Control Method and Device for Swing Braking of Excavator and Excavator

Abstract

An embodiment of the present invention provides a control method, a control device and an excavator for the swing braking of an excavator, belonging to the technical field of construction machinery. The method is applied to an excavator swing control system, and the swing control system includes a control mechanism, a main pump and a swing electro-hydraulic proportional valve, and includes: obtaining a pilot signal of the control mechanism and a pressure signal of the main pump; determining the working state of the excavator according to the pilot signal and the pressure signal, wherein the working state includes a swing braking state, a swing state and a swing stationary state; when it is determined that the working state is the swing braking state, controlling the current of the swing electro-hydraulic proportional valve to decrease according to a preset duration. This process judges the working state of the excavator by the obtained pilot signal and pressure signal. When the working state is the swing braking state, the current of the swing electro-hydraulic proportional valve is decreased according to the preset time, so as to reduce the impact or drift generated during the swing braking of the excavator and ensure the normal use of the excavator equipment.

Description

Technical Field

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

[0002] At present, fully electric excavators are the hotspots and trends of excavators. Compared with traditional excavators, fully electric excavators have faster response and higher safety requirements. Fully electric excavators are widely used in various engineering construction fields such as house construction, water conservancy projects, transportation, farmland development, oilfield construction and national defense military projects.

[0003] In the prior art, when a fully electric excavator brakes during the acceleration process, the main pump pressure is relatively high, which will generate a large impact and affect the operability of the whole machine. When a fully electric excavator brakes when the swing acceleration process is completed, the main pump pressure is relatively low, which will cause a large drift of the whole machine. The impact or drift generated when the fully electric excavator brakes during the swing acceleration process or when the swing acceleration process is completed will damage the components of the excavator and cause equipment failures. Summary of the Invention

[0004] Based on this, a first aspect of the present invention provides a control method for the swing braking of an excavator, which reduces the impact or drift generated during the swing braking process of the excavator and ensures the normal use of the excavator equipment. The method includes:

[0005] Obtain the pilot signal of the operating mechanism and the pressure signal of the main pump;

[0006] Determine the working state of the excavator according to the pilot signal and the pressure signal, wherein the working state includes a swing braking state, a swing state and a swing stationary state;

[0007] When it is determined that the working state is the swing braking state, control the current of the swing electro-hydraulic proportional valve to decrease according to a preset duration.

[0008] In an embodiment of the present invention, the pilot signal includes a swing pilot signal and an operation pilot signal;

[0009] Determining the working state of the excavator according to the pilot signal and the pressure signal includes:

[0010] When the swing pilot signal is greater than or equal to a first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to a second preset value, determine that the working state is the swing state;

[0011] When the swing pilot signal is less than the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is less than the second preset value, determine that the working state is the swing stationary state;

[0012] When the excavator is in the process of switching from the slewing state to the slewing stationary state, the working state is determined to be the slewing braking state.

[0013] In the embodiment of the present invention, the slewing state includes the slewing acceleration process and the completion of slewing acceleration;

[0014] When the slewing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to the second preset value, the working state is determined to be the slewing state, including:

[0015] When the slewing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to the third preset value, the working state is determined to be the slewing acceleration process, where the third preset value is greater than the second preset value;

[0016] When the slewing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is within the range of the second preset value to the third preset value, the working state is determined to be the completion of slewing acceleration.

[0017] In the embodiment of the present invention, the value range of the first preset value is 5% to 10%, the value range of the second preset value is 1 MPa to 10 MPa, and the value range of the third preset value is 15 MPa to 25 MPa.

[0018] In the embodiment of the present invention, the value of the first preset value is 8%, the value of the second preset value is 1 MPa, and the value of the third preset value is 20 MPa.

[0019] In the embodiment of the present invention, the slewing braking state includes braking during the acceleration process and braking after the acceleration is completed;

[0020] When the excavator is in the process of switching from the slewing state to the slewing stationary state, the working state is determined to be the slewing braking state, including:

[0021] When the excavator is in the process of switching from the slewing acceleration process to the slewing stationary state, the working state is determined to be braking during the acceleration process;

[0022] When the excavator is in the process of switching from the completion of slewing acceleration process to the slewing stationary state, the working state is determined to be braking after the acceleration is completed.

[0023] In the embodiment of the present invention, when the working state is determined to be the slewing braking state, the current of the slewing electromagnetic proportional valve is controlled to decrease with a preset time delay, including:

[0024] When the slewing braking state is braking during the acceleration process, the current of the slewing electromagnetic proportional valve is controlled to linearly decrease to the fourth preset value with the first preset time;

[0025] When the swing braking state is acceleration-complete braking, control the current of the swing electromagnetic proportional valve to linearly decrease to a fourth preset value within a second preset duration, where the second preset duration is less than the first preset duration.

[0026] In the embodiments of the present invention, the value range of the first preset duration is from 200 ms to 1000 ms, and the value range of the second preset duration is from 10 ms to 100 ms.

[0027] A second aspect of the present invention provides a control device for swing braking of an excavator. The device is applied to an excavator swing control system. The swing control system includes a control mechanism, a main pump, and a swing electromagnetic proportional valve. The device includes:

[0028] A signal acquisition module, configured to acquire a pilot signal of the control mechanism and a pressure signal of the main pump;

[0029] A working state determination module, configured to determine the working state of the excavator according to the pilot signal and the pressure signal, where the working state includes a swing braking state, a swing state, and a swing stationary state;

[0030] A control module, configured to control the current of the swing electromagnetic proportional valve to decrease according to a preset duration when it is determined that the working state is the swing braking state.

[0031] A third aspect of the present invention provides an excavator, which includes a processor and a memory. The memory stores computer-executable instructions that can be executed by the processor. The processor executes the computer-executable instructions to implement the control method for swing braking of the excavator according to any one of the above.

[0032] A fourth aspect of the present invention provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the control method for swing braking of the excavator as described in any one of the above is implemented.

[0033] Through the above technical solutions, a pilot signal of the control mechanism and a pressure signal of the main pump are acquired; the working state of the excavator is determined according to the pilot signal and the pressure signal, where the working state includes a swing braking state, a swing state, and a swing stationary state; when it is determined that the working state is the swing braking state, the current of the swing electromagnetic proportional valve is controlled to decrease according to a preset duration. In this process, the working state of the excavator is judged by the acquired pilot signal and pressure signal. When the working state is the swing braking state, the current of the swing electromagnetic proportional valve is decreased according to a preset time, so as to reduce the impact or drift generated during the swing braking process of the excavator and ensure the normal use of the excavator equipment.

[0034] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation section. Description of the Drawings

[0035] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not limit the embodiments of the present invention. In the accompanying drawings:

[0036] Figure 1 is a schematic flowchart of a control method for the swing braking of an excavator provided by an embodiment of the present invention;

[0037] Figure 2 is a schematic structural diagram of a swing control system of an excavator provided by an embodiment of the present invention;

[0038] Figure 3 is a schematic signal timing diagram of the swing state of an excavator provided by an embodiment of the present invention;

[0039] Figure 4 is a schematic signal timing diagram of the braking during the acceleration process of an excavator provided by an embodiment of the present invention;

[0040] Figure 5 is a schematic signal timing diagram of the braking after the acceleration is completed of an excavator provided by an embodiment of the present invention;

[0041] Figure 6 is a schematic structural diagram of a control device for the swing braking of an excavator provided by an embodiment of the present invention;

[0042] Figure 7 is a schematic structural diagram of an excavator provided by an embodiment of the present invention.

[0043] Description of the reference numerals in the accompanying drawings

[0044] 11 - Left joystick; 12 - Right joystick; 13 - Swing spool valve; 14 - Swing motor; 15 - Main pump; 16 - Left swing electromagnetic proportional valve; 17 - Right swing electromagnetic proportional valve; 200 - Controller; 201 - Engine; 202 - Engine controller; 203 - Left main pump solenoid valve; 204 - Right main pump solenoid valve; 205 - Left main pump pressure sensor; 206 - Right main pump pressure sensor. Detailed description of the specific embodiments

[0045] The following will provide a detailed description of the specific embodiments of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the present invention, and do not limit the embodiments of the present invention.

[0046] Full-electric control excavator slewing control system. When operating the excavator to slew, it collects the slewing pilot signal of the operating mechanism, sets the current of the slewing spool electro-hydraulic proportional valve according to the slewing pilot signal, and at the same time sets the required displacement of the main pump according to the slewing pilot signal, thereby driving the excavator to slew. When the operating mechanism returns to the neutral position, the current of the slewing spool electro-hydraulic proportional valve is set to 0, and the hydraulic system no longer provides driving force, and the excavator stops according to inertia.

[0047] When the full-electric control excavator brakes during the acceleration process, the main pump pressure is relatively high. If the spool is directly cut off, it will generate a large impact, affecting the operability of the whole machine. When the full-electric control excavator brakes when the slewing acceleration process is completed, the main pump pressure is relatively low. At this time, if the current of the electro-hydraulic proportional valve is disconnected with a long time delay, it will cause a large drift of the whole machine. The impact or drift generated when the full-electric control excavator brakes during the slewing acceleration process or when the slewing acceleration process is completed will damage the components of the excavator and cause equipment failures.

[0048] Based on this, the present invention provides a control method for excavator slewing braking. This method is applied to the excavator slewing control system. The slewing control system includes an operating mechanism, a main pump, and a slewing electro-hydraulic proportional valve. Figure 1 As shown in the flowchart of a control method for excavator slewing braking provided by an embodiment of the present invention, Figure 1 as shown, the method includes:

[0049] Step S101: Obtain the pilot signal of the operating mechanism and the pressure signal of the main pump.

[0050] In practical applications, Figure 2 As shown in the structural schematic diagram of an excavator slewing control system provided by an embodiment of the present invention, Figure 2 as shown, the system includes: left handle 11, right handle 12, slewing spool 13, slewing motor 14, main pump 15, left slewing electro-hydraulic proportional valve 16, right slewing electro-hydraulic proportional valve 17, controller 200, engine 201, engine controller 202, main pump left solenoid valve 203, main pump right solenoid valve 204, main pump left pressure sensor 205, and main pump right pressure sensor 206. Specifically, the left handle 11 and the right handle 12 are respectively connected to the controller 200, and the controller 200 is respectively connected to the left slewing electro-hydraulic proportional valve 16, the right slewing electro-hydraulic proportional valve 17, the main pump left pressure sensor 205, and the main pump right pressure sensor 206. The controller 200 obtains the pilot signal of the left handle 11 and the pressure signal of the main pump right pressure sensor 206.

[0051] In practical applications, the controller acquires the pilot signal of the operating mechanism and the pressure signal of the main pump. Among them, the pilot signal of the operating mechanism is a digital signal ranging from 0 to N after the original signal of the operating mechanism is converted. N is the upper limit value of the digital signal and can be set according to requirements. Specifically, the operating mechanism includes a left joystick 11 and a right joystick 12. The pilot signals controlled by the left joystick include a left slewing action signal, a right slewing action signal, a bucket inhaul action signal, and a bucket outreaching action signal; the pilot signals controlled by the right joystick include a boom raising action signal, a boom lowering action signal, a bucket digging action signal, and a bucket unloading action signal.

[0052] Step S102: Determine the working state of the excavator according to the pilot signal and the pressure signal. Among them, the working state includes a slewing braking state, a slewing state, and a slewing stationary state.

[0053] In practical applications, the value range of the pilot signal is from 0% to 100%. When the operating mechanism has no action, the pilot signal is 0%. When the operating stroke of the operating mechanism is maximum, the pilot signal is 100%. The operating stroke is the movement amplitude of the operating mechanism. Generally, a certain dead zone range, that is, from 0% to 8%, is set for the pilot signal. When the pilot signal is greater than or equal to 8%, it is considered that the operating mechanism has an action. When the pilot signal is less than 8%, it is considered that the operating mechanism has no action.

[0054] In practical applications, after determining that the working state of the excavator is the slewing braking state according to the pilot signal and the pressure signal, the current of the slewing electro-hydraulic proportional valve is linearly decreased according to a preset duration, so as to reduce the impact or the drift amount when the excavator is slewing by means of delaying the disconnection of the current of the slewing electro-hydraulic proportional valve. Specifically, when the pilot signal meets certain conditions and the pressure signal is greater than a certain value, it is confirmed that the excavator is in the slewing state. When the pilot signal meets certain conditions and the pressure signal is less than a certain value, it is confirmed that the excavator is in the slewing stationary state. The process of the excavator switching from the slewing state to the slewing stationary state is confirmed as the excavator being in the slewing braking state.

[0055] Step S103: When it is determined that the working state is the slewing braking state, control the current of the slewing electro-hydraulic proportional valve to decrease according to a preset duration.

[0056] In practical applications, after determining that the working state of the excavator is the slewing braking state according to the pilot signal and the pressure signal, the current of the slewing electro-hydraulic proportional valve is decreased according to a preset duration, so as to reduce the impact or the drift amount when the excavator is slewing by means of delaying the disconnection of the current of the slewing electro-hydraulic proportional valve.

[0057] Through the above embodiments, a pilot signal of the control mechanism and a pressure signal of the main pump are obtained; the working state of the excavator is determined according to the pilot signal and the pressure signal, wherein the working state includes a swing braking state, a swing state, and a swing stationary state; when it is determined that the working state is the swing braking state, the current of the swing electromagnetic proportional valve is controlled to decrease according to a preset duration. This process determines the working state of the excavator by judging the obtained pilot signal and pressure signal. When the working state is the swing braking state, the current of the swing electromagnetic proportional valve is decreased according to the preset time, so as to reduce the impact or drift generated during the swing braking process of the excavator and ensure the normal use of the excavator equipment.

[0058] In one embodiment, the pilot signal includes a swing pilot signal and an operation pilot signal; step S102 includes:

[0059] When the swing pilot signal is greater than or equal to a first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to a second preset value, it is determined that the working state is the swing state;

[0060] When the swing pilot signal is less than the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is less than the second preset value, it is determined that the working state is the swing stationary state;

[0061] When the excavator is in the process of switching from the swing state to the swing stationary state, it is determined that the working state is the swing braking state.

[0062] In practical applications, the swing pilot signal is the left swing action signal and the right swing action signal controlled by the left joystick in the control mechanism, and the operation pilot signal is the bucket stick inwards action signal, the bucket stick outwards action signal controlled by the left joystick, the boom lift action signal, the boom lower action signal, the bucket digging action signal, and the bucket unloading action signal controlled by the right joystick.

[0063] In practical applications, the first preset value can be set to 8%. When the pilot signal is greater than or equal to 8%, it is considered that the control mechanism has an action. The value range of the second preset value is from 1 MPa to 10 Mpa, and generally can be set to 1 Mpa. Specifically, when the swing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to the second preset value, the excavator makes a swing action and no other actions occur, and it is determined that the excavator is in the swing state. When the swing pilot signal is less than the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is less than the second preset value, the excavator does not make a swing action and no other actions occur, and it is determined that the excavator is in the swing stationary state. When the excavator is in the process of switching from the swing state to the swing stationary state, it is determined that the working state of the excavator is the swing braking state.

[0064] Specifically, as Figure 3 shown, taking the swing pilot signal as the left swing action signal as an example, when the left swing action signal is greater than or equal to 8%, the operation pilot signal is less than 8%, and the pressure signal is greater than or equal to 1 MPa, it is determined that the working state of the excavator is the swing state. When the left swing action signal is less than 8%, the operation pilot signal is less than 8%, and the pressure signal is less than 1 MPa, it is determined that the working state of the excavator is the swing stationary state.

[0065] Through the above embodiments, when the swing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to the second preset value, it is determined that the working state is the swing state; when the swing pilot signal is less than the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is less than the second preset value, it is determined that the working state is the swing stationary state; when the excavator is in the process of switching from the swing state to the swing stationary state, it is determined that the working state is the swing braking state. This process determines whether the excavator is in the swing state or the swing stationary state based on the numerical values of the swing signal and the pressure signal, and determines the process of switching the excavator from the swing state to the swing stationary state as the swing braking state, accurately judging the various working states of the excavator, and determining the usage of the excavator according to the various working states, thereby improving the utilization rate of the excavator.

[0066] In one embodiment, the swing state includes the swing acceleration process and the completion of swing acceleration;

[0067] When the swing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to the second preset value, determining that the working state is the swing state includes:

[0068] When the swing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to the third preset value, it is determined that the working state is the swing acceleration process, where the third preset value is greater than the second preset value;

[0069] When the swing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is within the range from the second preset value to the third preset value, it is determined that the working state is the completion of swing acceleration.

[0070] In practical applications, the swing state can be divided into the swing acceleration process and the completion of swing acceleration. The swing acceleration process refers to the state where the excavator accelerates during the swing, and the completion of swing acceleration refers to the state where the swing acceleration of the excavator ends.

[0071] In practical applications, it can be determined whether the excavator is in the process of slewing acceleration or has completed slewing acceleration based on the magnitude of the pressure signal. When the slewing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal value is greater than or equal to the third preset value, it is determined that the excavator is in the process of slewing acceleration. Among them, the third preset value needs to be greater than the second preset value. Specifically, the value range of the third preset value is 15 MPa to 25 MPa, and it can generally be set to 20 MPa. When the slewing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is within the range from the second preset value to the third preset value, it is determined that the excavator has completed slewing acceleration.

[0072] In practical applications, as Figure 3 shown, taking the slewing pilot signal as the left slewing action signal as an example, when the left slewing action signal is greater than or equal to 8%, the operation pilot signal is less than 8%, that is, there is no action on the boom, arm, bucket, etc., and the pressure signal of the main pump is greater than or equal to 20 MPa, then it is determined that the excavator is in the process of slewing acceleration. When the left slewing action signal is greater than or equal to 8%, the operation pilot signal is less than 8%, and the pressure signal of the main pump is greater than or equal to 1 MPa and less than 20 MPa, then it is determined that the excavator has completed slewing acceleration.

[0073] Through the above embodiments, when the slewing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to the third preset value, the working state is determined to be the slewing acceleration process, where the third preset value is greater than the second preset value; when the slewing pilot signal is greater than or equal to the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is within the range from the second preset value to the third preset value, the working state is determined to be the completion of slewing acceleration. This process determines the slewing state category of the excavator through the magnitude of the pressure signal, improving the accuracy of identifying the slewing state category and also enhancing the working efficiency of the excavator.

[0074] In one embodiment, the slewing braking state includes braking during the acceleration process and braking after the acceleration is completed;

[0075] When the excavator is in the process of switching from the slewing state to the slewing stationary state, the working state is determined to be the slewing braking state, including:

[0076] When the excavator is in the process of switching from the slewing acceleration process to the slewing stationary state, the working state is determined to be braking during the acceleration process;

[0077] When the excavator is in the process of switching from the slewing acceleration completion process to the slewing stationary state, the working state is determined to be braking after the acceleration is completed.

[0078] In practical applications, when the excavator switches from the slewing state to the slewing stationary state, braking will occur. The process of switching from the slewing acceleration process to the slewing stationary state is determined as the acceleration process braking, and the process of switching from the slewing acceleration completion process to the slewing stationary state is determined as the acceleration completion braking.

[0079] Through the above embodiments, when the excavator is in the process of switching from the slewing acceleration process to the slewing stationary state, the working state is determined as the acceleration process braking; when the excavator is in the process of switching from the slewing acceleration completion process to the slewing stationary state, the working state is determined as the acceleration completion braking. This process divides the switching from the slewing state to the slewing stationary state into different braking categories according to different categories of the slewing state, improving the accuracy of identifying the slewing braking state categories and also enhancing the working efficiency of the excavator.

[0080] In one embodiment, step S103 includes:

[0081] When the slewing braking state is the acceleration process braking, control the current of the slewing electro-hydraulic proportional valve to linearly decrease to the fourth preset value within the first preset duration;

[0082] When the slewing braking state is the acceleration completion braking, control the current of the slewing electro-hydraulic proportional valve to linearly decrease to the fourth preset value within the second preset duration, where the second preset duration is less than the first preset duration.

[0083] In practical applications, when the excavator is in the acceleration process braking, the main pump pressure at this time is relatively high and is easily subjected to a large impact. When the excavator is in the acceleration completion braking, the main pump pressure at this time is relatively low and is prone to a large offset.

[0084] In practical applications, as Figure 4 shown, the first preset duration can be set to a relatively long duration. When the excavator is in the acceleration process braking, control the excavator to linearly reduce the current of the slewing electro-hydraulic proportional valve to the fourth preset value, which is 0, within the first preset duration, thereby reducing the impact on the excavator.

[0085] In practical applications, as Figure 5 shown, the second preset duration can be set to a relatively short duration. When the excavator is in the acceleration completion braking, control the excavator to linearly reduce the current of the slewing electro-hydraulic proportional valve to the fourth preset value within the second preset duration, thereby reducing the offset generated by the excavator. The second preset duration is much less than the first preset duration.

[0086] Through the above embodiments, when the swing braking state is the braking during the acceleration process, the current of the swing electromagnetic proportional valve is controlled to linearly decrease to the fourth preset value within the first preset duration; when the swing braking state is the braking after the acceleration is completed, the current of the swing electromagnetic proportional valve is controlled to linearly decrease to the fourth preset value within the second preset duration, where the second preset duration is less than the first preset duration. In this process, by setting different preset durations, the current of the swing electromagnetic proportional valve is controlled to decrease within different preset durations, so that the impact on the excavator during the swing braking state is reduced or the offset generated is reduced, ensuring the working safety of the excavator and improving the working efficiency of the excavator.

[0087] In one embodiment, the value range of the first preset duration is from 200 ms to 1000 ms, and the value range of the second preset duration is from 10 ms to 100 ms.

[0088] In practical applications, the value range of the first preset duration can be set from 200 ms to 1000 ms, and the value range of the second preset duration can be set from 10 ms to 100 ms. When the excavator is in the braking during the acceleration process, the current of the swing electromagnetic proportional valve is controlled to decrease with the longer first preset duration to reduce the impact force on the excavator during the braking process. When the excavator is in the braking after the acceleration is completed, if the preset time is long, the excavator will generate a large offset. The current of the swing electromagnetic proportional valve is controlled to decrease with the second preset duration which is much less than the first preset duration to reduce the drift generated by the excavator during the braking process.

[0089] Based on the above control method for the swing braking of the excavator, an embodiment of the present invention further provides a control device 600 for the swing braking of the excavator. Figure 6 As a schematic structural diagram of a control device for the swing braking of the excavator provided by an embodiment of the present invention, the device 600 includes:

[0090] A signal acquisition module 601, configured to acquire the pilot signal of the operating mechanism and the pressure signal of the main pump;

[0091] A working state determination module 602, configured to determine the working state of the excavator according to the pilot signal and the pressure signal, where the working state includes a swing braking state, a swing state, and a swing static state;

[0092] A control module 603, configured to control the current of the swing electromagnetic proportional valve to decrease according to a preset duration when it is determined that the working state is the swing braking state.

[0093] The control device for the swing braking of the excavator provided by the embodiment of the present invention can implement each process of the control method for the swing braking of the excavator in the method embodiment and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0094] An embodiment of the present invention further provides an excavator. Refer to Figure 7 As shown, the excavator includes a processor 130 and a memory 131. The memory 131 stores machine-executable instructions that can be executed by the processor 130. The processor 130 executes the machine-executable instructions to implement the control method for the swing braking of the excavator described above.

[0095] Furthermore, Figure 7 The excavator shown further includes a bus 132 and a communication interface 133. The processor 130, the communication interface 133, and the memory 131 are connected through the bus 132.

[0096] Among them, the memory 131 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface 133 (which can be wired or wireless), a communication connection is established between this system network element and at least one other network element. The Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 132 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 7 only a bidirectional arrow is used in

[0097] The processor 130 may be an integrated circuit chip with the ability to process signals. In the implementation process, the steps of the above method can be completed by the integrated logic circuit of the hardware in the processor 130 or the instructions in the form of software. The above-mentioned processor 130 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and combines its hardware to complete the steps of the method in the foregoing embodiments.

[0098] The embodiments of the present invention also provide a machine-readable storage medium. The machine-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to implement the above-mentioned control method for the swing braking of the excavator. For the specific implementation, reference can be made to the method embodiments, and details will not be described herein again.

[0099] A control method, a control device, and an excavator for the swing braking of an excavator provided by the embodiments of the present invention include a computer-readable storage medium storing program codes. The instructions included in the program codes can be used to execute the methods in the foregoing method embodiments. For the specific implementation, reference can be made to the method embodiments, and details will not be described herein again.

[0100] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems and devices described above can refer to the corresponding processes in the foregoing method embodiments, and details will not be described herein again.

[0101] In addition, in the description of the embodiments of the present invention, unless otherwise clearly defined and limited, the terms "install", "connect", and "couple" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0102] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0103] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0104] Finally, it should be noted that the above embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A control method for the swing braking of an excavator, characterized in that, The method is applied to the swing control system of an excavator. The swing control system includes a control mechanism, a main pump, and a swing electro-hydraulic proportional valve. The method includes: Obtaining a pilot signal of the control mechanism and a pressure signal of the main pump. Among them, the pilot signal includes a swing pilot signal and an operation pilot signal; Determining the working state of the excavator according to the pilot signal and the pressure signal. Among them, the working state includes a swing braking state, a swing state, and a swing stationary state; When it is determined that the working state is the swing braking state, controlling the current of the swing electro-hydraulic proportional valve to decrease according to a preset duration; The determining the working state of the excavator according to the pilot signal and the pressure signal includes: When the swing pilot signal is greater than or equal to a first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to a second preset value, determining that the working state is the swing state; When the swing pilot signal is less than the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is less than the second preset value, determining that the working state is the swing stationary state; When the excavator is in the process of switching from the swing state to the swing stationary state, determining that the working state is the swing braking state.

2. The method according to claim 1, characterized in that, The swing state includes a swing acceleration process and the completion of swing acceleration; The determining that the working state is the swing state when the swing pilot signal is greater than or equal to a first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to a second preset value includes: When the swing pilot signal is greater than or equal to a first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to a third preset value, determining that the working state is the swing acceleration process, where the third preset value is greater than the second preset value; When the swing pilot signal is greater than or equal to a first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is within the range from the second preset value to the third preset value, determining that the working state is the completion of swing acceleration.

3. The method according to claim 2, wherein The value range of the first preset value is 5% to 10%, the value range of the second preset value is 1 MPa to 10 MPa, and the value range of the third preset value is 15 MPa to 25 MPa.

4. The method according to claim 3, wherein The value of the first preset value is 8%, the value of the second preset value is 1 MPa, and the value of the third preset value is 20 MPa.

5. The method according to claim 2, wherein The swing braking state includes braking during the acceleration process and braking after the acceleration is completed; The determining that the working state is the swing braking state when the excavator is in the process of switching from the swing state to the swing stationary state includes: When the excavator is in the process of switching from the swing acceleration process to the swing stationary state, determining that the working state is braking during the acceleration process; When the excavator is in the process of switching from the swing acceleration completion process to the swing stationary state, determine that the working state is acceleration completion braking.

6. The method according to claim 5, characterized in that, When it is determined that the working state is the swing braking state, controlling the current of the swing electromagnetic proportional valve to decrease with a preset time delay includes: When the swing braking state is the acceleration process braking, controlling the current of the swing electromagnetic proportional valve to linearly decrease to a fourth preset value with a first preset time; When the swing braking state is the acceleration completion braking, controlling the current of the swing electromagnetic proportional valve to linearly decrease to the fourth preset value with a second preset time, where the second preset time is less than the first preset time.

7. The method according to claim 6, characterized in that, The value range of the first preset time is 200 ms to 1000 ms, and the value range of the second preset time is 10 ms to 100 ms.

8. A control device for the swing braking of an excavator, characterized in that, The device is applied to an excavator swing control system, and the swing control system includes a control mechanism, a main pump, and a swing electromagnetic proportional valve. The device includes: A signal acquisition module, configured to acquire a pilot signal of the control mechanism and a pressure signal of the main pump, where the pilot signal includes a swing pilot signal and an operation pilot signal; A working state determination module, configured to determine the working state of the excavator according to the pilot signal and the pressure signal, where the working state includes a swing braking state, a swing state, and a swing stationary state; A control module, configured to control the current of the swing electromagnetic proportional valve to decrease according to a preset time when it is determined that the working state is the swing braking state; Determining the working state of the excavator according to the pilot signal and the pressure signal includes: When the swing pilot signal is greater than or equal to a first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is greater than or equal to a second preset value, determining that the working state is the swing state; When the swing pilot signal is less than the first preset value, the operation pilot signal is less than the first preset value, and the pressure signal is less than the second preset value, determining that the working state is the swing stationary state; When the excavator is in the process of switching from the swing state to the swing stationary state, determining that the working state is the swing braking state.

9. An excavator, characterized in that, The excavator includes a processor and a memory, and the memory stores computer executable instructions that can be executed by the processor. The processor executes the computer executable instructions to implement the control method for excavator swing braking according to any one of claims 1 to 7.

10. A machine-readable storage medium having instructions stored thereon, characterized in that, The instructions, when executed by the processor, implement the control method for excavator swing braking according to any one of claims 1 to 7.

Images