Control method of excavator boom, electronic device, and storage medium

Abstract

This application provides a control method, electronic device, and storage medium for an excavator boom, relating to the field of excavator manufacturing technology. The excavator includes a boom cylinder, a first oil pump, and a second oil pump respectively connected to the boom cylinder. The first oil pump is connected to the boom cylinder via a first valve core, and the second oil pump is connected to the boom cylinder via a second valve core. The control method for the excavator boom includes: acquiring the oil outlet pressure of the first oil pump when the excavator performs a boom lowering action or a combination of boom lowering action and other actions; comparing the oil outlet pressure of the first oil pump with a preset pressure threshold; and if the oil outlet pressure of the first oil pump is greater than the preset pressure threshold for a preset duration, controlling the boom to perform a jacking operation.

Description

Technical Field

[0001] This invention relates to the field of excavator manufacturing technology, specifically to a control method, electronic device, and storage medium for an excavator boom. Background Technology

[0002] In existing technologies, a pressure sensor is often installed in the large chamber of the boom cylinder. During normal boom descent, the main pump is not controlled, maintaining its minimum displacement to supply oil to the small chamber of the boom cylinder. In this case, boom descent relies primarily on the return oil regeneration flow from the large chamber to reduce power consumption. When the pressure in the large chamber of the boom cylinder is detected to be below a certain threshold, it is determined that the return oil pressure is insufficient, and the bucket may touch the ground, requiring a lifting operation. The main pump displacement is then controlled again to meet the lifting operation requirements. However, because the pressure in the large chamber of the boom cylinder when the bucket touches the ground is affected by various factors such as the boom descent speed, relying solely on the pressure in the large chamber of the boom cylinder cannot accurately identify and predict the lifting operation. Furthermore, existing technologies are not entirely applicable to complex boom descent movements. Summary of the Invention

[0003] This application provides a control method for an excavating boom to at least solve one technical problem existing in the related art.

[0004] According to one aspect of the embodiments of this application, a control method for an excavator boom is provided. The excavator includes a boom cylinder, a first oil pump and a second oil pump respectively connected to the boom cylinder; the first oil pump is connected to the boom cylinder via a first valve core, and the second oil pump is connected to the boom cylinder via a second valve core; the control method for the excavator boom includes:

[0005] The pressure at the outlet of the first oil pump is obtained when the excavator performs a boom lowering action or a combination of boom lowering action and other actions.

[0006] Compare the pressure at the outlet of the first oil pump with a preset pressure threshold;

[0007] If the oil outlet pressure of the first oil pump is greater than the preset pressure threshold for a preset duration, the boom is controlled to perform a supporting operation.

[0008] As an optional implementation, the excavator further includes an oil inlet valve disposed between the first valve core and the first oil pump; the control method for the excavator boom further includes: acquiring a signal that the excavator performs a boom lowering action or a composite action of the boom lowering action and other actions; cutting off the oil inlet valve so that the first oil pump supplies oil to the small chamber of the boom cylinder at the minimum displacement; or, controlling the oil inlet valve to be energized so that the oil inlet valve is in a closed state.

[0009] As an optional implementation, the combined actions include: boom lowering and slewing, boom lowering and stick movement, and boom lowering and bucket movement.

[0010] As an optional implementation, the excavator further includes a bucket cylinder and a stick cylinder, which are connected to the first oil pump via the bucket valve core and the stick valve core, respectively.

[0011] As an optional implementation, when the excavator performs a boom lowering action or a combination of boom lowering and slewing actions, the oil inlet valve is shut off, so that the first oil pump supplies oil to the small chamber of the boom cylinder at the minimum displacement.

[0012] As an optional implementation, when the excavator performs a combined action of lowering the boom and moving the stick, the oil inlet valve is energized to keep it closed, and the first oil pump supplies oil to the stick cylinder only through the stick valve core.

[0013] As an optional implementation, when the excavator performs a combined action of lowering the boom and moving the bucket, the oil inlet valve is energized to keep it closed, and the first oil pump supplies oil to the bucket cylinder only through the bucket valve core.

[0014] As an optional implementation, the method further includes: when the excavator is in the initial state, controlling the oil inlet valve to de-energize; obtaining the pilot pressure of the first valve core; and determining the opening degree of the first valve core and the oil inlet valve based on the pilot pressure.

[0015] Another aspect of this application discloses an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus, the memory is used to store a computer program, and the processor is used to execute the control method steps of the excavator boom by running the computer program stored in the memory.

[0016] In another aspect, this application discloses a computer-readable storage medium storing a computer program configured to execute the control method steps of the excavator boom during runtime.

[0017] In this embodiment, a control method for an excavator boom is provided. The excavator includes a boom cylinder, a first oil pump, and a second oil pump connected to the boom cylinder. The first oil pump is connected to the boom cylinder via a first valve core, and the second oil pump is connected to the boom cylinder via a second valve core. The control method for the excavator boom includes: acquiring the oil outlet pressure of the first oil pump when the excavator performs a boom lowering action or a combination of boom lowering action and other actions; comparing the oil outlet pressure of the first oil pump with a preset pressure threshold; if the oil outlet pressure of the first oil pump is greater than the preset pressure threshold for a preset duration, controlling the boom to perform a jacking operation. This method can accurately determine the jacking condition based on the pump pressure, resolving the contradiction between fully utilizing regenerative flow for boom lowering and the need to use a single or combined boom lowering action for jacking under certain conditions, thus achieving a dual improvement in excavator fuel efficiency and the coordination of boom lowering-related combined actions. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic flowchart of an optional control method for an excavator boom provided according to an embodiment of this application;

[0021] Figure 2 This is a modular schematic diagram of an excavator according to an embodiment of this application;

[0022] Figure 3 This is a structural block diagram of an optional electronic device according to an embodiment of this application.

[0023] Figure Labels

[0024] 1. Boom cylinder; 2. First oil pump; 3. Second oil pump; 4. First valve core; 5. Second valve core; 6. Inlet valve; 7. Bucket valve core; 8. Stick valve core. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] In existing technologies, a pressure sensor is often installed in the large chamber of the boom cylinder. During normal boom descent, the main pump is not controlled, maintaining its minimum displacement to supply oil to the small chamber of the boom cylinder. In this case, boom descent relies primarily on the return oil regeneration flow from the large chamber to reduce power consumption. When the pressure in the large chamber of the boom cylinder is detected to be below a certain threshold, it is determined that the return oil pressure is insufficient, and the bucket may touch the ground, requiring a lifting operation. The main pump displacement is then controlled again to meet the lifting operation requirements. However, because the pressure in the large chamber of the boom cylinder when the bucket touches the ground is affected by various factors such as the boom descent speed, relying solely on the pressure in the large chamber of the boom cylinder cannot accurately identify and predict the lifting operation. Furthermore, existing technologies are not entirely applicable to complex boom descent movements.

[0028] like Figure 1-2 As shown, this application provides a control method for an excavator boom. The excavator includes a boom cylinder 1, a first oil pump 2 and a second oil pump 3 respectively connected to the boom cylinder 1; the first oil pump 2 is connected to the boom cylinder 1 through a first valve core 4, and the second oil pump 3 is connected to the boom cylinder 1 through a first valve core 5; the control method for the excavator boom includes:

[0029] S1 obtains the oil outlet pressure of the first oil pump 2 when the excavator performs a boom lowering action or a combination of boom lowering action and other actions.

[0030] S2 compares the oil outlet pressure of the first oil pump 2 with a preset pressure threshold.

[0031] S3 If the oil outlet pressure of the first oil pump 2 is greater than the preset pressure threshold for a preset duration, the boom is controlled to achieve the lifting operation.

[0032] Specifically, it can accurately determine the boom-supporting condition based on pump pressure, resolving the contradiction between fully utilizing the regenerative flow for boom lowering and the need to use a single or combined boom lowering action for "supporting" under certain conditions, thereby achieving a dual improvement in excavator fuel efficiency and the coordination of boom lowering-related composite actions.

[0033] Furthermore, this application does not impose any further limitations on the preset pressure threshold, which can be calibrated according to different working conditions of different excavators.

[0034] As an optional implementation, the excavator further includes an oil inlet valve 6 disposed between the first valve core 4 and the first oil pump 2; the control method of the excavator boom further includes: acquiring a signal that the excavator performs a boom lowering action or a combination of a boom lowering action and other actions; cutting off the oil inlet valve 6 so that the first oil pump 2 supplies oil to the small chamber of the boom cylinder 1 at the minimum displacement; or, controlling the oil inlet valve 6 to be energized so that the oil inlet valve 6 is in a closed state.

[0035] As an optional implementation, the combined actions include: boom lowering and slewing, boom lowering and stick movement, and boom lowering and bucket movement.

[0036] As an optional implementation, the excavator also includes a bucket cylinder and a stick cylinder, which are connected to the first oil pump 2 via the bucket valve core 7 and the stick valve core 8, respectively.

[0037] As an optional implementation, when the excavator performs a boom lowering action or a combination of boom lowering and slewing actions, the oil inlet valve 6 is shut off, so that the first oil pump 2 supplies oil to the small chamber of the boom cylinder 1 at the minimum displacement.

[0038] When a single boom descent or boom descent + slewing action is detected, control of the first hydraulic pump 2's displacement is cut off, allowing only the minimum displacement of the first hydraulic pump 2 to supply oil to the small chamber of the boom cylinder 1. At this time, boom descent mainly relies on the regeneration of the large chamber of the boom cylinder 1 to replenish oil to the small chamber, fully utilizing the regeneration flow. When the bucket touches the ground and supports the vehicle, the oil outlet of the first hydraulic pump 2 connects to the small chamber of the boom cylinder 1, and the first hydraulic pump 2 has a minimum displacement for oil supply. The hydraulic oil is compressed, causing a significant increase in the pressure of the first hydraulic pump 2. When the pressure of the first hydraulic pump 2 exceeds a certain threshold and persists for a certain period, it is determined to be a supporting operation condition, and control of the first hydraulic pump 2's displacement is restored to achieve normal supporting operation.

[0039] As an optional implementation, when the excavator performs a combined action of lowering the boom and moving the stick, the oil inlet valve 6 is energized and closed, and the first oil pump 2 supplies oil to the stick cylinder only through the stick valve core 8.

[0040] As an optional implementation, when the excavator performs a combined action of lowering the boom and moving the bucket, the oil inlet valve 6 is energized and closed, and the first oil pump 2 supplies oil to the bucket cylinder only through the bucket valve core 7.

[0041] When boom descent combined with stick movement or boom descent combined with bucket movement is detected, the boom inlet valve 6 is energized and closed. At this time, boom descent relies entirely on the large chamber of boom cylinder 1 regenerating oil to replenish the small chamber, fully utilizing the regenerated flow. The first pump 2 supplies oil only to the stick cylinder or bucket cylinder. Compared to simultaneously supplying oil to boom cylinder 1, this results in more oil entering the stick or bucket cylinder, leading to faster stick or bucket movement and improved coordination of these combined actions. When the bucket touches the ground and supports the vehicle, the oil outlet of the first oil pump 2 is connected to the large and small chambers of the bucket cylinder or the large and small chambers of the stick cylinder through the oil circuit of the bucket valve core 7 or the oil circuit of the stick valve core 8. The first oil pump 2 has a normal positive flow control logic to calculate the displacement of oil supply. The hydraulic oil is compressed, so the pressure of the first oil pump 2 will increase significantly. When it is determined that the pressure of the first oil pump 2 is greater than a certain threshold and continues for a certain period of time, it is determined to be a vehicle supporting condition. The boom inlet valve 6 is de-energized and the boom inlet valve 6 is in the open state to realize the normal vehicle supporting operation.

[0042] As an optional implementation, the method further includes: when the excavator is in the initial state, controlling the oil inlet valve 6 to de-energize; obtaining the pilot pressure of the first valve core 4; and determining the opening degree of the first valve core 4 and the oil inlet valve 6 based on the pilot pressure.

[0043] Specifically, in the initial state, the boom inlet valve 6 is de-energized and is in the normally open state; the main pump displacement is controlled according to the normal positive flow control logic, and the pilot pressure determines the main valve core opening and the main pump displacement.

[0044] It is necessary to understand that, such as Figure 2 As shown, when the boom descends, the first valve core 4 is in the left position and the first valve core 5 is in the right position. The first valve core 4 enables oil inlet to the small chamber of the boom cylinder 1, oil return to the large chamber, and flow regeneration from the large chamber to the small chamber; the first valve core 5 enables oil return to the large chamber of the boom cylinder 1. A normally open boom inlet valve 6 is provided between the first oil pump 2 and the first valve core 4. When the boom inlet valve 6 is de-energized, the first oil pump 2 can normally supply oil to the boom cylinder 1 through the oil circuit of the first valve core 4; when the boom inlet valve 6 is energized, the boom inlet valve 6 is closed, and the first oil pump 2 cannot supply oil to the boom cylinder 1 through the oil circuit of the first valve core 4. The slewing motion is supplied by the second oil pump 3; the bucket motion is supplied by the first oil pump 2; and the stick motion is supplied by the combined flow of the first oil pump 2 and the second oil pump 3.

[0045] According to another aspect of this application, an electronic device is provided, the electronic device comprising:

[0046] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the control method for the excavating boom as described in any of the preceding claims.

[0047] Figure 3 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 3 As shown, it includes a processor 202, a communication interface 204, a memory 206, and a communication bus 208. The processor 202, communication interface 204, and memory 206 communicate with each other via the communication bus 208.

[0048] Memory 206 is used to store computer programs;

[0049] The processor 202 performs the above steps when executing the computer program stored in the memory 206.

[0050] As an optional embodiment, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0051] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0052] The memory may include RAM, or non-volatile memory, such as at least one disk storage device. Alternatively, the memory may be at least one storage device located remotely from the aforementioned processor.

[0053] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0054] As an optional embodiment, specific examples in this embodiment can be referred to the examples described in the above embodiments, and will not be repeated here.

[0055] Those skilled in the art will understand that Figure 3 The structure shown is for illustrative purposes only. The device that implements the above-described control method for the excavator boom can be a terminal device, such as a smartphone (e.g., an Android phone, an iOS phone), a tablet computer, a PDA, a mobile internet device (MID), a tablet computer, or a PAD. Figure 3 This does not limit the structure of the aforementioned electronic device. For example, the terminal device may also include components that are more... Figure 3 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 3 The different configurations shown.

[0056] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0057] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0058] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more electronic devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0059] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0060] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0061] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0062] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0063] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0064] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control method for an excavating boom, characterized in that, The excavator includes a boom cylinder, a first oil pump and a second oil pump respectively connected to the boom cylinder; the first oil pump is connected to the boom cylinder through a first valve core, and the second oil pump is connected to the boom cylinder through a second valve core. An oil inlet valve is disposed between the first valve core and the first oil pump; The control method for the excavating boom includes: The pressure at the outlet of the first oil pump is obtained when the excavator performs a boom lowering action or a combination of boom lowering action and other actions. Acquire signals from the excavator to perform a boom lowering action or a combination of boom lowering action and other actions; Cut off the oil inlet valve so that the first oil pump supplies oil to the small chamber of the boom cylinder at the minimum displacement; Alternatively, the oil inlet valve can be energized to close. Compare the pressure at the outlet of the first oil pump with a preset pressure threshold; If the oil outlet pressure of the first oil pump is greater than the preset pressure threshold for a preset duration, the boom is controlled to perform a supporting operation.

2. The control method for an excavating boom as described in claim 1, characterized in that, The combined actions include: boom lowering and slewing, boom lowering and stick movement, and boom lowering and bucket movement.

3. The control method for an excavating boom as described in claim 2, characterized in that, The excavator also includes a bucket cylinder and a stick cylinder, which are connected to the first oil pump through the bucket valve core and the stick valve core, respectively.

4. The control method for an excavating boom as described in claim 2, characterized in that, When the excavator performs a boom lowering action or a combination of boom lowering and slewing actions, the oil inlet valve is shut off, so that the first oil pump supplies oil to the small chamber of the boom cylinder at the minimum displacement.

5. The control method for an excavating boom as described in claim 3, characterized in that, When the excavator performs a combined action of lowering the boom and moving the stick, the oil inlet valve is energized and closed, and the first oil pump supplies oil to the stick cylinder only through the stick valve core.

6. The control method for an excavating boom as described in claim 3, characterized in that, When the excavator performs a combined action of lowering the boom and moving the bucket, the oil inlet valve is energized and closed, and the first oil pump supplies oil to the bucket cylinder only through the bucket valve core.

7. The control method for an excavating boom as described in claim 1, characterized in that, Also includes: When the excavator is in its initial state, the oil inlet valve is de-energized. Obtain the pilot pressure of the first valve core; The opening degree of the first valve core and the oil inlet valve is determined based on the pilot pressure.

8. An electronic device comprising a processor, a communication interface, a memory, and a communication bus, wherein, The processor, the communication interface, and the memory communicate with each other via the communication bus, characterized in that... The memory is used to store computer programs; The processor is configured to execute the control method steps of the excavator boom according to any one of claims 1 to 7 by running the computer program stored in the memory.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the control method steps of the excavator boom according to any one of claims 1 to 7 when it is run.

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