Control method for controlling rapid switching of excavator bucket arm and excavator

Abstract

The present invention relates to the technical field of excavators, and discloses a control method and an excavator for controlling the rapid switching of an excavator boom. The method reduces the current of an electromagnetic drive component corresponding to a first boom pilot handle signal and adjusts the current change rate of the electromagnetic drive component according to a second boom pilot handle signal, so that the current of the electromagnetic drive component corresponding to the first boom pilot handle signal is slowly reduced, thereby avoiding a sudden change in the current of the corresponding electromagnetic drive component; controls the target rapid-cut current change rate to be less than the target conventional current change rate, so that when the time interval between the second boom pilot handle signal and the first boom pilot handle signal is less than a preset time interval, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is slowly increased, thereby avoiding a sudden change in the current of the corresponding electromagnetic drive component, thereby achieving a slow change in the opening of a main control solenoid valve, thereby reducing the hydraulic shock of the boom cylinder when the boom main control solenoid valve switches states.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a control method for controlling rapid switching of an excavator bucket arm and an excavator. Background Art

[0002] The excavator has two main oil pumps, multiple working parts, multiple main control solenoid valves corresponding to the multiple working parts, multiple pilot handles corresponding to the multiple working parts one-to-one, and multiple executive parts corresponding to the multiple working parts one-to-one. The multiple working parts include a bucket, an arm, a bucket and a rotary mechanism. The corresponding multiple main control solenoid valves are two bucket arm main control solenoid valves, two arm main control solenoid valves, one bucket main control solenoid valve and one rotary master control solenoid valve; the corresponding multiple pilot handles are respectively a bucket arm pilot handle, a boom pilot handle, a bucket pilot handle and a rotary pilot handle; the corresponding multiple executive parts are respectively a bucket arm cylinder, a boom cylinder, a bucket cylinder and a rotary motor.

[0003] One of the main oil pumps supplies oil to the arm cylinder and the boom cylinder respectively through a boom main control solenoid valve and a boom main control solenoid valve; the other main oil pump supplies oil to the arm cylinder, the boom cylinder, the bucket cylinder and the swing motor respectively through another arm main control solenoid valve, another boom main control solenoid valve, the bucket main control solenoid valve and the swing main control solenoid valve.

[0004] For the boom, the two boom master solenoid valves operate in unison, each with three operating positions: outward, neutral, and inward. A solenoid drive assembly is located at each end of the boom master solenoid valve's valve core movement direction. One solenoid drive assembly is used to drive the valve core in response to the boom outward signal, switching the boom master solenoid valve to the outward position; the other solenoid drive assembly is used to drive the valve core in response to the boom retraction signal, switching the boom master solenoid valve to the inward position. By operating the boom pilot handle to control the boom, the current of the two solenoid drive assemblies can be adjusted to achieve the switching between inward and outward movement. When the current of both solenoid drive assemblies is zero, the boom master solenoid valve is in the neutral position.

[0005] The current flowing through the two electromagnetic drive components of the boom master solenoid valve is determined by the boom pilot handle signal generated by the boom pilot handle. In practice, it has been found that rapidly switching the boom between retraction and extension using the boom pilot handle can cause significant hydraulic shock during the switching process. This can lead to discontinuous boom movement and severely impact the driver's experience.

[0006] Therefore, there is an urgent need for a control method for controlling the rapid switching of the excavator boom to solve the above technical problems. Summary of the Invention

[0007] The purpose of the present invention is to propose a control method and an excavator for controlling the rapid switching of the excavator boom, which can reduce the hydraulic shock when the boom is switched between inward and outward, improve the continuity of the boom movement, and improve the driving experience.

[0008] To achieve this object, the present invention adopts the following technical solutions:

[0009] The control method for controlling the rapid switching of an excavator bucket arm includes:

[0010] When a second boom pilot handle signal is received after a first boom pilot handle signal is received, the current of the electromagnetic drive component corresponding to the first boom pilot handle signal is reduced and the current change rate of the electromagnetic drive component is adjusted according to the second boom pilot handle signal; one of the first boom pilot handle signal and the second boom pilot handle signal is a boom retraction signal, and the other is a boom extension signal;

[0011] If the time interval between the second boom pilot handle signal and the first boom pilot handle signal is less than a preset time interval, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is increased according to the target fast-cut current change rate;

[0012] If the time interval between the second boom pilot handle signal and the first boom pilot handle signal is not less than the preset time interval, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is increased according to the target conventional current change rate, and the target quick-cut current change rate is less than the target conventional current change rate.

[0013] As a preferred technical solution of the above-mentioned control method for controlling the rapid switching of the excavator bucket arm, reducing the current of the electromagnetic drive component corresponding to the first bucket arm pilot handle signal and adjusting the current change rate of the electromagnetic drive component according to the second bucket arm pilot handle signal, including:

[0014] determining a boom pilot handle pressure according to the boom pilot handle signal;

[0015] Determining a bucket arm current change rate according to the bucket arm pilot handle pressure, wherein the bucket arm current change rate is proportional to the bucket arm pilot handle pressure;

[0016] The current of the electromagnetic drive assembly corresponding to the first boom pilot handle signal is reduced according to the determined boom current change rate.

[0017] As a preferred technical solution of the above-mentioned control method for controlling the rapid switching of the excavator bucket arm, determining the bucket arm pilot handle pressure according to the bucket arm pilot handle signal includes:

[0018] Determining a theoretical bucket arm required flow rate according to the bucket arm pilot handle signal;

[0019] Correcting the theoretical boom demand flow rate to obtain an actual boom demand flow rate;

[0020] The boom pilot handle pressure is determined according to the actual boom required flow rate.

[0021] As a preferred technical solution of the above-mentioned control method for controlling the rapid switching of the excavator bucket arm, the theoretical bucket arm required flow rate is corrected to obtain the actual bucket arm required flow rate, including:

[0022] When the excavator is in a compound operation mode in which rotation is given priority to the bucket arm, a rotation-to-arm priority current is determined based on the compound operation mode, and a rotation priority current correction coefficient is determined based on the rotation-to-arm priority current; the compound operation mode in which rotation is given priority to the bucket arm includes a bucket arm retraction plus rotation compound operation mode, a bucket arm retraction plus rotation plus bucket flipping compound operation mode, and a bucket arm retraction plus rotation plus boom lowering compound operation mode;

[0023] When the swing-to-arm priority current is greater than the preset swing priority current, the swing priority compound action current correction coefficient is determined according to the swing pilot handle signal of the swing pilot handle; when the swing-to-arm priority current is not greater than the preset swing priority current, the swing priority compound action current correction coefficient is zero;

[0024] The maximum value of the rotation priority compound action current correction coefficient and the rotation priority current correction coefficient is used as the demand current correction coefficient;

[0025] The actual boom demand flow is determined based on the demand current correction coefficient and the theoretical boom demand flow.

[0026] As a preferred technical solution of the above-mentioned control method for controlling the rapid switching of the excavator bucket arm, the theoretical bucket arm required flow rate is corrected to obtain the actual bucket arm required flow rate, further comprising:

[0027] When the excavator is in a level ground condition in which the boom has priority over the arm, a current correction coefficient for the boom-to-arm priority control is determined; the boom-to-arm priority current in the level ground condition is determined according to the operating gear of the excavator, and the boom priority current correction coefficient is determined according to the current correction coefficient and the boom-to-arm priority current;

[0028] When the boom-to-arm priority current is greater than a preset boom priority current, the boom priority compound action current correction coefficient is determined according to the boom pilot handle signal of the boom pilot handle; when the boom-to-arm priority current is not greater than the preset boom priority current, the boom priority compound action current correction coefficient is zero;

[0029] The maximum value of the boom priority composite action current correction coefficient and the boom priority current correction coefficient is used as the demand current correction coefficient;

[0030] The actual boom demand flow is determined based on the demand current correction coefficient and the theoretical boom demand flow.

[0031] As a preferred technical solution of the above-mentioned control method for controlling the rapid switching of the excavator bucket arm, when the current of the electromagnetic drive component corresponding to the second bucket arm pilot handle signal is increased, the second actual current of the electromagnetic drive component corresponding to the second bucket arm pilot handle signal is obtained in real time;

[0032] The boom target current is determined according to the boom pilot handle pressure, and when the second actual current reaches the boom target current, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is stopped from being further increased.

[0033] As a preferred technical solution of the above-mentioned control method for controlling the rapid switching of the excavator bucket arm, the method further includes:

[0034] Upon receiving the boom pilot handle signal, the system calculates the required flow rate for the corresponding working component according to the signal of each pilot handle of the excavator, and calculates the total flow rate of the main control solenoid valve corresponding to the working component controlled by each main oil pump in the two main oil pumps of the excavator;

[0035] The displacement and rotation speed of the corresponding main oil pump are adjusted according to the total flow rate, so that the flow rate of the hydraulic oil provided by the main oil pump reaches the corresponding total flow rate.

[0036] As a preferred technical solution of the above-mentioned control method for controlling the rapid switching of the excavator bucket arm, when reducing the current of the electromagnetic drive component corresponding to the first bucket arm pilot handle signal, a first actual current of the electromagnetic drive component corresponding to the first bucket arm pilot handle signal is obtained in real time; when the first actual current is not greater than a preset current minimum value, the current of the electromagnetic drive component corresponding to the first bucket arm pilot handle signal is controlled to be zero;

[0037] When the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is increased, the second actual current of the electromagnetic drive component corresponding to the second boom pilot handle signal is obtained in real time; when the second actual current is not less than the preset current maximum value, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is controlled to be the preset current maximum value.

[0038] As a preferred technical solution of the above-mentioned control method for controlling the rapid switching of the excavator bucket arm, the target rapid switching current change rate is obtained according to the following steps:

[0039] If the second boom pilot handle signal is received within the preset time interval after the first boom pilot handle signal is received, the excavator is in a boom rapid switching operating condition. Based on a first correspondence between the boom pilot handle signal and the rapid cutting current change rate under the boom rapid switching operating condition, the rapid cutting current change rate corresponding to the current boom pilot signal is queried, and the queried rapid cutting current change rate is used as the target rapid cutting current change rate.

[0040] The target conventional current change rate is obtained by following the steps below:

[0041] If the second arm pilot handle signal is not received within the preset time interval after the first arm pilot handle signal is received, the excavator is in a normal arm switching operating condition, and the normal current change rate corresponding to the current arm pilot signal is queried based on a second correspondence between the arm pilot handle signal and the normal current change rate under the normal arm switching operating condition, and the queried normal current change rate is used as the target normal current change rate;

[0042] For the same boom pilot handle signal, the quick-cut current change rate queried according to the first corresponding relationship is greater than the normal current change rate queried according to the second corresponding relationship.

[0043] In order to achieve the above-mentioned purpose, on the other hand, the present invention further provides an excavator, which adopts the control method for controlling the rapid switching of the excavator bucket arm described in any of the above-mentioned schemes.

[0044] Beneficial effects of the present invention: The control method and excavator provided by the present invention for controlling the rapid switching of the excavator boom reduce the current of the electromagnetic drive component corresponding to the first boom pilot handle signal and adjust the current change rate of the electromagnetic drive component according to the second boom pilot handle signal, so that the current of the electromagnetic drive component corresponding to the first boom pilot handle signal is slowly reduced, avoiding a sudden change in the current of the boom retraction electromagnetic component, thereby reducing the hydraulic impact of the boom cylinder when the boom main control solenoid valve switches states and improving the driving experience; the target fast-cut current change rate is less than the target conventional current change rate, which can make the time interval between the second boom pilot handle signal and the first boom pilot handle signal less than the preset time interval, and the current of the electromagnetic drive component corresponding to the second boom pilot handle signal slowly increase, avoiding a sudden change in the current of the electromagnetic drive component corresponding to the second boom pilot handle signal, that is, realizing a slow change in the opening of the boom main control solenoid valve under the boom rapid switching condition, thereby reducing the hydraulic impact of the boom cylinder when the boom main control solenoid valve switches states. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in describing the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without any creative work.

[0046] Figure 1 The process of the control method for controlling the rapid switching of the excavator bucket arm provided by the embodiment of the present invention is as follows Figure 1 ;

[0047] Figure 2 The process of the control method for controlling the rapid switching of the excavator bucket arm provided by the embodiment of the present invention is as follows Figure 2 ;

[0048] Figure 3 The process of the control method for controlling the rapid switching of the excavator bucket arm provided by the embodiment of the present invention is as follows Figure 3 ;

[0049] Figure 4 The process of the control method for controlling the rapid switching of the excavator bucket arm provided by the embodiment of the present invention is as follows Figure 4 . DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0051] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0052] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0053] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0054] In the prior art, the boom is quickly switched between inward and outward movement through a boom pilot handle. If the boom is switched to inward movement and then to outward movement in a very short time, a large hydraulic shock will occur during the switching process, resulting in discontinuous boom movement, which seriously affects the driver's driving experience.

[0055] To this end, this embodiment provides a control method for controlling the rapid switching of the excavator boom to reduce the hydraulic shock when the boom switches between inward and outward movement, improve the continuity of the boom movement, and enhance the driving experience.

[0056] The excavator has two main oil pumps, multiple working parts, multiple main control solenoid valves corresponding to the multiple working parts, multiple pilot handles corresponding to the multiple working parts one-to-one, and multiple executive parts corresponding to the multiple working parts one-to-one. The multiple working parts include a bucket, an arm, a bucket and a rotary mechanism. The corresponding multiple main control solenoid valves are two bucket arm main control solenoid valves, two arm main control solenoid valves, one bucket main control solenoid valve and one rotary master control solenoid valve; the corresponding multiple pilot handles are respectively a bucket arm pilot handle, a boom pilot handle, a bucket pilot handle and a rotary pilot handle; the corresponding multiple executive parts are respectively a bucket arm cylinder, a boom cylinder, a bucket cylinder and a rotary motor.

[0057] One of the main oil pumps supplies oil to the arm cylinder and the boom cylinder respectively through a boom main control solenoid valve and a boom main control solenoid valve; the other main oil pump supplies oil to the arm cylinder, the boom cylinder, the bucket cylinder and the swing motor respectively through another arm main control solenoid valve, another boom main control solenoid valve, the bucket main control solenoid valve and the swing main control solenoid valve.

[0058] The two boom master solenoid valves operate in unison, each with three operating positions: outward, neutral, and inward. A solenoid drive assembly is located at each end of the boom master solenoid valve's valve core movement direction. One solenoid drive assembly, designated the outward boom solenoid drive assembly, is used to actuate the valve core in response to an outward boom signal, shifting the boom master solenoid valve to the outward boom position. The other solenoid drive assembly, designated the inward boom solenoid drive assembly, is used to actuate the valve core in response to an inward boom signal, shifting the boom master solenoid valve to the inward boom position. The boom can be switched between inward and outward by operating the boom pilot handle to control the current flowing to the two solenoid drive assemblies. When the current flowing to both solenoid drive assemblies is zero, the boom master solenoid valve is in the neutral position.

[0059] Figure 1 The process of the control method for controlling the rapid switching of the excavator bucket arm provided in the first embodiment of the present invention is as follows: Figure 1 ,like Figure 1 As shown, the control method for controlling the rapid switching of the excavator bucket arm includes the following steps:

[0060] S10. When a second boom pilot handle signal is received after the first boom pilot handle signal is received, the current of the electromagnetic drive component corresponding to the first boom pilot handle signal is reduced and the current change rate of the electromagnetic drive component is adjusted according to the second boom pilot handle signal.

[0061] The action of the boom pilot handle can generate either an inward-facing boom signal to retract the boom or an outward-facing boom signal to extend the boom. One of the inward-facing boom signal and the outward-facing boom signal is recorded as the first boom pilot handle signal, and the other is recorded as the second boom pilot handle signal. It should be noted that when the excavator's boom is not in motion, the boom master control solenoid valve is in the neutral position.

[0062] Figure 2 The process of the control method for controlling the rapid switching of the excavator bucket arm provided in the first embodiment of the present invention is as follows: Figure 2 ,like Figure 2 As shown, in step S10, reducing the current of the electromagnetic drive component corresponding to the first boom pilot handle signal and adjusting the current change rate of the electromagnetic drive component according to the second boom pilot handle signal, including the following steps:

[0063] S101, determining the pressure of the boom pilot handle according to the boom pilot handle signal;

[0064] S102, determining a bucket arm current change rate according to a bucket arm pilot handle pressure, wherein the bucket arm current change rate is proportional to the bucket arm pilot handle pressure;

[0065] S103. Reduce the current of the electromagnetic drive component corresponding to the first boom pilot handle signal according to the determined boom current change rate.

[0066] Taking the rapid switching condition of the boom from inward-retraction to outward-extension as an example, the current of the inward-retraction electromagnetic component is reduced, so that the force applied by the inward-retraction electromagnetic component to the boom switching valve gradually decreases, and the current change rate of the electromagnetic drive component is adjusted according to the outward-extension signal of the boom. This can effectively avoid sudden changes in the current of the inward-retraction electromagnetic component, thereby reducing the hydraulic shock of the boom cylinder when the boom main control solenoid valve switches states.

[0067] The arm pilot handle is in different positions, and the generated arm pilot handle signal is different. In step S101, the arm pilot handle pressure is determined according to the arm pilot handle signal, including the following steps:

[0068] S1011. Determine a theoretical bucket arm required flow rate based on a bucket arm pilot handle signal;

[0069] S1012, correcting the theoretical arm demand flow rate to obtain the actual arm demand flow rate;

[0070] S1013. Determine the boom pilot handle pressure based on the actual boom flow requirement.

[0071] In step S1011, there is a one-to-one correspondence between the boom pilot handle signal and the theoretical boom demand flow rate. The correspondence between the boom pilot handle signal and the theoretical boom demand flow rate can be pre-stored, such as in a pulse diagram or data table. The boom pilot handle signal can be acquired in real time to query the theoretical boom demand flow rate corresponding to the current boom pilot handle signal. For example, the correspondence between the boom pilot handle signal and the theoretical boom demand flow rate is a boom pilot handle signal-theoretical boom demand flow rate pressure characteristic curve, obtained through repeated testing and pre-stored in the excavator controller.

[0072] Since an excavator has multiple working parts, multiple working parts can perform compound actions, that is, there is more than one working part. This results in the excavator's operating conditions being more complex and the correlation between the various actions being strong. Therefore, it is necessary to make a flow correction to the theoretical boom demand flow. Among them, the factors affecting the boom flow are the compound influence of the actions when at least two working parts are in motion, and the action priority influence between different actions when at least two working parts are in motion. The action priority influence is mainly the influence of the boom on the priority control of the boom and the influence of the rotation on the priority control of the boom. The compound action influence is divided according to the compound action working conditions, mainly including the following two types: the compound action influence when the boom is in priority control of the boom, and the compound action influence when the rotation is in priority control of the boom.

[0073] The compound operating condition where the boom prioritizes the arm is the flat ground condition. The compound operating conditions where the slewing prioritizes the arm include the arm retraction plus slewing compound operating condition, the arm retraction plus slewing plus bucket outward flipping compound operating condition, and the arm retraction plus slewing plus boom lowering compound operating condition. Different compound operating conditions have different impacts on the required arm flow rate. Determining which compound operating condition the excavator is operating in can be determined based on the pilot handle signals from each pilot handle. Specifically, the arm pilot handle signal determines that the arm master solenoid valve is in the arm retraction position, the slewing pilot handle determines that the slewing master solenoid valve is in the slewing position, the bucket pilot handle signal determines that the bucket master solenoid valve is in the bucket neutral position, and the boom pilot handle signal determines that the boom master solenoid valve is in the boom neutral position. The excavator is in the arm retraction plus slewing compound operating condition.

[0074] Figure 3 The process of the control method for controlling the rapid switching of the excavator bucket arm provided in the first embodiment of the present invention is as follows: Figure 3 , specifically, Figure 3 As shown, in step S1012, the theoretical arm demand flow rate is corrected to obtain the actual arm demand flow rate, including the following steps:

[0075] S10120. When the working condition of the excavator is a compound action working condition in which the swing-to-arm priority control is performed, the swing-to-arm priority current is determined based on the compound action working condition, and the swing priority current correction coefficient is determined according to the swing-to-arm priority current.

[0076] Among them, different composite action operating conditions of rotation-to-arm priority control correspond to different composite action currents of rotation-to-arm priority control. The correspondence between the composite action operating conditions of rotation-to-arm priority control and the composite action current of rotation-to-arm priority control can be pre-stored, such as a pulse diagram or a data table, and the composite action current of rotation-to-arm priority control corresponding to the current composite action operating condition of rotation-to-arm priority control can be queried.

[0077] Different rotation-to-arm priority currents correspond to different rotation priority current correction coefficients. The correspondence between the rotation-to-arm priority current and the rotation priority current correction coefficient can be pre-stored, such as a pulse diagram or a data table, and the rotation priority current correction coefficient corresponding to the queried rotation-to-arm priority current can be queried.

[0078] S10121. Determine whether the swing priority current for the boom is greater than the preset swing priority current. If so, execute S10122; if not, execute S10123.

[0079] S10122. Determine a swing priority compound action current correction coefficient based on a swing pilot handle signal of the swing pilot handle;

[0080] S10123. The rotation priority compound action current correction coefficient is zero.

[0081] It should be noted that the preset swing priority current is related to the combined motion operating condition of swing-over-arm priority control. Different combined motion operating conditions of swing-over-arm priority control have different preset swing priority currents. The correspondence between the preset swing priority currents and combined motion operating conditions of swing-over-arm priority control can be pre-stored, such as in a map or data table, so that the preset swing priority current corresponding to the current combined motion operating condition of swing-over-arm priority control can be queried.

[0082] In the compound motion operating condition of swing-over-arm priority control, the smaller the swing-over-arm priority current, the smaller the compound effect of the swing-over-arm priority control. Therefore, if the swing-over-arm priority current is not greater than the preset swing priority current, the compound effect of the swing-over-arm priority control can be ignored.

[0083] When the swing arm priority current is greater than the preset swing priority current, in order to improve the accuracy of the calculated actual boom demand flow, the swing priority compound action current correction coefficient is determined according to the swing pilot handle signal of the swing pilot handle.

[0084] In step S10122, specifically, the rotary pilot handle pressure is determined based on the rotary pilot handle signal of the rotary pilot handle, and the rotary priority compound action current correction coefficient is determined based on the rotary pilot handle pressure. The rotary pilot handle signal and the rotary pilot handle pressure are in one-to-one correspondence, and the corresponding relationship between the rotary pilot handle signal and the rotary pilot handle pressure can be pre-stored, such as a map or data table, and the rotary pilot handle pressure corresponding to the current rotary pilot handle signal can be queried. The rotary pilot handle pressure and the rotary priority compound action current correction coefficient are in one-to-one correspondence, and the corresponding relationship between the rotary pilot handle pressure and the rotary priority compound action current correction coefficient can be pre-stored, such as a map or data table, and the rotary priority compound action current correction coefficient corresponding to the current rotary pilot handle pressure can be queried.

[0085] S10124. The maximum value of the rotation priority compound action current correction coefficient and the rotation priority current correction coefficient is used as the demand current correction coefficient.

[0086] In step S10124, the swing priority composite action current correction coefficient is recorded as A1, the swing priority current correction coefficient set is recorded as A2, and the demand current correction coefficient is recorded as A 需求 , A 需求 =max(A1, A2).

[0087] S10125. Determine the actual boom demand flow rate based on the demand current correction coefficient and the theoretical boom demand flow rate.

[0088] In step S10124, the demand current correction coefficient is obtained by taking the maximum value, so that the actual boom demand flow calculated in step S10125 can meet the boom action requirements.

[0089] In step S10125, the actual arm demand flow rate is determined according to the demand current correction coefficient and the theoretical arm demand flow rate as follows: the theoretical arm demand flow rate is recorded as I 理论需求 , the actual arm demand flow is recorded as I 实际需求 , I 实际需求 =I 理论需求 ×A 需求 .

[0090] In other embodiments, the correspondence between the demand current correction coefficient, the theoretical boom demand flow and the actual boom demand flow can also be pre-stored, such as a pulse diagram or a data table, and the actual boom demand flow corresponding to the queried demand current correction coefficient and the queried theoretical boom demand flow can be queried.

[0091] Figure 4The process of the control method for controlling the rapid switching of the excavator bucket arm provided in the first embodiment of the present invention is as follows: Figure 4 ,like Figure 4 As shown, in step S1012, the theoretical arm demand flow rate is corrected to obtain the actual arm demand flow rate, and the following steps are also included:

[0092] S10126. When the excavator is operating in a level ground condition where the boom has priority over the arm, determine the current correction coefficient for the boom-to-arm priority control; determine the boom-to-arm priority current under the level ground condition based on the excavator's operating gear, and determine the boom priority current correction coefficient based on the current correction coefficient and the boom-to-arm priority current.

[0093] In step S10126, how to determine whether the excavator is in the level ground condition is a prior art in the art and will not be described in detail here. In the level ground condition, there are two factors that affect the bucket arm flow rate: one is the priority control of the boom over the bucket arm, and the other is the working gear of the excavator.

[0094] Under flat ground conditions, the boom has priority control over the dipper arm. In step S10126, the correspondence between the boom pilot handle signal, the dipper arm pilot handle signal and the current correction coefficient under flat ground conditions can be pre-stored, such as a pulse diagram or a data table, and the current correction coefficient corresponding to the current boom pilot handle signal and the dipper arm pilot handle signal can be queried.

[0095] Under flat ground conditions, the compensation current for the boom-to-arm priority control is different under different working gears. In step S10126, the correspondence between the working gear of the excavator and the boom-to-arm priority current under flat ground conditions can be pre-stored, such as a pulse diagram or a data table, and the boom-to-arm priority current corresponding to the current working gear can be queried.

[0096] In step S10126, as for the method of determining the boom priority current correction coefficient based on the current correction coefficient and the boom-to-arm priority current, the correspondence between the current correction coefficient, the boom-to-arm priority current and the boom priority current correction coefficient can be pre-stored, such as a pulse diagram or a data table, and the boom priority current correction coefficient corresponding to the queried current correction coefficient and the queried boom-to-arm priority current can be queried.

[0097] S10127. When the boom-to-arm priority current is greater than the preset boom priority current, the boom priority compound action current correction coefficient is determined according to the boom pilot handle signal of the boom pilot handle; when the boom-to-arm priority current is not greater than the preset boom priority current, the boom priority compound action current correction coefficient is zero.

[0098] In boom-to-arm priority control compound motion operating conditions, the lower the boom-to-arm priority current, the smaller the composite effect of the boom-to-arm priority control motion. Therefore, if the boom-to-arm priority current is no greater than the preset boom priority current, the composite effect of the boom-to-arm priority control motion can be ignored.

[0099] When the boom-to-arm priority current is greater than the preset boom priority current, in order to improve the accuracy of the calculated actual boom demand flow, the boom priority composite action current correction coefficient is determined according to the boom pilot handle signal of the boom pilot handle.

[0100] In step S10127, the boom priority compound action current correction coefficient is determined based on the boom pilot handle signal of the boom pilot handle, including the following steps: determining the boom pilot handle pressure based on the boom pilot handle signal of the boom pilot handle, and determining the boom priority compound action current correction coefficient based on the boom pilot handle pressure. The boom pilot handle signal and the boom pilot handle pressure are in one-to-one correspondence, and the corresponding relationship between the boom pilot handle signal and the boom pilot handle pressure can be pre-stored, such as a spectrum diagram or a data table, and the boom pilot handle pressure corresponding to the current boom pilot handle signal can be queried. The boom pilot handle pressure and the boom priority compound action current correction coefficient are in one-to-one correspondence, and the corresponding relationship between the boom pilot handle pressure and the boom priority compound action current correction coefficient can be pre-stored, such as a spectrum diagram or a data table, and the boom priority compound action current correction coefficient corresponding to the current boom pilot handle pressure can be queried.

[0101] S10128. The maximum value of the boom priority composite action current correction coefficient and the boom priority current correction coefficient is used as the demand current correction coefficient.

[0102] In step S10124, the boom priority composite action current correction coefficient is recorded as A3, the boom priority current correction coefficient set is recorded as A4, and the demand current correction coefficient is recorded as A 需求 , A 需求 =max(A3,A4).

[0103] S10129. Determine the actual boom demand flow rate based on the demand current correction coefficient and the theoretical boom demand flow rate.

[0104] In step S103, when the current of the electromagnetic drive component corresponding to the first boom pilot handle signal is reduced, the first actual current of the electromagnetic drive component corresponding to the first boom pilot handle signal is obtained in real time; when the first actual current is not greater than the preset current minimum value, the current of the electromagnetic drive component corresponding to the first boom pilot handle signal is controlled to be zero.

[0105] S20. Determine whether the time interval between the second boom pilot handle signal and the first boom pilot handle signal is less than a preset time interval; if so, execute S30; if not, execute S40.

[0106] In step S20, the preset time interval is a known value determined based on multiple repeated tests and is not specifically limited herein. For example, taking the case where the first boom pilot handle signal is a boom retraction signal and the second boom pilot handle signal is a boom extension signal, if the boom extension signal is received within the preset time interval after the boom retraction signal is received, it indicates that the boom was still retracting when the boom extension signal was received.

[0107] S30. Increase the current of the electromagnetic drive component corresponding to the second boom pilot handle signal according to the target fast-cut current change rate.

[0108] In step S30, while increasing the current of the electromagnetic drive component corresponding to the second boom pilot handle signal, step S301 is executed, specifically, the second actual current of the electromagnetic drive component corresponding to the second boom pilot handle signal is obtained in real time; the boom target current is determined according to the boom pilot handle pressure, and when the second actual current reaches the boom target current, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is stopped from being further increased.

[0109] The greater the pressure on the boom pilot handle, the greater the boom target current, so that the opening of the boom main control solenoid valve meets the requirements. By adjusting the opening of the boom main control solenoid valve, the amount of oil sent to the boom cylinder through the boom main control solenoid valve meets the requirements.

[0110] In step S301, determining the arm target current based on the arm pilot handle pressure includes the following steps: querying the arm current corresponding to the current arm pilot handle pressure based on the corresponding relationship between the arm pilot handle pressure and the arm current of the electromagnetic drive assembly corresponding to the second arm pilot handle signal, and using the queryed arm current as the arm target current. The corresponding relationship between the arm pilot handle pressure and the arm current of the electromagnetic drive assembly corresponding to the second arm pilot handle signal may be a map or a data table.

[0111] In step S30, the target rapid current change rate is obtained according to the following steps: If a second boom pilot handle signal is received within a preset time interval after receiving a first boom pilot handle signal, the excavator is operating in a boom rapid switching condition. Based on a first correspondence between the boom pilot handle signal and the rapid current change rate under the boom rapid switching condition, the rapid current change rate corresponding to the current boom pilot signal is retrieved, and the retrieved rapid current change rate is used as the target rapid current change rate. This first correspondence can be a spectrum diagram or a data table determined through repeated testing, and is not specifically limited herein.

[0112] S40. Increase the current of the electromagnetic drive assembly corresponding to the second boom pilot handle signal according to the target normal current change rate; the target quick-cut current change rate is less than the target normal current change rate.

[0113] In step S40, the target normal current rate of change is obtained according to the following steps: If no second arm pilot handle signal is received within a preset time interval after receiving the first arm pilot handle signal, the excavator is operating in the normal arm switching condition. Based on a second correspondence between the arm pilot handle signal and the normal current rate of change under the normal arm switching condition, the normal current rate of change corresponding to the current arm pilot signal is queried, and the queried normal current rate of change is used as the target normal current rate of change. This second correspondence may be a spectrum diagram or a data table determined through repeated testing, and is not specifically limited here.

[0114] For the same boom pilot handle signal, the quick-cut current change rate queried according to the first corresponding relationship is greater than the conventional current change rate queried according to the second corresponding relationship, so as to achieve a target quick-cut current change rate less than the target conventional current change rate. This can achieve that under the boom rapid switching condition, the electromagnetic drive component corresponding to the second boom pilot handle signal controls the current increase of the electromagnetic drive component at a target quick-cut current change rate that is smaller than that under the conventional switching condition of the boom, that is, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is slowly increased, so that the current change of the electromagnetic drive component corresponding to the second boom pilot handle signal is relatively smooth, and the current mutation of the electromagnetic drive component corresponding to the second boom pilot handle signal is avoided as much as possible, that is, the opening of the boom main control solenoid valve is slowly changed under the boom rapid switching condition, thereby reducing the hydraulic shock of the boom cylinder when the boom main control solenoid valve switches states.

[0115] In step S30 and step S40, when the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is increased, the second actual current of the electromagnetic drive component corresponding to the second boom pilot handle signal is obtained in real time; when the second actual current is not less than the preset current maximum value, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is controlled to be the preset current maximum value.

[0116] Furthermore, the control method for controlling the rapid switching of the excavator arm further includes the following steps:

[0117] S50. Upon receiving the boom pilot handle signal, calculating the required flow rate for the corresponding working component according to the signal of each pilot handle of the excavator, and calculating the total flow rate of the main control solenoid valves corresponding to the working components controlled by each main oil pump in the two main oil pumps of the excavator;

[0118] S60 , adjusting the displacement and speed of the corresponding main oil pump according to the total flow rate, so that the flow rate of the hydraulic oil provided by the main oil pump reaches the corresponding total flow rate.

[0119] By adjusting the displacement and speed of the two main oil pumps, the two main oil pumps supply oil to the boom cylinder through the corresponding boom master control solenoid valves to meet the flow requirements of boom retraction or boom flipping.

[0120] This embodiment also provides an excavator that adopts the above-mentioned control method for controlling the rapid switching of the excavator boom. The excavator has the same technical effect as the above-mentioned control method for controlling the rapid switching of the excavator boom, and will not be described in detail here.

[0121] Furthermore, the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A control method for rapidly switching an excavator arm, characterized in that: include: When a second boom pilot handle signal is received after a first boom pilot handle signal is received, the current of the electromagnetic drive component corresponding to the first boom pilot handle signal is reduced and the current change rate of the electromagnetic drive component is adjusted according to the second boom pilot handle signal; one of the first boom pilot handle signal and the second boom pilot handle signal is a boom retraction signal, and the other is a boom extension signal; If the time interval between the second boom pilot handle signal and the first boom pilot handle signal is less than a preset time interval, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is increased according to the target fast-cut current change rate; If the time interval between the second boom pilot handle signal and the first boom pilot handle signal is not less than the preset time interval, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is increased according to the target conventional current change rate, and the target quick-cut current change rate is less than the target conventional current change rate.

2. The control method for controlling the rapid switching of an excavator bucket arm according to claim 1, characterized in that: Reducing the current of the electromagnetic drive component corresponding to the first boom pilot handle signal and adjusting the current change rate of the electromagnetic drive component according to the second boom pilot handle signal, including: determining a boom pilot handle pressure according to the boom pilot handle signal; Determining a bucket arm current change rate according to the bucket arm pilot handle pressure, wherein the bucket arm current change rate is proportional to the bucket arm pilot handle pressure; The current of the electromagnetic drive assembly corresponding to the first boom pilot handle signal is reduced according to the determined boom current change rate.

3. The control method for controlling the rapid switching of an excavator bucket arm according to claim 1, characterized in that: Determining the bucket stick pilot handle pressure according to the bucket stick pilot handle signal includes: Determining a theoretical bucket arm required flow rate according to the bucket arm pilot handle signal; Correcting the theoretical boom demand flow rate to obtain an actual boom demand flow rate; The boom pilot handle pressure is determined according to the actual boom required flow rate.

4. The control method for controlling the rapid switching of an excavator bucket arm according to claim 3, characterized in that: Correcting the theoretical arm demand flow to obtain the actual arm demand flow includes: When the excavator is in a compound operation mode in which rotation is given priority to the bucket arm, a rotation-to-arm priority current is determined based on the compound operation mode, and a rotation priority current correction coefficient is determined based on the rotation-to-arm priority current; the compound operation mode in which rotation is given priority to the bucket arm includes a bucket arm retraction plus rotation compound operation mode, a bucket arm retraction plus rotation plus bucket flipping compound operation mode, and a bucket arm retraction plus rotation plus boom lowering compound operation mode; When the swing-to-arm priority current is greater than the preset swing priority current, the swing priority compound action current correction coefficient is determined according to the swing pilot handle signal of the swing pilot handle; when the swing-to-arm priority current is not greater than the preset swing priority current, the swing priority compound action current correction coefficient is zero; The maximum value of the rotation priority compound action current correction coefficient and the rotation priority current correction coefficient is used as the demand current correction coefficient; The actual boom demand flow is determined based on the demand current correction coefficient and the theoretical boom demand flow.

5. The control method for controlling the rapid switching of an excavator bucket arm according to claim 3, characterized in that: Correcting the theoretical arm demand flow rate to obtain an actual arm demand flow rate also includes: When the excavator is in a level ground condition in which the boom has priority over the arm, a current correction coefficient for the boom-to-arm priority control is determined; the boom-to-arm priority current in the level ground condition is determined according to the operating gear of the excavator, and the boom priority current correction coefficient is determined according to the current correction coefficient and the boom-to-arm priority current; When the boom-to-arm priority current is greater than a preset boom priority current, the boom priority compound action current correction coefficient is determined according to the boom pilot handle signal of the boom pilot handle; when the boom-to-arm priority current is not greater than the preset boom priority current, the boom priority compound action current correction coefficient is zero; The maximum value of the boom priority composite action current correction coefficient and the boom priority current correction coefficient is used as the demand current correction coefficient; The actual boom demand flow is determined based on the demand current correction coefficient and the theoretical boom demand flow.

6. The control method for controlling the rapid switching of an excavator bucket arm according to claim 3, characterized in that: When increasing the current of the electromagnetic drive component corresponding to the second boom pilot handle signal, obtaining in real time a second actual current of the electromagnetic drive component corresponding to the second boom pilot handle signal; The boom target current is determined according to the boom pilot handle pressure, and when the second actual current reaches the boom target current, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is stopped from being further increased.

7. The control method for controlling the rapid switching of an excavator bucket arm according to any one of claims 1 to 6, characterized in that: Also includes: Upon receiving the boom pilot handle signal, the system calculates the required flow rate for the corresponding working component according to the signal of each pilot handle of the excavator, and calculates the total flow rate of the main control solenoid valve corresponding to the working component controlled by each main oil pump in the two main oil pumps of the excavator; The displacement and rotation speed of the corresponding main oil pump are adjusted according to the total flow rate, so that the flow rate of the hydraulic oil provided by the main oil pump reaches the corresponding total flow rate.

8. The control method for controlling the rapid switching of an excavator bucket arm according to any one of claims 1 to 6, characterized in that: When reducing the current of the electromagnetic drive component corresponding to the first boom pilot handle signal, obtaining in real time a first actual current of the electromagnetic drive component corresponding to the first boom pilot handle signal; when the first actual current is not greater than a preset current minimum value, controlling the current of the electromagnetic drive component corresponding to the first boom pilot handle signal to be zero; When the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is increased, the second actual current of the electromagnetic drive component corresponding to the second boom pilot handle signal is obtained in real time; when the second actual current is not less than the preset current maximum value, the current of the electromagnetic drive component corresponding to the second boom pilot handle signal is controlled to be the preset current maximum value.

9. The control method for controlling the rapid switching of an excavator bucket arm according to any one of claims 1 to 6, characterized in that: The target fast-cut current change rate is obtained by following the steps below: If the second boom pilot handle signal is received within the preset time interval after the first boom pilot handle signal is received, the excavator is in a boom rapid switching operating condition. Based on a first correspondence between the boom pilot handle signal and the rapid cutting current change rate under the boom rapid switching operating condition, the rapid cutting current change rate corresponding to the current boom pilot signal is queried, and the queried rapid cutting current change rate is used as the target rapid cutting current change rate. The target conventional current change rate is obtained by following the steps below: If the second arm pilot handle signal is not received within the preset time interval after the first arm pilot handle signal is received, the excavator is in a normal arm switching operating condition, and the normal current change rate corresponding to the current arm pilot signal is queried based on a second correspondence between the arm pilot handle signal and the normal current change rate under the normal arm switching operating condition, and the queried normal current change rate is used as the target normal current change rate; For the same boom pilot handle signal, the quick-cut current change rate queried according to the first corresponding relationship is greater than the normal current change rate queried according to the second corresponding relationship.

10. An excavator, characterized in that A control method for controlling rapid switching of an excavator boom as described in any one of claims 1 to 9 is adopted.

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