Excavator and its crawler anti-slip control system, method, device and electronic equipment

Abstract

The present invention relates to excavator control. To solve the problem that the crawler may slip when the existing excavator starts to rotate or stops rotating, the present invention constructs an excavator and its crawler anti-slip control system, method, device and electronic equipment. The system includes an electro-hydraulic proportional relief valve, a gyroscope, and an angle sensor electrically connected to a controller. The controller calculates the change value of the azimuth angle of the upper body and the change value of the rotation angle within a predetermined time interval based on the azimuth angle of the upper body detected by the gyroscope and the rotation angle detected by the angle sensor, and determines whether the crawler slips by inferring whether the difference between the two is within a predetermined range. When the crawler slips, a control signal for reducing the relief pressure of the electro-hydraulic proportional relief valve is output to make the difference between the change value of the azimuth angle of the upper body and the change value of the rotation angle within a predetermined time interval within the predetermined range. The present invention can reduce the pressure of the rotary drive oil circuit at the initial stage of crawler slip to avoid crawler slip.

Description

Technical Field

[0001] The present invention relates to an excavator control, and more specifically, to an excavator and its crawler anti-slip control system, method, device and electronic equipment. Background Art

[0002] An excavator includes a lower body and an upper body. The lower body travels on the ground through crawlers, and the upper body is mounted on the lower body through a slewing bearing. When the upper body makes a slewing motion driven by a slewing motor, a force in the opposite direction is simultaneously applied to the lower body.

[0003] When the excavator makes a slewing motion, the lower body relies on the friction between its crawlers and the ground to offset the force applied to the lower body by the upper body. When the excavator is parked on a hard surface such as a steel plate or ice for operation, due to the small friction coefficient of the support surface, the maximum static friction between the crawlers and the support surface is relatively small. At this time, when the slewing speed of the excavator changes, especially when starting and stopping slewing, the huge inertia of the upper body generates forces in opposite directions on the lower body, causing the lower body to have insufficient adhesion and resulting in overall crawler slip, posing a safety risk. Summary of the Invention

[0004] The technical problem to be solved by the present invention is the problem that the crawlers of existing excavators slip when starting or stopping slewing when the crawler adhesion is small, and to provide an excavator and its crawler anti-slip control system, method, device and electronic equipment to prevent the crawlers from slipping when starting or stopping slewing.

[0005] The technical solution for the present invention to achieve its purpose is as follows: Construct an excavator crawler anti-slip control system. The slewing control valve of the excavator is connected to the slewing motor of the excavator through two slewing drive oil circuits; it is characterized by including a controller, an electro-hydraulic proportional relief valve provided on the slewing drive oil circuit, a gyroscope for detecting the azimuth angle of the upper body of the excavator, and an angle sensor for detecting the slewing angle of the upper body relative to the lower body; the electro-hydraulic proportional relief valve, the gyroscope and the angle sensor are electrically connected to the controller;

[0006] The controller is used to calculate the azimuth angle change value and the slewing angle change value of the upper body within a predetermined time interval based on the azimuth angle and the slewing angle of the upper body detected in real time, and when the difference between the azimuth angle change value and the slewing angle change value is not within the predetermined range, output a control signal to reduce the relief pressure of the electro-hydraulic proportional relief valve so that the difference between the azimuth angle change value and the slewing angle change value of the upper body within the predetermined time interval is within the predetermined range.

[0007] In the anti-skid and anti-shift control system for the crawler of the excavator of the present invention, the electro-hydraulic proportional relief valve includes two pilot-operated relief valves respectively arranged on two rotary drive oil paths, and an electro-hydraulic proportional pressure reducing valve electrically connected to the controller. The oil outlet end of the electro-hydraulic proportional pressure reducing valve is connected to the pilot end of the pilot-operated relief valve.

[0008] In the anti-skid and anti-shift control system for the crawler of the excavator of the present invention, the control system further includes a pressure sensor for detecting the pressure on two rotary drive oil paths. When the difference between the azimuth angle change value and the rotary angle change value is not within a predetermined range, the relief opening pressure value corresponding to the control signal first output by the controller to the electro-hydraulic proportional relief valve is less than the maximum pressure on the current detected rotary drive oil path.

[0009] The technical solution for the present invention to achieve its purpose is as follows: A method for controlling the anti-skid and anti-shift of the crawler of an excavator is constructed, characterized by the following steps:

[0010] Real-time detect the azimuth angle of the upper body and the rotary angle of the upper body relative to the lower body, and calculate the azimuth angle change value and the rotary angle change value of the upper body within a predetermined time interval; Determine whether the crawler slips based on whether the difference between the azimuth angle change value and the rotary angle change value is within a predetermined range; When the difference is not within the predetermined range, the controller determines that the crawler slips and outputs a control signal to reduce the relief opening pressure to the electro-hydraulic proportional relief valve on the rotary drive oil path, so that the difference between the azimuth angle change value and the rotary angle change value of the upper body within a predetermined time interval is within the predetermined range.

[0011] In the method for controlling the anti-skid and anti-shift of the crawler of the excavator of the present invention, the steps include dividing the possible range of the difference between the azimuth angle change value and the rotary angle change value into multiple consecutive difference intervals, and setting one-to-one corresponding and decreasing relief opening pressure values according to the difference intervals from small to large; The controller selects the corresponding relief opening pressure value according to the difference interval corresponding to the difference between the azimuth angle change value and the rotary angle change value, and outputs a corresponding relief opening pressure control signal to the electro-hydraulic proportional relief valve according to the selected relief opening pressure value.

[0012] In the method for controlling the anti-skid and anti-shift of the crawler of the excavator of the present invention, the steps further include detecting and obtaining the pressure of the current rotary drive oil path when it is determined that the crawler slips; When the relief opening pressure value selected according to the difference between the azimuth angle change value and the rotary angle change value is greater than the maximum pressure of the current detected rotary drive oil path, the controller selects a relief opening pressure value close to and less than the maximum pressure of the current detected rotary drive oil path, and outputs a corresponding relief opening pressure control signal to the electro-hydraulic proportional relief valve according to the selected relief opening pressure value.

[0013] In the anti-skid control method for excavator tracks of the present invention, the controller first outputs a control signal of the selected overflow opening pressure value to the electric proportional overflow valve, and then outputs a control signal that causes the overflow opening pressure of the electric proportional overflow valve to decrease at a predetermined gradient until the difference between the azimuth angle change value and the rotation angle change value is within a predetermined value range.

[0014] The technical solution of the present invention to achieve its purpose is as follows: a crawler anti-slip control device for an excavator is disclosed, characterized in that the control device comprises:

[0015] An information acquisition module, used for the orientation angle of the upper vehicle body and the rotation angle of the upper vehicle body relative to the lower vehicle body;

[0016] A slip judgment module is used to determine the azimuth angle change value and the rotation angle change value of the upper body within a predetermined time interval according to the azimuth angle and the rotation angle of the upper body; and to infer whether the crawler track is slipping according to whether the difference between the azimuth angle change value and the rotation angle change value is within a predetermined range; and to infer that the crawler track is slipping when the difference is not within the predetermined range;

[0017] The control module is used to output a control signal for opening the electric proportional relief valve to the electric proportional relief valve on the rotary drive oil circuit when it is estimated that the crawler track slips, so that the difference is within a predetermined range.

[0018] The technical solution of the present invention to achieve its purpose is as follows: an electronic device is disclosed, characterized in that it includes: a processor, a memory for storing instructions executable by the processor;

[0019] The processor is configured to execute the instructions to implement the excavator track anti-slip control method as described above.

[0020] The technical solution for achieving the purpose of the present invention is as follows: an excavator is disclosed, characterized in that it has the aforementioned excavator track anti-skid control system, or has the aforementioned excavator track anti-skid control device, or has the aforementioned electronic equipment.

[0021] Compared with the prior art, the present invention determines whether the track slips by the difference between the azimuth angle change value and the rotation angle change value of the upper body. If slippage occurs, the overflow opening pressure of the electric proportional overflow valve in the rotation drive oil circuit is reduced to make the electric proportional overflow valve overflow, thereby reducing the reverse force of the upper body on the lower body when the upper body rotates, thereby preventing the track from slipping and avoiding the safety risks caused by the track slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The figure is a schematic diagram of an excavator track anti-slip control system according to an exemplary embodiment.

[0023] Figure 2 It is a flowchart of an anti-skid control method for an excavator track according to an exemplary embodiment.

[0024] Figure 3 It is a block diagram of an anti-skid control device for an excavator track according to an exemplary embodiment.

[0025] Figure 4 It is a block diagram of an electronic device for anti-skid control of an excavator track according to an exemplary embodiment. Component names and serial numbers in the figure:

[0026] Main pump 1, slewing control valve 2, slewing motor 3, pilot pump 4, controller 5, angle sensor 6, gyroscope 7, first hydraulic control relief valve 8, second hydraulic control relief valve 9, electro-hydraulic proportional reducing valve 10, first pressure sensor 11, second pressure sensor 12, first slewing drive oil circuit 13, second slewing drive oil circuit 14. Detailed implementation manners

[0027] The following describes the specific implementation manners in conjunction with the accompanying drawings.

[0028] Figure 1 It is a schematic diagram of an anti-skid control system for an excavator track according to an exemplary embodiment. The excavator includes a lower body and an upper body. The lower body travels on the ground through tracks, and the upper body is mounted on the lower body through a slewing bearing. The upper body makes a slewing motion relative to the lower body under the drive of the slewing motor.

[0029] As Figure 1 shown, the slewing motor 3 is connected to the slewing control valve 2 through two slewing drive oil circuits. The main pump 1 is connected to the slewing control valve 2 to supply oil to the slewing control valve 2. The slewing control valve 2 is controlled for commutation through a pilot control oil circuit (not shown in the figure), so that the A working port or the B working port of the slewing control valve 2 outputs pressure oil. The high-pressure oil reaches the slewing motor 3 through the first slewing drive oil circuit 13 or the second slewing drive oil circuit 14 and then drives the slewing motor 3 to rotate. The low-pressure return oil of the slewing motor 3 then flows back to the slewing control valve through the second slewing drive oil circuit 14 or the first slewing drive oil circuit 13 respectively, realizing the rotation of the slewing motor.

[0030] In the first slewing drive oil circuit 13 and the second slewing drive oil circuit 14, one oil circuit is a high-pressure oil circuit and the other is a low-pressure oil circuit. The high-pressure oil circuit and the low-pressure oil circuit are interchanged between the first slewing drive oil circuit 13 and the second slewing drive oil circuit 14 as the slewing control valve 2 commutes.

[0031] When the swing motor 3 starts to rotate, a swing driving force that pushes the upper body to swing is generated; when the upper body swings and decelerates to a stop, the swing motor 3 brakes to generate a swing resistance that prevents the upper body from swinging. When a swing driving force or a swing resistance force is generated on the upper body, a reaction force with the opposite direction of action will be generated on the lower body. The reaction force acting on the lower body needs to be balanced by the static friction force between the crawler of the lower body and the ground. If the static friction force between the crawler of the lower body and the ground is less than the reaction force on the lower body, the lower body will rotate under the action of the reaction force, resulting in crawler slippage.

[0032] The reaction force generated on the lower body depends on the pressure of the high-pressure oil circuit in the swing drive oil circuit. The swing motor relief valve of the existing excavator is a constant high-pressure relief. When the excavator starts to swing or stops swinging during swing braking, due to inertia, the pressure of the high-pressure oil circuit in the swing drive oil circuit is relatively high, usually reaching the constant high-pressure relief pressure set by the relief valve. At this time, the reaction force generated on the lower body is the largest. If the excavator is on a support surface with a small friction coefficient, such as an ice surface or a steel plate, the static friction force between the crawler and the support surface is small, and the excavator will experience crawler slippage.

[0033] This embodiment provides an anti-crawler slippage control system for an excavator to prevent the crawler from slipping when the excavator starts to swing and stops swinging. The control system includes a controller 5, an electro-hydraulic proportional relief valve arranged on the swing drive oil circuit, a gyroscope 7 for detecting the azimuth angle of the upper body of the excavator, an angle sensor 6 for detecting the swing angle of the upper body relative to the lower body, and a pressure sensor; the electro-hydraulic proportional relief valve, the gyroscope 7, and the angle sensor 6 are electrically connected to the controller 5.

[0034] The azimuth angle of the upper body detected by the gyroscope 7 is referenced to the ground. When the upper body rotates relative to the horizontal ground, the azimuth angle of the upper body changes. The azimuth angle of the upper body is detected at two time points separated by a predetermined time interval to obtain the change value of the azimuth angle of the upper body within the predetermined time interval.

[0035] The angle sensor 6 is used to detect the swing angle of the upper body relative to the lower body. The swing angle of the upper body is detected at two time points separated by a predetermined time interval to obtain the change value of the swing angle of the upper body within the predetermined time interval.

[0036] The pressure sensor includes a first pressure sensor for obtaining the pressure of the first swing drive oil circuit and a second pressure sensor for detecting and obtaining the pressure on the second swing drive oil circuit.

[0037] The excavator usually samples its working parameters at a fixed frequency. The predetermined time interval in this embodiment is an integer multiple of the sampling period of the excavator.

[0038] The electro-hydraulic proportional relief valve includes a first pilot-operated relief valve 8 and a second pilot-operated relief valve 9 respectively arranged on two rotary drive oil paths, and an electro-hydraulic proportional pressure reducing valve 10 electrically connected to the controller 5. The oil outlet end of the electro-hydraulic proportional pressure reducing valve 10 is simultaneously connected to the pilot control ends of the first pilot-operated relief valve 8 and the second pilot-operated relief valve 9. The oil inlet end of the electro-hydraulic proportional pressure reducing valve 10 is connected to the pilot pump 4. The controller 5 outputs a control signal (control current) to the electro-hydraulic proportional pressure reducing valve 10, and the electro-hydraulic proportional pressure reducing valve 10 outputs pilot pressure oil corresponding to the control signal to act on the pilot control ends of the first pilot-operated relief valve 8 and the second pilot-operated relief valve 9, so that the overflow opening pressures of the first pilot-operated relief valve 8 and the second pilot-operated relief valve 9 are set to corresponding values.

[0039] The controller 5 detects the azimuth angle of the upper body relative to the ground and the rotation angle relative to the lower body through the gyroscope 7 and the rotation angle sensor 6, so as to obtain the change value of the azimuth angle and the change value of the rotation angle of the upper body within a predetermined time interval, and judges whether the crawler slips by the difference between the change value of the azimuth angle and the change value of the rotation angle.

[0040] When the upper body starts to rotate, the reaction force received by the lower body is opposite to the rotation direction of the upper body. If the lower body slips at this time, the slip direction of the crawler of the lower body is opposite to the rotation direction of the upper body, and the change value of the azimuth angle of the upper body is less than the change value of the rotation angle.

[0041] When the upper body stops rotating, the reaction force received by the lower body is the same as the rotation direction of the upper body. If the lower body slips at this time, the slip direction of the crawler of the lower body is the same as the rotation direction of the upper body, and the change value of the azimuth angle of the upper body is greater than the change value of the rotation angle.

[0042] The controller determines whether the crawler of the excavator slips by comparing the difference between the change value of the azimuth angle and the change value of the rotation angle of the upper body. When the difference between the change value of the azimuth angle and the change value of the rotation angle is not within the predetermined range, it is determined that the crawler slips, otherwise it is considered to be normal.

[0043] When it is presumed that the crawler has slipped, the controller 5 outputs a control signal to the electro-hydraulic proportional relief valve 10. The electro-hydraulic proportional relief valve 10 outputs pilot pressure oil to act on the first pilot-operated relief valve 8 and the second pilot-operated relief valve 9, reducing the overflow opening pressure of the first pilot-operated relief valve 8 and the second pilot-operated relief valve 9. The pilot-operated relief valve on the high-pressure oil path in the slewing drive oil circuit overflows, and its pressure decreases, reducing the reaction force exerted by the slewing motor 3 on the lower body. The controller 5 performs PID adjustment control based on the difference between the obtained position angle change value and the slewing angle change value of the upper body, outputs a control signal to the electro-hydraulic proportional relief valve, and controls the pilot-operated relief valve to open at the corresponding overflow opening pressure, so that the difference between the position angle change value and the slewing angle change value of the upper body is zero or within a predetermined range within a predetermined time interval, achieving the purpose of preventing the crawler from slipping.

[0044] In a specific embodiment, the controller detects and obtains the pressure on the slewing drive oil path according to the first pressure sensor and the second pressure sensor. When it is presumed that the crawler has slipped, it selects the corresponding overflow opening pressure as the first control target value according to the magnitude of the difference between the azimuth angle change value and the slewing angle change value and the maximum pressure value (the pressure on the high-pressure oil path) on the slewing drive oil path, and then outputs a control signal based on the magnitude of the difference between the subsequently obtained azimuth angle change value and the slewing angle change value on the basis of the first control target value, controlling the overflow opening pressure of the electro-hydraulic proportional relief valve until the difference between the position angle change value and the slewing angle change value of the upper body is zero or within a predetermined range within a predetermined time interval.

[0045] Figure 2 It is a flowchart of an anti-skid control method for an excavator crawler shown according to an exemplary embodiment. As Figure 2 shown, the steps of the anti-skid control method for an excavator crawler are as follows:

[0046] The controller uses a gyroscope and a slewing angle sensor to continuously detect the azimuth angle of the upper body and the slewing angle of the upper body relative to the lower body, and calculates the azimuth angle change value and the slewing angle change value of the upper body within a predetermined time interval; it presumes whether the crawler has slipped based on whether the difference between the azimuth angle change value and the slewing angle change value is within a predetermined range, and presumes that the crawler has slipped when the difference is not within the predetermined range.

[0047] When it is presumed that the crawler has slipped, the controller outputs a control signal to the electro-hydraulic proportional relief valve on the slewing drive oil path, causing the overflow opening pressure of the electro-hydraulic proportional relief valve to decrease and overflow, reducing the pressure of the slewing drive oil path, thereby reducing the reaction force exerted on the lower body.

[0048] The controller adjusts through PID, adaptively adjusts the output current to control the electro-hydraulic proportional relief valve, reduces the relief opening pressure of the hydraulic control relief valve on the slewing drive oil circuit, and returns the hydraulic oil in the high-pressure oil circuit on the slewing drive oil circuit to the fuel tank. Until the difference between the detected azimuth angle change value and the slewing angle change value is zero or within a predetermined range, that is, the chassis crawler does not slip. When the chassis crawler does not slip, the controller stops outputting the control signal for reducing the relief opening pressure to the electro-hydraulic proportional relief valve, and the first and second hydraulic control relief valves on the slewing drive oil circuit return to the previously set relief opening pressure.

[0049] In a specific embodiment, after it is presumed that the crawler slips, the relief opening pressure corresponding to the control signal first output by the controller to the electro-hydraulic proportional relief valve is associated with the difference between the azimuth angle change value and the slewing angle change value. Specifically, the possible range of the absolute value of the difference between the azimuth angle change value and the slewing angle change value is divided into multiple consecutive difference intervals, and the relief opening pressure values corresponding one-to-one and from large to small are set according to the difference intervals from small to large. That is, for multiple difference intervals, multiple relief opening pressure values are set, and each difference interval corresponds to a relief opening pressure value; the relief opening pressure value corresponding to the difference interval with a large absolute value of the difference is small. The controller selects the corresponding relief opening pressure value as the first control target value of the relief opening pressure on the slewing drive oil circuit after it is presumed that the crawler slips according to the difference interval corresponding to the absolute value of the difference between the azimuth angle change value and the slewing angle change value, and the controller outputs the corresponding relief opening pressure control signal to the electro-hydraulic relief valve according to the selected relief opening pressure value. Then, on the basis of the selected relief opening pressure value, it is adjusted and controlled according to the difference between the azimuth angle change value and the slewing angle change value obtained subsequently.

[0050] In a specific embodiment, the steps of the control method further include detecting and obtaining the current pressure of the slewing drive oil circuit when it is presumed that the crawler slips; when the relief opening pressure value selected according to the absolute value of the difference between the azimuth angle change value and the slewing angle change value is greater than the maximum pressure of the currently detected slewing drive oil circuit (that is, greater than the current pressure of the high-pressure oil circuit in the slewing drive oil circuit), the controller selects, from the array of preset relief opening pressure values, the relief opening pressure value that is close to and less than the pressure of the high-pressure oil circuit in the currently obtained slewing drive oil circuit as the first control target value, and outputs the corresponding relief opening pressure control signal to the electro-hydraulic relief valve according to the selected relief opening pressure value.

[0051] In a specific embodiment, after the controller first outputs the control signal of the selected relief opening pressure value to the electro-hydraulic relief valve, the controller makes the relief opening pressure of the electro-hydraulic relief valve decrease at a predetermined gradient in the subsequent output control signals until the difference between the azimuth angle change value and the slewing angle change value is within a predetermined value range.

[0052] When the absolute value of the difference between the azimuth angle change value and the slewing angle change value decreases to within a predetermined range or becomes zero, that is, when the crawler stops slipping, the controller stops outputting the control current to the electro-hydraulic proportional relief valve, and the relief opening pressure of the electro-hydraulic proportional relief valve returns to the initial set value.

[0053] Figure 3 It is a block diagram of an anti-skid control device for an excavator crawler shown according to an exemplary embodiment. As Figure 3 shown, the device includes:

[0054] An information acquisition module 201, configured to acquire the azimuth angle of the upper body and the slewing angle of the upper body relative to the lower body; the azimuth angle of the upper body is the angle of relative rotation of the upper body with respect to the horizontal ground.

[0055] A slip judgment module 202, configured to determine the azimuth angle change value and the slewing angle change value of the upper body within a predetermined time interval according to the azimuth angle and the slewing angle of the upper body; infer whether the crawler slips based on whether the difference between the azimuth angle change value and the slewing angle change value is within a predetermined range; when the difference is not within the predetermined range, it is inferred that the crawler slips. The predetermined time interval is an integer multiple of the excavator sampling period.

[0056] A control module 203, configured to output a control signal for opening the relief of the electro-hydraulic proportional relief valve to the electro-hydraulic proportional relief valve on the slewing drive oil circuit when it is inferred that the crawler slips, so that the difference is within a predetermined range.

[0057] In an optional embodiment, the above device further includes a rotary pressure acquisition module for acquiring the pressure of the slewing drive oil circuit. The control module selects and determines the relief opening pressure value as the first control target value according to the magnitude of the difference between the azimuth angle change value and the slewing angle change value and the magnitude of the pressure in the high-pressure oil circuit of the slewing drive oil circuit. After outputting the control signal to the electro-hydraulic proportional relief valve according to the first control target value, and then according to the difference between the subsequently acquired azimuth angle change value and the slewing angle change value, PID adjustment control is used to output the control signal for controlling the electro-hydraulic proportional relief valve until the difference between the azimuth angle change value and the slewing angle change value is equal to zero or within a predetermined range.

[0058] Figure 4 It is a block diagram of an electronic device for anti-skid control of an excavator crawler shown according to an exemplary embodiment. As Figure 4 shown, the electronic device may be an excavator controller, and its internal structure diagram may be as Figure 4As shown. The electronic device includes a processor, a memory, and an I / O interface connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores a computer program. The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. The I / O interface of the electronic device is used to connect to an external information acquisition device and a controlled device. The information acquisition device is a gyroscope, a rotation angle sensor, a pressure sensor, etc. The controlled device is an electro-hydraulic proportional relief valve, which sets a corresponding relief opening pressure according to the received control signal. When the computer program is executed by the processor, it implements an anti-skid control method for an excavator track.

[0059] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed by the present disclosure. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0060] It should be understood that the present disclosure is not limited to the exact structures already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. An anti-skid and anti-shift control system for the crawler of an excavator. The swing control valve is connected to the swing motor of the excavator through two swing drive oil circuits; characterized in that It includes a controller, an electro-hydraulic proportional relief valve arranged on the swing drive oil circuit, a gyroscope for detecting the azimuth angle of the upper body of the excavator, and an angle sensor for detecting the swing angle of the upper body relative to the lower body; the electro-hydraulic proportional relief valve, the gyroscope and the angle sensor are electrically connected to the controller; The controller is used to calculate the azimuth angle change value and the swing angle change value of the upper body within a predetermined time interval based on the azimuth angle and the swing angle of the upper body detected in real time, and when the difference between the azimuth angle change value and the swing angle change value is not within the predetermined range, output a control signal to reduce the relief pressure of the electro-hydraulic proportional relief valve so that the difference between the azimuth angle change value and the swing angle change value of the upper body within the predetermined time interval is within the predetermined range.

2. The anti-skid and anti-shift control system for the crawler of the excavator according to claim 1, wherein The electro-hydraulic proportional relief valve includes two pilot-operated relief valves correspondingly arranged on two swing drive oil circuits, and an electro-hydraulic proportional reducing valve electrically connected to the controller. The oil outlet end of the electro-hydraulic proportional reducing valve is connected to the pilot control end of the pilot-operated relief valve.

3. The anti-skid and anti-shift control system for the crawler of the excavator according to claim 1 or 2, characterized in that The control system further includes a pressure sensor for detecting the pressure on the two swing drive oil circuits. When the difference between the azimuth angle change value and the swing angle change value is not within the predetermined range, the relief opening pressure value corresponding to the control signal first output by the controller to the electro-hydraulic proportional relief valve is less than the maximum pressure currently detected on the swing drive oil circuit.

4. A control method for preventing the crawler of an excavator from slipping, characterized in that The steps are as follows: Detect the azimuth angle of the upper body and the swing angle of the upper body relative to the lower body in real time, and calculate the azimuth angle change value and the swing angle change value of the upper body within a predetermined time interval; infer whether the crawler slips based on whether the difference between the azimuth angle change value and the swing angle change value is within the predetermined range; when the difference is not within the predetermined range, the controller infers that the crawler has slipped and outputs a control signal to reduce the relief opening pressure to the electro-hydraulic proportional relief valve on the swing drive oil circuit so that the difference between the azimuth angle change value and the swing angle change value of the upper body within the predetermined time interval is within the predetermined range.

5. The anti-skid control method for the crawler of an excavator according to claim 4, wherein The steps include dividing the possible range of the absolute value of the difference between the azimuth angle change value and the swing angle change value into multiple consecutive difference intervals, and setting corresponding relief opening pressure values that decrease from large to small for each difference interval; the controller selects the corresponding relief opening pressure value according to the difference interval corresponding to the difference between the azimuth angle change value and the swing angle change value and outputs a corresponding relief opening pressure control signal to the electro-hydraulic proportional relief valve according to the selected relief opening pressure value.

6. The anti-skid control method for the crawler of an excavator according to claim 5, wherein The steps further include detecting and obtaining the pressure of the current swing drive oil circuit when it is inferred that the crawler has slipped; when the relief opening pressure value selected according to the absolute value of the difference between the azimuth angle change value and the swing angle change value is greater than the maximum pressure of the current swing drive oil circuit detected, the controller selects a relief opening pressure value that is close to and less than the maximum pressure of the current swing drive oil circuit and outputs a corresponding relief opening pressure control signal to the electro-hydraulic proportional relief valve according to the selected relief opening pressure value.

7. The anti-skid control method for the crawler of an excavator according to claim 5 or 6, characterized in that The controller first outputs a control signal of the selected overflow opening pressure value to the electric proportional overflow valve, and then outputs a control signal that causes the overflow opening pressure of the electric proportional overflow valve to decrease at a predetermined gradient until the difference between the azimuth angle change value and the rotation angle change value is within a predetermined value range.

8. An anti-skid control device for an excavator crawler, characterized in that, The control device includes: An information acquisition module, used for the orientation angle of the upper vehicle body and the rotation angle of the upper vehicle body relative to the lower vehicle body; A slip judgment module is used to determine the azimuth angle change value and the rotation angle change value of the upper body within a predetermined time interval according to the azimuth angle and the rotation angle of the upper body; and to infer whether the crawler track is slipping according to whether the difference between the azimuth angle change value and the rotation angle change value is within a predetermined range; and to infer that the crawler track is slipping when the difference is not within the predetermined range; The control module is used to output a control signal for opening the electric proportional relief valve to the electric proportional relief valve on the rotary drive oil circuit when it is estimated that the crawler track slips, so that the difference is within a predetermined range.

9. An electronic device, characterized in that, include: A processor and a memory for storing instructions executable by the processor; the processor is configured to execute the instructions to implement the excavator crawler anti-slip control method according to any one of claims 1 to 7.

10. An excavator, characterized in that, A control system for preventing the crawler skid of an excavator according to any one of claims 1 to 3, or an anti-skid control device for the crawler skid of an excavator according to claim 8, or an electronic device according to claim 9.

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