Control method, device and system for excavator swing motor braking and excavator

Abstract

This invention relates to the field of excavator technology, and discloses a control method, device, system, and excavator for the swing motor braking of an excavator. When the excavator's swing handle begins to reset, a timer is started. The control current of the swing linkage decreases at a first decay rate. When the current swing handle reset time reaches the first duration, the control current of the main pump displacement decreases at a second decay rate, which is less than the first decay rate. When the current swing handle reset time reaches the second duration, the control current of the unloading valve decreases at a third decay rate. This achieves reasonable adjustment of the main pump displacement change rate, the closing speed of the main valve swing linkage, and the reset speed of the unloading valve without increasing back pressure or the minimum main pump displacement. This ensures that sufficient hydraulic oil enters the replenishing chamber before the swing linkage is fully closed, thus solving the problem of air intake during swing motor braking.

Description

Technical Field

[0001] This invention relates to the field of excavator technology, specifically to a control method, device, system, and excavator for controlling the swing motor braking of an excavator. Background Technology

[0002] like Figure 1 The diagram shows the principle of the excavator's swing motor braking. When the operator pushes the excavator's swing handle to the left, left swing starts, the engine drives the main pump to rotate, and the main pump's displacement begins to increase. The swing working link switches to the right position, and the hydraulic oil enters the main valve through P1, then enters the swing motor's A chamber through the swing working link. The relief valve A provides torque to the swing motor. The A chamber is a high-pressure chamber, driving the swing motor to rotate counterclockwise. At this time, the excavator's swing handle begins to reset, the main pump's displacement quickly drops to the minimum Vmin, and the swing working link quickly returns to the neutral position. At the same time, the unloading valve quickly operates to the right position (i.e., in the early stage of braking when the swing motor's braking speed changes the most). The hydraulic oil entering the swing motor's A chamber is immediately cut off, and the hydraulic oil from the main pump returns to the main valve housing through the unloading valve.

[0003] Due to inertia, the rotary motor continues to rotate to the left. Relief valve B provides braking torque to the rotary motor. At this time, chamber A becomes a low-pressure chamber, and chamber B becomes a high-pressure chamber. Hydraulic oil overflows through relief valve B into channel B, then enters channel C, and replenishes chamber A of the rotary motor through check valve A. Simultaneously, to prevent cavitation in chamber A, hydraulic oil in the main valve housing replenishes chamber A of the rotary motor through channel E and check valve A. The pressure in the main valve housing is determined by the back pressure valve setting Pa, and the oil flow rate in the main valve housing is determined by the minimum displacement Vmin of the main pump.

[0004] To prevent cavitation in the low-pressure chamber during braking, existing technologies increase the pressure value of the back pressure valve Pa, thereby increasing the pressure difference between the low-pressure chamber and the main valve body and accelerating the flow of oil from the main valve body to chamber A. This ensures rapid oil replenishment to the low-pressure chamber during braking and prevents cavitation during swing braking. However, increasing the pressure value of the back pressure valve Pa raises the back pressure of the entire hydraulic system, resulting in greater energy waste and increased oil consumption. Alternatively, the minimum displacement Vmin of the main pump can be increased, thereby increasing the flow rate in the main valve body during braking. This increases the amount of oil replenished from the main valve to the low-pressure chamber during braking and prevents cavitation during swing braking, but it also increases the overall oil consumption of the machine. Summary of the Invention

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

[0006] In a first aspect, the present invention provides a control method for braking the swing motor of an excavator, the method comprising: monitoring the movement of the excavator's swing handle; starting a timer when the excavator's swing handle begins to reset; and controlling the control current of the swing linkage to decrease based on a preset first attenuation rate to reset the swing linkage to the neutral position; when the current reset duration of the swing handle reaches a first duration, controlling the control current of the main pump displacement to decrease based on a preset second attenuation rate to reduce the main pump displacement to the minimum displacement, wherein the preset second attenuation rate is less than the preset first attenuation rate; and when the current reset duration of the swing handle reaches a second duration, controlling the control current of the unloading valve to decrease at a preset third attenuation rate to reset the unloading valve to the right position, wherein the preset third attenuation rate is less than the preset second attenuation rate, and the second duration is greater than the first duration.

[0007] The excavator swing motor braking control method provided by this invention starts timing when the excavator swing handle begins to reset, and controls the control current of the swing working link to decrease based on a preset first decay rate, so that the swing working link resets to the middle position. When the current swing handle reset time reaches the first duration, the control current of the main pump displacement decreases based on a preset second decay rate, the second decay rate being less than the preset first decay rate. When the current swing handle reset time reaches the second duration, the control current of the unloading valve decreases at a preset third decay rate, so that the unloading valve resets to the right position. The preset third decay rate is less than the preset second decay rate, and the second duration is greater than the first duration. This achieves reasonable adjustment of the main pump displacement change rate, the closing speed of the main valve swing working link, and the reset speed of the unloading valve without increasing back pressure or the minimum displacement of the main pump. This ensures that sufficient hydraulic oil enters the oil replenishment chamber before the swing working link is fully closed, solving the problem of air suction during swing motor braking.

[0008] In one alternative implementation, the first attenuation rate is determined by the following steps: when the excavator swing handle begins to reset, the reset rate of the swing handle is obtained; the reset rate of the swing handle is determined as the first attenuation rate.

[0009] This invention controls the attenuation rate of the control current in the slewing linkage to match the reset speed of the slewing handle, allowing the operator to more accurately predict and control the stopping process of the slewing action based on the feel of the handle resetting, thus making the operation smoother and more coordinated.

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

[0011] In one optional implementation, 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 all negatively correlated with the pressure at the oil filler port of the excavator's swing motor.

[0012] This invention adjusts the difference between the third and second decay speeds, the difference between the second and first decay speeds, the first duration, and the duration difference between the second and first durations based on the pressure adjustment at the oil supply port of the rotary motor. This effectively prevents the rotary motor from sucking in air and ensures that there is enough oil flowing into the rotary motor, so that the rotary motor is always in a good oil supply state.

[0013] In one optional implementation, the differences between the third decay rate and the second decay rate, the differences 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 excavator's rotary motor oil supply port; determining whether the pressure of the rotary motor oil supply port is less than a preset target value, where the preset target value represents the critical value of the oil supply port pressure for the excavator's automatic air suction; if the pressure of the rotary motor oil supply port is less than the preset target value, increasing the differences between the third decay rate and the second decay rate, the differences 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, until the pressure of the rotary motor oil supply port reaches the preset target value, corresponding to the differences between the third decay rate and the second decay rate, the differences 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.

[0014] In an optional embodiment, the method further includes: 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, reducing the difference between the third decay speed and the second decay speed, the difference between the second decay speed and the first decay speed, the first duration, and the duration difference between the second duration and the first duration, to obtain the minimum value of the difference between the third decay speed and the second decay speed, the difference between the second decay speed and the first decay speed, the first duration, and the duration difference between the second duration and the first duration, respectively.

[0015] Secondly, the present invention provides a control device for braking the swing motor of an excavator. The device includes: a first current control module for monitoring the movement of the excavator's swing handle, starting a timer 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 decay rate, so as to reset the swing working link to the neutral position; a second current control module for controlling the control current of the main pump displacement to decrease based on a preset second decay rate, so as to reduce the main pump displacement to the minimum displacement, when the current reset duration of the swing handle reaches a first duration, wherein the preset second decay rate is less than the preset first decay rate; and a third current control module for controlling the control current of the unloading valve to decrease at a preset third decay rate, so as to reset the unloading valve to the right position, when the current reset duration of the swing handle reaches a second duration, wherein the preset third decay rate is less than the preset second decay rate, and the second duration is greater than the first duration.

[0016] Thirdly, the present invention provides a control system for the excavator swing motor braking, the system including a controller, the controller including a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the excavator swing motor braking control method of the first aspect or any corresponding embodiment described above.

[0017] Fourthly, the present invention provides an excavator, the excavator including the excavator slewing motor braking control system and the slewing motor system described in the third aspect above, the slewing motor system including at least a slewing coupling, a main pump and an unloading valve.

[0018] Fifthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the excavator swing motor braking control method of the first aspect or any corresponding embodiment thereof. Attached Figure Description

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

[0020] Figure 1 This is a schematic diagram illustrating the principle of excavator swing motor braking according to an embodiment of the present invention;

[0021] Figure 2This is an example diagram showing the attenuation of the control current in the existing rotary coupling, main pump, and unloading valve;

[0022] Figure 3 This is a flowchart illustrating the control method for the excavator swing motor braking according to an embodiment of the present invention;

[0023] Figure 4 This is an example diagram illustrating the attenuation of the control current of the rotary coupling, main pump, and unloading valve according to an embodiment of the present invention;

[0024] Figure 5 This is a flowchart illustrating another control method for the swing motor braking of an excavator according to an embodiment of the present invention;

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

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

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

[0028] Figure 9 This is a schematic diagram of the hardware structure of the controller according to an embodiment of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0031] For the braking process of the rotary motor, existing technologies do not match the control current of the main pump and unloading valve with the control current of the rotary working valve core. Typically, when the rotary handle resets, 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 point is the same.

[0032] This invention, without increasing the back pressure Pa setting or the minimum displacement Vmin of the main pump, uses program control to rationally match the rate of change of the main pump displacement, the closing speed of the main valve rotary working link, and the reset speed of the unloading valve. This ensures that before the rotary working link is fully closed, i.e. in the early and middle stages of braking, the hydraulic oil in the replenishing chamber is not only pushed to the replenishing chamber by the back pressure of the main valve housing, but the hydraulic oil from the main pump can also enter the replenishing chamber of the rotary motor through the rotary working link. This guarantees that the replenishing chamber has sufficient oil replenishment in the early and middle stages of braking when the braking speed changes the most, preventing the occurrence of cavitation during rotary braking.

[0033] According to an embodiment of the present invention, a control method for braking the swing motor of an excavator is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0034] This embodiment provides a control method for the excavator swing motor brake, which can be used in the aforementioned excavator swing motor brake control system. Figure 3 This is a flowchart of a control method for the excavator swing motor braking according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps:

[0035] Step S301: Monitor the movement of the excavator's swing handle. When the excavator's swing handle begins to reset, start timing and control the control current of the swing working link to decrease based on a preset first decay rate so that the swing working link resets to the neutral working position.

[0036] like Figure 4As shown, in this embodiment of the invention, the current controlling the position of the slewing coupling valve core is defined as I1. I1 is directly proportional to the position of the slewing coupling valve core. As an example, the user pushes the excavator slewing handle to the left based on the excavator's braking requirements, and left slewing starts. The movement of the excavator slewing handle can be monitored in real time. The A chamber drives the slewing motor to rotate counterclockwise, and the excavator slewing handle begins to reset. At this time, the reset of the excavator handle is monitored, and the time is defined as T1 (which is also the attenuation start time of the control current I1 of the slewing coupling). At this time, the timing can be started, and the control current I1 of the slewing coupling can be controlled to decrease based on a preset first attenuation rate (defined as the first slope K1, where K1 is negative due to the attenuation of the control current). This reduces the control current I1, decreases the electromagnetic force inside the slewing coupling valve core, and the valve core resets to the neutral position under the action of spring force, etc.

[0037] In step S302, when the current rotation handle reset time reaches the first duration, the control current controlling the main pump displacement is reduced based on a preset second decay rate so that the main pump displacement is reduced to the minimum displacement.

[0038] The preset second decay rate is less than the preset first decay rate.

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

[0040] In step S303, when the current rotation handle reset time reaches the second duration, the control current of the unloading valve is reduced at a preset third decay rate so that the unloading valve is reset to the right position.

[0041] Among them, the preset third decay rate is less than the preset second decay rate, and the second duration is greater than the first duration.

[0042] like Figure 4As shown, in this embodiment of the invention, the control current controlling the position of the unloading valve core is defined as I3, and the decay rate of I3 is defined as the third slope K3 (K3 is negative because the decay of the control current is negative). I3 is directly proportional to the position of the unloading valve core. The decay start time of the current I3 controlling the unloading valve is defined as T3 (i.e., the second time from the start of the rotary handle resetting is T3-T1). The unloading valve only allows the hydraulic oil of the main pump to pass through the rotary working link when it is energized. When the unloading valve is de-energized, it resets, and the hydraulic oil of the main pump returns directly to the main valve body through the unloading valve. To ensure that during braking, before the slewing working valve core is fully closed, more hydraulic oil enters the slewing motor A chamber, causing the decay rate of the control current I3 controlling the unloading valve to be slower than the decay rate of the control current I2 controlling the main pump, i.e., 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 current slewing handle reset time reaches the second duration, the control current of the unloading valve can be controlled to decrease at a preset third decay rate, so that the unloading valve can be reset to the right position. This is just an example.

[0043] The excavator swing motor braking control method provided in this embodiment starts timing when the excavator swing handle begins to reset, and reduces the control current of the swing working link based on a preset first decay rate to reset the swing working link to the neutral position. When the current swing handle reset time reaches the first duration, the control current of the main pump displacement is reduced based on a preset second decay rate, which is less than the preset first decay rate. When the current swing handle reset time reaches the second duration, the control current of the unloading valve is reduced at a preset third decay rate to reset the unloading valve to the right position. The preset third decay rate is less than the preset second decay rate, and the second duration is greater than the first duration. This achieves reasonable adjustment of the main pump displacement change rate, the closing speed of the main valve swing working link, and the reset speed of the unloading valve without increasing back pressure or the minimum displacement of the main pump. This ensures that sufficient hydraulic oil enters the oil replenishment chamber before the swing working link is fully closed, thus solving the problem of air suction during swing motor braking.

[0044] This embodiment provides a control method for the swing motor braking of an excavator, which can be used in the control system of the swing motor braking of an excavator. Figure 5 This is a flowchart of a control method for the excavator swing motor braking according to an embodiment of the present invention, such as... Figure 5 As shown, the process includes the following steps:

[0045] Step S501: Monitor the movement of the excavator's swing handle. When the excavator's swing handle begins to reset, start timing and control the control current of the swing working link to decrease based on a preset first decay rate so that the swing working link resets to the neutral working position.

[0046] Specifically, step S501 includes:

[0047] Step S5011: When the excavator swing handle begins to reset, obtain the reset speed of the swing handle.

[0048] Step S5012: The reset speed of the rotary handle is determined as the first decay speed.

[0049] Each time braking is required during slewing, the operator resets the handle. The reset speed of the handle is determined by the operator's operation. In order to ensure controllability, this embodiment of the invention makes the reset speed of the slewing coupling naturally match the reset speed of the handle. That is, when the excavator's slewing handle is detected to start resetting, the reset speed of the slewing handle is obtained, and then the reset speed of the slewing handle can be determined as the first decay speed corresponding to the control current of the slewing coupling.

[0050] This invention controls the attenuation rate of the control current in the slewing linkage to match the reset speed of the slewing handle, allowing the operator to more accurately predict and control the stopping process of the slewing action based on the feel of the handle resetting, thus making the operation smoother and more coordinated.

[0051] Specifically, if the rotary handle is a hydraulic handle, the rate at which the output pressure decreases during the reset process is detected by a pressure detection device, and the rate at which the output pressure decreases is taken as the reset speed of the rotary handle; if the rotary handle is an electric handle, the rate at which the current decreases during the reset process is obtained, and the rate at which the current decreases is taken as the reset speed of the rotary handle.

[0052] If the rotary handle in this embodiment of the invention is a hydraulic handle, it is essentially a pressure reducing valve, and a pressure detection device is provided under the rotary handle. The specific type of pressure detection device is not limited; it can be a pressure sensor. The position of the handle can be determined based on the detected pressure. When the handle is pushed to the maximum position during rotation, the corresponding output pressure is at its maximum. When the handle completes its reset, the output pressure is zero. Therefore, during the handle reset process, the pressure detected by the pressure sensor gradually decreases. The pressure decay rate during the hydraulic handle reset process can be directly converted into the current decay rate and set in the rotary working coupler.

[0053] If the rotary handle in this embodiment of the invention is an electric handle, it is essentially a sliding rheostat. During the handle's reset process, the current gradually decreases, and the reset speed of the handle can be determined as the rate of current decay. Thus, the rate of current decay 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 duration, the control current controlling the main pump displacement decreases based on a preset second decay rate, so that the main pump displacement is reduced to the minimum displacement. The preset second decay rate is less than the preset first decay rate. For details, please refer to [link to relevant documentation]. Figure 3 Step S302 of the illustrated embodiment will not be described again here.

[0055] Step S503: When the current rotation handle reset time reaches the second duration, the control current of the unloading valve is reduced at a preset third decay rate, so that the unloading valve resets to the right position. The preset third decay rate is less than the preset second decay rate, and the second duration is greater than the first duration. For details, please refer to [link to details]. Figure 3 Step S303 of the illustrated embodiment will not be described again here.

[0056] Furthermore, 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 all negatively correlated with the pressure at the oil replenishment port of the excavator's swing motor.

[0057] In this embodiment of the invention, K2-K1 = Km, T2-T1 = Tm, K3-K2 = Kn, and T3-T2 = Tn are defined, where Km, Tm, Kn, and Tn are determined by the debugging effect. Km, Tm, Kn, and Tn are unified as the set difference value, which is only an example. Theoretically, the larger the set difference value, the more obvious the anti-cavitation effect. However, a larger set difference value will also cause pressure buildup at the pump inlet. Therefore, it is necessary to ensure that the set difference value is as small as possible without cavitation. The pressure of the rotary motor oil replenishment port is defined as Pb, and its set difference value can be adjusted appropriately according to the detected Pb value. Pm is inversely correlated with the set difference value, that is, the smaller Pb is, the larger the set difference value is. This is only an example.

[0058] This invention adjusts the difference between the third and second decay speeds, the difference between the second and first decay speeds, the first duration, and the duration difference between the second and first durations based on the pressure adjustment at the oil supply port of the rotary motor. This effectively prevents the rotary motor from sucking in air and ensures that there is enough oil flowing into the rotary motor, so that the rotary motor is always in a good oil supply state.

[0059] Specifically, the pressure at the excavator's swing motor oil supply port is obtained; it is determined whether the pressure at the swing motor oil supply port is less than a preset target value, which represents the critical value of the oil supply port pressure for the excavator's automatic suction; if the pressure at the swing motor oil supply port is less than the preset target value, 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 increased until the pressure at the swing motor oil supply port reaches the preset target value, corresponding to 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.

[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 decay speed and the second decay speed, the difference between the second decay speed and the first decay speed, the first duration, and the duration difference between the second duration and the first duration are reduced to obtain the minimum value of the difference between the third decay speed and the second decay speed, the difference between the second decay speed and the first decay speed, the first duration, and the duration difference between the second duration and the first duration, respectively.

[0061] Different excavators have different values ​​for Pb, which is used to determine whether cavitation has occurred. The values ​​of Km, Kn, Tm, and Tn can be adjusted according to the cavitation situation. In this embodiment of the invention, a critical value of the hydraulic pressure at the excavator's automatic cavitation replenishment port can be set as a preset target value. The pressure at the excavator's swing motor replenishment port can be obtained, and it can be determined whether the pressure at the swing motor replenishment port is less than the preset target value. If the pressure at the excavator's swing motor replenishment port is less than the preset target value, it indicates that the excavator is experiencing cavitation. The values ​​of Km, Kn, Tm, and Tn can be appropriately increased until the pressure at the swing motor replenishment port reaches the preset target value. The adjusted values ​​of Km, Kn, Tm, and Tn can then be obtained. If it is determined that the pressure at the swing motor replenishment port is not less than the preset target value, the values ​​of Km, Kn, Tm, and Tn can be decreased while ensuring that the pressure at the swing motor replenishment port is not less than the preset target value. The minimum value of Km, Kn, Tm, and Tn obtained through debugging is the optimal value. This is only an example.

[0062] This embodiment also provides a control system for the excavator's swing motor braking, such as... Figure 6 As shown, the system includes a controller, which includes a memory and a processor. The memory and the processor are interconnected and communicate with each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the excavator swing motor braking control method of the above embodiment.

[0063] This embodiment also provides an excavator, such as Figure 7As shown, the excavator includes a control system for the excavator's swing motor braking and a swing motor system. The swing motor system includes at least a swing working coupling, a main pump, and an unloading valve. This allows for the elimination of the back pressure of the hydraulic system and the minimum displacement of the main pump without increasing the back pressure of the hydraulic system or the minimum displacement of the main pump. Furthermore, through debugging and optimization, the back pressure of the hydraulic system and the minimum displacement of the main pump can be appropriately reduced, solving the problem of air suction during swing braking while also reducing optimization costs.

[0064] This embodiment also provides a control device for braking the excavator's swing motor. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0065] This embodiment provides a control device for braking the swing motor of an excavator, such as... Figure 8 As shown, it includes: a first current control module 801, 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 decrease based on a preset first decay rate, so that the swing working link resets to the middle position; a second current control module 802, used to control the control current of the main pump displacement to decrease based on a preset second decay rate, so that the main pump displacement decreases to the minimum displacement, when the current swing handle reset duration reaches a first duration, the preset second decay rate being less than the preset first decay rate; and a third current control module 803, used to control the control current of the unloading valve to decrease at a preset third decay rate, when the current swing handle reset duration reaches a second duration, so that the unloading valve resets to the right position, the preset third decay rate being less than the preset second decay rate, and the second duration being greater than the first duration.

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

[0067] In some optional embodiments, the reset speed acquisition unit includes: a pressure reduction speed acquisition subunit, used to detect the reduction speed of the output pressure during the reset process of the rotary handle by 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; and a current reduction speed acquisition subunit, used to acquire the current reduction speed of the electric handle during the reset 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 alternative implementations, 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 all negatively correlated with the pressure at the excavator's rotary motor oil filler port.

[0069] In some optional implementations, the differences between the third decay rate and the second decay rate, the differences 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 excavator's rotary motor oil supply port; determining whether the pressure of the rotary motor oil supply port is less than a preset target value, where the preset target value represents the critical value of the oil supply port pressure for the excavator's automatic air suction; if the pressure of the rotary motor oil supply port is less than the preset target value, increasing the differences between the third decay rate and the second decay rate, the differences 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, until the pressure of the rotary motor oil supply port reaches the preset target value, corresponding to the differences between the third decay rate and the second decay rate, the differences 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.

[0070] In some optional implementations, the differences between the third decay rate and the second decay rate, the differences 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: 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 differences between the third decay rate and the second decay rate, the differences 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 reduced to obtain the minimum values ​​of the differences between the third decay rate and the second decay rate, the differences 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, respectively.

[0071] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0072] In this embodiment, the control device for the excavator's swing motor braking is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0073] This invention also provides a controller having the above-described features. Figure 8 The control device for braking the excavator's swing motor is shown.

[0074] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a controller provided in an optional embodiment of the present invention, such as... Figure 9 As shown, the controller includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the controller, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple controllers can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 9 Take a processor 10 as an example.

[0075] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GPA), or any combination thereof.

[0076] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0077] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the controller. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0079] The controller also includes a communication interface 30 for communicating with other devices or communication networks.

[0080] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0081] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the defined scope.

Claims

1. A control method for braking the swing motor of an excavator, characterized in that, The method includes: 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 decrease based on a preset first decay rate so that the swing working link resets to the neutral position. When the current rotary handle reset time reaches the first time, the control current controlling the main pump displacement is reduced based on a preset second decay rate, so that the main pump displacement is reduced to the minimum displacement, and the preset second decay rate is less than the preset first decay rate. When the current reset time of the rotary handle reaches the second duration, the control current of the unloading valve is reduced at a preset third decay rate so that the unloading valve is reset to the right position. The preset third decay rate is less than the preset second decay rate, and the second duration is greater than the first duration.

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 begins to reset, the reset speed of the swing handle is obtained; The reset speed of the rotary handle is determined as the first decay speed.

3. The method according to claim 2, characterized in that, The step of obtaining the reset speed of the rotary handle includes: If the rotary handle is a hydraulic handle, the rate at which the output pressure decreases during the reset process of the rotary handle is detected by a pressure detection device, and the rate at which the output pressure decreases is taken as the reset rate of the rotary handle. If the rotary handle is an electric handle, the rate at which the current decreases during the reset process is obtained, and the rate at which the current decreases is used as the reset rate of the rotary handle.

4. The method according to claim 1, 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 all negatively correlated with the pressure at the oil filler port of the excavator's swing motor.

5. The method according to claim 4, characterized in that, The differences between the third decay rate and the second decay rate, the differences 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: Obtain the pressure at the oil filler port of the excavator's rotary motor; Determine whether the pressure at the oil supply port of the rotary motor is less than a preset target value, where the preset target value represents the critical value of the oil supply port pressure of the excavator's automatic air suction. If the pressure at the rotary motor oil supply port is less than the preset target value, increase the difference between the third decay speed and the second decay speed, the difference between the second decay speed and the first decay speed, the first duration, and the duration difference between the second duration and the first duration, until the pressure at the rotary motor oil supply port reaches the preset target value, and obtain the corresponding difference between the third decay speed and the second decay speed, the difference between the second decay speed and the first decay speed, the first duration, and the duration difference between the second duration and the first duration.

6. The method according to claim 5, characterized in that, The method further includes: 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, reduce the difference between the third decay speed and the second decay speed, the difference between the second decay speed and the first decay speed, the first duration, and the duration difference between the second duration and the first duration to obtain the minimum value after reducing the difference between the third decay speed and the second decay speed, the difference between the second decay speed and the first decay speed, the first duration, and the duration difference between the second duration and the first duration, respectively.

7. A control device for braking the swing motor of an excavator, characterized in that, The device includes: The first current control module is used to monitor the operation of the excavator's swing handle. When the excavator's swing handle begins to reset, it starts timing and controls the control current of the swing working link to decrease based on a preset first decay rate so that the swing working link resets to the middle position. The second current control module is used to reduce the control current for controlling the main pump displacement based on a preset second decay rate when the current rotary handle reset time reaches a first time, so that the main pump displacement is reduced to the minimum displacement, wherein the preset second decay rate is less than the preset first decay rate. The third current control module is used to control the control current of the unloading valve to decrease at a preset third decay rate when the current reset time of the rotary handle reaches the second time, so that the unloading valve can be reset to the right position. The preset third decay rate is less than the preset second decay rate, and the second time is greater than the first time.

8. A control system for braking the swing motor of an excavator, 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. The memory stores computer instructions. The processor executes the computer instructions to perform the control method for the excavator swing motor braking as described in any one of claims 1 to 6.

9. An excavator, characterized in that, The excavator includes the excavator slewing motor braking control system and the slewing motor system as described in claim 8, wherein the slewing motor system includes at least a slewing coupling, a main pump, and an unloading valve.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the control method for braking the excavator slewing motor as described in any one of claims 1 to 6.

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