One-key crushing control system and method for excavator
Through the combination of sensor network and vehicle controller, the automatic detection and precise control of the thrust of the excavator's crusher hammer shaft is achieved, solving the problems of long-term fatigue of the operator and drill rod loss, and achieving efficient and safe crushing operations.
Patent Information
- Application Number
- CN202510817722.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-18
- Publication Date
- 2025-07-25
AI Technical Summary
The existing excavator crusher hammer operation is mainly operated through the foot valve and handle, which leads to long-term fatigue of the operator, making it difficult to accurately control the shaft thrust, and increases the frequency of air punching and drill rod loss.
A sensor network consisting of chassis attitude sensors, boom attitude sensors, stick attitude sensors, breaker hammer attitude sensors, boom cylinder pressure sensors, etc. is adopted, combined with the vehicle controller, the automatic detection and precise control of the thrust of the breaker shaft is realized, and the impact flow of the breaker hammer is automatically matched.
It realizes one-click automatic control of crushing operations, reduces operator fatigue, improves operating efficiency, reduces air punch frequency and drill rod loss, and improves safety.
Smart Images
Figure CN120367266A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a one-key crushing control system and method for an excavator, belonging to the technical field of engineering machinery. Background Art
[0002] Excavator crushing is widely used in building demolition, mining, road construction and other industries. With its efficient crushing capacity and versatility, it has become the core equipment in many construction projects. With the development of technology, modern excavator crushing equipment is moving towards intelligence and automation. However, at present, the breaker hammer operation of excavators at home and abroad mainly uses the foot valve to operate the breaker hammer impact power, and the right handle is continuously pressurized to control the lowering of the arm so that the breaker hammer rod is in close contact with the rock. The operator needs to keep stepping on the foot valve and operating the right handle during the operation. If the operator does this for a long time, it is easy to get tired and affect the operation efficiency. At the same time, the contact force between the breaker hammer rod and the rock depends entirely on experience, which is difficult for the operator to grasp during actual operation. Therefore, the frequency of empty hitting is high, and the loss of consumables such as the drill rod is high.
[0003] The first existing method is to use the floating arm to achieve the downward movement of the working device under its own weight, providing the downward axial thrust of the breaker. In actual use, the floating force of the working device is much smaller than the axial thrust designed for the breaker, and the axial thrust generated by its own weight during the floating process varies greatly, making it difficult to accurately control and unable to meet the axial thrust requirements of the breaker. This solution will increase the frequency of empty hits of the breaker, increase the wear and tear of the drill rod, and cannot meet the requirements for use in working conditions that require pressurized crushing.
[0004] The second existing method starts crushing by increasing the arm cylinder pressure to a certain threshold. However, this solution cannot determine the magnitude of the hammer shaft thrust, because even if the arm cylinder pressure is the same, the hammer force arm is different in different postures, and the shaft thrust applied to the hammer is also different. This solution is difficult to achieve precise control because it cannot obtain the hammer shaft thrust.
[0005] Therefore, there is an urgent need in the market for a device that can provide one-button automatic control of the striking of an excavator breaker. Summary of the invention
[0006] Objective: To overcome the deficiencies in the existing automatic control solutions for excavator breaker hammers. All existing solutions use boom floating and rely on the self-weight of the boom to provide the axial thrust for the breaker hammer. Or they use the pressure of the boom cylinder as the condition for determining whether to impact, but none of them are fundamentally based on controlling the corresponding relationship between the axial thrust of the breaker hammer and the impact flow rate of the breaker hammer. The present invention provides an excavator one-key breaking control system and method, which can automatically start the breaker hammer impact, automatically lower the breaker hammer, automatically match the axial thrust of the breaker hammer during lowering and the impact power during striking, automatically impact, and automatically stop the breaker hammer, so as to reduce the fatigue of the operator, improve the operation efficiency, and reduce the loss of the drill rod.
[0007] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:
[0008] In the first aspect, an excavator one-key breaking control system includes: a chassis attitude sensor, a boom attitude sensor, a stick attitude sensor, a breaker hammer attitude sensor, a boom cylinder pressure sensor, a boom action solenoid valve, a boom cylinder, a breaker hammer, a breaker hammer flow valve, a hydraulic pump, a vehicle controller, and an operation handle.
[0009] Among them: The chassis attitude sensor is arranged at the bottom of the slewing platform and is used to detect the angles of the excavator chassis in the X-axis and Y-axis directions.
[0010] The boom attitude sensor is arranged on the boom structure and is used to detect the luffing angle of the boom.
[0011] The stick attitude sensor is arranged on the stick structure and is used to detect the rotation angle of the stick relative to the boom.
[0012] The breaker hammer attitude sensor is arranged on the breaker hammer connecting rod structure and is used to detect the rotation angle of the drill rod in the breaking device relative to the stick.
[0013] The boom cylinder pressure sensor is used to detect the pressure of the boom cylinder.
[0014] The operation handle is used to output a start signal for one-key breaking.
[0015] The vehicle controller is used to receive the signals from the chassis attitude sensor, the boom attitude sensor, the stick attitude sensor, the breaker hammer attitude sensor, the boom cylinder pressure sensor, and the operation handle, and control the boom action solenoid valve, the hydraulic pump, and the breaker hammer flow valve.
[0016] The boom cylinder is used to control the boom action.
[0017] The hydraulic pump is used to output the working hydraulic pressure for the breaker hammer.
[0018] The breaker hammer flow valve is used to control the impact flow rate of the breaker hammer.
[0019] A breaker is used to adjust the position of the drill rod under the action of the boom and the stick, and to control the acting force of the drill rod under the action of the breaker flow valve.
[0020] Optionally, it further includes: a display, which is used to input crushing parameters, output the real-time working state of crushing, and the real-time measurement data of each sensor.
[0021] In a second aspect, a working method of a one-key crushing control system for an excavator specifically includes:
[0022] Step 1: The operating handle outputs a one-key crushing signal. The vehicle controller controls the boom action solenoid valve to be fully open according to the maximum boom speed Vmax, the boom cylinder acts, presses down the breaker, and detects the axial thrust F generated by the contact between the breaker and the rock.
[0023] Step 2: When it is detected that the input axial thrust F is 0, the vehicle controller controls the boom cylinder to descend at the maximum boom speed Vmax. The vehicle controller outputs a breaker flow Q of zero to the hydraulic pump, controls the opening of the breaker flow valve to be 0, and the flow Q leading to the breaker is zero.
[0024] Step 3: When it is detected that the input axial thrust F increases from 0 to the minimum axial thrust Fmin, the vehicle controller controls the breaker flow Q of the hydraulic pump to be zero, controls the opening of the breaker flow valve to be 0, the flow Q leading to the breaker is zero, and the impact power is zero.
[0025] Step 4: When it is detected that the input axial thrust F increases from the minimum axial thrust Fmin to the maximum axial thrust Fmax, when the axial thrust F is the minimum axial thrust Fmin, the vehicle controller controls the boom cylinder to descend at the minimum boom speed Vmin. The vehicle controller controls the hydraulic pump to start outputting the minimum breaker flow Qmin, and at the same time controls the breaker flow valve to open partially, and the breaker starts to impact and work. When the breaker axial thrust F is the maximum axial thrust Fmax, the vehicle controller controls the hydraulic pump to start outputting the maximum breaker flow Qmax, and at the same time controls the opening of the breaker flow valve to increase to 100%, and the flow leading to the breaker gradually increases from the minimum breaker flow Qmin to the maximum breaker flow Qmax.
[0026] Step 5: When it is detected that the input axial thrust F fluctuates around the maximum axial thrust Fmax and the fluctuation value does not exceed the threshold, if the axial thrust F is less than the maximum axial thrust Fmax, the vehicle controller controls the flow of the boom action solenoid valve to increase, so that the falling speed of the breaker increases and the axial thrust F increases. If the axial thrust F is greater than the maximum axial thrust Fmax, the vehicle controller controls the flow of the boom action solenoid valve to decrease, so that the falling speed of the breaker slows down and the axial thrust F decreases. The vehicle controller controls the hydraulic pump to output the maximum breaker flow Qmax, and at the same time controls the opening of the breaker flow valve to increase to 100% and remain constant.
[0027] Step 6: When it is detected that the decrease value of the input axial thrust F exceeds the threshold, the vehicle controller controls the flow rate output by the boom operation solenoid valve to increase, so that the falling speed of the breaker is the maximum boom speed Vmax. The vehicle controller controls the maximum breaker flow rate Qmax output by the hydraulic pump to gradually decrease to the minimum breaker flow rate Qmin. At the same time, the opening degree of the breaker flow valve is controlled to decrease from 100% to 0.
[0028] Step 7: When it is detected that the input axial thrust F decreases from the minimum axial thrust Fmin to 0, the vehicle controller reduces the flow rate output by the boom operation solenoid valve, so that the falling speed of the breaker is the minimum boom speed Vmin. At the same time, the vehicle controller controls the flow rate output by the hydraulic pump to remain 0, and at the same time controls the opening degree of the breaker flow valve to remain 0.
[0029] Step 8: When it is detected that the input axial thrust F remains 0, the vehicle controller controls the flow rate output by the boom operation solenoid valve to be zero, so that the boom operation solenoid valve closes and the breaker stops falling. At the same time, the vehicle controller controls the flow rate output by the hydraulic pump to remain 0, and at the same time controls the opening degree of the breaker flow valve to remain 0.
[0030] Optionally, the calculation formula of the axial thrust F is as follows:
[0031]
[0032] Where, is the mass of the boom center of gravity, is the distance between the boom hinge points C and B, is the angle of the boom center of gravity, is the mass of the stick center of gravity, is the distance between the boom hinge point F and the stick center of gravity E, is the angle of the stick center of gravity, is the distance between the boom hinge points C and F, is the luffing angle of the boom. is the mass of the breaker center of gravity, is the distance between the stick hinge point Q and the breaker center of gravity G, is the angle of the breaker center of gravity, is the distance between the boom hinge points C and F, is the luffing angle of the stick, the distance between the boom hinge point F and the stick hinge point Q, is the luffing angle of the breaker, is the vertical distance from the boom hinge point O to the boom cylinder, is the pressure of the boom cylinder, is the area of the boom cylinder, is the breaker axial thrust.
[0033] Optionally, the maximum axial thrust Fmax is 5 - 6 tons.
[0034] Optionally, the minimum axial thrust Fmin is 3 tons ± 0.1 ton.
[0035] Optionally, the maximum boom speed Vmax is 1.5 m / s.
[0036] Optionally, the minimum boom speed Vmin is 0.5 m / s.
[0037] Optionally, the maximum breaker flow rate Qmax is 150 L / min.
[0038] Optionally, the minimum breaker flow rate Qmin is 100 L / min.
[0039] Beneficial effects: An excavator one - key crushing control system and method provided by the present invention, for the first time in the field of excavator crushing, proposes to obtain the axial thrust of the breaker, and on this basis, precisely control and steplessly match the corresponding breaker impact flow rate to achieve one - key automatic control of the crushing operation. Finally, it realizes the purpose of reducing the fatigue of the operator, improving the operation efficiency, reducing the frequency of empty strikes, and reducing the loss of drill rods.
[0040] Compared with the prior art, the advantages of the present invention are as follows:
[0041] 1. Automation of excavator crushing operation: The crushing operation can be started with one key for automatic striking, automatically matching the axial thrust of the breaker when pressing down and the impact power of the strike, and automatically stopping the breaker. It can replace the existing operation method of the operator using hands and feet continuously, and can significantly reduce the fatigue of the operator and the labor intensity.
[0042] 2. Cost - effectiveness: It can effectively reduce the frequency of air strikes, reduce the loss of consumables such as drill rods, and reduce the use cost of the breaker.
[0043] 3. Safety: In a dangerous or unsuitable environment for the operator to operate, the present invention can be remotely controlled without a person, and the crushing can be operated with one key to ensure the safety of the operator. Description of the Drawings
[0044] Figure 1 It is a schematic structural diagram of an excavator one - key crushing control system of the present invention.
[0045] Figure 2 It is a schematic flow diagram of the working method of an excavator one - key crushing control system of the present invention.
[0046] Figure 3 It is a schematic diagram of the relationship between the axial thrust, the boom lowering speed, and the breaker flow rate in each time period from t0 to t7.
[0047] Figure 4Schematic diagram of the relationship between various variables of axial thrust and the structure of the excavator. Detailed implementation mode
[0048] The following combines the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.
[0049] The following further illustrates the present invention with specific embodiments.
[0050] Embodiment 1:
[0051] This embodiment introduces a one-key crushing control system for an excavator, as Figure 1 shown, including: a chassis attitude sensor, an arm attitude sensor, a boom attitude sensor, a breaker attitude sensor, an arm cylinder pressure sensor, an arm action solenoid valve, an arm cylinder, a breaker, a breaker flow valve, a hydraulic pump, a vehicle controller, and an operation handle.
[0052] Among them: The chassis attitude sensor is arranged at the bottom of the turntable and is used to detect the angles of the X-axis and Y-axis directions of the excavator chassis, and calculate the position of the excavator according to the angles of the X-axis and Y-axis directions of the excavator chassis.
[0053] The arm attitude sensor is arranged on the arm structure and is used to detect the luffing angle of the arm and calculate the position of the arm according to the luffing angle of the arm.
[0054] The boom attitude sensor is arranged on the boom structure and is used to detect the rotation angle of the boom relative to the arm, and calculate the position of the boom according to the rotation angle of the boom relative to the arm.
[0055] The breaker attitude sensor is arranged on the breaker connecting rod structure and is used to detect the rotation angle of the drill rod in the crushing device relative to the boom.
[0056] The arm cylinder pressure sensor is used to detect the pressure of the arm cylinder.
[0057] The operation handle is used to output a start signal for one-key crushing.
[0058] The vehicle controller is used to receive the signals of the chassis attitude sensor, the arm attitude sensor, the boom attitude sensor, the breaker attitude sensor, the arm cylinder pressure sensor, and the operation handle, and control the arm action solenoid valve, the hydraulic pump, and the breaker flow valve.
[0059] The arm cylinder is used to control the movement of the arm.
[0060] Hydraulic pump, used to output the working hydraulic pressure of the breaker.
[0061] Breaker flow valve, used to control the impact flow of the breaker.
[0062] Breaker, used to adjust the position of the drill rod under the action of the boom and the stick, and control the acting force of the drill rod under the action of the breaker flow valve.
[0063] Furthermore, it further includes: a display, which is used to input breaking parameters, such as the maximum axial thrust, the minimum axial thrust, select the breaker model, and the breaking mode, and output the real-time working state of breaking and the real-time measured data of each sensor.
[0064] Embodiment 2:
[0065] This embodiment introduces a working method of a one-key breaking control system for an excavator, as Figure 2 shown, specifically including:
[0066] Step 1: The operator presses the one-key breaking button on the operation handle to output a one-key breaking signal. The vehicle controller controls the boom action solenoid valve to be fully open according to the maximum boom speed Vmax, the boom cylinder acts, presses down the breaker, and detects the axial thrust F generated by the contact between the breaker and the rock.
[0067] Step 2: When it is detected that the input axial thrust F is 0 and the breaker starts to contact the rock surface from the air, at this time the drill rod of the breaker does not contact the rock, as Figure 3 shown, in the time period t0 - t1, the vehicle controller controls the boom cylinder to descend at the maximum boom speed Vmax, so that the breaker falls rapidly at the maximum speed. The vehicle controller outputs the breaker flow Q to the hydraulic pump as zero, controls the opening of the breaker flow valve to be 0, the flow Q leading to the breaker is zero, and the impact power is zero.
[0068] Step 3: When it is detected that the input axial thrust F increases from 0 to the minimum axial thrust Fmin and the breaker gradually compacts the rock from the beginning of contacting the rock surface, as Figure 3 shown, in the time period t1 - t2, although the axial thrust F rises to the minimum axial thrust Fmin at most during this period, it is considered that the contact between the breaker and the rock surface is not firm. The vehicle controller controls the breaker flow Q of the hydraulic pump to be zero, controls the opening of the breaker flow valve to be 0, the flow Q leading to the breaker is zero, and the impact power is zero. The breaker can avoid idling to the greatest extent and protect the breaker.
[0069] Step 4: When it is detected that the input axial thrust F increases from the minimum axial thrust Fmin to the maximum axial thrust Fmax and the breaker has compacted the rock, as Figure 3As shown, during the time period from t2 to t3. When the axial thrust F is the minimum axial thrust Fmin, the vehicle controller controls the boom cylinder to descend at the minimum boom speed Vmin, causing the breaker to fall at the minimum speed. The vehicle controller controls the hydraulic pump to start outputting the minimum breaker flow rate Qmin, and at the same time controls the breaker flow valve to open partially, and the breaker starts to impact and work. When the axial thrust F of the breaker is the maximum axial thrust Fmax, the vehicle controller controls the hydraulic pump to start outputting the maximum breaker flow rate Qmax, and at the same time controls the opening of the breaker flow valve to increase to 100%, and the flow rate to the breaker gradually increases from the minimum breaker flow rate Qmin to the maximum breaker flow rate Qmax, and the breaker starts to impact and work at the rated power.
[0070] Step 5: When it is detected that the input axial thrust F remains fluctuating around the maximum axial thrust Fmax and the fluctuation value does not exceed the threshold, the breaker has compacted the rock, as Figure 3 shown, during the time period from t3 to t4. If the axial thrust F is less than the maximum axial thrust Fmax, the vehicle controller controls the flow rate of the boom operation solenoid valve to increase, so that the falling speed of the breaker increases and the axial thrust F increases. If the axial thrust F is greater than the maximum axial thrust Fmax, the vehicle controller controls the flow rate of the boom operation solenoid valve to decrease, so that the falling speed of the breaker slows down and the axial thrust F decreases. Through the above PID control, the vehicle controller controls the axial thrust F of the breaker to be maintained near the maximum axial thrust Fmax. At this time, the vehicle controller controls the hydraulic pump to output the maximum breaker flow rate Qmax, and at the same time controls the opening of the breaker flow valve to increase to 100% and remain constant. This stage is the main working stage of breaking.
[0071] Step 6: When it is detected that the decrease value of the input axial thrust F exceeds the threshold, the breaker has started to separate from the rock, and at this time the rock breaking is almost completed, as Figure 3 shown, during the time period from t4 to t5. The vehicle controller controls the flow rate output by the boom operation solenoid valve to increase, so that the falling speed of the breaker is the maximum boom speed Vmax. The vehicle controller controls the maximum breaker flow rate Qmax output by the hydraulic pump to gradually decrease to the minimum breaker flow rate Qmin, and at the same time controls the opening of the breaker flow valve to decrease from 100% to 0. The impact power of the breaker gradually decreases.
[0072] Step 7: When it is detected that the input axial thrust F decreases from the minimum axial thrust Fmin to 0, the breaker completely separates from the rock, and at this time the rock breaking is as Figure 3 shown, during the time period from t5 to t6. The vehicle controller reduces the flow rate output by the boom operation solenoid valve, so that the falling speed of the breaker is the minimum boom speed Vmin. At the same time, the vehicle controller controls the output flow rate of the hydraulic pump to remain 0, and at the same time controls the opening of the breaker flow valve to remain 0.
[0073] Step 8: When it is detected that the input axial thrust F remains at 0 and the breaker is completely separated from the rock, the rock is completely broken, as shown in the time period from t6 - t7 in Figure 3 . The vehicle controller controls the flow rate output by the boom movement solenoid valve to be zero, causing the boom movement solenoid valve to close and the breaker to stop falling. At the same time, the vehicle controller controls the flow rate output by the hydraulic pump to remain at 0 and controls the opening of the breaker flow valve to remain at 0, and the entire breaking process ends.
[0074] Furthermore, as shown in Figure 4 , the calculation formula for the axial thrust F is as follows:
[0075]
[0076] Where, is the mass of the boom center of gravity, is the distance between the boom hinge points C and B, is the angle of the boom center of gravity, is the mass of the bucket arm center of gravity, is the distance between the boom hinge point F and the bucket arm center of gravity E, is the angle of the bucket arm center of gravity, is the distance between the boom hinge points C and F, is the luffing angle of the boom, that is, the angle between OF and the horizontal, O is the boom hinge point, and F is the boom hinge point. is the mass of the breaker center of gravity, is the distance between the bucket arm hinge point Q and the breaker key point G, is the angle of the breaker center of gravity, is the distance between the boom hinge points C and F, is the luffing angle of the bucket arm, that is, the angle between FQ and the horizontal, Q is the bucket arm hinge point, the distance between the boom hinge point F and the bucket arm hinge point Q, is the luffing angle of the breaker, that is, the angle between QV and the horizontal, V is the vertex of the end of the drill rod, is the vertical distance from the boom hinge point O to the boom cylinder, is the pressure of the boom cylinder, is the area of the boom cylinder, is the breaker axial thrust, that is, the axial reverse acting force of the breaker shaft.
[0077] Furthermore, the maximum axial thrust Fmax is 5 - 6 tons.
[0078] Furthermore, the minimum axial thrust Fmin is 3 tons ± 0.1 ton.
[0079] Furthermore, the maximum boom speed Vmax is 1.5 m / s.
[0080] Further, the minimum boom speed Vmin is 0.5 m / s.
[0081] Further, the maximum breaker flow rate Qmax is 150 L / min.
[0082] Further, the minimum breaker flow rate Qmin is 100 L / min.
[0083] Embodiment 3:
[0084] This embodiment introduces the working principle of the present invention. By inputting the angles measured by the chassis attitude sensor, boom attitude sensor, arm attitude sensor, and breaker attitude sensor, the real-time attitude data of each moving mechanism in the excavator obtained by the above sensors is transmitted to the vehicle controller through electrical signals. The vehicle controller calculates the current breaker geometric parameters according to the pre-constructed excavator kinematic mathematical model. The data of the boom cylinder pressure sensor is transmitted to the vehicle controller through electrical signals. The vehicle controller calculates the axial thrust F of the drill rod in the current breaking device according to the pre-constructed excavator dynamics model.
[0085] The main pump is connected to the vehicle controller through an electrical signal and receives its current signal to control its own displacement. At the same time, the main pump is connected to the breaker valve through a hydraulic oil circuit. The breaker valve is connected to the breaker through an oil circuit to provide the flow rate required by the breaker. The vehicle controller is connected to the breaker valve through an electrical signal, outputs the corresponding current magnitude, and controls the start and stop of the breaker impact by controlling the opening and closing of the breaker valve. The vehicle controller is connected to the boom operation solenoid valve through an electrical signal, and controls the boom cylinder lowering speed by controlling the magnitude of the output current. The boom cylinder is connected to the breaker through hydraulic oil and mechanical constraints to control the magnitude of the breaker axial thrust.
[0086] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.
Claims
1. One - key crushing control system for an excavator, characterized in that: Including: A chassis attitude sensor, a boom attitude sensor, an arm attitude sensor, a breaker attitude sensor, a boom cylinder pressure sensor, a boom action solenoid valve, a boom cylinder, a breaker, a breaker flow valve, a hydraulic pump, a vehicle controller, and an operation handle; Among them: The chassis attitude sensor is arranged at the bottom of the turntable and is used to detect the angles of the excavator chassis in the X-axis and Y-axis directions; The boom attitude sensor is arranged on the boom structure and is used to detect the luffing angle of the boom; The arm attitude sensor is arranged on the arm structure and is used to detect the rotation angle of the arm relative to the boom; The breaker attitude sensor is arranged on the breaker connecting rod structure and is used to detect the rotation angle of the drill rod in the breaking device relative to the arm; The boom cylinder pressure sensor is used to detect the pressure of the boom cylinder; The operation handle is used to output a start signal for one-key breaking; The vehicle controller is used to receive the signals of the chassis attitude sensor, the boom attitude sensor, the arm attitude sensor, the breaker attitude sensor, the boom cylinder pressure sensor, and the operation handle, and control the boom action solenoid valve, the hydraulic pump, and the breaker flow valve; The boom cylinder is used to control the boom action; The hydraulic pump is used to output the working hydraulic pressure of the breaker; The breaker flow valve is used to control the impact flow of the breaker; The breaker is used to adjust the position of the drill rod under the action of the boom and the arm, and control the force of the drill rod under the action of the breaker flow valve.
2. The one - key crushing control system for an excavator according to claim 1, wherein: It also includes: A display, the display is used to input breaking parameters, and output the real-time working state of breaking and the real-time measurement data of each sensor.
3. The working method of a one-key crushing control system for an excavator according to claims 1 to 2, characterized in that: Specifically including: Step 1: The operation handle outputs a one-key breaking signal. The vehicle controller controls the boom action solenoid valve to open fully according to the maximum boom speed Vmax, the boom cylinder acts, presses down the breaker, and detects the axial thrust F generated by the contact between the breaker and the rock; Step 2: When it is detected that the input axial thrust F is 0, the vehicle controller controls the boom cylinder to descend at the maximum boom speed Vmax. The vehicle controller outputs zero breaker flow Q to the hydraulic pump, controls the opening of the breaker flow valve to be 0, and the flow Q leading to the breaker is zero; Step 3: When it is detected that the input axial thrust F increases from 0 to the minimum axial thrust Fmin, the vehicle controller controls the breaker flow Q of the hydraulic pump to be zero, controls the opening of the breaker flow valve to be 0, the flow Q leading to the breaker is zero, and the impact power is zero; Step 4: When it is detected that the input axial thrust F increases from the minimum axial thrust Fmin to the maximum axial thrust Fmax, when the axial thrust F is the minimum axial thrust Fmin, the vehicle controller controls the boom cylinder to descend at the minimum boom speed Vmin. The vehicle controller controls the hydraulic pump to start outputting the minimum breaker flow Qmin, and at the same time controls the breaker flow valve to open partially, and the breaker starts to impact and work; when the breaker axial thrust F is the maximum axial thrust Fmax, the vehicle controller controls the hydraulic pump to start outputting the maximum breaker flow Qmax, and at the same time controls the opening of the breaker flow valve to increase to 100%, and the flow leading to the breaker gradually increases from the minimum breaker flow Qmin to the maximum breaker flow Qmax; Step 5: When it is detected that the input axial thrust F fluctuates around the maximum axial thrust Fmax and the fluctuation value does not exceed the threshold, if the axial thrust F is less than the maximum axial thrust Fmax, the vehicle controller increases the flow rate of the boom operation solenoid valve, so that the falling speed of the breaker increases and the axial thrust F increases; if the axial thrust F is greater than the maximum axial thrust Fmax, the vehicle controller decreases the flow rate of the boom operation solenoid valve, so that the falling speed of the breaker slows down and the axial thrust F decreases; the vehicle controller controls the hydraulic pump to output the maximum breaker flow rate Qmax, and at the same time controls the opening of the breaker flow valve to increase to 100% and remain constant; Step 6: When it is detected that the decrease value of the input axial thrust F exceeds the threshold, the vehicle controller increases the flow rate output by the boom operation solenoid valve, so that the falling speed of the breaker is the maximum boom speed Vmax; the vehicle controller controls the hydraulic pump to gradually reduce the output maximum breaker flow rate Qmax to the minimum breaker flow rate Qmin, and at the same time, controls the opening of the breaker flow valve to decrease from 100% to 0; Step 7: When it is detected that the input axial thrust F decreases from the minimum axial thrust Fmin to 0, the vehicle controller reduces the flow rate output by the boom operation solenoid valve, so that the falling speed of the breaker is the minimum boom speed Vmin; at the same time, the vehicle controller controls the output flow rate of the hydraulic pump to remain 0, and at the same time controls the opening of the breaker flow valve to remain 0; Step 8: When it is detected that the input axial thrust F remains 0, the vehicle controller controls the output flow rate of the boom operation solenoid valve to be zero, so that the boom operation solenoid valve closes and the breaker stops falling; at the same time, the vehicle controller controls the output flow rate of the hydraulic pump to remain 0, and at the same time controls the opening of the breaker flow valve to remain 0.
4. The working method according to claim 3, characterized in that: The calculation formula of the axial thrust F is as follows: ； Wherein, is the mass of the boom center of gravity, is the distance between the boom hinge points C and B, is the angle of the boom center of gravity, is the mass of the stick center of gravity, is the distance between the boom hinge point F and the stick center of gravity E, is the angle of the stick center of gravity, is the distance between the boom hinge points C and F, is the luffing angle of the boom; is the mass of the breaker center of gravity, is the distance between the stick hinge point Q and the breaker center of gravity G, is the angle of the breaker center of gravity, is the distance between the boom hinge points C and F, is the luffing angle of the stick, is the distance between the boom hinge point F and the stick hinge point Q, is the luffing angle of the breaker, is the vertical distance from the boom hinge point O to the boom cylinder, is the pressure of the boom cylinder, is the area of the boom cylinder, is the axial thrust of the breaker.
5. The working method according to claim 3, characterized in that: The maximum axial thrust Fmax is 5 - 6 tons.
6. The working method according to claim 3, characterized in that: The minimum axial thrust Fmin is 3 tons ± 0.1 ton.
7. The working method according to claim 3, characterized in that: The maximum boom speed Vmax is 1.5 m / s.
8. The working method according to claim 3, characterized in that: The minimum boom speed Vmin is 0.5 m / s.
9. The working method according to claim 3, characterized in that: The maximum breaker flow rate Qmax is 150 L / min.
10. The working method according to claim 3, characterized in that: The minimum breaker flow rate Qmin is 100 L / min.