A braking control system and control method for a closed swing mechanism of an excavator

Abstract

The present invention discloses a braking control system and a control method for a closed-loop slewing mechanism of an excavator. The control system includes: a slewing closed-loop pump, a slewing braking mechanism, a solenoid valve, a slewing operation handle, and a controller. The slewing closed-loop pump is fluidly connected to the slewing mechanism; the slewing braking mechanism is connected to the slewing mechanism; the solenoid valve is fluidly connected to the slewing closed-loop pump and the slewing braking mechanism; the controller is configured to: according to the received slewing operation signal of the slewing operation handle, control the solenoid valve to open to release the braking control of the slewing braking mechanism on the slewing mechanism; when no slewing operation signal of the slewing operation handle is received within a first predetermined time period, control the solenoid valve to close to initiate the braking control of the slewing braking mechanism on the slewing mechanism. Thus, the control system can actively control the braking operation of the slewing mechanism. Compared with the prior art, it can reduce the energy loss of the compensation flow of the pump, improve the reliability of braking, and at the same time reduce the risk of damage to the motor due to force.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator control, and particularly to a braking control system and a control method for a closed swing mechanism of an excavator. Background Art

[0002] In some existing large excavators, such as those with a total machine tonnage of over 100t, during operation, in order to ensure the working efficiency and coordination of the whole machine, a separate closed system is usually used to control the swing movement of the swing mechanism. Among them, the separate closed system needs to perform a braking operation when the excavator stops, so as to prevent the swing motor in the swing mechanism from shifting due to the action of gravity, thereby bringing potential safety hazards. At the same time, the separate closed system needs to release the brake when the excavator is working, so that the excavator can operate normally.

[0003] In related control operations, when the excavator is about to start working, it is necessary to unlock the safety handle to release the swing brake. When the excavator is on a slope and in a swing state and about to start working, after releasing the swing brake, the swing motor will slide down the slope when there is no operation.

[0004] In response to the above-mentioned slope sliding phenomenon, the existing treatment method is to output a compensation flow in the opposite direction of the closed swing pump to offset the slope sliding phenomenon. However, the existing treatment method not only causes energy loss, but is also relatively complex in actual control. It is necessary to perform real-time compensation on the closed swing pump according to different forces, and the debugging test period is relatively long. In addition, problems such as reliability will also occur. Summary of the Invention

[0005] To solve some or all of the technical problems existing in the above-mentioned prior art, the present invention provides a braking control system and a control method for a closed swing mechanism of an excavator.

[0006] The technical solution of the present invention is as follows:

[0007] According to a first aspect of the present invention, there is provided a braking control system for a closed swing mechanism of an excavator, the control system comprising:

[0008] A swing closed pump, the swing closed pump being fluidly connected to the swing mechanism;

[0009] A swing braking mechanism, the swing braking mechanism being connected to the swing mechanism, the swing braking mechanism being capable of braking the swing mechanism;

[0010] A solenoid valve, the solenoid valve being fluidly connected to the swing closed pump and the swing braking mechanism, the swing closed pump being capable of outputting hydraulic oil to the swing braking mechanism via the solenoid valve;

[0011] A swing operating handle that can receive a swing operation signal;

[0012] A controller that is signal - connected to the solenoid valve and the swing operating handle;

[0013] Wherein, the controller is configured to:

[0014] According to the received swing operation signal of the swing operating handle, control the solenoid valve to open to release the braking control of the swing braking mechanism on the swing mechanism;

[0015] When no swing operation signal of the swing operating handle is received within a first predetermined time period, control the solenoid valve to close to initiate the braking control of the swing braking mechanism on the swing mechanism.

[0016] Optionally, the first predetermined time period is 5 to 8 seconds.

[0017] Optionally, the controller is connected to the boom cylinder of the excavator via the boom control oil circuit. The control system further includes a hydraulic sensor disposed in the boom control oil circuit. The hydraulic sensor can sense the oil pressure in the boom control oil circuit, and the hydraulic sensor is signal - connected to the controller.

[0018] The controller is further configured to:

[0019] During the process of not receiving the swing operation signal of the swing operating handle and being able to continuously receive the boom operation signal of the boom operating handle, obtain the pressure value from the hydraulic sensor. When the pressure value is greater than a preset value, control the solenoid valve to open to release the braking control of the swing braking mechanism on the swing mechanism;

[0020] Obtain the pressure value from the hydraulic sensor. When the pressure value is less than the preset value and no operation signal is received for a second predetermined time period, control the solenoid valve to close to initiate the braking control of the swing braking mechanism on the swing mechanism.

[0021] Optionally, the second predetermined time period is 2 to 3 seconds.

[0022] According to a second aspect of the present invention, there is also provided a control method for controlling the closed - loop swing mechanism braking control system of the excavator according to the first aspect of the present invention. The control method includes:

[0023] According to the received swing operation signal of the swing operating handle, control the solenoid valve to open to release the braking control of the swing braking mechanism on the swing mechanism;

[0024] When no swing operation signal of the swing operation handle is received within a first predetermined time period, control the solenoid valve to close, so as to activate the braking control of the swing braking mechanism on the swing mechanism.

[0025] Optionally, the first predetermined time period is 5 to 8 seconds.

[0026] Optionally, the controller is connected to the boom cylinder of the excavator via the boom control oil circuit. The control system further includes a hydraulic sensor, which is arranged in the boom control oil circuit. The hydraulic sensor can sense the pressure of the boom control oil circuit, and the hydraulic sensor is signal-connected to the controller.

[0027] The control method further includes:

[0028] During the process of not receiving the swing operation signal of the swing operation handle and being able to continuously receive the boom operation signal of the boom operation handle, obtain the pressure value from the hydraulic sensor. When the pressure value is greater than a preset value, control the solenoid valve to open, so as to release the braking control of the swing braking mechanism on the swing mechanism;

[0029] Obtain the pressure value from the hydraulic sensor. When the pressure value is less than the preset value and no operation signal is received for a second predetermined time period, control the solenoid valve to close, so as to activate the braking control of the swing braking mechanism on the swing mechanism.

[0030] Optionally, the second predetermined time period is 2 to 3 seconds.

[0031] The main advantages of the technical solution of the present invention are as follows:

[0032] In the braking control system of the closed swing mechanism of the excavator in the present invention, by adding a solenoid valve between the swing braking pump and the swing braking mechanism and enabling the controller to control the on-off of the solenoid valve based on the swing operation instruction, the active control of the swing mechanism braking operation can be realized. Compared with the prior art, the energy loss of the compensation flow of the pump can be reduced, the braking reliability can be improved, and at the same time, the risk of the motor being damaged by force can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the embodiments of the present invention and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0034] Figure 1 It is a schematic structural diagram of a braking control system of a closed swing mechanism of an excavator according to an embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 1: Rotary closed pump; 2: Rotary braking mechanism; 3: Solenoid valve;

[0037] 4: Rotary operation handle; 5: Controller; 6: Rotary mechanism;

[0038] 7: Bucket arm operation handle; 8: Bucket arm oil cylinder; 9: Bucket arm main control valve;

[0039] 10: Working pump; 11: Hydraulic sensor. Detailed implementation manners

[0040] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0041] In an embodiment according to the present invention, a braking control system and a control method for a closed rotary mechanism of an excavator are provided. The control system can be arranged on the excavator. In this control system, by adding a solenoid valve between the rotary braking pump and the rotary braking mechanism, the braking operation of the rotary mechanism can be controlled more actively, and the reliability of braking can be improved.

[0042] The following will be combined with Figure 1 to further describe the braking control system for the closed rotary mechanism of the excavator in this embodiment.

[0043] Specifically, as Figure 1 shown, the braking control system for the closed rotary mechanism of the excavator in this embodiment includes: a rotary closed pump 1, a rotary braking mechanism 2, a solenoid valve 3, a rotary operation handle 4 and a controller 5.

[0044] Among them, the rotary closed pump 1 is fluidly connected to the rotary mechanism 6.

[0045] It can be understood that the rotary closed pump 1 can realize the rotary control of the rotary mechanism 6 by supplying hydraulic oil in different directions to the rotary mechanism 6.

[0046] The rotary braking mechanism 2 is connected to the rotary mechanism 6, and the rotary braking mechanism 2 can brake the rotary mechanism 6.

[0047] It can be understood that the rotary braking mechanism 2 can perform a braking operation and a braking release operation on the rotary mechanism 6 based on the received control signal to control the operation of the rotary mechanism 6.

[0048] The solenoid valve 3 is fluidly connected to the rotary closed pump 1 and the rotary braking mechanism 2, and the rotary closed pump 1 can output hydraulic oil to the rotary braking mechanism 2 via the solenoid valve 3.

[0049] It can be understood that the rotary closed pump 1 can output hydraulic oil to the rotary braking mechanism 2 via the solenoid valve 3 to control the rotary braking mechanism 2. In this embodiment, when the solenoid valve 3 is opened, the hydraulic oil of the rotary closed pump 1 cannot reach the rotary braking mechanism 2, so that the rotary braking mechanism 2 will not perform braking control on the rotary mechanism 6. When the solenoid valve 3 is closed, the hydraulic oil of the rotary closed pump 1 can reach the rotary braking mechanism 2, so that the rotary braking mechanism 2 can perform braking control on the rotary mechanism 6.

[0050] The rotary operation handle 4 can receive a rotary operation signal.

[0051] It can be understood that the operator can input a rotary operation signal to the controller 5 of the excavator via the rotary operation handle 4 to control the operation of the rotary mechanism 6.

[0052] The controller 5 is signal-connected to the solenoid valve 3 and the rotary operation handle 4.

[0053] Further, in this embodiment, the controller 5 is configured to:

[0054] According to the received rotary operation signal of the rotary operation handle 4, control the solenoid valve 3 to open to release the braking control of the rotary braking mechanism 2 on the rotary mechanism 6;

[0055] When no rotary operation signal of the rotary operation handle 4 is received within the first predetermined time period, control the solenoid valve 3 to close to start the braking control of the rotary braking mechanism 2 on the rotary mechanism 6.

[0056] In actual use, when the rotary mechanism 6 is controlled separately, the operator operates the rotary operation handle 4 to input a rotary operation signal to the controller 5. The controller 5 can control the solenoid valve 3 to open based on the rotary operation signal, so that the rotary braking mechanism 2 no longer performs braking control on the rotary mechanism 6 and allows the rotary mechanism 6 to operate normally.

[0057] When the operator no longer operates the rotary operation handle 4, the controller 5 will not receive a rotary operation signal. At this time, the controller 5 can start timing. Until after the first predetermined time period, if no rotary operation signal is still received, the controller 5 will control the solenoid valve 3 to close, so that the rotary braking mechanism 2 performs braking control on the rotary mechanism 6, thereby enabling the rotary mechanism 6 to achieve parking and braking.

[0058] Optionally, the first predetermined time period is 5 to 8 seconds. Of course, in other embodiments, the first predetermined time period may also be other values.

[0059] It can be understood that the excavator in this embodiment further includes: a boom operation handle 7, a boom cylinder 8, a boom main control valve 9, and a working pump 10.

[0060] Among them, the boom operation handle 7 is signal-connected to the controller 5. The operator can input a boom operation signal to the controller 5 of the excavator via the boom operation handle 7, thereby controlling the operation of the boom mechanism.

[0061] The boom cylinder 8 is in fluid communication with the working pump 10 via the boom main control valve 9, and the boom main control valve 9 is connected to the controller 5. The controller 5 can control the boom main control valve 9 according to the received boom operation signal, thereby controlling the working pump 10 to supply oil to the boom cylinder 8, and further controlling the boom mechanism.

[0062] In this embodiment, the controller 5 is connected to the boom cylinder 8 of the excavator via a boom control oil circuit. The control system further includes a hydraulic sensor 11. The hydraulic sensor 11 is disposed in the boom control oil circuit. The hydraulic sensor 11 can sense the oil pressure of the boom control oil circuit, and the hydraulic sensor 11 is signal-connected to the controller 5.

[0063] Furthermore, the controller 5 is further configured to:

[0064] During the process of not receiving a swing operation signal from the swing operation handle 4 and being able to continuously receive a boom operation signal from the boom operation handle 7, obtain the pressure value from the hydraulic sensor 11. When the pressure value is greater than a preset value, control the solenoid valve 3 to open to release the braking control of the swing braking mechanism 2 on the swing mechanism 6;

[0065] Obtain the pressure value from the hydraulic sensor 11. When the pressure value is less than the preset value and no operation signal is received for a second predetermined time period, control the solenoid valve 3 to close to activate the braking control of the swing braking mechanism 2 on the swing mechanism 6.

[0066] In actual use, when controlling the boom mechanism, the operator does not operate the swing operation handle 4 but operates the boom operation handle 7. The boom cylinder 8 will work according to the operation instruction from the controller 5. At the same time, the controller 5 will also collect the oil pressure of the boom control oil circuit in real time. Once the output force of the boom excavation action is large and the hydraulic sensor 11 senses that the oil pressure value of the boom control oil circuit exceeds the preset value, at this time, the controller 5 will control the solenoid valve 3 to open to release the braking control of the swing mechanism 6, and the swing mechanism 6 will be in a floating state, thereby preventing the swing mechanism 6 from being damaged due to excessive force.

[0067] When the output force of the arm digging operation gradually decreases and is lower than the set value, if the controller 5 accumulates a time without collecting signals exceeding the second predetermined time period, the controller 5 will control the solenoid valve 3 to close, so that the slewing mechanism 6 is under braking control, and the slewing mechanism 6 realizes the parking and braking state.

[0068] Exemplarily, the second predetermined time period is 2 to 3 seconds. Of course, in other embodiments, the second predetermined time period can also be other values.

[0069] In addition, after the engine of the excavator is started, when the controller 5 does not receive the operation instructions of the slewing operation handle 4 and the arm operation handle 7, the slewing mechanism 6 will maintain the braking state.

[0070] It can be understood that in this embodiment, the logic control for releasing the braking of the slewing mechanism includes: when the slewing operation instruction of the slewing operation handle 4 is collected, the braking needs to be released, or when it is sensed that the hydraulic pressure value of the arm control oil circuit exceeds the preset value, the slewing brake needs to be released, and in other cases, it is in the braking state.

[0071] The logic control for braking the slewing mechanism includes: when the slewing operation signal of the slewing operation handle 4 is not received within the first predetermined time period, and the hydraulic pressure value of the arm control oil circuit is lower than the preset value for more than the second predetermined time period and no operation signal is received, the slewing mechanism is under braking control.

[0072] As described above, in this embodiment, a control method is also provided. This control method is used to control the braking control system of the closed slewing mechanism of the excavator in the above embodiment. This control method includes:

[0073] According to the received slewing operation signal of the slewing operation handle, control the solenoid valve to open to release the braking control of the slewing brake mechanism on the slewing mechanism;

[0074] When the slewing operation signal of the slewing operation handle is not received within the first predetermined time period, control the solenoid valve to close to start the braking control of the slewing brake mechanism on the slewing mechanism.

[0075] Exemplarily, the first predetermined time period is 5 to 8 seconds.

[0076] Furthermore, this control method further includes:

[0077] During the process of not receiving the slewing operation signal of the slewing operation handle and being able to continuously receive the arm operation signal of the arm operation handle, obtain the pressure value from the hydraulic sensor. When the pressure value is greater than the preset value, control the solenoid valve to open to release the braking control of the slewing brake mechanism on the slewing mechanism;

[0078] Obtain the pressure value from the hydraulic sensor. When the pressure value is less than the preset value and no operation signal is received for a second predetermined time period, control the solenoid valve to close to activate the braking control of the slewing mechanism on the slewing body.

[0079] Exemplarily, the second predetermined time period is 2 to 3 seconds.

[0080] It can be understood that the above control method corresponds to the functions configured by the controller in the above control system. For the sake of brevity, it will not be elaborated here.

[0081] Thus, it can be seen that the braking control system for the closed-loop slewing mechanism of the excavator in this embodiment has the following advantages:

[0082] In the braking control system for the closed-loop slewing mechanism of the excavator in this embodiment, by adding a solenoid valve between the slewing brake pump and the slewing mechanism and enabling the controller to control the on / off of the solenoid valve based on the slewing operation instruction, the active control of the slewing mechanism braking operation can be achieved. Compared with the prior art, it can reduce the energy loss of the compensation flow of the pump, improve the reliability of braking, and at the same time reduce the risk of damage to the motor due to force.

[0083] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. In addition, "front", "rear", "left", "right", "upper" and "lower" in this article are all referenced based on the placement state shown in the drawings.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A braking control system for a closed swing mechanism of an excavator, characterized in that, The described control system can be installed on an excavator. In this control system, by adding a solenoid valve between the swing brake pump and the swing brake mechanism, the braking operation of the swing mechanism can be actively controlled, improving the reliability of braking. The control system includes: A swing closed-loop pump, which is fluidly connected to the swing mechanism; A swing brake mechanism, which is connected to the swing mechanism and can brake the swing mechanism; A solenoid valve, which is fluidly connected to the swing closed-loop pump and the swing brake mechanism. The swing closed-loop pump can output hydraulic oil to the swing brake mechanism via the solenoid valve. When the solenoid valve is opened, the hydraulic oil of the swing closed-loop pump cannot reach the swing brake mechanism, so that the swing brake mechanism will not brake the swing mechanism. When the solenoid valve is closed, the hydraulic oil of the swing closed-loop pump can reach the swing brake mechanism, so that the swing brake mechanism can brake the swing mechanism; A swing operation handle, which can receive swing operation signals; A controller, which is signal-connected to the solenoid valve and the swing operation handle; Wherein, the controller is configured to: According to the received swing operation signal of the swing operation handle, control the solenoid valve to open to release the braking control of the swing brake mechanism on the swing mechanism; When no swing operation signal of the swing operation handle is received within a first predetermined time period, control the solenoid valve to close to activate the braking control of the swing brake mechanism on the swing mechanism; The controller is connected to the boom cylinder of the excavator via the boom control oil circuit. The control system further includes a hydraulic sensor, which is arranged in the boom control oil circuit. The hydraulic sensor can sense the oil pressure of the boom control oil circuit, and the hydraulic sensor is signal-connected to the controller, The controller is further configured to: During the process of not receiving the swing operation signal of the swing operation handle and being able to continuously receive the boom operation signal of the boom operation handle, obtain the pressure value from the hydraulic sensor. When the pressure value is greater than a preset value, control the solenoid valve to open to release the braking control of the swing brake mechanism on the swing mechanism; Obtain the pressure value from the hydraulic sensor. When the pressure value is less than the preset value and no operation signal is received for a second predetermined time period, control the solenoid valve to close to activate the braking control of the swing brake mechanism on the swing mechanism.

2. The braking control system for a closed swing mechanism of an excavator according to claim 1, characterized in that, The first predetermined time period is 5 to 8 seconds.

3. The braking control system for a closed swing mechanism of an excavator according to claim 1, characterized in that, The second predetermined time period is 2 to 3 seconds.

4. A control method, characterized in that, The control method is used to control the braking control system of the closed-loop swing mechanism of the excavator as described in claim 1. The control method includes: According to the received swing operation signal of the swing operation handle, control the solenoid valve to open to release the braking control of the swing brake mechanism on the swing mechanism; When no slewing operation signal of the slewing operation handle is received within the first predetermined time period, control the solenoid valve to close to activate the braking control of the slewing mechanism on the slewing body; The controller is connected to the boom cylinder of the excavator via the boom control oil circuit. The control system further includes a hydraulic sensor. The hydraulic sensor is arranged in the boom control oil circuit. The hydraulic sensor can sense the pressure of the boom control oil circuit, and the hydraulic sensor is signal-connected to the controller. The control method further includes: During the process of not receiving the slewing operation signal of the slewing operation handle and being able to continuously receive the boom operation signal of the boom operation handle, obtain the pressure value from the hydraulic sensor. When the pressure value is greater than a preset value, control the solenoid valve to open to release the braking control of the slewing mechanism on the slewing body; Obtain the pressure value from the hydraulic sensor. When the pressure value is less than the preset value and no operation signal is received for a continuous second predetermined time period, control the solenoid valve to close to activate the braking control of the slewing mechanism on the slewing body.

5. The control method according to claim 4, characterized in that, The first predetermined time period is 5 to 8 seconds.

6. The control method according to claim 4, characterized in that, The second predetermined time period is 2 to 3 seconds.

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