Pilot control system and method and storage medium

Abstract

The invention relates to the technical field of excavators and discloses a pilot control system and method and a storage medium and system.The pilot control system comprises a main pump, a pilot pump, a motor, a pilot valve, a main valve, a force arm oil cylinder and an oil tank; the main pump, the main valve, the force arm oil cylinder and the oil tank are connected through an oil supply loop. The motor is arranged at the end of the pilot valve and used for pushing the pilot valve to control opening and closing of the pilot valve. A pilot hole of the main valve, the oil tank, the pilot pump and the pilot valve are connected through an oil supply loop. Electromagnetic control is replaced by mechanical control, the overshoot problem of an existing electromagnetic valve is solved, electromagnetic coils at the two ends of the electromagnetic valve can be omitted, and the problems that the electromagnetic coils are attenuated after durability and the operation performance is reduced can be well solved.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a pilot control system, method and storage medium. Background Art

[0002] Engineering machinery is widely used in construction, water conservancy and other engineering fields, among which electric-controlled excavators are gradually taking the leading position in excavators. To control the lifting or lowering of the excavator's lever arm, it is necessary to supply oil to the large or small oil cylinder of the lever arm, so that the piston rod of the oil cylinder extends or retracts, thereby controlling the lifting or lowering of the excavator's lever arm. In the process of hydraulic control through the large or small oil cylinder, such as Figure 1 As shown, a pilot valve and a main valve are often required to cooperate. The pilot valve is a solenoid valve. The opening and closing of the pilot valve is controlled by passing current through the solenoid coils at both ends of the pilot valve, thereby opening the passage between the oil tank and the pilot holes at both ends of the main valve. The pilot oil is input into the pilot hole of the main valve through the pilot pump, so that the main valve is pushed by the pilot oil, and then the opening and closing of the main valve is controlled, and the passage from the main pump to the large and small cylinders is opened or closed, so as to supply oil to the large or small cylinder of the lever arm. However, it was found during debugging that the current solenoid valves will overshoot at the beginning. For example, when a current of 1A to 2A is given to the solenoid coil, the solenoid coil is insensitive, and the pilot valve reacts slowly and does not move. It is not until a current of 3A is given that the pilot valve senses the current and moves. However, 3A has exceeded the theoretical control current, causing the pilot valve to open suddenly. In this case, inaccurate control will occur and the life of the hydraulic system will be affected. In addition, after the pilot valve has been used for a long time, the solenoid valve coil will attenuate and become less sensitive, causing the operability of the excavator to change. The driver gives the same control signal as before but cannot move the lever arm to the same position as before, so the above problem needs to be solved urgently. Summary of the invention

[0003] In view of this, the present invention provides a pilot control system, method and storage medium to solve the problem of overshoot and coil attenuation of the pilot valve.

[0004] In the first aspect, the present invention provides a pilot control system, comprising: a main pump, a pilot pump, a motor, a pilot valve, a main valve, a lever arm cylinder and an oil tank; the main pump, the main valve, the lever arm cylinder and the oil tank are connected by an oil supply circuit; the motor is arranged at the end of the pilot valve, for pushing the pilot valve to control the opening and closing of the pilot valve; the pilot hole of the main valve, the oil tank, the pilot pump and the pilot valve are connected by an oil supply circuit.

[0005] In some optional embodiments, when the pilot pump includes a first pilot pump and a second pilot pump, the motor includes a first motor and a second motor, and the pilot valve includes a first pilot valve and a second pilot valve; the first pilot pump, the first motor and the first pilot valve are used to control the main valve to move in a first direction, and the second pilot pump, the second motor and the second pilot valve are used to control the main valve to move in a second direction; the second direction is opposite to the first direction; wherein the first pilot valve is a three-position three-way valve, springs are installed on both sides of the first pilot valve, the middle position of the first pilot valve is used to disconnect all passages, and the first pilot valve One side position is used to conduct the oil inlet and the reversing oil port of the first pilot valve, and the second side position of the first pilot valve is used to conduct the oil return port and the reversing oil port of the first pilot valve; the first motor is arranged at the end of the first side position of the first pilot valve; the reversing oil port of the first pilot valve is connected to the first pilot hole pipeline of the main valve; the first pilot pump is connected between the oil tank and the oil inlet of the first pilot valve; the first pilot valve has hydraulic tanks at both ends, and the hydraulic tanks at both ends of the first pilot valve are connected to the oil tank through pipelines; the reversing oil port of the first pilot valve is also connected to the hydraulic tank pipeline of the second side position of the first pilot valve.

[0006] In some optional embodiments, the second pilot valve is a three-position three-way valve, springs are installed on both sides of the second pilot valve, the middle position of the second pilot valve is used to disconnect all passages, the first side position of the second pilot valve is used to conduct the oil inlet and the reversing oil port of the second pilot valve, and the second side position of the second pilot valve is used to conduct the oil return and the reversing oil port of the second pilot valve; the second motor is arranged at the end of the first side position of the second pilot valve; the reversing oil port of the second pilot valve is connected to the second pilot hole pipeline of the main valve; the second pilot pump is connected between the oil tank and the oil inlet of the second pilot valve; the second pilot valve has hydraulic tanks at both ends, and the hydraulic tanks at both ends of the second pilot valve are connected to the oil tank through pipelines; the reversing oil port of the second pilot valve is also connected to the hydraulic tank pipeline of the second side position of the second pilot valve.

[0007] In some optional embodiments, when the motor includes a third motor and a fourth motor, the number of the pilot pumps is one and the number of the pilot valves is one; the pilot valve is a two-position four-way valve, the first oil change port of the pilot valve is connected to the first pilot hole of the main valve, and the second oil change port of the pilot valve is connected to the second pilot hole of the main valve; the first position of the pilot valve is used to connect the first oil change port of the pilot valve with the oil inlet, and to connect the second oil change port of the pilot valve with the oil return port; the second position of the pilot valve is used to connect the first oil change port of the pilot valve with the oil return port, and to connect the second oil change port of the pilot valve with the oil inlet; the third motor is arranged at one end of the first position of the pilot valve, and the fourth motor is arranged at one end of the second position of the pilot valve.

[0008] In a second aspect, the present invention provides a pilot control method, which includes: running a motor to push a pilot valve to open the pipeline between a pilot pump and a pilot hole of a main valve through the pilot valve; controlling the operation of the pilot pump to deliver pilot oil to the pilot hole of the main valve to push the position of the main valve through the pilot oil to open the pipeline between the main pump and the lever arm cylinder.

[0009] In some optional embodiments, when the pilot pump includes a first pilot pump and a second pilot pump, the motor includes a first motor and a second motor, and the pilot valve includes a first pilot valve and a second pilot valve, pushing the pilot valve by running the motor includes: running the first motor to push the first side position of the first pilot valve until the first side position of the first pilot valve connects the first pilot pump and the first pilot hole of the main valve; stopping the first motor.

[0010] In some optional embodiments, pushing the pilot valve by running a motor also includes: running a second motor to push the first side position of the second pilot valve until the first side position of the second pilot valve connects the second pilot pump and the second pilot hole of the main valve; stopping the second motor.

[0011] In some optional embodiments, when the motor includes a third motor and a fourth motor, the number of the pilot pump is one and the number of the pilot valve is one, pushing the pilot valve by running the motor includes: running the third motor and keeping the fourth motor stopped until the first position of the pilot valve connects the pilot pump and the first pilot hole of the main valve; stopping the third motor.

[0012] In some optional embodiments, when the motor includes a third motor and a fourth motor, the number of the pilot pump is one and the number of the pilot valve is one, pushing the pilot valve by running the motor also includes: running the fourth motor and keeping the third motor stopped until the pilot pump and the second pilot hole of the main valve are connected through the third position of the pilot valve; stopping the fourth motor.

[0013] In a third aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to cause a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0014] The technical solution provided by the present invention has the following advantages:

[0015] The present invention sets a motor at the end of the pilot valve. The pilot valve does not need to control its displacement through the electromagnetic coil. Instead, the motor is started to push the pilot valve to make it displaced, so as to control the opening and closing of the pilot valve, thereby making the pilot pump deliver pilot oil to the pilot hole of the main valve to achieve the purpose of pilot control. Through this scheme, mechanical control is used instead of electromagnetic control, which greatly improves the micro-action of the excavator, solves the current overshoot problem of the electromagnetic valve, and can save the electromagnetic coils at both ends of the electromagnetic valve. It can also well solve the problem of electromagnetic coil attenuation after durability and reduced operating performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural diagram of the pilot control system of the related technology;

[0018] Figure 2 is a schematic structural diagram of a pilot control system according to an embodiment of the present invention;

[0019] Figure 3 is another structural schematic diagram of a pilot control system according to an embodiment of the present invention;

[0020] Figure 4 is another structural schematic diagram of a pilot control system according to an embodiment of the present invention;

[0021] Figure 5 4 is a flow chart of a pilot control method according to an embodiment of the present invention.

[0022] Figure numerals: main pump 1, pilot pump 2, motor 3, pilot valve 4, main valve 5, lever arm cylinder 6 and oil tank 7, first pilot pump 8, second pilot pump 9, first motor 10, second motor 11, first pilot valve 12, second pilot valve 13, spring 14, hydraulic tank 15, third motor 16, fourth motor 17. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0024] Engineering machinery is widely used in construction, water conservancy and other engineering fields, among which electric-controlled excavators are gradually taking the leading position in excavators. To control the lifting or lowering of the excavator's lever arm, it is necessary to supply oil to the large or small oil cylinder of the lever arm, so that the piston rod of the oil cylinder extends or retracts, thereby controlling the lifting or lowering of the excavator's lever arm. In the process of hydraulic control through the large or small oil cylinder, for example Figure 1 As shown in FIG. 1 , it is a schematic diagram of the hydraulic structure of a pilot control system of the related art. Since the structure of the pilot control system may differ in the type of valves, the number of valves and the way of connecting the valves according to the needs of the user, but the control principle is almost the same, only FIG. 1 is shown in FIG. 1 . Figure 1The pilot control system shown is an example of the related technology. The pilot control of the related technology often requires a pilot valve and a main valve to cooperate. The pilot valve is a solenoid valve. The solenoid coils at both ends of the pilot valve (A1 end and B1 end) are passed with current to control the upward or downward movement of the pilot valve, thereby controlling the opening and closing of the pilot valve in different directions, thereby opening the passage between the oil tank and the pilot holes at both ends of the main valve, and inputting pilot oil into the pilot hole of the main valve through the pilot pump. For example, the pilot pump supplies oil to the A2 position of the pilot hole of the main valve through the pilot valve, or the pilot pump supplies oil to the B2 position of the pilot hole of the main valve through the pilot valve, thereby pushing the main valve through the pilot oil, and then controlling the opening and closing of the main valve, opening or closing the passage from the main pump to the large and small cylinders, thereby supplying oil to the large or small cylinder of the lever arm. For example, if the pilot hole A2 is supplied with oil, the main valve is pushed from left to right, which can conduct the main pump and the large cylinder of the arm cylinder. The main pump supplies oil to the large cylinder and pushes the piston rod to extend. If the pilot hole B2 is supplied with oil, the main valve is pushed from right to left, so that the main pump supplies oil to the small cylinder of the arm cylinder and pushes the piston rod back. However, it was found during debugging that the current solenoid valve will overshoot at the beginning. For example, when the current of 1A to 2A is supplied to the solenoid coils at both ends of the pilot valve, the solenoid coils are insensitive, and the pilot valve reacts slowly and does not move. It is not until the current of 3A is supplied that the pilot valve senses the current and moves. However, 3A has exceeded the theoretical control current, causing the pilot valve to open suddenly. In this case, the control is inaccurate and the life of the hydraulic system is affected. In addition, after the pilot valve has been used for a long time, the solenoid valve coils at both ends of the pilot valve will have the problem of attenuation and become less sensitive, resulting in changes in the operability of the excavator. The driver gives the same control signal as in the early stage but cannot move the arm to the same position as in the early stage. Therefore, the above problems need to be solved urgently.

[0025] According to an embodiment of the present invention, a pilot control system is provided, such as Figure 2 The figure shows a brief module diagram of a pilot control system. Figure 2 It only shows the simple connection relationship of each component, and does not include the specific details of the oil circuit structure. It includes: main pump 1, pilot pump 2, motor 3, pilot valve 4, main valve 5, lever arm cylinder 6 and oil tank 7. The main pump 1, main valve 5, lever arm cylinder 6 and oil tank 7 are connected through an oil supply circuit. In the embodiment of the present invention, the oil supply circuit of the main pump 1 has no special improvement. The detailed connection method of the pipelines between the main pump 1, main valve 5, lever arm cylinder 6 and oil tank 7 can be referred to. Figure 1In this embodiment, the motor 3 is arranged at the end of the pilot valve 4, and is used to push the pilot valve 4 to control the opening and closing of the pilot valve 4. In the embodiment of the present invention, the number of motors 3 can be one or two. When two motors 3 are used, both ends of the pilot valve 4 are equipped with motors 3 to push the pilot valve 4 to move to both ends. When one motor 3 is used, a spring 14 at one end of the motor 3 can be used to ensure that the pilot valve can return to the normal position when the motor is not working. Figure 2 Two motors 3 are used as an example for illustration, but are not particularly limited thereto. The pilot hole of the main valve 5, the oil tank 7, the pilot pump 2 and the pilot valve 4 are connected through an oil supply circuit.

[0026] Specifically, the present invention sets a motor 3 at the end of the pilot valve 4. The pilot valve 4 does not need to control its displacement by the attraction of the electromagnetic coil, but by starting the motor 3, the motor 3 pushes the pilot valve 4 to cause it to move. Figure 2 The pilot valve 4 can be pushed up and down by the motor 3 to control the opening and closing of the pilot valve 4, and then the pilot pump 2 can deliver the pilot oil to the pilot hole of the main valve 5 to achieve the purpose of pilot control. Through this scheme, mechanical control is used instead of electromagnetic control, which greatly improves the micro-action of the excavator, solves the current overshoot problem of the electromagnetic valve, and can save the electromagnetic coils at both ends of the electromagnetic valve, and can also solve the problem of performance degradation after durability.

[0027] In an alternative embodiment, Figure 3 As shown, the pilot control system provided by the present invention includes two motors, two pilot valves and two pilot pumps. Specifically, the pilot pump 2 includes a first pilot pump 8 and a second pilot pump 9, the motor 3 includes a first motor 10 and a second motor 11, and the pilot valve 4 includes a first pilot valve 12 and a second pilot valve 13. Among them, the first pilot pump 8, the first motor 10 and the first pilot valve 12 constitute a first set of pilot control modules, which are only used to control the main valve 5 to move in the first direction, for example Figure 3 The main valve 5 shown moves from left to right; the second pilot pump 9, the second motor 11 and the second pilot valve 13 form a second set of pilot control modules for controlling the main valve 5 to move in a second direction, wherein the second direction is opposite to the first direction, for example Figure 3 The control main valve 5 shown moves from right to left. This embodiment is only taken as an example. In actual application, the first direction and the second direction can also be interchanged.

[0028] The first pilot valve 12 is a three-position three-way valve. Springs 14 are installed on both sides of the first pilot valve 12. The middle position of the first pilot valve 12 is used to disconnect all passages. The first side position of the first pilot valve 12 ( Figure 3 The upper position in the middle) is used to conduct the oil inlet and the reversing oil port of the first pilot valve 12, and the second side position of the first pilot valve 12 ( Figure 3The lower position in the middle) is used to conduct the return oil port and the reversing oil port of the first pilot valve 12; the first motor 10 is arranged at the end of the first side position of the first pilot valve 12; the reversing oil port of the first pilot valve 12 is connected to the first pilot hole pipeline of the main valve 5; the first pilot pump 8 is connected between the oil tank 7 and the oil inlet of the first pilot valve 12; the first pilot valve 12 has hydraulic tanks 15 at both ends, and the hydraulic tanks 15 at both ends of the first pilot valve 12 are connected to the oil tank 7 through pipelines; the reversing oil port of the first pilot valve 12 is also connected to the hydraulic tank 15 pipeline at the second side position of the first pilot valve 12.

[0029] by Figure 3 For example, assuming that the user needs to extend the piston rod of the lever cylinder 6, it is necessary to supply oil to the large cylinder, so that the main valve 5 needs to move from left to right, so it is necessary to control the first pilot valve 12 to work. The embodiment of the present invention controls the first motor 10 to rotate downward and extend, and through the spring 14, the first pilot valve 12 is displaced downward, and the passage between the first pilot pump 8 and the first pilot hole of the main valve 5 is connected, and the first motor 10 is stopped at this time. At this time, the first pilot pump 8 can directly supply oil to the first pilot hole of the main valve 5 ( Figure 3 A3 position of the main valve 5), pushing the main valve 5 to move to the right. The main valve 5 connects the main pump 1 and the large oil cylinder, and the pressure of the main pump 1 can deliver oil to the large oil cylinder through the main valve 5, pushing the piston rod outward. Continue to control, when the main valve 5 has reached the maximum stroke, the pressure at the A3 end continues to increase, and the oil flows into the hydraulic tank 15 at the second side position of the first pilot valve 12 (B3 position), pushing the first pilot valve 12 to move upward, thereby connecting the oil return port of the first pilot valve 12 and the first pilot hole of the main valve (A3 position), and unloading a part of the pressure in the cavity at the A3 position of the main valve to the oil tank 7, so that after reaching a balanced state, the first pilot valve 12 is stable and motionless. If the user needs to retract the piston rod of the lever cylinder, the main valve 5 needs to be controlled to move from right to left, which needs to be achieved through the second pilot valve 13, the second motor 11 and the second pilot pump 9. In some optional implementations, the structure and connection method of the second pilot valve 13, the second motor 11 and the second pilot pump 9 are the same as those of the first pilot valve 12, the first motor 10 and the first pilot pump 8, specifically:

[0030] The second pilot valve 13 is a three-position three-way valve, and springs 14 are installed on both sides of the second pilot valve 13. The middle position of the second pilot valve 13 is used to disconnect all passages, and the first side position of the second pilot valve 13 is used to conduct the oil inlet and the reversing oil port of the second pilot valve 13, and the second side position of the second pilot valve 13 is used to conduct the oil return port and the reversing oil port of the second pilot valve 13; the second motor 11 is arranged at the end of the first side position of the second pilot valve 13; the reversing oil port of the second pilot valve 13 is connected to the second pilot hole pipeline of the main valve 5; the second pilot pump 9 is connected between the oil tank 7 and the oil inlet of the second pilot valve 13; the two ends of the second pilot valve 13 have hydraulic tanks 15, and the hydraulic tanks 15 at both ends of the second pilot valve 13 are connected to the oil tank 7 through pipelines; the reversing oil port of the second pilot valve 13 is also connected to the hydraulic tank 15 pipeline of the second side position of the second pilot valve 13.

[0031] Therefore, the control principle of controlling the main valve 5 to move from right to left is the same as the above-mentioned principle of controlling the main valve 5 to move from left to right, and will not be repeated here.

[0032] Through the solution provided by the embodiment of the present invention, the pilot valve adopts a three-position three-way valve design, and the two sets of pilot valve modules can independently control the position of the main valve, which is more accurate for the micro-control of the oil cylinder. In addition, each set of pilot control modules only needs to use one motor, and cooperate with the pilot valve to connect the hydraulic tank and the reversing oil port. The motor pushes the pilot valve to move downward, and the pilot valve can automatically reset when the pilot pump stops supplying oil, which significantly reduces the control complexity of the entire system, and does not require the coordinated control of a bidirectional motor.

[0033] In some optional embodiments, an embodiment of the present invention provides a second pilot control system, which includes two motors, specifically a third motor 16 and a fourth motor 17, and the number of pilot pumps 2 is one and the number of pilot valves 4 is one, and the pilot valve 4 is a two-position four-way valve. Figure 4 The schematic diagram of the structure of the pilot control system composed of the above components is shown in FIG. 1 . Specifically, the first oil change port of the pilot valve 4 and the first pilot hole ( Figure 4 Take A4 position as an example), the second oil change port of pilot valve 4 is connected to the second pilot hole of main valve 5 ( Figure 4 Taking the B4 position as an example, in actual application, the connection order of the two pilot holes and the two oil change ports can be interchanged); the first position of the pilot valve 4 is used to connect the first oil change port of the pilot valve 4 with the oil inlet, and to connect the second oil change port of the pilot valve 4 with the oil return port; the second position of the pilot valve 4 is used to connect the first oil change port of the pilot valve 4 with the oil return port, and to connect the second oil change port of the pilot valve 4 with the oil inlet; the third motor 16 is arranged at one end of the first position of the pilot valve 4, and the fourth motor 17 is arranged at one end of the second position of the pilot valve 4.

[0034] Specifically, through the pilot control system provided by the embodiment of the present invention, Figure 4 Take the structure as an example, when the user wants to control the extension of the piston rod of the lever arm cylinder 6, the third motor 16 pushes the pilot valve 4 downward to ensure that the pilot pump 2 and the first pilot hole (A4 position) of the main valve 5 are connected, the pilot pump 2 is started to deliver oil, and the main valve 5 is moved to the right, so that the main pump 1 is connected to the large oil cylinder, the main pump 1 starts to deliver oil, and the piston rod of the lever arm cylinder 6 is extended. When the user wants to control the retraction of the piston rod, the fourth motor 17 pushes the pilot valve 4 upward to ensure that the pilot pump 2 and the second pilot hole (A4 position) of the main valve 5 are connected, the pilot pump 2 is started to deliver oil, and the main valve 5 is moved to the left, so that the main pump 1 is connected to the small oil cylinder, the main pump 1 starts to deliver oil, and the piston rod of the oil cylinder is retracted.

[0035] Through the solution provided by the embodiment of the present invention, a pilot control system that mechanically controls the action of the pilot valve is realized through two motors. Mechanical control is used instead of electromagnetic control, which greatly improves the micro-actions of the excavator and solves the current overshoot problem of the solenoid valve. The electromagnetic coils at both ends of the solenoid valve can be omitted, and the problem of performance degradation after durability can be well solved.

[0036] The present invention is only described by taking the above two sets of embodiments as examples. Since the number of positions and the number of passes of the pilot valve can be flexibly selected and the number of motors can also be flexibly adjusted, the pilot control system provided by the embodiment of the present invention is not limited to the above two connection structures. As long as the control principle of the pilot valve in the system structure of the pilot valve controlling the main valve is to perform mechanical displacement by the motor instead of electromagnetic control displacement, it should fall within the protection scope of the technical solution provided by the present invention.

[0037] In this embodiment, a pilot control method embodiment is also provided, which can be used for the above-mentioned pilot control system. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] Figure 5 is a flow chart of a pilot control method according to an embodiment of the present invention, the flow chart comprising the following steps:

[0039] Step S501, running the motor to push the pilot valve, so as to connect the pipeline between the pilot pump and the pilot hole of the main valve through the pilot valve;

[0040] Step S502, controlling the pilot pump to run, delivering pilot oil to the pilot hole of the main valve, so as to push the position of the main valve through the pilot oil, and connect the pipeline between the main pump and the lever arm cylinder.

[0041] In some optional implementations, when the pilot pump includes a first pilot pump and a second pilot pump, the motor includes a first motor and a second motor, and the pilot valve includes a first pilot valve and a second pilot valve, step S501 includes:

[0042] Step a1, running the first motor to push the first side edge of the first pilot valve until the first side edge of the first pilot valve connects the first pilot pump and the first pilot hole of the main valve;

[0043] Step a2, stopping the first motor.

[0044] In some optional implementations, step S501 further includes:

[0045] Step b1, running the second motor to push the first side edge position of the second pilot valve until the first side edge position of the second pilot valve connects the second pilot pump and the second pilot hole of the main valve;

[0046] Step b1, stop the second motor.

[0047] In some optional implementations, when the motor includes a third motor and a fourth motor, the number of the pilot pump is one and the number of the pilot valve is one, step S501 includes:

[0048] Step c1, running the third motor and keeping the fourth motor stopped until the first position of the pilot valve connects the pilot pump and the first pilot hole of the main valve;

[0049] Step c2, stop the third motor.

[0050] In some optional implementations, when the motor includes a third motor and a fourth motor, the number of the pilot pump is one and the number of the pilot valve is one, step S501 further includes:

[0051] Step d1, running the fourth motor and keeping the third motor stopped until the pilot pump and the second pilot hole of the main valve are connected through the third position of the pilot valve;

[0052] Step d2, stopping the fourth motor.

[0053] Specifically, the control logic of the above method embodiment is used to control the process of extending or retracting the cylinder. The specific control principle can be referred to the relevant description of the above system embodiment, which will not be repeated here.

[0054] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0055] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A pilot control system, characterized in that: include: Main pump, pilot pump, motor, pilot valve, main valve, lever cylinder and oil tank; The main pump, the main valve, the lever cylinder and the oil tank are connected via an oil supply circuit; The motor is arranged at the end of the pilot valve, and is used to push the pilot valve to control the opening and closing of the pilot valve; The pilot hole of the main valve, the oil tank, the pilot pump and the pilot valve are connected through an oil supply circuit.

2. The system according to claim 1, characterized in that When the pilot pump includes a first pilot pump and a second pilot pump, the motor includes a first motor and a second motor, and the pilot valve includes a first pilot valve and a second pilot valve; the first pilot pump, the first motor and the first pilot valve are used to control the main valve to move in a first direction, and the second pilot pump, the second motor and the second pilot valve are used to control the main valve to move in a second direction, and the second direction is opposite to the first direction; Wherein, the first pilot valve is a three-position three-way valve, springs are installed on both sides of the first pilot valve, the middle position of the first pilot valve is used to disconnect all passages, the first side position of the first pilot valve is used to conduct the oil inlet and the reversing oil port of the first pilot valve, and the second side position of the first pilot valve is used to conduct the oil return port and the reversing oil port of the first pilot valve; The first motor is arranged at an end portion of a first side position of the first pilot valve; The reversing oil port of the first pilot valve is connected to the first pilot hole pipeline of the main valve; The first pilot pump is connected between the oil tank and the oil inlet of the first pilot valve; The first pilot valve has hydraulic chambers at both ends, and the hydraulic chambers at both ends of the first pilot valve are connected to the oil tank through pipelines; The reversing oil port of the first pilot valve is also connected to the hydraulic tank pipeline at the second side of the first pilot valve.

3. The system according to claim 2, characterized in that The second pilot valve is a three-position three-way valve, springs are installed on both sides of the second pilot valve, the middle position of the second pilot valve is used to disconnect all passages, the first side position of the second pilot valve is used to conduct the oil inlet and the reversing oil port of the second pilot valve, and the second side position of the second pilot valve is used to conduct the oil return port and the reversing oil port of the second pilot valve; The second motor is arranged at the end of the first side of the second pilot valve; The reversing oil port of the second pilot valve is connected to the second pilot hole pipeline of the main valve; The second pilot pump is connected between the oil tank and the oil inlet of the second pilot valve; Both ends of the second pilot valve are provided with hydraulic tanks, and both ends of the hydraulic tanks of the second pilot valve are connected to the oil tank through pipelines; The reversing oil port of the second pilot valve is also connected to the hydraulic tank pipeline at the second side of the second pilot valve.

4. The system according to claim 1, characterized in that When the motor includes a third motor and a fourth motor, the number of the pilot pumps is one and the number of the pilot valves is one; the pilot valve is a two-position four-way valve, the first oil change port of the pilot valve is connected to the first pilot hole of the main valve, and the second oil change port of the pilot valve is connected to the second pilot hole of the main valve; the first position of the pilot valve is used to connect the first oil change port of the pilot valve with the oil inlet, and connect the second oil change port of the pilot valve with the oil return port; the second position of the pilot valve is used to connect the first oil change port of the pilot valve with the oil return port, and connect the second oil change port of the pilot valve with the oil inlet; the third motor is arranged at one end of the first position of the pilot valve, and the fourth motor is arranged at one end of the second position of the pilot valve.

5. A pilot control method, characterized in that: The method comprises: The running motor pushes the pilot valve to connect the pipeline between the pilot pump and the pilot hole of the main valve through the pilot valve; The pilot pump is controlled to run and the pilot oil is delivered to the pilot hole of the main valve so as to push the position of the main valve through the pilot oil and connect the pipeline between the main pump and the lever arm cylinder.

6. The method according to claim 5, characterized in that When the pilot pump includes a first pilot pump and a second pilot pump, the motor includes a first motor and a second motor, and the pilot valve includes a first pilot valve and a second pilot valve, the operation of the motor to push the pilot valve includes: Running the first motor to push the first side edge of the first pilot valve until the first side edge of the first pilot valve connects the first pilot pump and the first pilot hole of the main valve; The first motor is stopped.

7. The method according to claim 6, characterized in that The running motor drives the pilot valve and further comprises: Running the second motor to push the first side edge of the second pilot valve until the first side edge of the second pilot valve connects the second pilot pump and the second pilot hole of the main valve; The second motor is stopped.

8. The method according to claim 5, characterized in that When the motor includes a third motor and a fourth motor, the number of the pilot pump is one and the number of the pilot valve is one, the running motor pushes the pilot valve includes: running the third motor and keeping the fourth motor stopped until the first position of the pilot valve is connected to the first pilot hole of the pilot pump and the main valve; The third motor is stopped.

9. The method according to claim 8, characterized in that When the motor includes a third motor and a fourth motor, the number of the pilot pump is one and the number of the pilot valve is one, the running motor pushes the pilot valve further includes: running the fourth motor and keeping the third motor stopped until the pilot pump and the second pilot hole of the main valve are connected through the third position of the pilot valve; The fourth motor is stopped.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 5 to 9.

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