preferably, in order to achieve pressure relief, the oil that does not enter the second regeneration valve 121 through the second solenoid valve 122 can also flow directly back to the oil tank 1 .

[0060] Preferably, the second regeneration valve group 12 further includes a second adjustable one-way valve 124, which is disposed between the second regeneration valve 121 and the oil tank 1. When the boom is lowered, the oil in the rodless chamber of the boom cylinder 6 is regenerated, and the rest of the main pressure oil flows back to the oil tank 1 through the second adjustable one-way valve 124. The second adjustable one-way valve 124 can adjust the flow of the regenerated oil in the boom cylinder 6, so that the regeneration flow of the boom cylinder 6 is controllable.

[0061] It should be noted that, in the present embodiment, there are two boom cylinders 6 , and the working principles of the two boom cylinders 6 are the same, which will not be described in detail here.

[0062] Preferably, the second regeneration valve group 12 further includes a second hydraulically controlled one-way valve 126, which is disposed between the second regeneration valve 121 and the oil tank 1. The hydraulically controlled end of the second hydraulically controlled one-way valve 126 is connected to the second electromagnetic valve 122. Most of the oil passing through the second electromagnetic valve 122 is used to drive the valve core of the second regeneration valve 121 to move, and a small part of the oil flows into the oil tank 1 through the second hydraulically controlled one-way valve 126 to relieve the pressure of the second regeneration valve 121. At the same time, the oil flowing out of the rodless chamber of the boom oil cylinder 6 can also flow back to the oil tank 1 through the second hydraulically controlled one-way valve 126.

[0063] As a preferred solution of the excavator control system, the second regeneration valve group 12 further includes a second safety valve 125, which is connected to the rod chamber and the rodless chamber of the boom cylinder 6 to protect the boom cylinder 6. When the boom is working normally, the second safety valve 125 is in a normally closed state. Only when the boom cylinder 6 is overloaded, the second safety valve 125 is opened to connect the rod chamber and the rodless chamber of the boom cylinder 6.

[0064] It should be noted that if Figure 4 As shown, in the present embodiment, the Mp oil circuit and the X oil circuit connected to the rodless chamber of the boom cylinder 6 in the second holding valve group 12 are pressure test oil circuits of the rodless chamber of the boom cylinder 6, and are connected only when the rodless chamber of the boom cylinder 6 is pressure tested. During the operation of the boom, the Mp oil circuit and the X oil circuit are not connected to the rod chamber of the boom cylinder 6.

[0065] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. An excavator control system, characterized in that: The invention comprises a first pump body, a second pump body (4), a rotary drive unit (5), a boom oil cylinder (6), a dipper arm oil cylinder (7) and a bucket oil cylinder (8); the first pump body and the second pump body (4) are independently controlled and are both connected to the oil tank (1); the first pump body is connected to the boom oil cylinder (6), the dipper arm oil cylinder (7) and the bucket oil cylinder (8) via a multi-way reversing valve (9) to form an execution oil circuit; the second pump body (4) is connected to the rotary drive unit (5) via a rotary valve (10) to form a rotary oil circuit; when a multi-action compound is not involved in the vehicle rotary action, the second pump body (4) is controlled not to work; The first pump body comprises a front pump (2) and a rear pump (3), and the multi-way reversing valve (9) comprises a first boom valve core, a second boom valve core, a first dipper arm valve core, a second dipper arm valve core, a first bucket valve core and a second bucket valve core; the front pump (2) is connected to the first boom valve core, the first bucket valve core and the first dipper arm valve core, and the rear pump (3) is connected to the second boom valve core, the second bucket valve core and the second dipper arm valve core; When controlling the movement of the boom, the dipper arm or the bucket individually, the front pump (2) and the rear pump (3) jointly provide hydraulic oil to the boom cylinder (6), the dipper arm cylinder (7) or the bucket cylinder (8); When the boom, the dipper arm and the bucket are in motion simultaneously, the hydraulic oil output by the front pump (2) provides hydraulic oil to the boom cylinder (6) via the first boom valve core, and provides hydraulic oil to the bucket cylinder (8) via the first bucket valve core; the hydraulic oil output by the rear pump (3) provides hydraulic oil to the dipper arm cylinder (7) via the second dipper arm valve core; The arm oil cylinder (7) is connected to the multi-way reversing valve (9) via a first regeneration holding valve group (11); The first regeneration-maintaining valve group (11) is connected between the rod chamber of the boom cylinder (7) and the multi-way reversing valve (9).

2. The excavator control system according to claim 1, characterized in that: The first maintaining regeneration valve group (11) comprises a first regeneration valve (111) and a first solenoid valve (112), wherein the first solenoid valve (112) is connected to the first regeneration valve (111), and the first regeneration valve (111) is connected to the rod chamber of the boom cylinder (7), and the first solenoid valve (112) is used to control whether the first regeneration valve (111) is connected to the rod chamber of the boom cylinder (7).

3. The excavator control system according to claim 2, characterized in that: The first maintaining regeneration valve group (11) also includes two first one-way valves (113), and the two first one-way valves (113) are arranged in the maintaining oil circuits of the rod chamber and the rodless chamber of the boom cylinder (7). The first one-way valve (113) close to the rod chamber of the boom cylinder (7) is used to prevent the oil in the rod chamber of the boom cylinder (7) from flowing into the rodless chamber of the boom cylinder (7), and the first one-way valve (113) close to the rodless chamber of the boom cylinder (7) is used to prevent the oil in the rodless chamber of the boom cylinder (7) from flowing into the rod chamber of the boom cylinder (7).

4. The excavator control system according to claim 1, characterized in that: The boom oil cylinder (6) is connected to the multi-way reversing valve (9) via a second holding regeneration valve group (12).

5. The excavator control system according to claim 4, characterized in that: The second regeneration holding valve group (12) is connected between the rodless chamber of the boom cylinder (6) and the multi-way reversing valve (9).

6. The excavator control system according to claim 5, characterized in that: The second maintaining regeneration valve group (12) includes a second regeneration valve (121) and a second solenoid valve (122), wherein the second solenoid valve (122) is connected to the second regeneration valve (121), and the second regeneration valve (121) is connected to the rodless chamber of the boom cylinder (6), and the second solenoid valve (122) is used to control whether the second regeneration valve (121) is connected to the rodless chamber of the boom cylinder (6).

7. The excavator control system according to claim 6, characterized in that: The second maintaining regeneration valve group (12) also includes two second one-way valves (123), and the two second one-way valves (123) are arranged in the maintaining oil circuits of the rod chamber and the rodless chamber of the boom cylinder (6). The second one-way valve (123) close to the rod chamber of the boom cylinder (6) is used to prevent the oil in the rod chamber of the boom cylinder (6) from flowing into the rodless chamber of the boom cylinder (6), and the second one-way valve (123) close to the rodless chamber of the boom cylinder (6) is used to prevent the oil in the rodless chamber of the boom cylinder (6) from flowing into the rod chamber of the boom cylinder (6).

8. The excavator control system according to claim 1, characterized in that: The second pump body (4) is a closed pump, and the rotary valve (10) is a stop valve.

9. The excavator control system according to claim 1, characterized in that: The second pump body (4) is an open pump, and the rotary valve (10) is a reversing valve.

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