Method, device and system for controlling braking of rotary motor of excavator and excavator

Abstract

The invention relates to the technical field of excavators, and discloses a control method, device and system for excavator rotary motor braking and an excavator. When an excavator rotary handle begins to reset, timing is started, the control current of a rotary work link is controlled to be reduced based on a first attenuation speed, and when the current reset duration of the rotary handle reaches a first duration, the control current of the rotary work link is controlled to be reduced based on a second attenuation speed; the control current for controlling the displacement of the main pump is reduced based on the second attenuation speed, the second attenuation speed is smaller than the first attenuation speed, and when the current reset time length of the rotary handle reaches the second time length, the control current of the unloading valve is controlled to be reduced at the third attenuation speed, so that the control current of the unloading valve is reduced without increasing the back pressure and the minimum displacement of the main pump. The displacement change speed of a main pump, the closing speed of a main valve rotary working unit and the reset speed of an unloading valve are reasonably adjusted, it is guaranteed that enough hydraulic oil enters an oil supplementing cavity before the rotary working unit is not completely closed, and the problem of air suction during braking of a rotary motor is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a control method, device, system and excavator for braking a slewing motor of an excavator. Background Art

[0002] like Figure 1 As shown in the figure, it is the principle diagram of the excavator's slewing motor braking. The staff pushes the excavator's slewing handle to the left, the left slewing starts, the engine drives the main pump to rotate, the main pump displacement begins to increase, the slewing working link switches to the right position, and the hydraulic oil enters the main valve through P1, and enters the slewing motor chamber A through the slewing working link. The relief valve A provides torque for the slewing motor. Chamber A is a high-pressure chamber, which drives the slewing motor to rotate counterclockwise. At this time, the excavator's slewing handle begins to reset, the main pump displacement quickly drops to the minimum Vmin, and the slewing working link quickly returns to the middle position, and the unloading valve quickly works to the right position (that is, the slewing motor is in the early stage of braking when the braking speed changes fastest). The hydraulic oil entering the slewing motor chamber A is immediately cut off, and the hydraulic oil of the main pump returns to the main valve housing through the unloading valve.

[0003] Due to inertia, the swing motor continues to swing left, and the relief valve B provides torque for the swing motor brake. At this time, the A chamber becomes a low-pressure chamber, and the B chamber becomes a high-pressure chamber. The hydraulic oil overflows to channel B through the relief valve B, and then enters channel C. The swing motor chamber A is replenished with oil through the check valve A. At the same time, in order to prevent the A chamber from sucking air, the hydraulic oil in the main valve housing is replenished with oil to the swing motor chamber A through channel E and the check valve A. The pressure of the main valve housing is determined by the back pressure valve setting Pa, and the oil volume of the main valve housing is determined by the minimum displacement Vmin of the main pump.

[0004] In order to prevent the low-pressure chamber from sucking air during braking, the prior art increases the pressure value of the back-pressure valve Pa, increases the pressure difference between the low-pressure chamber and the main valve housing during braking, and makes the main valve housing flow to the A chamber faster. This ensures that the low-pressure chamber is quickly replenished with oil during braking to prevent the swing brake from sucking air. However, increasing the pressure value of the back-pressure valve Pa will increase the back pressure of the entire hydraulic system, causing greater energy waste and increased fuel consumption; or increasing the minimum displacement Vmin of the main pump, that is, increasing the flow rate in the main valve housing during the braking process, to increase the amount of oil replenished from the main valve to the low-pressure chamber during braking, to prevent the swing brake from sucking air, but this will also increase the fuel consumption of the entire machine. Summary of the invention

[0005] In view of this, the present invention provides a control method, device, system and excavator for braking a slewing motor of an excavator, so as to solve the problem of preventing the excavator from sucking air during braking without increasing the fuel consumption of the whole machine.

[0006] In a first aspect, the present invention provides a control method for braking a slewing motor of an excavator, the method comprising: monitoring the movement of a slewing handle of the excavator, starting timing when the slewing handle of the excavator begins to reset, and controlling the control current of the slewing working link to decrease based on a preset first attenuation speed so that the slewing working link is reset to a middle position; when the current reset time of the slewing handle reaches a first time, controlling the control current of the main pump displacement to decrease based on a preset second attenuation speed so that the main pump displacement is reduced to a minimum displacement, the preset second attenuation speed being less than the preset first attenuation speed; when the current reset time of the slewing handle reaches a second time, controlling the control current of the unloading valve to decrease at a preset third attenuation speed so that the unloading valve is reset to the right position, the preset third attenuation speed being less than the preset second attenuation speed, and the second time is greater than the first time.

[0007] The control method for the braking of the excavator slewing motor provided by the present invention starts timing when the excavator slewing handle begins to reset, and controls the control current of the slewing working link to be reduced based on a preset first attenuation speed so that the slewing working link is reset to the middle position; when the current slewing handle reset time reaches the first time, the control current for controlling the main pump displacement is reduced based on a preset second attenuation speed, and the second attenuation speed is less than the preset first attenuation speed; when the current slewing handle reset time reaches the second time, the control current for controlling the unloading valve is reduced at a preset third attenuation speed so that the unloading valve is reset to the right position; the preset third attenuation speed is less than the preset second attenuation speed, and the second time is greater than the first time, so as to achieve reasonable adjustment of the main pump displacement change speed, the main valve slewing working link closing speed, and the unloading valve reset speed without increasing the back pressure and the minimum displacement of the main pump, so as to ensure that before the slewing working link is not completely closed, sufficient hydraulic oil enters the oil replenishing chamber, thereby solving the problem of cavitation of the slewing motor brake.

[0008] In an optional implementation, the first decay speed is determined by the following steps: when the excavator swing handle starts to reset, the reset speed of the swing handle is acquired; and the reset speed of the swing handle is determined as the first decay speed.

[0009] The present invention controls the attenuation speed of the control current of the rotary working link to be consistent with the resetting speed of the rotary handle, so that the operator can more accurately predict and control the stopping process of the rotary action according to the hand feeling of the handle resetting, thereby making the operation smoother and more coordinated.

[0010] In an optional embodiment, obtaining the reset speed of the rotary handle includes: if the rotary handle is a hydraulic handle, detecting the decreasing speed of the output pressure during the resetting process of the rotary handle by a pressure detection device, and using the decreasing speed of the output pressure as the reset speed of the rotary handle; if the rotary handle is an electric handle, obtaining the current decreasing speed of the electric handle during the resetting process, and using the current decreasing speed as the reset speed of the rotary handle.

[0011] In an optional embodiment, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the difference between the second duration and the first duration are all negatively correlated with the pressure of the excavator's slewing motor oil replenishing port.

[0012] The present invention adjusts the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time length, and the difference between the second time length and the first time length based on the pressure of the rotary motor oil replenishing port. This can effectively prevent the rotary motor from sucking air, and can also ensure that sufficient oil flows into the rotary motor, so that the rotary motor is always in a good oil supply state.

[0013] In an optional embodiment, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the time difference between the second duration and the first duration are determined by the following steps: obtaining the pressure of the oil replenishing port of the excavator's swing motor; judging whether the pressure of the oil replenishing port of the swing motor is less than a preset target value, wherein the preset target value represents the critical value of the oil replenishing port pressure of the excavator's braking suction; if the pressure of the oil replenishing port of the swing motor is less than the preset target value, increasing the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the time difference between the second duration and the first duration, until the pressure of the oil replenishing port of the swing motor reaches the preset target value, corresponding to the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the time difference between the second duration and the first duration.

[0014] In an optional embodiment, the method further includes: if the pressure of the rotary motor oil supply port is not less than a preset target value, under the condition that the pressure of the rotary motor oil supply port is not less than the preset target value, reducing the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time length, and the time difference between the second time length and the first time length, to obtain the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time length, and the time difference between the second time length and the first time length, and the minimum value after the reduction.

[0015] In a second aspect, the present invention provides a control device for braking a slewing motor of an excavator, the device comprising: a first current control module, for monitoring the movement of the slewing handle of the excavator, starting timing when the slewing handle of the excavator starts to reset, and controlling the control current of the slewing working link to decrease based on a preset first attenuation speed so that the slewing working link is reset to a middle position; a second current control module, for controlling the control current of the main pump displacement to decrease based on a preset second attenuation speed when the current slewing handle reset time reaches a first time, so that the main pump displacement is reduced to a minimum displacement, the preset second attenuation speed being less than the preset first attenuation speed; a third current control module, for controlling the control current of the unloading valve to decrease at a preset third attenuation speed when the current slewing handle reset time reaches a second time, so that the unloading valve is reset to a right position, the preset third attenuation speed being less than the preset second attenuation speed, and the second time period being greater than the first time period.

[0016] In a third aspect, the present invention provides a control system for excavator slewing motor braking, the system includes a controller, the controller includes: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the control method for excavator slewing motor braking of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0017] In a fourth aspect, the present invention provides an excavator, comprising the excavator swing motor braking control system and the swing motor system as described in the third aspect above, wherein the swing motor system at least comprises a swing working link, a main pump and an unloading valve.

[0018] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the control method for braking an excavator slewing motor according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 is an exemplary diagram of the principle of excavator slewing motor braking according to an embodiment of the present invention;

[0021] Figure 2It is an example diagram of the attenuation of the control current of the existing rotary working link, main pump and unloading valve;

[0022] Figure 3 is a flow chart of a method for controlling the braking of a slewing motor of an excavator according to an embodiment of the present invention;

[0023] Figure 4 is an exemplary diagram of attenuation of control current of a rotary working link, a main pump and an unloading valve according to an embodiment of the present invention;

[0024] Figure 5 is a flow chart of another method for controlling the braking of a slewing motor of an excavator according to an embodiment of the present invention;

[0025] Figure 6 is a schematic structural diagram of a control system for excavator slewing motor braking according to an embodiment of the present invention;

[0026] Figure 7 is a schematic structural diagram of an excavator according to an embodiment of the present invention;

[0027] Figure 8 is a structural block diagram of a control device for excavator slewing motor braking according to an embodiment of the present invention;

[0028] Fig. 9 Schematic diagram of the hardware structure of the controller according to the embodiment of the present invention. DETAILED DESCRIPTION

[0029] 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.

[0030] The excavator's slewing braking process is divided into two stages. Stage 1 is the braking process during the resetting of the handle, which can also be understood as the braking before the slewing main valve core is completely closed, that is, the early and middle stages of braking. Stage 2 is the braking process after the handle is reset, that is, the braking after the slewing main valve core is completely closed, that is, the late stage of braking. Air suction often occurs in the early and middle stages of braking when the braking speed changes the fastest.

[0031] For the braking process of the swing motor, the existing technical means do not match the control current of the main pump and the unloading valve with the control current of the swing working valve core. Usually, when the swing handle is reset, such as Figure 2As shown, the control current of the main valve rotary working link, the control current of the main pump and the control current of the unloading valve have the same slope and the control starting points are consistent.

[0032] The present invention is designed to reasonably match the main pump displacement change speed, the closing speed of the main valve rotary working link, and the reset speed of the unloading valve through program control without increasing the back pressure Pa setting and the minimum displacement Vmin of the main pump, so that before the rotary working link is completely closed, that is, in the early and middle stages of braking, the hydraulic oil in the oil replenishing chamber is not only pushed to the oil replenishing chamber by the back pressure of the main valve housing, but the hydraulic oil of the main pump can flow into the oil replenishing chamber of the rotary motor through the rotary working link, thereby ensuring that in the early and middle stages of braking when the braking speed changes the fastest, the oil replenishing chamber has sufficient oil to replenish, thereby preventing the generation of rotary brake suction.

[0033] According to an embodiment of the present invention, a control method embodiment of an excavator slewing motor braking is provided. 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.

[0034] In this embodiment, a control method for braking a slewing motor of an excavator is provided, which can be used in the control system of the slewing motor braking of the excavator. Figure 3 is a flow chart of a control method for braking a slewing motor of an excavator according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0035] Step S301, monitoring the movement of the excavator's swing handle, starting timing when the excavator's swing handle begins to reset, and controlling the control current of the swing working link to decrease based on a preset first attenuation speed so that the swing working link is reset to the middle working position.

[0036] like Figure 4As shown, the embodiment of the present invention defines the current for controlling the position of the rotary working link valve core as I1, wherein I1 is directly proportional to the position of the rotary working link valve core. For example only, the user pushes the excavator rotary handle to the left based on the braking demand of the excavator, and the left rotation starts. The movement of the excavator rotary handle can be monitored in real time, and the A cavity drives the rotary motor to rotate counterclockwise, and the excavator rotary handle begins to reset. At this time, it is monitored that the excavator handle begins to reset, and the time is defined as T1 (also the attenuation start time of the control current I1 of the rotary working link). At this time, the timing can be started, and the control current I1 of the rotary working link can be controlled to decrease based on a preset first attenuation speed (defined as the first slope K1, at this time K1 is a negative value due to the attenuation of the control current) to reduce the control current I1, reduce the electromagnetic force in the rotary working link valve core, and the valve core is reset to the middle position under the action of the spring force, etc.

[0037] Step S302: When the current rotary handle reset time reaches the first time, the control current for controlling the main pump displacement is reduced based on a preset second attenuation speed to reduce the main pump displacement to a minimum displacement.

[0038] The preset second decay speed is smaller than the preset first decay speed.

[0039] like Figure 4 As shown, the embodiment of the present invention defines the current for controlling the displacement of the main pump as I2, and the decay start time of the main pump displacement as T2 (i.e., the first time length from the start of resetting the rotary handle is T2-T1). Considering that when the excavator is rotating and braking, the speed at which the main pump displacement decreases is slower than the speed at which the rotary working valve core closes, that is, the decay speed of the current I2 for controlling the displacement of the main pump is slower than the decay speed of the control current I1 for controlling the position of the rotary working valve core, the decay speed of I2 is defined as the second slope K2 (K2 is a negative value because the decay of the control current), then K2 is greater than K1, and when the recorded current rotary handle reset time reaches the first time length, the control current for controlling the displacement of the main pump can be reduced based on the preset second decay speed to reduce the displacement of the main pump to the minimum displacement Vmin.

[0040] Step S303, when the current resetting time of the rotary handle reaches the second time, the control current of the unloading valve is reduced at a preset third decay speed, so that the unloading valve is reset to the right position.

[0041] Among them, the preset third decay speed is smaller than the preset second decay speed, and the second duration is larger than the first duration.

[0042] like Figure 4As shown, the embodiment of the present invention defines the control current for controlling the position of the valve core of the unloading valve as I3, defines the decay speed of I3 as the third slope K3 (K3 is because the decay of the control current is a negative value), I3 is directly proportional to the position of the valve core of the unloading valve, and defines the decay start time of the current I3 for controlling the unloading valve as T3 (that is, the second time from the start of the resetting of the rotary handle is T3-T1), wherein, the hydraulic oil of the main pump can pass through the rotary working link only when the unloading valve is energized, and when the unloading valve loses power and resets, the hydraulic oil of the main pump directly returns to the main valve housing through the unloading valve, in order to Ensure that during the braking process, before the swing working valve core is completely closed, more hydraulic oil enters the swing motor A chamber, so that the decay rate of the control current I3 controlling the unloading valve is slower than the decay rate of the control current I2 of the main pump, that is, K3 is greater than K2, and the decay start time T3 of the control current controlling the unloading valve is greater than the decay start time T2 of the current controlling the main pump displacement. When the recorded reset time of the current swing handle reaches the second time, the control current of the unloading valve can be controlled to decrease at the preset third decay rate, so that the unloading valve can be reset to the right position for operation. This is just an example.

[0043] The control method for the braking of the excavator slewing motor provided in the present embodiment starts timing when the slewing handle of the excavator starts to reset, and controls the control current of the slewing working link to decrease based on a preset first attenuation speed so that the slewing working link is reset to the middle position; when the current slewing handle reset time reaches the first time, the control current for controlling the main pump displacement is decreased based on a preset second attenuation speed, and the second attenuation speed is less than the preset first attenuation speed; when the current slewing handle reset time reaches the second time, the control current for controlling the unloading valve is decreased at a preset third attenuation speed so that the unloading valve is reset to the right position; the preset third attenuation speed is less than the preset second attenuation speed, and the second time is greater than the first time, so as to achieve reasonable adjustment of the main pump displacement change speed, the main valve slewing working link closing speed, and the unloading valve reset speed without increasing the back pressure and the minimum displacement of the main pump, so as to ensure that before the slewing working link is not completely closed, sufficient hydraulic oil enters the oil replenishing chamber to solve the problem of cavitation of the slewing motor brake.

[0044] In this embodiment, a control method for braking a slewing motor of an excavator is provided, which can be used in a control system for braking a slewing motor of an excavator. Figure 5 is a flow chart of a control method for braking a slewing motor of an excavator according to an embodiment of the present invention. Figure 5 As shown, the process includes the following steps:

[0045] Step S501, monitoring the movement of the excavator's swing handle, starting timing when the excavator's swing handle begins to reset, and controlling the control current of the swing working link to decrease based on a preset first attenuation speed so that the swing working link is reset to the middle working position.

[0046] Specifically, the above step S501 includes:

[0047] Step S5011, when the excavator swing handle starts to reset, the reset speed of the swing handle is obtained.

[0048] Step S5012: determine the resetting speed of the rotary handle as the first attenuation speed.

[0049] Each time braking is required for rotation, the driver resets the handle, and the reset speed of the handle is determined by the driver's operation. In order to ensure controllability, the embodiment of the present invention naturally matches the reset speed of the rotary working link with the reset speed of the handle, that is, when it is monitored that the rotary handle of the excavator starts to reset, the reset speed of the rotary handle is obtained, and then the reset speed of the rotary handle can be determined as the first attenuation speed corresponding to the control current of the rotary working link.

[0050] The present invention controls the attenuation speed of the control current of the rotary working link to be consistent with the resetting speed of the rotary handle, so that the operator can more accurately predict and control the stopping process of the rotary action according to the hand feeling of the handle resetting, thereby making the operation smoother and more coordinated.

[0051] Specifically, if the rotary handle is a hydraulic handle, the speed of decrease of the output pressure during the resetting process of the rotary handle is detected by a pressure detection device, and the speed of decrease of the output pressure is used as the resetting speed of the rotary handle; if the rotary handle is an electric handle, the speed of decrease of the current of the electric handle during the resetting process is obtained, and the speed of decrease of the current is used as the resetting speed of the rotary handle.

[0052] If the rotary handle of the embodiment of the present invention is a hydraulic handle, it is essentially a pressure reducing valve, and a pressure detection device is provided under the rotary handle, wherein the specific type of the pressure detection device is not limited, and it can be a pressure sensor, and the position of the handle can be determined according to the detected pressure. When the handle is pushed to the maximum position during rotation, the corresponding output pressure is the maximum, and when the handle is reset, the output pressure is zero. Therefore, during the reset of the handle, the pressure detected by the pressure sensor gradually decreases, and the pressure decay rate during the reset of the hydraulic handle can be directly converted into a current decay rate and set to the rotary working link.

[0053] If the rotary handle of the embodiment of the present invention is an electric handle, it is essentially a sliding rheostat. During the process of resetting the handle, the current gradually decreases. The reset speed of the handle can be determined to be the attenuation speed of the current, and the current reduction speed can be directly obtained and used as the reset speed of the rotary handle.

[0054] Step S502: When the current rotary handle reset time reaches the first time, the control current of the main pump displacement is reduced based on the preset second decay speed, so that the main pump displacement is reduced to the minimum displacement. The preset second decay speed is less than the preset first decay speed. Figure 3 Step S302 of the illustrated embodiment will not be described in detail here.

[0055] Step S503, when the current rotary handle reset time reaches the second time, the control current of the unloading valve is reduced at a preset third decay speed, so that the unloading valve is reset to the right position. The preset third decay speed is less than the preset second decay speed, and the second time is greater than the first time. For details, please refer to Figure 3 Step S303 of the illustrated embodiment will not be described in detail here.

[0056] Furthermore, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the difference between the second duration and the first duration are all negatively correlated with the pressure of the excavator's slewing motor oil replenishing port.

[0057] The embodiment of the present invention defines K2-K1=Km, T2-T1=Tm, K3-K2=Kn, T3-T2=Tn, wherein Km, Tm, Kn and Tn are determined by the debugging effect, and Km, Tm, Kn and Tn are unified into a to-be-set difference, for example only. In theory, the larger the to-be-set difference is, the more obvious the anti-cavitation effect is, but the larger the to-be-set difference is, the more likely it is that the pump port will be pressurized, so it is necessary to ensure that the to-be-set difference is as small as possible without cavitation, and the pressure at the oil replenishing port of the rotary motor is defined as Pb, and the to-be-set difference can be appropriately adjusted according to the detected Pb value, wherein Pm is inversely correlated with the to-be-set difference, that is, the smaller Pb is, the larger the to-be-set difference is, for example only.

[0058] The present invention adjusts the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time length, and the difference between the second time length and the first time length based on the pressure of the rotary motor oil replenishing port. This can effectively prevent the rotary motor from sucking air, and can also ensure that sufficient oil flows into the rotary motor, so that the rotary motor is always in a good oil supply state.

[0059] Specifically, the pressure of the oil filling port of the excavator's swing motor is obtained; it is determined whether the pressure of the oil filling port of the swing motor is less than a preset target value, the preset target value represents the critical value of the oil filling port pressure of the excavator's braking suction; if the pressure of the oil filling port of the swing motor is less than the preset target value, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time duration, and the time difference between the second time duration and the first time duration are increased until the pressure of the oil filling port of the swing motor reaches the preset target value, corresponding to the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time duration, and the time difference between the second time duration and the first time duration.

[0060] Specifically, if the pressure at the rotary motor oil supply port is not less than the preset target value, under the condition that the pressure at the rotary motor oil supply port is not less than the preset target value, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time length, and the time difference between the second time length and the first time length are reduced to obtain the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time length, and the time difference between the second time length and the first time length, and the minimum values ​​after the reduction are obtained.

[0061] Excavators of different tonnages are different. The value of Pb is the basis for judging whether there is air suction. The values ​​of Km, Kn, Tm, and Tn can be adjusted according to the air suction situation. In the embodiment of the present invention, the critical value of the oil filling port pressure of the excavator's brake air suction can be set as the preset target value, the pressure of the oil filling port of the excavator's swing motor can be obtained, and it can be judged whether the pressure of the oil filling port of the swing motor is less than the preset target value. If the pressure of the oil filling port of the excavator's swing motor is less than the preset target value, it means that the excavator has air suction. The values ​​of Km, Kn, Tm, and Tn can be appropriately increased until the pressure of the oil filling port of the swing motor reaches the preset target value, and the corresponding adjusted values ​​of Km, Kn, Tm, and Tn can be obtained; if it is judged that the pressure of the oil filling port of the swing motor is not less than the preset target value, the values ​​of Km, Kn, Tm, and Tn can be reduced under the condition that the oil filling port of the swing motor is not less than the preset target value. The minimum value of Km, Kn, Tm, and Tn obtained by debugging is the optimal value, which is only used as an example.

[0062] In this embodiment, a control system for the excavator slewing motor brake is also provided. Figure 6 As shown, the system includes a controller, the controller includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method of the excavator slewing motor braking of the above embodiment by executing the computer instructions.

[0063] In this embodiment, an excavator is also provided. Figure 7As shown, the excavator includes a control system for the excavator's slewing motor brake and a slewing motor system. The slewing motor system at least includes a slewing working link, a main pump and an unloading valve, so that there is no need to increase the back pressure of the hydraulic system or the minimum displacement of the main pump. The back pressure of the hydraulic system and the minimum displacement of the main pump can be appropriately reduced through debugging and optimization, thereby solving the problem of cavitation of the slewing brake and reducing optimization.

[0064] In this embodiment, a control device for the excavator slewing motor brake is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0065] This embodiment provides a control device for braking a slewing motor of an excavator. Figure 8 As shown, it includes: a first current control module 801, which is used to monitor the movement of the excavator's swing handle, start timing when the excavator's swing handle begins to reset, and control the control current of the swing working link to be reduced based on a preset first attenuation speed so that the swing working link is reset to the middle position; a second current control module 802, which is used to control the control current of the main pump displacement to be reduced based on a preset second attenuation speed when the current swing handle reset time reaches the first time, so that the main pump displacement is reduced to the minimum displacement, and the preset second attenuation speed is less than the preset first attenuation speed; a third current control module 803, which is used to control the control current of the unloading valve to be reduced at a preset third attenuation speed when the current swing handle reset time reaches the second time, so that the unloading valve is reset to the right position, the preset third attenuation speed is less than the preset second attenuation speed, and the second time is longer than the first time.

[0066] In some optional embodiments, the first current control module 801 includes: a reset speed acquisition unit, used to acquire the reset speed of the swing handle when the excavator swing handle starts to reset; and a decay speed determination unit, used to determine the reset speed of the swing handle as the first decay speed.

[0067] In some optional embodiments, the reset speed acquisition unit includes: a pressure reduction speed acquisition subunit, which is used to detect the reduction speed of the output pressure during the resetting process of the rotary handle through a pressure detection device if the rotary handle is a hydraulic handle, and use the reduction speed of the output pressure as the reset speed of the rotary handle; a current reduction speed acquisition subunit, which is used to obtain the current reduction speed of the electric handle during the resetting process if the rotary handle is an electric handle, and use the current reduction speed as the reset speed of the rotary handle.

[0068] In some optional embodiments, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time duration, and the difference between the second time duration and the first time duration are all negatively correlated with the pressure of the excavator's slewing motor oil replenishing port.

[0069] In some optional embodiments, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the time difference between the second duration and the first duration are determined by the following steps: obtaining the pressure of the oil replenishing port of the excavator's swing motor; judging whether the pressure of the oil replenishing port of the swing motor is less than a preset target value, the preset target value represents the critical value of the oil replenishing port pressure of the excavator's braking suction; if the pressure of the oil replenishing port of the swing motor is less than the preset target value, increasing the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the time difference between the second duration and the first duration, until the pressure of the oil replenishing port of the swing motor reaches the preset target value, the corresponding difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the time difference between the second duration and the first duration are obtained.

[0070] In some optional embodiments, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time duration, and the time difference between the second time duration and the first time duration are determined by the following steps: if the pressure at the rotary motor oil replenishing port is not less than a preset target value, under the condition that the rotary motor oil replenishing port is not less than the preset target value, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time duration, and the time difference between the second time duration and the first time duration are reduced to obtain the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time duration, and the time difference between the second time duration and the first time duration, and their respective minimum values ​​after being reduced.

[0071] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0072] The control device for the excavator slewing motor brake in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0073] The embodiment of the present invention also provides a controller having the above Figure 8 The control device for the excavator swing motor brake is shown.

[0074] See also Fig. 9 , Fig. 9 is a schematic diagram of the structure of a controller provided by an optional embodiment of the present invention, such as Fig. 9 As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the controller, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple controllers can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig. 9 A processor 10 is taken as an example.

[0075] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0076] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0077] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0078] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0079] The controller further comprises a communication interface 30 for the controller to communicate with other devices or a communication network.

[0080] 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.

[0081] 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 defined scope.

Claims

1. A control method for braking a slewing motor of an excavator, characterized in that: The method comprises: Monitoring the movement of the excavator's rotary handle, starting timing when the excavator's rotary handle begins to reset, and controlling the control current of the rotary working link to decrease based on a preset first attenuation speed so that the rotary working link is reset to a neutral position; When the current resetting time of the rotary handle reaches the first time, the control current controlling the displacement of the main pump is reduced based on a preset second decay speed so that the displacement of the main pump is reduced to a minimum displacement, and the preset second decay speed is less than the preset first decay speed; When the current resetting time of the rotary handle reaches the second time, the control current controlling the unloading valve is reduced at a preset third decay speed so that the unloading valve is reset to the right position. The preset third decay speed is less than the preset second decay speed, and the second time is greater than the first time.

2. The method according to claim 1, characterized in that The first decay rate is determined by the following steps: When the excavator swing handle starts to reset, obtaining the reset speed of the swing handle; The resetting speed of the rotary handle is determined as the first decay speed.

3. The method according to claim 2, characterized in that The obtaining of the resetting speed of the rotary handle comprises: If the rotary handle is a hydraulic handle, the decreasing speed of the output pressure during the resetting process of the rotary handle is detected by a pressure detection device, and the decreasing speed of the output pressure is used as the resetting speed of the rotary handle; If the rotary handle is an electric handle, the current reduction speed of the electric handle during the resetting process is obtained, and the current reduction speed is used as the resetting speed of the rotary handle.

4. The method according to claim 1, characterized in that: The difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the difference between the second duration and the first duration are all negatively correlated with the pressure of the oil replenishing port of the excavator's swing motor.

5. The method according to claim 4, characterized in that The difference between the third decay rate and the second decay rate, the difference between the second decay rate and the first decay rate, the first duration, and the duration difference between the second duration and the first duration are determined by the following steps: Obtaining the pressure of the oil filling port of the excavator swing motor; Determining whether the pressure of the oil replenishing port of the swing motor is less than a preset target value, wherein the preset target value represents a critical value of the oil replenishing port pressure of the excavator braking suction; If the pressure at the rotary motor oil replenishing port is less than the preset target value, increase the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the difference between the second duration and the first duration until the pressure at the rotary motor oil replenishing port reaches the preset target value, corresponding to the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first duration, and the difference between the second duration and the first duration.

6. The method according to claim 5, characterized in that The method further comprises: If the pressure at the rotary motor oil supply port is not less than a preset target value, under the condition that the pressure at the rotary motor oil supply port is not less than the preset target value, the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time duration, and the time difference between the second time duration and the first time duration are reduced to obtain the difference between the third attenuation speed and the second attenuation speed, the difference between the second attenuation speed and the first attenuation speed, the first time duration, and the time difference between the second time duration and the first time duration, and the minimum values ​​after the reduction are obtained.

7. A control device for the braking of an excavator slewing motor, characterized in that: The device comprises: A first current control module is used to monitor the action of the excavator's rotary handle, start timing when the excavator's rotary handle starts to reset, and control the control current of the rotary working link to decrease based on a preset first attenuation speed so that the rotary working link is reset to a neutral position; A second current control module is used to control the control current of the main pump displacement to decrease based on a preset second decay speed when the current resetting time of the rotary handle reaches a first time, so as to reduce the main pump displacement to a minimum displacement, and the preset second decay speed is less than the preset first decay speed; The third current control module is used to control the control current of the unloading valve to be reduced at a preset third decay speed when the current rotary handle reset time reaches a second time, so that the unloading valve is reset to the right position, and the preset third decay speed is less than the preset second decay speed, and the second time length is greater than the first time length.

8. A control system for excavator slewing motor braking, characterized in that: The system includes a controller, which includes a memory and a processor. The memory and the processor are communicatively connected to each other. Computer instructions are stored in the memory. The processor executes the control method for excavator slewing motor braking according to any one of claims 1 to 6 by executing the computer instructions.

9. An excavator, characterized in that: The excavator comprises the excavator swing motor braking control system and the swing motor system as claimed in claim 8, wherein the swing motor system at least comprises a swing working link, a main pump and an unloading valve.

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 excavator swing motor braking control method according to any one of claims 1 to 6.

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