Control method and device of bucket rod decoupling hydraulic system, excavator and storage medium

Abstract

The invention relates to the technical field of excavators, and particularly discloses a control method and device of a bucket rod decoupling hydraulic system, an excavator and a storage medium. According to the control method of the bucket rod decoupling hydraulic system, the position of a control handle, the oil pressure P1 of a rodless cavity and the oil pressure P2 of a rod cavity are obtained, and whether a bucket rod needs to swing outwards or retract inwards is judged based on the position of the control handle; judging the sizes of P1 and P2; when the bucket rod needs to be retracted inwards and P1 is smaller than P2, it is determined that the regeneration switch is in an open state, the regeneration valve communicates with the rod cavity and the rodless cavity, the opening degree of the regeneration valve is controlled based on the position of the control handle, regeneration of the bucket rod is controlled, and the working condition that a driver expects that the bucket rod is retracted inwards rapidly is met.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a control method and device for a boom decoupling hydraulic system, an excavator and a storage medium. Background Art

[0002] During the operation of the hydraulic excavator, the boom performs periodic outward and inward swinging movements, and most of the potential energy of the boom is consumed in the form of heat energy on the multi-way valve port. This not only causes serious energy waste and high fuel consumption, but also easily causes vibration, noise and heat in the hydraulic system, reducing the reliability and life of the system.

[0003] In this regard, a potential energy recovery method for an oil-hydraulic hybrid excavator disclosed in a previous patent with application number CN201810573174.5 proposes that when the hydraulic cylinder is retracted, the variable pump fills the rod chamber of the compound cylinder with fluid, and the oil in the counterweight chamber is filled into the accumulator, thereby recovering the gravity potential energy. During the gravity potential energy recovery process, the gravity potential energy is stored in the form of hydraulic energy, but this method does not consider the boom regeneration condition; at the same time, this method is only applicable to a single oil pump; in addition, the accumulator is prone to heat up when overflowing, and the hydraulic circuit will also generate heat when the high pressure overflows, affecting the thermal balance of the system. Summary of the invention

[0004] The object of the present invention is to provide a control method, device, excavator and storage medium for a boom decoupling hydraulic system, which are suitable for controlling the boom under boom regeneration conditions.

[0005] In a first aspect, the present invention provides a control method for a boom decoupling hydraulic system, the boom decoupling hydraulic system comprising a boom cylinder, a first oil pump, a second oil pump, a regeneration valve, an oil replenishment circuit, a motor and a battery, the boom cylinder having a rod chamber and a rodless chamber, the two ends of the first oil pump are respectively connected to the rod chamber and the rodless chamber through an oil circuit, the two ends of the second oil pump are respectively connected to the oil replenishment circuit and the rodless chamber, the regeneration valve connects or disconnects the rodless chamber and the rod chamber, the motor is simultaneously transmission-connected to the first oil pump and the second oil pump, the battery is electrically connected to the motor, the first oil pump and the second oil pump can both rotate forward and reverse, and the control method for the boom decoupling hydraulic system comprises:

[0006] Obtaining the position of the operating handle, the oil pressure P1 of the rodless chamber, and the oil pressure P2 of the rod chamber;

[0007] Based on the position of the joystick, determine whether the stick needs to swing outward or inward, and determine the size of P1 and P2;

[0008] If the arm needs to be retracted, and P1 < P2; then it is determined that the regeneration switch is in the on state, the regeneration switch is a switch set on the excavator, and when the regeneration switch is turned on, the regeneration valve can be opened and the opening of the regeneration valve can be adjusted;

[0009] The regeneration valve communicates the rod chamber and the rodless chamber, and the opening degree of the regeneration valve is controlled based on the position of the operating handle.

[0010] As a preferred technical solution of the control method of the boom decoupling hydraulic system, while determining that the regeneration switch is in the on state, the control method of the boom decoupling hydraulic system also includes:

[0011] Get the battery power;

[0012] Determine whether the battery power does not exceed the set power;

[0013] If so, energy recovery is performed, and the energy recovery includes: under the drive of the oil, only the first oil pump, or the first oil pump and the second oil pump simultaneously drive the motor to rotate, and the motor generates electricity and stores it in the battery.

[0014] As the optimal technical solution for the control method of the boom decoupling hydraulic system,

[0015] After energy recovery, the control method of the arm decoupling hydraulic system further includes:

[0016] Determine the required speed of the motor based on the position of the joystick;

[0017] Get the current speed of the motor;

[0018] The additional torque is determined based on the difference between the required speed and the current speed of the motor, and the motor outputs the additional torque.

[0019] As a preferred technical solution for the control method of the boom decoupling hydraulic system, when judging whether the boom needs to swing outward or inward based on the position of the joystick, and judging the size of P1 and P2:

[0020] If the arm needs to swing outward, and P1>P2, then obtain the battery power;

[0021] Determine whether the battery power does not exceed the set power;

[0022] If so, energy recovery is performed, and the energy recovery includes: under the drive of the oil, only the first oil pump, or the first oil pump and the second oil pump simultaneously drive the motor to rotate, and the motor generates electricity and stores it in the battery.

[0023] As a preferred technical solution for the control method of the boom decoupling hydraulic system, when judging whether the boom needs to swing outward or inward based on the position of the joystick, and judging the size of P1 and P2:

[0024] If the arm needs to be retracted and P1≥P2, or if the arm needs to be swung outward and P1≤P2, the required speed of the motor is determined based on the position of the joystick;

[0025] The battery drives the motor to run at the required speed.

[0026] As a preferred technical solution of the control method of the boom decoupling hydraulic system, after the battery-driven motor runs at the required speed, the control method of the boom decoupling hydraulic system also includes:

[0027] The oil pressure in the rod chamber and the rodless chamber, whichever has a smaller oil pressure, is replaced with the oil replenishment passage.

[0028] As a preferred technical solution of the control method of the boom decoupling hydraulic system, before obtaining the position of the operating handle, the oil pressure P1 of the rod chamber and the oil pressure P2 of the rodless chamber, the control method of the boom decoupling hydraulic system further includes:

[0029] Obtaining the oil pressure P1 of the rod chamber, the oil pressure P2 of the rodless chamber, and the oil pressure P3 of the oil replenishment circuit;

[0030] Determine the required torque T of the oil pump based on P1, P2 and P3;

[0031] Get the rated torque a of the motor;

[0032] Determine the size of T and a / 2;

[0033] If T≤a / 2, the first oil pump and the second oil pump output simultaneously; if T>a / 2, only the first oil pump outputs.

[0034] In a second aspect, the present invention provides a control device for a boom decoupling hydraulic system, the boom decoupling hydraulic system comprising a boom cylinder, a first oil pump, a second oil pump, a regeneration valve, an oil replenishment circuit, a motor and a battery, the boom cylinder having a rod chamber and a rodless chamber, the two ends of the first oil pump are respectively connected to the rod chamber and the rodless chamber through an oil circuit, the two ends of the second oil pump are respectively connected to the oil replenishment circuit and the rodless chamber, the regeneration valve connects or disconnects the rodless chamber and the rod chamber, the motor is simultaneously transmission-connected to the first oil pump and the second oil pump, the battery is electrically connected to the motor, the first oil pump and the second oil pump can both rotate forward and reverse, and the control device for the boom decoupling hydraulic system comprises:

[0035] A position and pressure acquisition module, used to acquire the position of the operating handle, the oil pressure P1 of the rodless chamber, and the oil pressure P2 of the rod chamber;

[0036] A judgment module is used to judge whether the stick needs to be swung outward or retracted based on the position of the joystick, and to judge the size of P1 and P2;

[0037] The determination module is used to obtain and determine whether the regeneration switch is in the on state when the bucket arm needs to be retracted and P1 < P2. The regeneration switch is a switch provided on the excavator. When the regeneration switch is turned on, the regeneration valve can be opened and the opening degree of the regeneration valve can be adjusted.

[0038] The regeneration module is used to connect the regeneration valve to the rod chamber and the rodless chamber, and to control the opening of the regeneration valve based on the position of the operating handle.

[0039] In a third aspect, the present invention provides an excavator, comprising:

[0040] one or more processors;

[0041] A storage device for storing one or more programs;

[0042] When the one or more programs are executed by the one or more processors, the one or more processors control the excavator to implement the control method of the boom decoupling hydraulic system as described in any of the above schemes.

[0043] In a fourth aspect, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, enables an excavator to implement a control method for a boom decoupling hydraulic system as described in any of the above-mentioned schemes.

[0044] Beneficial effects of the present invention:

[0045] The present invention provides a control method, device, excavator and storage medium for a boom decoupling hydraulic system. The control method for the boom decoupling hydraulic system obtains the position of an operating handle, the oil pressure P1 of a rodless chamber and the oil pressure P2 of a rod chamber, and judges whether the boom needs to swing outward or retract based on the position of the operating handle, and judges the sizes of P1 and P2; when the boom needs to retract, and P1 < P2, it is determined that a regeneration switch is in an on state, a regeneration valve connects the rod chamber and the rodless chamber, and the opening of the regeneration valve is controlled based on the position of the operating handle, which is suitable for controlling boom regeneration and meets the driver's expectation of a rapid retraction of the boom. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a structural schematic diagram of a bucket arm decoupling hydraulic system in an embodiment of the present invention;

[0047] Figure 2 A first flow chart of a control method for a bucket arm decoupling hydraulic system according to an embodiment of the present invention;

[0048] Figure 3A second flow chart of a control method for a bucket arm decoupling hydraulic system according to an embodiment of the present invention;

[0049] Figure 4 A third flow chart of a control method for a bucket arm decoupling hydraulic system according to an embodiment of the present invention;

[0050] Figure 5 It is a structural schematic diagram of a control device for a bucket arm decoupling hydraulic system according to an embodiment of the present invention;

[0051] Figure 6 It is a structural schematic diagram of a control system of a boom decoupling hydraulic system provided in an embodiment of the present invention.

[0052] In the figure:

[0053] 1. Arm cylinder; 101. Rod chamber; 102. Rodless chamber; 2. Battery; 3. Motor; 4. First oil pump; 5. Second oil pump; 6. Regeneration valve; 7. Make-up oil pump; 8. Make-up oil circuit; 9. Make-up oil overflow valve; 10. Make-up oil motor; 11. Oil tank; 12. First oil circuit; 13. Second oil circuit; 14. Third oil circuit; 15. Balance valve; 16. First holding valve; 17. First pilot valve; 18. First solenoid valve; 19. Second holding valve; 20. Second pilot valve; 21. Second solenoid valve; 22. Third reversing valve; 23. First make-up oil check valve; 24. Second make-up oil check valve; 25. First overflow valve; 26. Second overflow valve;

[0054] 30. Position and pressure acquisition module; 31. Judgment module; 32. Determination module; 33. Regeneration module;

[0055] 100, terminal device; 110, processor; 120, ROM; 130, RAM; 140, bus; 150, I / O interface; 160, input unit; 170, output unit; 180, storage unit; 190, communication unit. DETAILED DESCRIPTION

[0056] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] In the description of the present invention, the terms “first”, “second”, and “first” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0058] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0060] Embodiment 1

[0061] This embodiment can be applied to the automatic control of the inward and outward swing of the boom. The control method of the boom decoupling hydraulic system can be executed by the control device of the boom decoupling hydraulic system. The control device of the boom decoupling hydraulic system can be implemented by software and / or hardware and integrated in the excavator.

[0062] Please refer to Figure 1 In this embodiment, the arm decoupling hydraulic system includes an arm cylinder 1, a first oil pump 4, a second oil pump 5, a regeneration valve 6, an oil replenishment circuit 8, a motor 3 and a battery 2. The arm cylinder 1 has a rod chamber 101 and a rodless chamber 102. The two ends of the first oil pump 4 are connected to the rod chamber 101 and the rodless chamber 102 through pipelines, respectively. The two ends of the second oil pump 5 are connected to the oil replenishment circuit 8 and the rodless chamber 102 through pipelines, respectively. The regeneration valve 6 is used to connect the rod chamber 101 and the rodless chamber 102, or disconnect the rod chamber 101 and the rodless chamber 102. The first oil pump 4 and the second oil pump 5 can both rotate forward and reverse. The battery 2 is electrically connected to the motor 3, and the motor 3 is simultaneously connected to the first oil pump 4 and the second oil pump 5 in transmission connection. Among them, when the regeneration valve 6 is opened, the oil can be directly circulated between the rodless chamber 102 and the rod chamber 101, and flows from the side with high pressure to the side with low pressure, so that the piston rod can move quickly.

[0063] Specifically, the boom cylinder 1 includes a piston rod and a cylinder body. The piston rod divides the inner cavity of the cylinder body into a rod cavity 101 and a rodless cavity 102. The piston rod passes through the rod cavity 101 so that the cross-sectional area of ​​the rod cavity 101 is smaller than the cross-sectional area of ​​the rodless cavity 102. The piston rod can move in the cylinder body, and when the piston rod moves, the volumes of the rod cavity 101 and the rodless cavity 102 increase and decrease. Among them, the cylinder body is hinged to the boom of the excavator, the piston rod is hinged to the boom of the excavator, and the boom is hinged to the boom and the bucket respectively. The outward swing and inward retraction of the boom are realized by the extension and retraction of the piston rod.

[0064] The arm decoupling hydraulic system further includes an oil replenishment pump 7 and an oil replenishment motor 10 for driving the oil replenishment pump 7 to rotate. One end of the oil replenishment pump 7 is connected to the oil tank 11, and the other end is connected to the oil replenishment oil circuit 8. The oil replenishment pump 7 can pump the oil in the oil tank 11 to the oil replenishment oil circuit 8, and the oil replenishment oil circuit 8 can supply oil to the second oil pump 5. Preferably, the arm decoupling hydraulic system further includes an oil replenishment overflow valve 9 connected to the oil replenishment oil circuit 8, and the oil replenishment overflow valve 9 is used to overflow the oil in the oil replenishment oil circuit 8 that exceeds the set pressure to the oil tank 11.

[0065] In this embodiment, one end of the first oil pump 4 is connected to the rodless chamber 102 through the first oil circuit 12, the other end of the first oil pump 4 is connected to the rod chamber 101 through the second oil circuit 13, the second oil pump 5 is connected to the first oil circuit 12 through the third oil circuit 14, and the regeneration valve 6 is connected between the first oil circuit 12 and the second oil circuit 13. The first oil pump 4 and the second oil pump 5 both adopt closed oil pumps, which can be specifically closed metering pumps. The first oil pump 4 and the two oil chambers of the boom cylinder 1 constitute a hydraulic circuit, the second oil pump 5 and the rodless chamber 102 and the oil replenishment circuit 8 constitute a hydraulic circuit, and the boom cylinder 1 is supplied with oil through the first oil pump 4 and the second oil pump 5, thereby realizing the decoupling of the boom cylinder 1 and facilitating the improvement of the control performance of the boom cylinder 1.

[0066] The boom decoupling hydraulic system also includes a bypass oil circuit (not shown in the drawings), a first reversing valve (not shown in the drawings) arranged in the bypass oil circuit, and a second reversing valve (not shown in the drawings) arranged in the third oil circuit 14. The two ends of the bypass oil circuit are respectively connected to the oil replenishing circuit 8 and the third oil circuit 14, and the connection between the bypass oil circuit and the third oil circuit 14 is located between the second reversing valve and the second oil pump 5. The first reversing valve is used to control the connection and disconnection of the bypass oil circuit, and the second reversing valve is used to control the connection and disconnection of the third oil circuit 14. When the motor 3 starts, the first oil pump 4 and the second oil pump 5 rotate at the same time. If the first reversing valve is connected to the bypass oil circuit and the second reversing valve is disconnected from the third oil circuit 14 at this time, the second oil pump 5 can drive the oil to circulate through the bypass oil circuit without doing work to the outside. Only the first oil pump 4 drives the oil to flow between the rod chamber 101 and the rodless chamber 102; if the first reversing valve is disconnected from the bypass oil circuit and the second reversing valve is connected to the third oil circuit 14 at this time, the first oil pump 4 drives the oil to flow between the rod chamber 101 and the rodless chamber 102, and the second oil pump 5 drives the oil to flow between the rodless chamber 102 and the oil replenishing circuit 8, so that only the first oil pump 4 can output to the outside, or the first oil pump 4 and the second oil pump 5 can output to the outside at the same time to meet different working conditions.

[0067] Specifically, the driver can control the swing and retraction of the boom by operating the handle. The piston rod can move relative to the cylinder body and has an extended position and a retracted position. Taking the first oil pump 4 driving the oil to flow between the rod chamber 101 and the rodless chamber 102, and the second oil pump 5 driving the oil to flow between the rodless chamber 102 and the oil replenishment circuit 8 as an example, when the piston rod moves to the extended position, the piston rod gradually extends outward, the boom is retracted, the first oil pump 4 pumps the oil in the rod chamber 101 into the rodless chamber 102, and the second oil pump 5 pumps the oil in the oil replenishment circuit 8 into the rodless chamber 102; when the piston rod moves to the retracted position, the piston rod gradually retracts inward, the boom swings outward, the first oil pump 4 pumps a part of the oil in the rodless chamber 102 into the rod chamber 101, and at the same time, the second oil pump 5 pumps another part of the oil in the rodless chamber 102 into the oil replenishment circuit 8.

[0068] It should be noted that the piston rod also has an intermediate position between the extended position and the retracted position. When the piston rod is in the intermediate position, the oil pressure in the rodless chamber 102 and the rod chamber 101 are equal. At this time, under the action of the load and the gravity of the boom itself, the boom naturally droops.

[0069] In addition, the direction of movement of the piston rod and the direction of the load force on the piston rod jointly determine the oil pressure in the rodless chamber 102 and the rod chamber 101. When the direction of the load force is consistent with the direction of movement of the piston rod, the load force is a negative load, and when the direction of the load force is opposite to the direction of movement of the piston rod, the load force is a positive load. When the piston rod moves to the retracted position, the boom swings outward. If the piston rod is subjected to a negative load, the oil pressure in the rodless chamber 102 is greater than the oil pressure in the rod chamber 101; if the piston rod is subjected to a positive load, the oil pressure in the rod chamber 101 is greater than the oil pressure in the rodless chamber 102. When the piston rod moves to the extended position, the boom retracts. If the piston rod is subjected to a negative load, the oil pressure in the rodless chamber 102 is less than the oil pressure in the rod chamber 101; if the piston rod is subjected to a positive load, the oil pressure in the rodless chamber 102 is greater than the oil pressure in the rod chamber 101. Among them, when the boom moves, when the piston rod is subjected to a negative load, the first oil pump 4 can be driven to rotate by the oil, and then the motor 3 is driven to rotate by the first oil pump 4, so that the motor 3 generates electricity and stores it in the battery 2; or the first oil pump 4 and the second oil pump 5 are driven to rotate by the oil at the same time, and then the motor 3 is driven to rotate by the first oil pump 4 and the second oil pump 5 at the same time, so that the motor 3 generates electricity and stores it in the battery 2, thereby realizing the recovery of the potential energy of the boom.

[0070] The boom decoupling hydraulic system also includes a balancing valve 15. The balancing valve 15 connects the one with the lower oil pressure between the rod chamber 101 and the rodless chamber 102 to the oil replenishing circuit 8. By providing the balancing valve 15, the oil in the one with the lower oil pressure between the rodless chamber 102 and the rod chamber 101 can directly enter the oil replenishing circuit 8, or the oil in the oil replenishing circuit 8 can directly enter the one with the lower oil pressure between the rodless chamber 102 and the rod chamber 101. Since the temperature of the oil in the oil replenishing circuit 8 is relatively low, when the temperature of the oil in the hydraulic circuit is too high, the hot oil in the hydraulic circuit can be replaced, which can ensure the normal oil temperature in the hydraulic circuit and further ensure the normal operation of the boom cylinder 1. Compared with the prior art, there is no need to configure temperature monitoring, and the cost can be effectively reduced. In addition, the flow difference between the rod chamber 101 and the rodless chamber 102 can be effectively compensated by connecting the one with the lower oil pressure between the rod chamber 101 and the rodless chamber 102 to the oil replenishment passage 8 through the balance valve 15 .

[0071] In this embodiment, the balancing valve 15 includes a P interface, an A interface and a B interface, wherein the P interface is connected to the oil replenishment circuit 8, the A interface is connected to the first oil circuit 12, and the B interface is connected to the second oil circuit 13. The balancing valve 15 has a first left position and a first right position. When the balancing valve 15 is located at the first left position, the balancing valve 15 makes the P interface and the B interface connected, and the A interface is disconnected, thereby making the oil replenishment circuit 8 connected to the second oil circuit 13, and the oil replenishment circuit 8 is disconnected from the first oil circuit 12; when the balancing valve 15 is located at the first right position, the balancing valve 15 makes the P interface and the A interface connected, and the B interface is disconnected, thereby making the oil replenishment circuit 8 connected to the first oil circuit 12, and the oil replenishment circuit 8 is disconnected from the second oil circuit 13. Preferably, the balancing valve 15 also has a first middle position. When the balancing valve 15 is located at the first middle position, the P interface is disconnected, the A interface is disconnected, and the B interface is disconnected, thereby making the oil replenishment circuit 8 disconnected from the first oil circuit 12 and the second oil circuit 13 at the same time.

[0072] In this embodiment, the balancing valve 15 is specifically a hydraulically controlled valve, and the balancing valve 15 has a first hydraulic control end and a second hydraulic control end, the first hydraulic control end is connected to the first oil circuit 12, and the second hydraulic control end is connected to the second oil circuit 13, and the first hydraulic control end and the second hydraulic control end are respectively located on both sides of the valve core of the balancing valve 15, and the oil of the first hydraulic control end and the second hydraulic control end directly acts on the valve core of the balancing valve 15, and the force of the oil of the first hydraulic control end acting on the valve core of the balancing valve 15 and the force of the oil of the second hydraulic control end acting on the valve core of the balancing valve 15 are compared to determine the stop position of the valve core of the balancing valve 15. Specifically, when the oil pressure of the first hydraulic control end is greater than the oil pressure of the second hydraulic control end, the balancing valve 15 is located in the first left position; when the oil pressure of the first hydraulic control end is less than the oil pressure of the second hydraulic control end, the balancing valve 15 is located in the first right position; when the oil pressure of the first hydraulic control end is equal to the oil pressure of the second hydraulic control end, the balancing valve 15 is located in the first middle position. In other embodiments, the balancing valve 15 can also be an electrically controlled valve.

[0073] The boom decoupling hydraulic system also includes a first holding valve 16 and a first pilot valve 17. The first holding valve 16 has a first pump side interface and a first cylinder side interface. The first holding valve 16 is connected in series to the first oil circuit 12 through the first pump side interface and the first cylinder side interface, and the first cylinder side interface is close to the rodless chamber 102 relative to the first pump side interface. The first holding valve 16 has a first open state and a first closed state. When the first holding valve 16 is in the first open state, the first pump side interface and the first cylinder side interface are connected. When the first holding valve 16 is in the first closed state, the first pump side interface and the first cylinder side interface are disconnected. When the first holding valve 16 is in the first closed state: the oil pressure at the first pump side interface exceeds the first set value of the oil pressure at the first cylinder side interface, so that the first holding valve 16 switches to the first open state, or the first pilot valve 17 controls the first holding valve 16 to switch to the first open state. By setting the first holding valve 16, when the first holding valve 16 is closed, the position of the piston rod can be stabilized, thereby maintaining the position of the boom stable; when the first holding valve 16 is in the first closed state, if it is necessary to supply oil to the rodless chamber 102, when the oil pressure of the first pump side interface exceeds the first set value of the oil pressure of the first cylinder side interface, under the action of the oil pressure, the first holding valve 16 can automatically switch to the first open state without affecting the oil supply; if the oil pressure of the first pump side interface does not exceed the first set value of the oil pressure of the first cylinder side interface, the first holding valve 16 can be controlled to switch to the first open state by the first pilot valve 17; when the first holding valve 16 is in the first closed state, if it is necessary to discharge the oil in the rodless chamber 102, the first holding valve 16 can be controlled to switch to the first open state by the first pilot valve 17.

[0074] Specifically, the first holding valve 16 includes a holding valve housing and a holding valve core, a first pump side interface and a first cylinder side interface are arranged in the holding valve housing, the first pump side interface and the first cylinder side interface are connected in series to the first oil circuit 12, the holding valve core slides in the holding valve housing, the holding valve core divides the inner cavity of the holding valve housing into a first spring cavity and a first oil cavity, the holding valve core can slide relative to the holding valve housing so that the first holding valve 16 has a first open state and a first closed state, when the first holding valve 16 is in the first closed state, the holding valve core can further divide the first oil cavity into a first cavity and a second cavity which are not connected to each other, wherein the first cylinder side interface is always connected to the first cavity, and the first pump side interface is always connected to the second cavity, at this time, since the first cavity and the second cavity are separated, the first oil circuit 12 is disconnected; when the first holding valve 16 is in the first open state, the first cavity and the second cavity are connected, at this time, the first oil circuit 12 is connected.

[0075] Furthermore, the first holding valve 16 also includes a holding valve spring, and the holding valve housing is also provided with a first control interface and a second control interface. The holding valve spring is located in the first spring chamber and the two ends of the holding valve spring are respectively abutted against the holding valve core and the holding valve housing. The first control interface is always connected to the first chamber, and the second control interface is always connected to the first spring chamber. The holding valve spring and the hydraulic oil in the first spring chamber give the holding valve core a force F1 to move toward the first chamber side, and the hydraulic oil in the first chamber and the hydraulic oil in the second chamber give the holding valve core a force F2 to move toward the first spring chamber side. The sizes of F1 and F2 are compared to determine the position of the holding valve core, and then determine the state of the first holding valve 16.

[0076] In this embodiment, the first pilot valve 17 is a two-position three-way valve, and the first pilot valve 17 can make the first control interface and the second control interface communicate with each other. At this time, the oil pressure in the first chamber and the first spring chamber is equal, but the action area of ​​the oil in the first chamber and the holding valve core is smaller than the action area of ​​the oil in the first spring chamber and the holding valve core, and the holding valve spring in the first spring chamber also gives the holding valve core a force, which can make the holding valve core move toward the first chamber side, thereby making the first holding valve 16 in the first closed state, ensuring the first oil circuit 12 is closed stably. The first pilot valve 17 can also make the second control interface and the oil tank 11 communicate with each other. At this time, the position of the holding valve core is determined by comparing the sizes of F1 and F2, and when F1 is smaller than F2, the holding valve spring is compressed, which can make the holding valve core move toward the first spring chamber side, thereby making the first holding valve 16 in the first open state, so that the first oil circuit 12 is opened.

[0077] Specifically, the first pilot valve 17 is a hydraulically controlled reversing valve, and the working position of the first pilot valve 17 can be controlled by the on-off of the signal oil source of the hydraulically controlled reversing valve, so that the first control interface and the second control interface can be connected, or the second control interface and the oil tank 11 can be connected and the first control interface is disconnected. In other embodiments, the first pilot valve 17 can also be replaced by an electrically controlled reversing valve. Among them, in this embodiment, the boom decoupling hydraulic system also includes a first solenoid valve 18 for controlling the connection and disconnection of the oil circuit of the hydraulic control end of the first pilot valve 17, so the on-off of the signal oil source of the first pilot valve 17 can be controlled by the first solenoid valve 18 to realize the switching control of the working position of the first pilot valve 17.

[0078] Optionally, the boom decoupling hydraulic system also includes a second holding valve 19 and a second pilot valve 20, the second holding valve 19 having a second pump side interface and a second cylinder side interface, the second holding valve 19 being connected in series to the second oil circuit 13 through the second pump side interface and the second cylinder side interface, and the second cylinder side interface is close to the rod chamber 101 relative to the second pump side interface, the second holding valve 19 having a second open state and a second closed state, when the second holding valve 19 is in the second open state, the second pump side interface and the second cylinder side interface are connected, when the second holding valve 19 is in the second closed state, the second pump side interface and the second cylinder side interface are disconnected; when the second holding valve 19 is in the second closed state: when the oil pressure at the second pump side interface exceeds the second set value of the oil pressure at the second cylinder side interface, the second holding valve 19 is switched to the second open state, or the second pilot valve 20 controls the second holding valve 19 to switch to the second open state. By setting the second holding valve 19, when the second holding valve 19 is closed, the position of the piston rod can be stabilized, thereby maintaining the position of the boom stable; when the second holding valve 19 is in the second closed state, if it is necessary to supply oil to the rod chamber 101, when the oil pressure of the second pump side interface exceeds the second set value of the oil pressure of the second cylinder side interface, under the action of the oil pressure, the second holding valve 19 can be switched to the second open state by itself without affecting the oil supply; if the oil pressure of the second pump side interface does not exceed the second set value of the oil pressure of the second cylinder side interface, the second holding valve 19 can be controlled to switch to the second open state by the second pilot valve 20; when the second holding valve 19 is in the second closed state, if it is necessary to discharge the oil in the rod chamber 101, the second holding valve 19 can be controlled to switch to the second open state by the second pilot valve 20.

[0079] Specifically, the second holding valve 19 has the same structure as the first holding valve 16, and the second pilot valve 20 has the same structure as the first pilot valve 17, which will not be described in detail here. In addition, in this embodiment, the boom decoupling hydraulic system further includes a second solenoid valve 21 for controlling the connection and disconnection of the oil circuit of the hydraulic control end of the second pilot valve 20, so the second solenoid valve 21 can be used to control the connection and disconnection of the signal oil source of the second pilot valve 20 to achieve the switching control of the working position of the second pilot valve 20.

[0080] Optionally, the boom decoupling hydraulic system further includes a third reversing valve 22, which is disposed in the first oil circuit 12, and is located between the connection between the third oil circuit 14 and the first oil circuit 12 and the first oil pump 4, and is used to control the connection or disconnection of the first oil circuit 12. When the third reversing valve 22 disconnects the first oil circuit 12, it can block the first oil pump 4 from supplying oil to the rodless chamber 102, and can prevent the oil in the rodless chamber 102 from flowing to the first oil pump 4, and at this time, the boom cylinder 1 is driven only by the second oil pump 5.

[0081] The third reversing valve 22 includes a third hydraulic control end and a fourth hydraulic control end. The first solenoid valve 18 is also used to control the connection and disconnection of the oil circuit of the third hydraulic control end. The second solenoid valve 21 is also used to control the connection and disconnection of the oil circuit of the fourth hydraulic control end. The third hydraulic control end and the fourth hydraulic control end are respectively located on both sides of the valve core of the third reversing valve 22, and the oil of the third hydraulic control end and the fourth hydraulic control end directly acts on the valve core of the third reversing valve 22. The force of the oil of the third hydraulic control end acting on the valve core of the third reversing valve 22 and the force of the oil of the fourth hydraulic control end acting on the valve core of the third reversing valve 22 are compared to determine the stop position of the valve core of the third reversing valve 22.

[0082] Optionally, the boom decoupling hydraulic system also includes a first oil replenishment check valve 23 and a second oil replenishment check valve 24, the first oil replenishment check valve 23 is connected between the oil replenishment circuit 8 and the rodless chamber 102, and the first oil replenishment check valve 23 only allows oil to flow from the oil replenishment circuit 8 to the rodless chamber 102, specifically, the first oil replenishment check valve 23 is connected between the oil replenishment circuit 8 and the first oil circuit 12; the second oil replenishment check valve 24 is connected between the oil replenishment circuit 8 and the rod chamber 101, and the second oil replenishment check valve 24 only allows oil to flow from the oil replenishment circuit 8 to the rod chamber 101, specifically, the second oil replenishment check valve 24 is connected between the oil replenishment circuit 8 and the second oil circuit 13. By setting the first oil replenishment check valve 23, when the oil pressure in the rodless chamber 102 is low, the oil can be replenished to the rodless chamber 102 through the oil replenishment oil circuit 8. By setting the second oil replenishment check valve 24, when the oil pressure in the rod chamber 101 is low, the oil can be replenished to the rod chamber 101 through the oil replenishment oil circuit 8, so as to further balance the flow difference between the rod chamber 101 and the rodless chamber 102. Specifically, the connection between the first oil replenishment check valve 23 and the first oil circuit 12 is located between the first holding valve 16 and the boom cylinder 1.

[0083] Optionally, the boom decoupling hydraulic system further includes a first overflow valve 25 and a second overflow valve 26, wherein the first overflow valve 25 is connected between the oil replenishment circuit 8 and the rodless chamber 102, and the first overflow valve 25 only allows oil to overflow from the rodless chamber 102 to the oil replenishment circuit 8, specifically, the first overflow valve 25 is connected between the oil replenishment circuit 8 and the first oil circuit 12; the second overflow valve 26 is connected between the oil replenishment circuit 8 and the rod chamber 101, and the second overflow valve 26 only allows oil to overflow from the rod chamber 101 to the oil replenishment circuit 8, specifically, the second overflow valve 26 is connected between the oil replenishment circuit 8 and the second oil circuit 13. By providing the first overflow valve 25 and the second overflow valve 26, the oil pressure in the rod chamber 101 and the rodless chamber 102 can be effectively balanced.

[0084] Please refer to Figure 2 The control method of the boom decoupling hydraulic system includes the following steps.

[0085] S110: Obtain the position of the operating handle, the oil pressure P1 of the rodless chamber, and the oil pressure P2 of the rod chamber.

[0086] The position of the operating handle can be detected by a position sensor provided on the operating handle, and the oil pressure in the rod chamber and the oil pressure in the rodless chamber can be detected by a pressure sensor.

[0087] S120: Based on the position of the control handle, determine whether the boom needs to be swung outward or retracted, and determine the size of P1 and P2.

[0088] If the boom needs to be retracted, and P1<P2, then execute S130.

[0089] The joystick has an initial position, and the joystick can be pushed and pulled forward and backward from the initial position. When pushed forward, the stick is controlled to retract, and when pulled backward, the stick is controlled to swing outward. Therefore, the actual position of the joystick can be collected to determine whether the stick retract control signal or the stick swing control signal is issued.

[0090] When P1<P2, it indicates that the oil pressure in the rod chamber is greater than the oil pressure in the rodless chamber. At this time, the boom is retracted and bears a negative load, which is suitable for energy recovery.

[0091] S130: Determine whether the regeneration switch is in the on state.

[0092] Specifically, the regeneration switch is a switch provided on the excavator, and when the regeneration switch is turned on, the regeneration valve can be opened and the opening degree of the regeneration valve can be adjusted.

[0093] S140: The regeneration valve connects the rod chamber and the rodless chamber, and controls the opening of the regeneration valve based on the position of the operating handle.

[0094] When the regeneration valve is opened, the rod chamber and the rodless chamber will be connected. At this time, the oil can flow directly from the rod chamber into the rodless chamber, causing the boom to retract quickly. The opening of the regeneration valve is controlled by the position of the operating handle, and then the boom retraction speed is controlled. This is suitable for boom regeneration conditions and meets the driver's expectations for quickly retracting the boom.

[0095] Among them, in this embodiment, only when the boom needs to be retracted and P1<P2, the opening of the regeneration valve will be greater than zero, and the opening of the regeneration valve changes with the position of the control handle; at other times, the regeneration valve maintains an opening of zero.

[0096] The control method of the boom decoupling hydraulic system provided in the present embodiment obtains the position of the operating handle, the oil pressure P1 of the rodless chamber and the oil pressure P2 of the rod chamber, and judges whether the boom needs to swing outward or retract based on the position of the operating handle, and judges the size of P1 and P2; when the boom needs to retract and P1 < P2, it is determined that the regeneration switch is in the on state, the regeneration valve connects the rod chamber and the rodless chamber, and the opening of the regeneration valve is controlled based on the position of the operating handle, which is suitable for controlling the regeneration of the boom and meets the driver's expectation of rapid retraction of the boom.

[0097] Embodiment 2

[0098] This embodiment provides a control method for a boom decoupling hydraulic system, which is further concretized on the basis of the control method for a boom decoupling hydraulic system provided in the first embodiment above.

[0099] Please refer to Figure 3 The control method of the boom decoupling hydraulic system includes the following steps.

[0100] S200: Obtain the oil pressure P1 of the rod chamber, the oil pressure P2 of the rodless chamber, and the oil pressure P3 of the oil replenishment passage.

[0101] The oil pressure of the oil replenishment passage can be detected by a pressure sensor provided in the oil replenishment passage.

[0102] S201: Determine the required torque T of the oil pump based on P1, P2 and P3.

[0103] Specifically, in this embodiment, T=max[(P1-P3),(P2-P3)]*V. V is the total displacement of the first oil pump and the second oil pump; or, a first mapping relationship of P1, P2, P3 and T is pre-stored in the memory, and the required torque T of the oil pump is determined based on the acquired P1, P2 and P3 and the first mapping relationship. The first mapping relationship can be obtained based on a large number of previous experiments.

[0104] S202: Obtain the rated torque a of the motor.

[0105] The rated torque of the motor is related to the model of the motor and can be pre-stored in the memory.

[0106] S203: Determine the size of T and a / 2.

[0107] If T≤a / 2, execute S204; if T>a / 2, execute S205.

[0108] S204: The first oil pump and the second oil pump output simultaneously.

[0109] S205: Only the first oil pump outputs.

[0110] Among them, when T≤a / 2, it indicates that the motor can drive the first oil pump and the second oil pump to output at the same time without exceeding the rated torque, or the motor can be driven by the first oil pump and the second oil pump to generate electricity without overload operation; when T>a / 2, it indicates that the motor can only drive the first oil pump to output without exceeding the rated torque, or the motor can only be driven by the first oil pump to generate electricity without overload operation.

[0111] Among them, when the second oil pump is not outputting, it can be achieved by connecting the first reversing valve to the bypass oil circuit and disconnecting the third oil circuit with the second reversing valve. When the second oil pump is outputting, it can be achieved by disconnecting the bypass oil circuit with the first reversing valve and connecting the third oil circuit with the second reversing valve.

[0112] After step S204 and step S205, the following steps are performed:

[0113] S210: Obtain the position of the joystick, the oil pressure P1 of the rodless chamber, and the oil pressure P2 of the rod chamber.

[0114] S220: Determine whether the boom needs to be swung outward or retracted based on the position of the control handle, and determine the size of P1 and P2.

[0115] If the boom needs to be retracted, and P1<P2, then execute S230.

[0116] S230: Determine that the regeneration switch is in the on state.

[0117] S240: The regeneration valve connects the rod chamber and the rodless chamber, and controls the opening of the regeneration valve based on the position of the operating handle.

[0118] Optionally, see Figure 3 The control method of the arm decoupling hydraulic system further includes the following steps which are executed synchronously with step S230:

[0119] S250: Obtain the battery power.

[0120] The battery power can be obtained by interacting with the battery controller.

[0121] S260: Determine whether the battery power does not exceed the set power.

[0122] If yes, execute S270; if no, execute S310.

[0123] The amount of power to be set can be set according to actual needs. In this embodiment, a solution of setting the power to 90% is given as an example.

[0124] S270: Perform energy recovery.

[0125] The energy recovery includes: under the drive of oil, only the first oil pump, or the first oil pump and the second oil pump drive the motor to rotate at the same time, and the motor generates electricity and stores it in the battery.

[0126] Through steps S250 to S270, effective recovery of mechanical energy during the boom retraction process can be achieved, energy utilization efficiency can be improved, and the recovered energy is stored in the form of electrical energy. Compared with the use of accumulators in the prior art, it will not cause the system temperature to rise.

[0127] Optionally, see Figure 3 The control method of the bucket arm decoupling hydraulic system further includes the following steps after step S270:

[0128] S280: Determine the required speed of the motor based on the position of the joystick.

[0129] The memory pre-stores a second mapping relationship between the position of the joystick and the required speed of the motor. The required speed of the motor can be determined by obtaining the position of the joystick and the second mapping relationship. The second mapping relationship can be obtained through a large number of preliminary experiments.

[0130] S290: Get the current speed of the motor.

[0131] The current speed of the motor can be detected by a speed sensor.

[0132] S300: determining an additional torque based on a difference between a required rotation speed and a current rotation speed of the motor, and the motor outputs the additional torque.

[0133] The memory pre-stores a third mapping relationship between the difference between the current speed of the motor and the required speed of the motor and the additional torque. The additional torque of the motor can be determined by the difference between the current speed and the required speed of the motor and the third mapping relationship. The third mapping relationship can be obtained through a large number of preliminary experiments.

[0134] Among them, additional torque is given to the output shaft of the motor, and the additional torque is used to provide the motor with power or resistance to rotate in the current direction, so that the current speed of the motor is adjusted to the required speed. Specifically, when the current speed of the motor is greater than the required speed of the motor, the additional torque is used to provide resistance to the output shaft of the motor to reduce the speed of the motor; when the current speed of the motor is less than the required speed of the motor, the additional torque is used to provide power to the output shaft of the motor to increase the speed of the motor. Among them, the additional torque can be controlled by controlling the positive and negative current supplied to the motor. When the trend of the current driving the motor to rotate is the same as the current rotation direction of the motor, power is provided to the motor; when the trend of the current driving the motor to rotate is opposite to the current rotation direction of the motor, resistance is provided to the motor.

[0135] Optionally, see Figure 3 In step S220: based on the position of the control handle, determine whether the boom needs to swing outward or inward, and when determining the size of P1 and P2, if the boom needs to swing outward and P1>P2; then execute S280.

[0136] When P1>P2, it indicates that the oil pressure in the rod chamber is lower than the oil pressure in the rodless chamber. At this time, the boom swings outward and bears a negative load, which is suitable for energy recovery.

[0137] Optionally, see Figure 4 In step S220: based on the position of the control handle, determine whether the boom needs to swing outward or inward, and when determining the size of P1 and P2, if the boom needs to be retracted and P1≥P2, or if the boom needs to swing outward and P1≤P2, execute S310.

[0138] In step S260: determine whether the battery power does not exceed the set power, if not, execute S310 in the same manner.

[0139] S310: Determine the required speed of the motor based on the position of the joystick.

[0140] S320: The battery drives the motor to run at the required speed.

[0141] Through the above steps, the motor can drive both the first oil pump and the second oil pump at the required speed, or the motor can drive the output of the first oil pump at the required speed, so that the boom can swing outward or inward at the speed desired by the driver.

[0142] Optionally, see Figure 4 The control method of the boom decoupling hydraulic system also includes the following steps after step S320.

[0143] S330: The oil pressure in the rod chamber or the rodless chamber with the lower oil pressure is replaced with the oil replenishment passage.

[0144] Specifically, the oil in the first oil circuit applies a first force to the valve core of the balancing valve through the first hydraulic control end, and the oil in the second oil circuit applies a second force to the valve core of the balancing valve through the second hydraulic control end. Under the combined action of the first force and the second force, the valve core connects the one with the smaller oil pressure in the first oil circuit and the second oil circuit to the oil replenishing circuit, thereby realizing oil replacement, which can reduce the temperature of the oil in the hydraulic circuit and ensure that the boom can work stably.

[0145] The control method of the boom decoupling hydraulic system provided in the present embodiment obtains the oil pressure P1 of the rod chamber, the oil pressure P2 of the rodless chamber and the oil pressure P3 of the oil replenishment circuit, determines the required torque T of the oil pump based on P1, P2 and P3, obtains the rated torque a of the motor, and when T≤a / 2, the first oil pump and the second oil pump output at the same time; when T>a / 2, only the first oil pump outputs, which can avoid overloading the motor while ensuring work efficiency; when judging whether the boom needs to swing outward or inward based on the position of the operating handle, and judging the size of P1 and P2, when the boom needs to be retracted and P1<P2, and when the boom needs to be swung outward and P1>P2, the motor's required torque is determined based on the position of the operating handle. Calculate the speed, obtain the current speed of the motor, determine the additional torque based on the difference between the required speed of the motor and the current speed, the motor outputs the additional torque, can realize the recovery of the mechanical energy of the boom, and the speed of the motor can make the boom run at the speed expected by the driver; when the boom needs to be retracted, and P1≥P2, and when the boom needs to be swung outward, and P1≤P2, the required speed of the motor is determined based on the position of the control handle, and the battery drives the motor to run at the required speed, so that the one with smaller oil pressure in the rod cavity and the rodless cavity is replaced with the oil replenishment circuit, which can make the boom swing outward or retract at the speed expected by the driver, and at the same time, reduce the temperature of the oil in the hydraulic circuit and ensure that the boom can work stably.

[0146] Embodiment 3

[0147] This embodiment provides a control device for a boom decoupling hydraulic system, which is used to execute a control method for a boom decoupling hydraulic system in any of the above embodiments.

[0148] like Figure 5 As shown, the control device of the boom decoupling hydraulic system includes a position and pressure acquisition module 30, a judgment module 31, a determination module 32 and a regeneration module 33. Among them, the position and pressure acquisition module 30 is used to obtain the position of the control handle, the oil pressure P1 of the rodless chamber and the oil pressure P2 of the rod chamber; the judgment module 31 is used to judge whether the boom needs to swing outward or retract based on the position of the control handle, and to judge the size of P1 and P2; when the boom needs to retract, and P1<P2, the determination module 32 is used to obtain and determine that the regeneration switch is in the open state; the regeneration module 33 is used to connect the regeneration valve with the rod chamber and the rodless chamber, and control the opening of the regeneration valve based on the position of the control handle.

[0149] The control device of the boom decoupling hydraulic system provided in the present embodiment obtains the position of the operating handle, the oil pressure P1 of the rodless chamber and the oil pressure P2 of the rod chamber through the position and pressure acquisition module 30; judges whether the boom needs to swing outward or retract based on the position of the operating handle through the judgment module 31, and judges the size of P1 and P2; when the boom needs to retract and P1 is less than P2, obtains and determines that the regeneration switch is in the on state through the determination module 32; connects the rod chamber and the rodless chamber through the regeneration module 33, and controls the opening of the regeneration valve based on the position of the operating handle, which is suitable for controlling the boom regeneration and meets the working condition that the driver expects the boom to retract quickly.

[0150] Optionally, the control device of the boom decoupling hydraulic system further includes:

[0151] A power acquisition module, used to obtain the power of the battery;

[0152] A power judgment module is used to judge whether the battery power does not exceed the set power;

[0153] The energy recovery module is used to recover energy when the battery power does not exceed the set power.

[0154] Optionally, the control device of the boom decoupling hydraulic system further includes:

[0155] A required speed determination module, used to determine the required speed of the motor based on the position of the joystick;

[0156] The current speed acquisition module is used to obtain the current speed of the motor;

[0157] A torque determination module, configured to determine an additional torque based on a difference between a required speed and a current speed of the motor;

[0158] The first execution module is used to enable the motor to output additional torque.

[0159] Optionally, the control device of the boom decoupling hydraulic system further comprises an oil replacement module, and the oil replacement module is used to replace the oil in the rod chamber and the rodless chamber with a smaller oil pressure with the oil replenishment circuit.

[0160] Optionally, the control device of the boom decoupling hydraulic system further includes:

[0161] The oil pressure acquisition module is used to obtain the oil pressure P3 of the oil replenishment circuit;

[0162] A required torque determination module, used to determine a required torque T of the oil pump based on P1, P2 and P3;

[0163] A rated torque acquisition module is used to obtain the rated torque a of the motor;

[0164] Torque judgment module, used to judge the size of T and a / 2;

[0165] The second execution module is used to make the first oil pump and the second oil pump output simultaneously when T≤a / 2;

[0166] The third execution module is used to enable only the first oil pump to output when T>a / 2.

[0167] The control device of the boom decoupling hydraulic system provided in the embodiment of the present invention can execute the control method of the boom decoupling hydraulic system provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0168] Embodiment 4

[0169] Figure 6 It is a structural schematic diagram of a control system of a boom decoupling hydraulic system provided by an embodiment of the present invention. Excavator (or terminal device) is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The terminal device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0170] like Figure 6 As shown, the terminal device 100 includes one or more processors 110, and a storage device, which is communicatively connected to the processor 110, such as a ROM 120, a random access RAM 130, etc., wherein the storage device stores a computer program that can be executed by one or more processors, and the processor 110 can perform various appropriate actions and processes according to the computer program stored in the ROM 120 or the computer program loaded from the storage unit 180 to the random access RAM 130. In the RAM 130, various programs and data required for the operation of the terminal device 100 can also be stored. The processor 110, the ROM 120, and the RAM 130 are connected to each other via a bus 140. The I / O interface 150 is also connected to the bus 140.

[0171] A number of components in the terminal device 100 are connected to the I / O interface 150, including: an input unit 160, such as a keyboard, a mouse, etc.; an output unit 170, such as various types of displays, speakers, etc.; a storage unit 180, such as a disk, an optical disk, etc.; and a communication unit 190, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 190 allows the terminal device 100 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0172] The processor 110 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 110 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 110 executes the various methods and processes described above, such as a control method for a boom decoupling hydraulic system.

[0173] In some embodiments, the control method of the boom decoupling hydraulic system may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 180. In some embodiments, part or all of the computer program may be loaded and / or installed on the terminal device 100 via the ROM 120 and / or the communication unit 190. When the computer program is loaded into the RAM 130 and executed by the processor 110, one or more steps of the control method of the boom decoupling hydraulic system described above may be performed. Alternatively, in other embodiments, the processor 110 may be configured to execute the control method of the boom decoupling hydraulic system in any other appropriate manner (e.g., by means of firmware).

[0174] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0175] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0176] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0177] To provide interaction with a user, the systems and techniques described herein may be implemented on a terminal device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the terminal device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0178] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0179] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0180] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0181] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

[0182] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A control method for a boom decoupling hydraulic system, characterized in that: The boom decoupling hydraulic system includes a boom cylinder, a first oil pump, a second oil pump, a regeneration valve, an oil replenishment circuit, a motor and a battery. The boom cylinder has a rod chamber and a rodless chamber. The two ends of the first oil pump are respectively connected to the rod chamber and the rodless chamber through an oil circuit. The two ends of the second oil pump are respectively connected to the oil replenishment circuit and the rodless chamber. The regeneration valve connects or disconnects the rodless chamber and the rod chamber. The motor is simultaneously connected to the first oil pump and the second oil pump in a transmission manner. The battery is electrically connected to the motor. The first oil pump and the second oil pump can both rotate forward and reverse. The control method of the boom decoupling hydraulic system includes: Obtaining the position of the operating handle, the oil pressure P1 of the rodless chamber, and the oil pressure P2 of the rod chamber; Based on the position of the joystick, determine whether the stick needs to swing outward or inward, and determine the size of P1 and P2; If the arm needs to be retracted, and P1 < P2; then it is determined that the regeneration switch is in the on state, the regeneration switch is a switch set on the excavator, and when the regeneration switch is turned on, the regeneration valve can be opened and the opening of the regeneration valve can be adjusted; The regeneration valve communicates the rod chamber and the rodless chamber, and the opening degree of the regeneration valve is controlled based on the position of the operating handle.

2. The control method of the boom decoupling hydraulic system according to claim 1, characterized in that: While determining that the regeneration switch is in the on state, the control method of the arm decoupling hydraulic system further includes: Get the battery power; Determine whether the battery power does not exceed the set power; If so, energy recovery is performed, and the energy recovery includes: under the drive of the oil, only the first oil pump, or the first oil pump and the second oil pump simultaneously drive the motor to rotate, and the motor generates electricity and stores it in the battery.

3. The control method of the boom decoupling hydraulic system according to claim 1, characterized in that: After energy recovery, the control method of the arm decoupling hydraulic system further includes: Determine the required speed of the motor based on the position of the joystick; Get the current speed of the motor; The additional torque is determined based on the difference between the required speed and the current speed of the motor, and the motor outputs the additional torque.

4. The control method of the boom decoupling hydraulic system according to claim 1, characterized in that: When judging whether the stick needs to be swung outward or inward based on the position of the joystick, and judging the size of P1 and P2: If the arm needs to swing outward, and P1>P2, then obtain the battery power; Determine whether the battery power does not exceed the set power; If so, energy recovery is performed, and the energy recovery includes: under the drive of the oil, only the first oil pump, or the first oil pump and the second oil pump simultaneously drive the motor to rotate, and the motor generates electricity and stores it in the battery.

5. The control method of the boom decoupling hydraulic system according to claim 1, characterized in that: When judging whether the stick needs to swing outward or inward based on the position of the joystick, and judging the size of P1 and P2: If the arm needs to be retracted and P1≥P2, or if the arm needs to be swung outward and P1≤P2, the required speed of the motor is determined based on the position of the joystick; The battery drives the motor to run at the required speed.

6. The control method of the boom decoupling hydraulic system according to claim 1, characterized in that: After the battery-driven motor runs at the required speed, the control method of the arm decoupling hydraulic system also includes: The oil pressure in the rod chamber and the rodless chamber, whichever has a smaller oil pressure, is replaced with the oil replenishment passage.

7. The control method of the boom decoupling hydraulic system according to claim 1, characterized in that: Before obtaining the position of the operating handle, the oil pressure P1 of the rod chamber, and the oil pressure P2 of the rodless chamber, the control method of the arm decoupling hydraulic system further includes: Obtaining the oil pressure P1 of the rod chamber, the oil pressure P2 of the rodless chamber, and the oil pressure P3 of the oil replenishment circuit; Determine the required torque T of the oil pump based on P1, P2 and P3; Get the rated torque a of the motor; Determine the size of T and a / 2; If T≤a / 2, the first oil pump and the second oil pump output simultaneously; if T>a / 2, only the first oil pump outputs.

8. A control device for a boom decoupling hydraulic system, characterized in that: The boom decoupling hydraulic system includes a boom cylinder, a first oil pump, a second oil pump, a regeneration valve, an oil replenishment circuit, a motor and a battery. The boom cylinder has a rod chamber and a rodless chamber. The two ends of the first oil pump are respectively connected to the rod chamber and the rodless chamber through an oil circuit. The two ends of the second oil pump are respectively connected to the oil replenishment circuit and the rodless chamber. The regeneration valve connects or disconnects the rodless chamber and the rod chamber. The motor is simultaneously connected to the first oil pump and the second oil pump in a transmission manner. The battery is electrically connected to the motor. The first oil pump and the second oil pump can both rotate forward and reverse. The control device of the boom decoupling hydraulic system includes: A position and pressure acquisition module, used to acquire the position of the operating handle, the oil pressure P1 of the rodless chamber, and the oil pressure P2 of the rod chamber; A judgment module is used to judge whether the stick needs to be swung outward or retracted based on the position of the joystick, and to judge the size of P1 and P2; The determination module is used to obtain and determine whether the regeneration switch is in the on state when the bucket arm needs to be retracted and P1 < P2. The regeneration switch is a switch provided on the excavator. When the regeneration switch is turned on, the regeneration valve can be opened and the opening degree of the regeneration valve can be adjusted. The regeneration module is used to connect the regeneration valve to the rod chamber and the rodless chamber, and to control the opening of the regeneration valve based on the position of the operating handle.

9. An excavator, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors control the excavator to implement the control method of the boom decoupling hydraulic system according to any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the excavator implements the control method of the boom decoupling hydraulic system as described in any one of claims 1 to 7.

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