An automatic control system, control method, control equipment, and excavator for a hydraulic breaker.

Abstract

This invention discloses an automatic control system, control method, control device, and excavator for a hydraulic breaker, including an input module, an execution module, and a controller. The input module is configured to control the movement of the hydraulic breaker and select its working mode, and to send corresponding control signals to the controller. The execution module is configured to automatically start and stop the hydraulic breaker after receiving the output signal from the controller and to meet the crushing frequency requirements of different geological conditions. The controller is configured to acquire the control signals from the input module, process the acquired control signals, and output signals, sending the output signals to the execution module. This system utilizes sensors, a controller, and execution elements to sense changes in the crushing condition and automatically start and stop the hydraulic breaker, solving the problems of automatic start / stop control and safety protection for the hydraulic breaker. Simultaneously, it provides a customizable crushing frequency function to meet the crushing frequency requirements of different geological conditions.

Description

Technical Field

[0001] This invention belongs to the field of excavator technology, specifically relating to an automatic control system and control method for a hydraulic breaker. Background Technology

[0002] Replacing the bucket of a hydraulic excavator with a hydraulic breaker expands the excavator's applicable working conditions and improves construction efficiency. The breaker's posture is controlled by the excavator's handle, while its impact action is controlled by a separate component. On one hand, operating the breaker requires a foot pedal or handle button, increasing the operator's workload. On the other hand, the breaker's operation has certain requirements; for example, dry-firing can damage critical components such as the piston, cylinder, and housing, as well as consumable parts like through bolts, flat pins, and chisels. After breaking material, impact operation should be stopped immediately; continuous striking of the same location will cause the chisel to overheat, melting the tip and causing abnormal wear; if continuous striking fails to break material, striking should be stopped and the striking position changed. These requirements further increase the difficulty and workload of controlling the breaker.

[0003] One anti-dry-firing technology involves installing a drain oil circuit on the breaker cylinder. When the chisel is not properly lifted, the breaker piston impacts past the striking position, and the piston stroke continues downward. The drain oil circuit is then opened, preventing the breaker from rising and resetting, thus preventing dry-firing. This method increases the complexity of the breaker and internal leakage. Patent CN114541504A uses a controller to automatically control the breaker and hydraulic cylinder based on the breaker pressure signal detected by the sensor assembly, avoiding the risk of damage caused by dry-firing and misoperation. This solution reduces the probability of dry-firing, but the pressure sensor is installed on the breaker pipeline, which is subject to significant vibration and is easily damaged. Furthermore, it only stops dry-firing and does not automatically start the breaker. Patent CN115030248A achieves automatic control of the breaker system by detecting multiple pilot pressures from the breaker switch, breaker solenoid valve, and excavator, reducing labor intensity. This solution provides a more detailed strategy for stopping the breaker, but it still does not automatically start the breaker, requiring manual operation.

[0004] Existing technology can automatically stop the hydraulic breaker when it encounters situations such as dry-firing or changes in posture during operation, but the driver still needs to manually start the hydraulic breaker. Summary of the Invention

[0005] The technical problem this invention aims to solve is to provide an automatic control system for a hydraulic breaker. This system utilizes sensors, a controller, and actuators to detect changes in the crushing operating conditions and automatically start and stop the hydraulic breaker, thus solving the problems of automatic start / stop control and safety protection for the hydraulic breaker. Simultaneously, it provides a customizable crushing frequency function to meet the crushing frequency requirements of different geological conditions.

[0006] This invention is implemented according to the following technical solution:

[0007] In a first aspect, the present invention discloses an automatic control system for a hydraulic breaker, comprising:

[0008] The input module is configured to control the action of the hydraulic breaker and select the working mode of the hydraulic breaker, and send the corresponding control signals to the controller.

[0009] The execution module is configured to automatically start and stop the breaker after receiving the output signal from the controller and to meet the crushing frequency requirements of different geological conditions.

[0010] The controller is configured to acquire the control signal from the input module, process the acquired control signal to output a signal, and send the output signal to the execution module.

[0011] In some embodiments, the input module includes:

[0012] The right electric control handle is connected to the input port of the controller. The right electric control handle outputs control signals for the excavator boom raising, boom lowering, breaker retraction, and breaker swinging actions.

[0013] The left electric control handle is connected to the input port of the controller, and the left electric control handle outputs control signals for the excavator's stick retraction, stick swing, left rotation, and right rotation actions.

[0014] The electric foot pedal is connected to the input port of the controller, and outputs control signals for the excavator's left and right tracks to move forward and backward.

[0015] In some embodiments, the input module further includes:

[0016] The crushing mode selection switch is connected to the input port of the controller. The crushing mode selection switch outputs an on / off signal. The on signal is the automatic crushing control mode selection signal, and the off signal is the manual crushing mode selection signal.

[0017] The breaker switch is connected to the input port of the controller. The breaker switch outputs an on / off signal. The on signal controls the breaker to work, and the off signal controls the breaker to stop working.

[0018] In some embodiments, the input module further includes:

[0019] The boom cylinder rod chamber pressure sensor is connected to the controller input port on one hand and to the boom cylinder rod chamber pipeline on the other hand to detect and transmit the boom cylinder rod chamber pressure.

[0020] The main pump outlet pressure sensor is connected to the controller input port on one hand and to the main pump outlet on the other hand, to detect and transmit the main pump outlet pressure.

[0021] In some embodiments, the execution module includes:

[0022] The crushing pilot valve solenoid valve and the crushing main control valve are connected to the controller output port. The crushing pilot solenoid valve is the pilot stage of the crushing main control valve. The crushing main control valve is connected to the breaker hammer through a pipeline.

[0023] The main pump displacement control valve is connected to the controller output port. The main pump displacement control valve is connected to the main pump and is used to control the change in the main pump displacement.

[0024] In some embodiments, the execution module further includes:

[0025] The instrument communicates bidirectionally with the controller, allowing the maximum operating frequency of the breaker and the set breaking frequency to be input on the instrument.

[0026] Secondly, this invention discloses an automatic control method for a hydraulic breaker:

[0027] The crushing mode is selected by the crushing mode selection switch. When the output signal of the crushing mode selection switch is off, it is manual crushing mode. When the output signal of the crushing mode selection switch is on, it is automatic crushing control mode.

[0028] The crushing frequency can be set directly by the instrument, and the hydraulic breaker will work according to the set crushing frequency.

[0029] In some embodiments, when the output signal of the crushing mode selection switch is off, it is in manual crushing mode. At this time, the action of the breaker is completely controlled by the crushing switch. When the crushing switch outputs an on signal, the breaker works; when the crushing switch outputs an off signal, the breaker does not work. That is, the breaker moves and stops as the crushing switch is turned on or off.

[0030] In some embodiments, when the output signal of the crushing mode selection switch is ON, it is in the automatic crushing control mode. At this time, the controller determines whether there are any actions other than the boom lowering action based on the collected signals from the right electric control handle, left electric control handle, and electric foot pedal. If there are, the crushing pilot solenoid valve is de-energized and the breaker hammer does not start. If there are no other actions, the controller further determines whether the pressure in the rod chamber of the boom cylinder is greater than the P1 value through the hydraulic oil pressure sensor. If it is not greater than the P1 value, the crushing pilot solenoid valve is de-energized and the breaker hammer does not start. If it is greater than the P1 value, the crushing pilot solenoid valve is energized and the breaker hammer starts, and the crushing operation begins.

[0031] During the operation of the hydraulic breaker, if the pressure in the rod chamber of the boom cylinder is less than P2, the breaker pilot solenoid valve will be de-energized and the breaker will stop; or, if the continuous working time of the breaker is greater than t1, the breaker pilot solenoid valve will be de-energized and the breaker will stop; or, if there are any actions other than the boom lowering action, the breaker pilot solenoid valve will be de-energized and the breaker will stop. If the breaker stops working for less than t2, the breaker cannot be started. If it stops for more than t2, the startability of the breaker must be reassessed.

[0032] In some embodiments, the relationship between pressures P1 and P2 is that P1 > P2.

[0033] In some embodiments, in the automatic control mode of the breaker, if the controller determines that there are no other actions besides the boom lowering action, and the continuous working time of the breaker is less than t1 or the continuous working time of the breaker is greater than t1 but the stopping time is greater than t2, and the rod chamber pressure of the boom cylinder is less than P1, then the breaker switch is enabled as TRUE. At this time, as in the manual mode, the breaker moves, stops and starts as soon as the breaker switch is turned on.

[0034] In the automatic control mode of the breaker, if the controller determines that there is an action other than the boom lowering action, or the continuous working time of the breaker is greater than t1, or the continuous working time of the breaker is greater than t1 but the stopping time is less than t2, or the pressure in the rod chamber of the boom cylinder is greater than P1, or the pressure in the rod chamber of the boom cylinder is less than P2 during the operation of the breaker, then the breaker switch enable is FALSE, and the breaker pilot solenoid valve does not respond to the breaker switch.

[0035] In some embodiments, the implementation of the custom breakage frequency function is as follows:

[0036] The first step is to input the maximum operating frequency of the hydraulic breaker and set the breaking frequency on the instrument.

[0037] The second step is to set the sampling frequency of the main pump outlet pressure to be no less than 5 times the maximum operating frequency of the hydraulic breaker.

[0038] The third step is to sample and record the main pump outlet pressure through the main pump outlet pressure sensor when the breaker starts working, and the recording cycle is no less than 5 set crushing cycles.

[0039] The fourth step is to analyze the frequency of change of the main pump pressure cycle during the crushing process based on the frequency of change of the maximum and minimum values ​​in the sampling record of the main pump outlet pressure, and use this as the working frequency of the hydraulic breaker.

[0040] Fifth step: When the error between the detected working frequency of the hydraulic breaker and the set crushing frequency is within d%, the crushing frequency setting is considered accurate, the controller stops sampling, and records the control current of the main pump displacement control valve at this time.

[0041] Step 6: When the detected working frequency of the hydraulic breaker deviates from the set breaking frequency by more than d%, the control current of the main pump displacement control valve needs to be reset.

[0042] In some embodiments, the method for resetting the control current of the main pump displacement control valve is as follows:

[0043] Main pump displacement control valve current = Main pump displacement control valve current bias value + (Main pump displacement control valve current current current current value - Main pump displacement control valve current bias value) × (1 + (Cyclist set frequency - Cyclist working frequency) / Cyclist working frequency).

[0044] After the main pump displacement control valve control current is reset, start the test and calibration again from step 3 above until the setting is completed.

[0045] The current bias value of the main pump displacement control valve is the starting value of the main pump displacement control current, that is, at the current bias value of the main pump displacement control valve, the main pump displacement is at its minimum.

[0046] Thirdly, the present invention discloses a control device, comprising:

[0047] Memory;

[0048] and a processor coupled to the memory, the processor being configured to execute the above-described automatic control method for the hydraulic breaker based on instructions stored in the memory.

[0049] Fourthly, the present invention discloses an excavator equipped with the aforementioned automatic control system for a hydraulic breaker; or, equipped with the aforementioned control device.

[0050] Compared with the prior art, the present invention has the following advantages:

[0051] 1. This invention can achieve automatic crushing and has safety protection functions such as preventing dry crushing and excessively long-term crushing.

[0052] 2. In automatic crushing mode, the present invention allows for conditional manual crushing, which improves the flexibility of the breaker control and makes it more adaptable to complex working conditions.

[0053] 3. The sensor of this invention is not installed on the breaker hammer, which experiences significant vibration. The entire system is electronically controlled, making it simple and reliable. The system is easy to operate, reducing the driver's workload.

[0054] 4. The crushing frequency can be set directly, making it easier to observe. It is set according to the direct working characteristics of the hydraulic breaker, making it more intuitive. Attached Figure Description

[0055] The accompanying drawings, as part of this invention, are provided to further illustrate the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation thereof. Clearly, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0056] In the attached diagram:

[0057] Figure 1 This is a schematic diagram of the automatic control system for the hydraulic breaker of the present invention;

[0058] Figure 2 This is a flowchart of the manual or automatic crushing mode of the present invention;

[0059] Figure 3 This is a flowchart of the custom breaking frequency function of the present invention.

[0060] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Implementation

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0062] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0063] like Figure 1As shown, an automatic control system for a hydraulic breaker includes a right electric control handle, a left electric control handle, an electric foot pedal, a breaker mode selection switch, a breaker switch, a boom cylinder rod chamber pressure sensor, a main pump outlet pressure sensor, instruments, a controller, a breaker pilot solenoid valve, a breaker main control valve, a breaker, and a main pump displacement control valve. The right electric control handle, left electric control handle, electric foot pedal, electric control mode selection switch, boom cylinder rod chamber pressure sensor, and main pump outlet pressure sensor are connected to the controller input port as input signals. The controller output port is connected to the breaker pilot solenoid valve, which is the pilot stage of the breaker main control valve. The breaker main control valve is connected to the breaker via piping. Simultaneously, the controller output port is connected to the main pump displacement control valve, which is connected to the main pump. The instruments and controller communicate bidirectionally.

[0064] The right electric control handle outputs control signals for the excavator's boom raising, boom lowering, breaker retraction, and breaker swinging actions. The left electric control handle outputs control signals for the excavator's stick retraction, stick swinging, left slewing, and right slewing actions. The electric foot pedal outputs control signals for the excavator's left and right tracks to move forward and backward.

[0065] The crushing mode selection switch outputs an on / off signal. The on signal is the automatic crushing control mode selection signal, and the off signal is the manual crushing mode selection signal.

[0066] The breaker switch outputs on / off signals. The on signal controls the breaker to work, and the off signal controls the breaker to stop working.

[0067] The rod chamber pressure sensor of the boom cylinder is connected to the rod chamber pipeline of the boom cylinder to detect and transmit the pressure in the rod chamber. Main pump outlet pressure sensor.

[0068] The main pump outlet pressure sensor is connected to the main pump outlet to detect and transmit the main pump outlet pressure.

[0069] The controller is used to process the input signals and calculate the output signals based on the input signals.

[0070] The main pump displacement control valve is an electromagnetic control valve used to control the change in the main pump displacement.

[0071] like Figure 2 As shown, an automatic control method for a hydraulic breaker first selects the crushing mode via a crushing mode selection switch. When the output signal of the crushing mode selection switch is off, it is in manual crushing mode. In this mode, the movement of the hydraulic breaker is completely controlled by the crushing switch. When the crushing switch outputs an on signal, the hydraulic breaker operates; when the crushing switch outputs an off signal, the hydraulic breaker does not operate. That is, the hydraulic breaker moves and stops as soon as the crushing switch is turned on or off.

[0072] When the crushing mode selection switch output signal is ON, it is in automatic crushing control mode. In this mode, the controller uses the collected signals from the right electric control handle, left electric control handle, and electric foot pedal to determine if there are any actions other than boom descent. If there are, the crushing pilot solenoid valve is de-energized, and the breaker does not start. If there are no other actions, the controller further uses the hydraulic oil pressure sensor to determine if the pressure in the rod chamber of the boom cylinder is greater than P1. If it is not greater, the crushing pilot solenoid valve is de-energized, and the breaker does not start. If it is greater, the crushing pilot solenoid valve is energized, and the breaker starts, commencing crushing operations. During breaker operation, if the pressure in the rod chamber of the boom cylinder is less than P2, the crushing pilot solenoid valve is de-energized, and the breaker stops; or, if the continuous operating time of the breaker is greater than t1, the crushing pilot solenoid valve is de-energized, and the breaker stops; or, if there are any actions other than boom descent, the crushing pilot solenoid valve is de-energized, and the breaker stops. If the breaker stops operating for less than t2, it cannot start; if it stops for more than t2, the controller re-determines whether the breaker can start.

[0073] A further proposed solution: The relationship between pressures P1 and P2 is P1 > P2.

[0074] Further solution: In automatic crushing control mode, if the controller determines that there are no actions other than boom descent, and the continuous working time of the breaker is less than t1, or the continuous working time of the breaker is greater than t1 but the stopping time is greater than t2, and the pressure in the rod chamber of the boom cylinder is less than P1, then the breaker switch is enabled as TRUE. In this case, as in manual mode, the breaker moves, stops, and activates immediately upon activation of the breaker switch. In automatic crushing control mode, if the controller determines that there are actions other than boom descent, or the continuous working time of the breaker is greater than t1, or the continuous working time of the breaker is greater than t1 but the stopping time is less than t2, or the pressure in the rod chamber of the boom cylinder is greater than P1, or the pressure in the rod chamber of the boom cylinder is less than P2 during breaker operation, then the breaker switch is enabled as FALSE, and the breaker pilot solenoid valve does not respond to the breaker switch.

[0075] like Figure 3As shown, the implementation of the custom crushing frequency function is as follows: First, input the maximum operating frequency of the hydraulic breaker and the set crushing frequency on the instrument. Second, the controller sets the sampling frequency of the main pump outlet pressure to no less than 5 times the maximum operating frequency of the hydraulic breaker. Third, when the hydraulic breaker starts working, the main pump outlet pressure is sampled and recorded using the main pump outlet pressure sensor, with a recording period of no less than 5 set crushing cycles. Fourth, based on the frequency of change of the maximum and minimum values ​​in the main pump outlet pressure sampling records, the frequency of change of the main pump pressure cycle during the crushing process is analyzed, and this is used as the operating frequency of the hydraulic breaker. Fifth, when the detected working frequency of the hydraulic breaker is within d% of the set crushing frequency, the crushing frequency setting is considered accurate, the controller stops sampling, and records the control current of the main pump displacement control valve at this time. Sixth, when the detected working frequency of the hydraulic breaker is greater than d%, the control current of the main pump displacement control valve needs to be reset. The reset method is as follows:

[0076] Main pump displacement control valve current = Main pump displacement control valve current bias value + (Main pump displacement control valve current current current current value - Main pump displacement control valve current bias value) × (1 + (Cyclist set frequency - Cyclist working frequency) / Cyclist working frequency)

[0077] After the main pump displacement control valve control current is reset, start the test and calibration again from step 3 above until the setting is completed.

[0078] The current bias value of the main pump displacement control valve is the starting value of the main pump displacement control current, that is, at the current bias value of the main pump displacement control valve, the main pump displacement is at its minimum.

[0079] As can be seen from the above, the present invention achieves the following functions:

[0080] 1. After the attitude adjustment is completed, the downward pressure of the excavator boom is used as the judgment criterion for the automatic operation of the breaker, thus realizing automatic breaking.

[0081] 2. If the pressure in the rod chamber of the boom cylinder is greater than P1, it is considered that the excavator boom has applied sufficient supporting force to the breaker, and the breaker will not operate without hitting the target.

[0082] 3. When the hydraulic breaker is working automatically, if the pressure in the rod chamber of the boom cylinder is less than P2, it is considered that the supporting force exerted by the excavator boom on the hydraulic breaker is too small, and the risk of emptying the breaker is too high. The hydraulic breaker should be stopped, and P1>P2.

[0083] 4. Allow the boom to press down while the breaker is working, so as to maintain the supporting force of the boom on the breaker during the crushing process.

[0084] 5. Set the maximum continuous working time t1 for the hydraulic breaker. After reaching the maximum continuous working time, stop working and allow it to cool down for a certain period of time after the stop time t2 before it can continue working to prevent damage to the chisel rod due to high heat.

[0085] 6. In automatic control mode, the manual crushing switch can still function when conditions are met, increasing the flexibility of the breaker's operation.

[0086] 7. Frequency customization function: The frequency of the main pump outlet pressure change during actual crushing is used as the crushing frequency, and it is compared with the set frequency for automatic correction.

[0087] This invention also discloses a control device, including a memory and a processor. The memory can be a disk, flash memory, or any other non-volatile storage medium. The memory is used to store instructions corresponding to the above-described automatic control method for a hydraulic breaker. The processor is coupled to the memory and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor is used to execute the instructions stored in the memory.

[0088] In some embodiments, the processor is coupled to the memory via a BUS bus. The control device can also be connected to an external storage system via a storage interface to access external data, and can also be connected to a network or another computer system via a network interface.

[0089] In this embodiment, data instructions are stored in a memory and then processed by a processor, which enables the control device to have compatibility and versatility and improves development efficiency.

[0090] This invention also discloses an excavator equipped with the aforementioned automatic control system for a hydraulic breaker; or, equipped with the aforementioned control equipment. This invention enables automatic breaking and features safety protection functions such as preventing dry-firing and excessively prolonged striking. In automatic breaking mode, manual breaking can be used under certain conditions, improving the flexibility of hydraulic breaker control and making it more adaptable to complex working conditions. The sensors of this invention are not installed on the hydraulic breaker, which experiences significant vibration; the entire system is electronically controlled, resulting in a simple and reliable system. The system is easy to operate, reducing the operator's workload. Directly setting the breaking frequency facilitates observation and is based on the direct working characteristics of the hydraulic breaker, making it more intuitive.

[0091] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0092] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features found in other embodiments but not others, combinations of features from different embodiments are also within the scope of protection of this invention and form different embodiments. For example, in the embodiments described above, those skilled in the art can use them in combination based on known technical solutions and the technical problems to be solved by this application.

[0093] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An automatic control system for a hydraulic breaker, characterized in that, include: The input module is configured to control the action of the hydraulic breaker and select the working mode of the hydraulic breaker, and send the corresponding control signals to the controller. The execution module is configured to automatically start and stop the breaker after receiving the output signal from the controller and to meet the crushing frequency requirements of different geological conditions. The controller is configured to acquire the control signal from the input module, process the acquired control signal to output a signal, and send the output signal to the execution module. The crushing mode is selected by the crushing mode selection switch. When the output signal of the crushing mode selection switch is off, it is manual crushing mode. When the output signal of the crushing mode selection switch is on, it is automatic crushing control mode. The crushing frequency can be set directly by the instrument, and the breaker will work according to the set crushing frequency. Implementation of the customizable crushing frequency function: The first step is to input the maximum operating frequency of the hydraulic breaker and set the breaking frequency on the instrument. The second step is to set the sampling frequency of the main pump outlet pressure to be no less than 5 times the maximum operating frequency of the hydraulic breaker. The third step is to sample and record the main pump outlet pressure through the main pump outlet pressure sensor when the breaker starts working, and the recording cycle is no less than 5 set crushing cycles. The fourth step is to analyze the frequency of change of the main pump pressure cycle during the crushing process based on the frequency of change of the maximum and minimum values ​​in the sampling record of the main pump outlet pressure, and use this as the working frequency of the hydraulic breaker. Fifth step: When the error between the detected working frequency of the hydraulic breaker and the set crushing frequency is within d%, the crushing frequency setting is considered accurate, the controller stops sampling, and records the control current of the main pump displacement control valve at this time. Step 6: When the detected working frequency of the hydraulic breaker deviates from the set breaking frequency by more than d%, the control current of the main pump discharge control valve needs to be reset. The method for resetting the control current of the main pump displacement control valve is as follows: Main pump displacement control valve current = Main pump displacement control valve current bias value + (Main pump displacement control valve current current current current value - Main pump displacement control valve current bias value) × (1 + (Cyclist set frequency - Cyclist working frequency) / Cyclist working frequency). After the main pump displacement control valve control current is reset, start the test and calibration again from step 3 above until the setting is completed. The current bias value of the main pump displacement control valve is the starting value of the main pump displacement control current, that is, at the current bias value of the main pump displacement control valve, the main pump displacement is at its minimum.

2. The automatic control system for a hydraulic breaker according to claim 1, characterized in that, The input module includes: The right electric control handle is connected to the input port of the controller. The right electric control handle outputs control signals for the excavator boom raising, boom lowering, breaker retraction, and breaker swinging actions. The left electric control handle is connected to the input port of the controller, and the left electric control handle outputs control signals for the excavator's stick retraction, stick swing, left rotation, and right rotation actions. The electric foot pedal is connected to the input port of the controller, and outputs control signals for the excavator's left and right tracks to move forward and backward.

3. The automatic control system for a hydraulic breaker according to claim 1, characterized in that, The input module further includes: The crushing mode selection switch is connected to the input port of the controller. The crushing mode selection switch outputs an on / off signal. The on signal is the automatic crushing control mode selection signal, and the off signal is the manual crushing mode selection signal. The breaker switch is connected to the input port of the controller. The breaker switch outputs an on / off signal. The on signal controls the breaker to work, and the off signal controls the breaker to stop working.

4. The automatic control system for a hydraulic breaker according to claim 1, characterized in that, The input module further includes: The boom cylinder rod chamber pressure sensor is connected to the controller input port on one hand and to the boom cylinder rod chamber pipeline on the other hand to detect and transmit the boom cylinder rod chamber pressure. The main pump outlet pressure sensor is connected to the controller input port on one hand and to the main pump outlet on the other hand, to detect and transmit the main pump outlet pressure.

5. The automatic control system for a hydraulic breaker according to claim 1, characterized in that, The execution module includes: The crushing pilot solenoid valve and the crushing main control valve are connected to the output port of the controller. The crushing pilot solenoid valve is the pilot stage of the crushing main control valve. The crushing main control valve is connected to the breaker hammer through a pipeline. The main pump displacement control valve is connected to the controller output port. The main pump displacement control valve is connected to the main pump and is used to control the change in the main pump displacement.

6. The automatic control system for a hydraulic breaker according to claim 1, characterized in that, The execution module further includes: The instrument communicates bidirectionally with the controller, allowing the maximum operating frequency of the breaker and the set breaking frequency to be input on the instrument.

7. An automatic control method for a hydraulic breaker, characterized in that: The crushing mode is selected by the crushing mode selection switch. When the output signal of the crushing mode selection switch is off, it is manual crushing mode. When the output signal of the crushing mode selection switch is on, it is automatic crushing control mode. The crushing frequency can be set directly by the instrument, and the breaker will work according to the set crushing frequency. Implementation of the customizable crushing frequency function: The first step is to input the maximum operating frequency of the hydraulic breaker and set the breaking frequency on the instrument. The second step is to set the sampling frequency of the main pump outlet pressure to be no less than 5 times the maximum operating frequency of the hydraulic breaker. The third step is to sample and record the main pump outlet pressure through the main pump outlet pressure sensor when the breaker starts working, and the recording cycle is no less than 5 set crushing cycles. The fourth step is to analyze the frequency of change of the main pump pressure cycle during the crushing process based on the frequency of change of the maximum and minimum values ​​in the sampling record of the main pump outlet pressure, and use this as the working frequency of the hydraulic breaker. Fifth step: When the error between the detected working frequency of the hydraulic breaker and the set crushing frequency is within d%, the crushing frequency setting is considered accurate, the controller stops sampling, and records the control current of the main pump displacement control valve at this time. Step 6: When the detected working frequency of the hydraulic breaker deviates from the set breaking frequency by more than d%, the control current of the main pump discharge control valve needs to be reset. The method for resetting the control current of the main pump displacement control valve is as follows: Main pump displacement control valve current = Main pump displacement control valve current bias value + (Main pump displacement control valve current current current current value - Main pump displacement control valve current bias value) × (1 + (Cyclist set frequency - Cyclist working frequency) / Cyclist working frequency). After the main pump displacement control valve control current is reset, start the test and calibration again from step 3 above until the setting is completed. The current bias value of the main pump displacement control valve is the starting value of the main pump displacement control current, that is, at the current bias value of the main pump displacement control valve, the main pump displacement is at its minimum.

8. The automatic control method for a hydraulic breaker according to claim 7, characterized in that: When the crushing mode selection switch output signal is off, it is in manual crushing mode. At this time, the movement of the breaker is completely controlled by the crushing switch. When the crushing switch outputs an on signal, the breaker works; when the crushing switch outputs an off signal, the breaker does not work. That is, the breaker moves and stops as soon as the crushing switch is turned on or off.

9. The automatic control method for a hydraulic breaker according to claim 7, characterized in that: When the crushing mode selection switch output signal is ON, it is in automatic crushing control mode. At this time, the controller determines whether there is any action other than boom lowering based on the collected signals from the right electric control handle, left electric control handle, and electric foot pedal. If there is, the crushing pilot solenoid valve is de-energized and the breaker does not start. If not, the controller further determines whether the pressure in the rod chamber of the boom cylinder is greater than the P1 value through the hydraulic oil pressure sensor. If it is not greater than the P1 value, the crushing pilot solenoid valve is de-energized and the breaker does not start. If it is greater than the P1 value, the crushing pilot solenoid valve is energized and the breaker starts, and the crushing operation begins. During the operation of the hydraulic breaker, if the pressure in the rod chamber of the boom cylinder is less than P2, the breaker pilot solenoid valve will be de-energized and the breaker will stop; or, if the continuous working time of the breaker is greater than t1, the breaker pilot solenoid valve will be de-energized and the breaker will stop; or, if there are any actions other than the boom lowering action, the breaker pilot solenoid valve will be de-energized and the breaker will stop. If the breaker stops working for less than t2, the breaker cannot be started. If it stops for more than t2, the startability of the breaker must be reassessed.

10. The automatic control method for a hydraulic breaker according to claim 9, characterized in that: The relationship between pressures P1 and P2 is that P1 > P2.

11. The automatic control method for a hydraulic breaker according to claim 7, characterized in that: In the automatic control mode of the breaker, if the controller determines that there are no other actions besides the boom lowering action, and the continuous working time of the breaker is less than t1 or the continuous working time of the breaker is greater than t1 but the stopping time is greater than t2, and the rod chamber pressure of the boom cylinder is less than P1, then the breaker switch is enabled as TRUE. At this time, just like in the manual mode, the breaker moves, stops and starts as soon as the breaker switch is turned on. In the automatic control mode of the breaker, if the controller determines that there is an action other than the boom lowering action, or the continuous working time of the breaker is greater than t1, or the continuous working time of the breaker is greater than t1 but the stopping time is less than t2, or the pressure in the rod chamber of the boom cylinder is greater than P1, or the pressure in the rod chamber of the boom cylinder is less than P2 during the operation of the breaker, then the breaker switch enable is FALSE, and the breaker pilot solenoid valve does not respond to the breaker switch.

12. A control device, characterized in that, include: Memory; and a processor coupled to the memory, the processor being configured to execute the automatic control method for a hydraulic breaker as described in any one of claims 7 to 11 based on instructions stored in the memory.

13. An excavator, characterized in that: The device is equipped with an automatic control system for a hydraulic breaker as described in any one of claims 1 to 6; or, it is equipped with a control device as described in claim 12.

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