Rotary energy-saving control method, system and equipment of excavator and storage medium

Abstract

The invention discloses a rotation energy-saving control method, system and equipment of an excavator and a storage medium, and belongs to the technical field of engineering machinery. The rotation energy-saving control method of the excavator comprises the steps that if a rotation control instruction of an operation handle is received, rotation operation is executed according to the handle swing angle of the operation handle; determining a handle swing angle change trend of the operation handle; if the change trend of the handle swing angle is an increasing trend, setting a starting current value of the flow extraction device as a first current value; if the change trend of the handle swing angle is a decreasing trend, the starting current value of the flow extraction device is set to be a second current value; and if the handle swing angle of the operation handle is reduced to 0, the starting current value of the flow extraction device is set to be the first current value after a preset duration is delayed. Energy in the rotation process of the excavator can be effectively recycled, and energy consumption of the excavator is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular relates to a slewing energy-saving control method, system, device and storage medium of an excavator. BACKGROUND

[0002] Excavators are widely used in the construction, bridge, high-speed rail, tunnel, wharf and other industries. With the development of the industry and the growth of the market share, the cumulative fuel consumption of the excavator industry increases rapidly, becoming another major consumer of petrochemical energy after automobiles. The current petrochemical energy reserves are decreasing and cannot be regenerated in a short period of time, and the unit price is rising, so the energy consumption has become an important indicator for evaluating the competitiveness of the excavator market. High efficiency, energy saving and emission reduction have become the irreversible development needs of the excavator industry.

[0003] Most of the operations of the excavator involve slewing actions. When slewing starts, the slewing motor speed is low and the flow required is small, so the output flow of the hydraulic pump will overflow through the overflow valve of the slewing motor, and finally be lost in the form of heat. When slewing brakes, the slewing platform and the working device have large mass, moment of inertia and inertial torque, so the kinetic energy of the slewing platform is large when braking, and is usually lost in the form of heat energy. It can be seen that most of the energy of the excavator slewing start overflow and slewing brake will not only be wasted by heating, but also will cause the temperature of the hydraulic oil to rise rapidly, and a special cooling device is needed to cool down, further increasing the system power consumption.

[0004] Therefore, how to effectively recover the energy in the slewing process of the excavator and reduce the energy consumption of the excavator is a technical problem to be solved by those skilled in the art at present. SUMMARY

[0005] The purpose of the present application is to provide a slewing energy-saving control method, system, device and storage medium of an excavator, which can effectively recover the energy in the slewing process of the excavator and reduce the energy consumption of the excavator.

[0006] To solve the above technical problems, the present application provides a slewing energy-saving control method of an excavator, the excavator comprising a main pump, a slewing motor, a flow extraction device and a flow storage device, the main pump being used to deliver hydraulic oil to the slewing motor, an oil outlet of the slewing motor being connected with the flow extraction device, the flow extraction device being connected with the flow storage device, the slewing energy-saving control method of the excavator comprising:

[0007] If a slewing control instruction of an operating handle is received, a slewing operation is performed according to a handle swing angle of the operating handle;

[0008] A handle swing angle change trend of the operating handle is determined;

[0009] if the handle swing angle change trend is an increasing trend, set the opening current value of the flow extraction device to a first current value; wherein the opening pressure value of the flow extraction device is determined according to the opening current value; if the pressure of the hydraulic oil is greater than or equal to the opening pressure value, the flow extraction device is in an open state; if the pressure of the hydraulic oil is less than the opening pressure value, the flow extraction device is in a closed state; in the open state, the flow extraction device allows the hydraulic oil in the rotary motor to be transported to the flow storage device; in the closed state, the flow extraction device does not allow the hydraulic oil in the rotary motor to be transported to the flow storage device; the first current value is determined according to the expected rotary acceleration;

[0010] if the handle swing angle change trend is a decreasing trend, set the opening current value of the flow extraction device to a second current value; wherein the second current value is determined according to the expected braking distance;

[0011] if the handle swing angle of the operating handle decreases to 0, set the opening current value of the flow extraction device to the first current value after a delay of a preset time length.

[0012] Optionally, further comprising:

[0013] determine whether the pilot switch of the excavator is closed;

[0014] if yes, set the opening current value to a maximum value to keep the flow extraction device in a closed state;

[0015] if no, determine whether the rotary control instruction of the operating handle is received;

[0016] if the rotary control instruction is not received, control the opening current value of the flow extraction device to be set to a first current value.

[0017] Optionally, before determining the handle swing angle change trend of the operating handle, further comprising:

[0018] determine the working mode of the excavator;

[0019] if the working mode of the excavator is a normal mode, set the opening current value to a maximum value to keep the flow extraction device in a closed state;

[0020] if the working mode of the excavator is an energy-saving mode or a powerful mode, enter the step of determining the handle swing angle change trend of the operating handle.

[0021] Optionally, before setting the opening current value of the flow extraction device to a first current value, further comprising:

[0022] If the working mode of the excavator is the energy-saving mode, a first alternative value is selected as the first current value;

[0023] If the working mode of the excavator is the power mode, a second alternative value is selected as the first current value; wherein the first alternative value is less than the second alternative value, and the opening pressure value is positively correlated with the first current value;

[0024] Correspondingly, before setting the opening current value of the flow extraction device to the second current value, the method further comprises:

[0025] If the working mode of the excavator is the energy-saving mode, a third alternative value is selected as the second current value;

[0026] If the working mode of the excavator is the power mode, a fourth alternative value is selected as the second current value; wherein the third alternative value is less than the fourth alternative value, and the opening pressure value is positively correlated with the second current value.

[0027] Optionally, the excavator further comprises a main valve swivel joint and a flow locking device, and the main pump delivers hydraulic oil to the swivel motor through the main valve swivel joint and the flow locking device;

[0028] Correspondingly, the method further comprises:

[0029] setting a control current of the main valve swivel joint according to the swivel control instruction; wherein the control current is used to control the operation position and the valve port opening degree of the main valve swivel joint;

[0030] setting the displacement of the main pump according to the swivel control instruction.

[0031] Optionally, after determining the handle swing angle change trend of the operation handle, the method further comprises:

[0032] If the handle swing angle change trend is that the swing angle is unchanged, the flow extraction device is controlled to keep the last set opening current value.

[0033] Optionally, the method further comprises:

[0034] determining the preset time length according to the brake time length of the excavator in a preset state; wherein the preset time length is greater than the brake time length, and the preset state is a state in which the excavator is braked when the swivel rotating speed and / or the main pump displacement are at maximum values.

[0035] The application further provides a slewing energy-saving control system of an excavator, the excavator comprising a main pump, a slewing motor, a flow extraction device and a flow storage device, the main pump being used to deliver hydraulic oil to the slewing motor, an oil outlet of the slewing motor being connected with the flow extraction device, the flow extraction device being connected with the flow storage device, the slewing energy-saving control system of the excavator comprising:

[0036] a slewing control module, used for performing a slewing operation according to a handle swing angle of the operating handle if a slewing control instruction of the operating handle is received;

[0037] a swing angle change detection module, used for determining a handle swing angle change trend of the operating handle;

[0038] a first processing module, used for setting an opening current value of the flow extraction device as a first current value if the handle swing angle change trend is an increasing trend, wherein an opening pressure value of the flow extraction device is determined according to the opening current value, the flow extraction device being in an opening state if a pressure of the hydraulic oil is greater than or equal to the opening pressure value, the flow extraction device being in a closing state if the pressure of the hydraulic oil is less than the opening pressure value, the flow extraction device allowing the hydraulic oil in the slewing motor to be delivered to the flow storage device in the opening state, the flow extraction device not allowing the hydraulic oil in the slewing motor to be delivered to the flow storage device in the closing state, and the first current value being determined according to an expected slewing acceleration;

[0039] a second processing module, used for setting the opening current value of the flow extraction device as a second current value if the handle swing angle change trend is a decreasing trend, wherein the second current value is determined according to an expected braking distance;

[0040] a third processing module, used for setting the opening current value of the flow extraction device as the first current value after a delay preset time length if the handle swing angle of the operating handle decreases to 0.

[0041] The application further provides a storage medium having a computer program stored thereon, the computer program being used to implement the steps of the slewing energy-saving control method of the excavator.

[0042] The application further provides an electronic device comprising a memory and a processor, the memory having a computer program stored therein, and the processor being used to implement the steps of the slewing energy-saving control method of the excavator when the computer program in the memory is invoked.

[0043] The application provides a slewing energy-saving control method of an excavator. The excavator applied by the method comprises a main pump, a slewing motor, a flow extraction device and a flow storage device. An oil outlet of the slewing motor is connected with the flow extraction device. When the flow extraction device is in an open state, the slewing motor is allowed to deliver internal hydraulic oil to the flow storage device. When the flow extraction device is in a closed state, the hydraulic oil in the slewing motor is not allowed to be delivered to the flow storage device. After receiving a slewing control instruction, slewing operation is performed according to a handle swing angle of an operation handle. During the slewing operation, an open current value of the flow extraction device is set according to a handle swing angle change trend. An open pressure value of the flow extraction device is determined according to the open current value. The flow extraction device is in the open state when the pressure of the hydraulic oil is greater than or equal to the open pressure value. The flow extraction device is in the closed state when the pressure of the hydraulic oil is less than the open pressure value. The above scheme can store the hydraulic oil in the slewing motor to the flow storage device when the pressure of the hydraulic oil is relatively high, thereby reducing energy loss during overflow and braking. Therefore, the application can effectively recover energy during slewing of the excavator, thereby reducing energy consumption of the excavator. The application also provides a slewing energy-saving control system of an excavator, a storage medium and an electronic device, which have the above beneficial effects and will not be described herein. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application, the drawings required in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0045] Figure 1 A flow chart of a slewing energy-saving control method of an excavator provided by the embodiments of the present application;

[0046] Figure 2 A schematic diagram of a conventional slewing hydraulic system of a hydraulic excavator;

[0047] Figure 3 A hydraulic oil transmission schematic diagram of a conventional slewing hydraulic system of a hydraulic excavator;

[0048] Figure 4 A schematic diagram of a slewing hydraulic system of a hydraulic excavator provided by the embodiments of the present application;

[0049] Figure 5 A hydraulic oil transmission schematic diagram of a hydraulic excavator provided by the embodiments of the present application;

[0050] Figure 6 A setting principle diagram of an open current value in an energy-saving mode provided by the embodiments of the present application;

[0051] Figure 7 A setting flow chart of the starting current value in the energy-saving mode provided by the embodiment of the application;

[0052] Figure 8 A setting principle diagram of the starting current value in the powerful mode provided by the embodiment of the application;

[0053] Figure 9 A setting flow chart of the starting current value in the powerful mode provided by the embodiment of the application. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the embodiments of the application clearer, the technical scheme of the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are some but not all of the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the application.

[0055] Please see the following Figure 1 , Figure 1 A flow chart of the energy-saving control method of the excavator provided by the embodiment of the application.

[0056] The specific steps can include:

[0057] S101: If a rotation control instruction of an operating handle is received, a rotation operation is performed according to a handle swing angle of the operating handle.

[0058] The embodiment can be applied to a controller of an excavator, and the excavator can further include a main pump, a rotation motor, a flow extraction device and a flow storage device. The main pump is used to deliver hydraulic oil to the rotation motor. The main pump can be connected to an oil inlet of the rotation motor through a main valve rotation joint. An oil outlet of the rotation motor is connected to the flow extraction device. The flow extraction device is further connected to the flow storage device.

[0059] The flow extraction device is a component in a hydraulic system used to extract excess hydraulic oil from the rotation motor and deliver the excess hydraulic oil to the flow storage device. The flow storage device is used to store the excess hydraulic oil extracted from the rotation motor for subsequent reuse. The flow storage device can be an accumulator, an energy storage cylinder, a synchronous motor or the like. The rotation motor is used to drive a rotation platform of the excavator to realize a rotation action.

[0060] If the rotating control instruction of the operating handle is received, the rotating control instruction can be parsed to obtain the handle swing angle of the operating handle, and then the corresponding clockwise rotating operation or counterclockwise rotating operation is performed according to the handle swing angle. In the process of performing the rotating operation according to the rotating control instruction, any number of steps in S102-S105 can be performed in the embodiment.

[0061] S102: Determine the handle swing angle change trend of the operating handle.

[0062] In the embodiment, the handle swing angle change trend of the operating handle can be determined based on the rotating control instructions received in a period of time. The handle swing angle change trend is used to describe the change trend of the handle swing angle at the current period or the current time. The handle swing angle change trend can be increasing, decreasing, or constant.

[0063] The handle swing angle change trend can reflect the state of the rotating movement of the excavator. The hydraulic oil in the rotating motor has different pressure values in different rotating movement states. The opening pressure value of the flow extraction device can be set according to the handle swing angle change trend. The opening pressure value is a parameter used to determine whether the flow extraction device allows the hydraulic motor to input the hydraulic oil to the flow storage device.

[0064] Specifically, if the pressure of the hydraulic oil is greater than or equal to the opening pressure value, the flow extraction device is in an open state; if the pressure of the hydraulic oil is less than the opening pressure value, the flow extraction device is in a closed state. The pressure of the hydraulic oil specifically refers to the hydraulic oil pressure at the connection position of the rotating motor and the flow extraction device. In the open state, the flow extraction device allows the hydraulic oil in the rotating motor to be delivered to the flow storage device; in the closed state, the flow extraction device does not allow the hydraulic oil in the rotating motor to be delivered to the flow storage device.

[0065] Further, the opening pressure value of the flow extraction device is determined according to the opening current value. The opening pressure value of the flow extraction device can be determined by setting the opening current value in the embodiment. In a feasible implementation, the opening current value and the opening pressure value are in a positive correlation.

[0066] The current-voltage relationship can be set according to the characteristics of the flow extraction device. In the equation corresponding to the current-voltage relationship, the abscissa is the opening current value, and the ordinate corresponds to the opening pressure value. Based on the curve, the opening pressure value corresponding to the currently set opening current value can be determined. The equation corresponding to the current-voltage relationship can be a semi-parabolic equation, a semi-hyperbolic equation, or a linear equation.

[0067] S103: If the handle swing angle change trend is an increasing trend, set the opening current value of the flow extraction device to a first current value.

[0068] Wherein, the step is based on the handle swing angle change trend is increasing trend, at this time can get the user set the expected rotation acceleration, determine the first current value according to the expected rotation acceleration, and then the opening current value of the flow extraction device is set to the first current value. The first current value is a preset current value, and the opening current value refers to the current value of the electromagnetic valve or similar device used to control the flow extraction device. By the above operation, the first current value can be assigned to the opening current value. The expected rotation acceleration is positively correlated with the first current value.

[0069] S104: If the handle swing angle change trend is a decreasing trend, the opening current value of the flow extraction device is set to the second current value.

[0070] Wherein, the step is based on the handle swing angle change trend is a decreasing trend, at this time the expected braking distance set by the user can be obtained, and the second current value is determined according to the expected braking distance, and then the opening current value of the flow extraction device is set to the second current value.

[0071] The second current value is a preset current value, and the second current value can be assigned to the opening current value by the above operation. The expected braking distance is negatively correlated with the second current value.

[0072] S105: If the handle swing angle of the operating handle is reduced to 0, the opening current value of the flow extraction device is set to the first current value after a delay of a preset time length.

[0073] Wherein, after the handle swing angle change trend is a decreasing trend, it can be judged whether the handle swing angle of the operating handle is reduced to 0. If the handle swing angle of the operating handle is equal to 0, a delay of a preset time length can be performed, and the opening current value of the flow extraction device is set to the first current value after the delay of the preset time length.

[0074] Before this step, there can also be an operation of calculating a preset time length. Specifically, the present embodiment can determine the preset time length according to the braking time length of the excavator in a preset state; wherein, the preset time length is greater than the braking time length, and the preset state is a state of braking when the rotation speed of the excavator and / or the main pump displacement are at the maximum value.

[0075] The excavator applied in the embodiment comprises a main pump, a swing motor, a flow extraction device and a flow storage device, an oil outlet of the swing motor is connected with the flow extraction device, the swing motor is allowed to deliver internal hydraulic oil to the flow storage device when the flow extraction device is in an open state, and the hydraulic oil in the swing motor is not allowed to be delivered to the flow storage device when the flow extraction device is in a closed state. After receiving a swing control instruction, a swing operation is performed according to a handle swing angle of an operating handle; in the process of performing the swing operation, the embodiment sets an open current value of the flow extraction device according to a handle swing angle change trend. An open pressure value of the flow extraction device is determined according to the open current value, the flow extraction device is in the open state when the pressure of the hydraulic oil is greater than or equal to the open pressure value, and the flow extraction device is in the closed state when the pressure of the hydraulic oil is less than the open pressure value. The above scheme can store the hydraulic oil in the swing motor to the flow storage device when the hydraulic oil pressure is large, thereby reducing the energy loss during overflow and braking. Therefore, the embodiment can effectively recover the energy during the swing process of the excavator, thereby reducing the energy consumption of the excavator.

[0076] As for Figure 1 Further to the corresponding embodiment, the above embodiment can also determine whether a pilot switch of the excavator is closed; if yes, the open current value is set to a maximum value, so that the flow extraction device remains in the closed state; if not, it is determined whether the swing control instruction of the operating handle is received. If the swing control instruction is not received, the open current value of the flow extraction device is controlled to be set to a first current value. If the swing control instruction is received, the swing operation can be performed Figure 1 According to the operation of the corresponding embodiment. The above pilot switch can be a safety handle of the excavator.

[0077] As for Figure 1 Further to the corresponding embodiment, before determining the handle swing angle change trend of the operating handle, the working mode of the excavator can be determined, and the working mode of the excavator comprises a normal mode, an energy-saving mode and a powerful mode.

[0078] If the working mode of the excavator is the normal mode, the open current value is set to the maximum value, so that the flow extraction device remains in the closed state.

[0079] If the working mode of the excavator is the energy-saving mode or the powerful mode, the step of determining the handle swing angle change trend of the operating handle in the corresponding embodiment can be entered. Figure 1

[0080] ​The first current value selected by the excavator in different working modes is different, and the second current value selected is also different. Specifically, before setting the opening current value of the flow extraction device as the first current value, the first current value can be selected from the first alternative value and the second alternative value in the following manner: if the working mode of the excavator is the energy-saving mode, the first alternative value is selected as the first current value; if the working mode of the excavator is the powerful mode, the second alternative value is selected as the first current value. The first alternative value is less than the second alternative value, and the opening pressure value is positively correlated with the first current value.

[0081] In this scheme, if the handle swing angle change trend is an increasing trend and the excavator is in the energy-saving mode, the opening current value of the flow extraction device is set to the first alternative value, that is, the first alternative value is assigned to the opening current value. If the handle swing angle change trend is an increasing trend and the excavator is in the powerful mode, the opening current value of the flow extraction device is set to the second alternative value, that is, the second alternative value is assigned to the opening current value.

[0082] Specifically, before setting the opening current value of the flow extraction device as the second current value, the second current value can be selected from the third alternative value and the fourth alternative value in the following manner: if the working mode of the excavator is the energy-saving mode, the third alternative value is selected as the second current value; if the working mode of the excavator is the powerful mode, the fourth alternative value is selected as the second current value. The third alternative value is less than the fourth alternative value, and the opening pressure value is positively correlated with the second current value.

[0083] In this scheme, if the handle swing angle change trend is a decreasing trend and the excavator is in the energy-saving mode, the opening current value of the flow extraction device is set to the third alternative value, that is, the third alternative value is assigned to the opening current value. If the handle swing angle change trend is a decreasing trend and the excavator is in the powerful mode, the opening current value of the flow extraction device is set to the fourth alternative value, that is, the fourth alternative value is assigned to the opening current value.

[0084] As for the Figure 1 For further introduction of the corresponding embodiment, the excavator further comprises a main valve rotary joint and a flow locking device, and the main pump delivers hydraulic oil to the rotary motor through the main valve rotary joint and the flow locking device.

[0085] Correspondingly, after receiving the rotary control instruction, the embodiment can also set the control current of the main valve rotary joint according to the rotary control instruction, and can also set the displacement of the main pump according to the rotary control instruction. The above control current is used to control the operation position (i.e. the spool position) and the valve port opening degree of the main valve rotary joint.

[0086] As for Figure 1 Further to the corresponding embodiment, after determining the handle swing angle change trend of the operation handle, if the handle swing angle change trend is that the swing angle is constant, the flow extraction device is controlled to maintain the last set opening current value.

[0087] In the process of the swing operation of the excavator, if a fixed opening pressure value is used to control the flow extraction device, it is difficult to adjust in real time according to the actual load change, and it is difficult to realize efficient energy recovery and reuse. In view of this problem, the embodiment has the improvement mode in this aspect, which is as follows: the load change is monitored, and the opening pressure value of the flow extraction device is dynamically adjusted according to the load change, so as to ensure that energy can be efficiently recovered under different load conditions and the overall energy efficiency of the system is improved.

[0088] The above-described flow of the embodiment is described below through an example in actual application.

[0089] The excavator sometimes needs to work on a steep slope at a certain angle, and the starting torque and braking torque are limited by the swing motor safety valve. When swinging uphill and fully loaded, it may be difficult to start due to insufficient starting torque, and when swinging downhill and fully loaded, it may cause long brake distance and safety hazards due to insufficient braking torque. The energy-saving potential of the excavator is huge, and some excavators are equipped with a swing anti-overflow device and a swing braking energy recovery device. The embodiment aims to create a control system to realize the swing anti-overflow control and the swing braking energy recovery control of the excavator, and to provide a powerful swing mode to improve the upper limit of the starting and braking torque.

[0090] Please refer to Figure 2 , Figure 2 is a schematic diagram of the principle of the conventional swing hydraulic system of the hydraulic excavator, wherein 1 represents the main pump, 2 represents the main valve swing connection, 3 represents the swing motor, 3.1 represents the safety valve, 3.2 represents the oil supplementing check valve, 4 represents the oil supplementing device, and 5 represents the oil tank.

[0091] When the above-mentioned conventional swing hydraulic system works, the main pump supplies oil to the main valve swing connection, the oil outlet of the main valve swing connection is connected with the A port of the swing motor, and the oil return port is connected with the B port of the swing motor. The A port and the B port of the swing motor are also connected in parallel with the outlet of the oil supplementing check valve and the inlet of the safety valve, the inlet of the oil supplementing check valve and the outlet of the safety valve are connected in series to the oil tank, and the oil supplementing device is arranged in front of the oil tank. The A port and the B port are two working oil ports of the swing motor.

[0092] Please refer to Figure 3 , Figure 3The hydraulic oil transmission schematic diagram of the conventional swing hydraulic system of the hydraulic excavator is shown in the figure. The main pump sucks oil from the oil tank, and the main pump supplies oil to the main valve swing link. The main valve swing link can supply oil to the swing motor A cavity. The swing motor A cavity can return oil to the main valve swing link. The main valve swing link can supply oil to the swing motor B cavity. The swing motor B cavity can return oil to the main valve swing link. The main valve swing link can return oil to the oil supplement device. The oil supplement device can return oil to the oil tank. The swing motor A cavity is connected with the safety valve. The hydraulic oil in the safety valve can overflow to the oil tank or the oil supplement one-way valve. The oil supplement one-way valve can supplement oil to the swing motor A cavity. The oil supplement device can supplement oil to the oil supplement one-way valve. The swing motor B cavity is connected with the safety valve. The hydraulic oil in the safety valve can overflow to the oil tank or the oil supplement one-way valve. The oil supplement one-way valve can supplement oil to the swing motor B cavity. The oil supplement device can supplement oil to the oil supplement one-way valve.

[0093] The swing starting process of the conventional swing hydraulic system is as follows: the main pump transports hydraulic oil from the oil tank to the main valve swing link. The hydraulic oil reaches the swing motor A cavity and B cavity after passing through the working position of the main valve swing link, and the swing is realized. At the initial stage of starting, the hydraulic oil has reached the swing motor A cavity and B cavity, but when the swing motor has not yet acted or the speed is low, the hydraulic oil accumulates in the swing motor A cavity and B cavity, the pressure rises, and when the safety valve reaches the opening pressure, the hydraulic oil overflows to the oil tank through the safety valve.

[0094] The swing braking process of the conventional swing hydraulic system is as follows: the main pump stops oil supply, and the main valve swing link shifts to the neutral position. Under the action of inertia, the swing motor will not stop immediately but will swing in the original movement direction for a period of time. At this time, the original high-pressure cavity will generate negative pressure, and oil supplement needs to be performed through the oil supplement device and the oil supplement one-way valve. The original low-pressure cavity generates very high pressure, and the hydraulic oil overflows to the oil tank through the safety valve.

[0095] The embodiment provides a new excavator swing energy-saving system control scheme. The scheme can realize the anti-overflow control of the excavator swing anti-overflow device and the energy recovery control of the excavator swing brake energy recovery device. The embodiment can increase the starting torque and ensure the smoothness of starting when the excavator swings uphill and starts under full load, and can increase the braking torque and ensure the effectiveness of braking when the excavator swings downhill and brakes under full load.

[0096] On the basis of the conventional swing hydraulic system, the embodiment adds a flow extraction device and a flow storage device to form an energy-saving swing hydraulic system, realizes swing anti-overflow and brake energy recovery, and additionally, if the main valve swing link does not have a neutral position locking function, a flow locking mechanism needs to be arranged at the oil outlet of the main valve swing link. The locking mechanism refers to mechanisms such as hydraulic locks and hydraulic control one-way valves that can realize locking. The main valve outlet is connected in parallel with the inlet of the flow extraction device and the A port and the B port of the swing motor. The outlet of the flow extraction device is connected with the flow storage device and the oil tank respectively.

[0097] Please refer to Figure 4 ,Figure 4 Figure 1 shows a main pump, figure 2 shows a main valve rotary joint, figure 3 shows a rotary motor, figure 3.1 shows a safety valve, figure 3.2 shows an oil supplementing check valve, figure 4 shows an oil supplementing device, figure 5 shows an oil tank, figure 6 shows a flow extraction device, figure 7 shows a flow storage device, and figure 8 shows a flow locking device.

[0098] Please refer to Figure 5 , Figure 5 Figure 1 shows a main pump, figure 2 shows a main valve rotary joint, figure 3 shows a rotary motor, figure 3.1 shows a safety valve, figure 3.2 shows an oil supplementing check valve, figure 4 shows an oil supplementing device, figure 5 shows an oil tank, figure 6 shows a flow extraction device, figure 7 shows a flow storage device, and figure 8 shows a flow locking device.

[0099] The flow locking device can supply oil to the rotary motor A cavity, the rotary motor A cavity can return oil to the flow locking device, the flow locking device can supply oil to the rotary motor B cavity, the rotary motor B cavity can return oil to the flow locking device, the main valve rotary joint can return oil to the oil supplementing device, and the oil supplementing device can return oil to the oil tank. The rotary motor A cavity is connected with the safety valve, and the hydraulic oil in the safety valve can overflow to the oil tank or the oil supplementing check valve. The oil supplementing check valve can supplement oil to the rotary motor A cavity, and the oil supplementing device can supplement oil to the oil supplementing check valve. The rotary motor B cavity is connected with the safety valve, and the hydraulic oil in the safety valve can overflow to the oil tank or the oil supplementing check valve. The oil supplementing check valve can supplement oil to the rotary motor B cavity, and the oil supplementing device can supplement oil to the oil supplementing check valve. The rotary motor A cavity and the rotary motor B cavity are respectively connected with the flow extraction device, and the flow extraction device is connected with the flow storage device.

[0100] The operator completes the rotary operation by operating the handle, and after the operator operates the handle, the controller receives the handle signal, and converts the handle signal into a control signal of the main valve rotary joint, a main pump displacement control current signal, and an opening current of the flow extraction device (i.e., an opening pressure control current) through calculation.

[0101] The control signal of the main valve rotary joint is used to control the operation position and the valve port opening degree of the main valve rotary joint, thereby determining the rotary direction and the rotary speed. The main pump displacement control current determines the main pump displacement, thereby determining the maximum rotary power consumption. The opening current of the flow extraction device determines the opening pressure (i.e., the opening pressure value) of the flow extraction device, and when the inlet pressure of the flow extraction device exceeds the opening pressure, the flow extraction device is opened to allow the flow to pass.

[0102] The control system matched with the energy-saving rotary hydraulic system in the embodiment includes a normal mode, an energy-saving mode and a powerful mode. The embodiment provides a rotary starting anti-surge control mode in the normal mode, the energy-saving mode and the powerful mode, i.e. the relationship between the current control of the flow extraction device and the handle signal. The embodiment also provides a rotary braking energy recovery control mode in the normal mode, the energy-saving mode and the powerful mode, i.e. the relationship between the current control of the flow extraction device and the handle signal.

[0103] In the rotary starting process, the setting strategy of the opening current value of the flow extraction device is as follows:

[0104] In the normal mode, the opening current value of the flow extraction device is set as current value F during rotary starting, and the flow extraction device is completely closed. The current value F is the maximum value of the opening current value.

[0105] In the energy-saving mode, the opening current value of the flow extraction device is set as current value G during rotary starting, and the inlet is opened when the pressure in the motor chamber is higher than the opening pressure corresponding to the current value G.

[0106] The opening pressure corresponding to the current value G should be lower than the opening pressure of the rotary motor safety valve.

[0107] In the rotary braking process, the setting strategy of the opening current value of the flow extraction device is as follows:

[0108] In the normal mode, the opening current value of the flow extraction device is set as current value F during rotary braking, and the flow extraction device is completely closed.

[0109] In the energy-saving mode, the opening current value of the flow extraction device is set as current value H during rotary braking, and the inlet is opened when the pressure in the motor chamber is higher than the opening pressure corresponding to the current value H.

[0110] The opening pressure corresponding to the current value H should be lower than the opening pressure of the rotary motor safety valve.

[0111] The opening pressure corresponding to the current value F is greater than the set pressure of the safety valve. The opening pressure corresponding to the current value G is the set opening pressure during the rotary starting of the energy-saving system (related to the starting acceleration), and the current value G is less than the current value F. The opening pressure corresponding to the current value H is the set opening pressure during the rotary braking of the energy-saving system (related to the braking drift distance), and the current value H is less than the current value F.

[0112] Please refer to Figure 6 , Figure 6A setting principle diagram of an opening current value in an energy-saving mode provided for an embodiment of the present application, if the pilot switch is opened and the rotating handle signal is triggered, the handle swing angle increases, and then the handle swing angle continuously increases, the opening current value is set to the current value G; if the pilot switch is opened and the rotating handle signal is triggered, the handle swing angle increases, and then the handle swing angle decreases, the opening current value is set to the current value H, and the opening current value is set to the current value G after a specific condition is reached; if the pilot switch is opened and the rotating handle signal is triggered, the handle swing angle decreases, and then the handle swing angle increases, the opening current value is set to the current value G; if the pilot switch is opened and the rotating handle signal is triggered, the handle swing angle decreases, and then the handle swing angle continuously decreases, the opening current value is set to the current value H, and the opening current value is set to the current value G after a specific condition is reached; if the pilot switch is opened and the rotating handle signal is not triggered, the opening current value is set to the current value G; if the pilot switch is closed, the opening current value is set to the current value F.

[0113] The pilot switch needs to be opened before the excavator performs any action; when the pilot switch is closed, the excavator is stopped or on standby and does not need to perform any action, at this time, the opening current value of the flow extraction device is set to the current value F, the flow recovery valve is closed, and the flow is not allowed to pass. When the pilot switch is opened, the excavator has a trend to perform an action, but the rotating handle signal is not triggered, it is considered that the rotation has not been performed, but the rotation may be performed in the future, at this time, the opening current value of the flow extraction device is set to the current value G.

[0114] When the pilot switch is opened, the excavator has a trend to perform an action, and the rotating handle signal is triggered, it is considered that the rotation action is performed, at this time, the opening current of the flow extraction device has the following situations:

[0115] If the handle swing angle continuously increases, it is considered that the rotation continuously runs, at this time, the opening current value of the flow extraction device is set to the current value G, and the starting flow is prepared to be recovered.

[0116] If the handle swing angle first increases and then decreases, it is considered that the rotation runs for a period of time and then has a trend to stop, at this time, the opening current value of the flow extraction device is set to the current value H, and the braking flow is prepared to be recovered. After a preset time , the opening current value of the flow extraction device is set to the current value G, and the starting flow of the next rotation is prepared to be recovered.

[0117] If the handle swing angle first decreases and then increases, it is considered that the rotation speed is restored after the rotation speed is reduced, and the rotation will not stop, at this time, the opening current value of the flow extraction device is set to the current value G.

[0118] If the handle swing angle continuously decreases, it is considered that the rotation stops, at this time, the opening current value of the flow extraction device is set to the current value H, and the braking flow is prepared to be recovered. After a preset time After the flow extraction device is opened, the current value is set to current value G, and the starting flow of the next rotation is prepared to be recovered. The preset time The time should be greater than the normal mode braking time at the maximum displacement under the maximum rotational speed.

[0119] Please refer to Figure 7 , Figure 7 The application provides a setting flowchart of the opening current value in the energy-saving mode, wherein A1 represents the handle swing angle detected by the program in the current scanning period, A2 represents the handle angle detected by the program in the last scanning period, A3 represents the difference between A2 and A1, i represents the cumulative variable, T represents the target time length, T is determined by the scanning period and T= / scanning period, the pilot switch opening and closing signal and the rotation handle swing angle signal need to be collected in real time.

[0120] The setting flowchart of the opening current value is as follows:

[0121] The current handle swing angle, A1, A2, A3 and i are input; and whether the pilot signal exists is judged.

[0122] If the pilot signal does not exist, the opening current value is controlled to be equal to current value F, A1 is equal to 0, A2 is equal to 0, A3 is equal to 0, and i is equal to 0.

[0123] If the pilot signal exists, whether the current swing angle of the rotation handle is greater than 0 is judged.

[0124] If the current swing angle of the rotation handle is greater than 0, A1 is set to the current handle swing angle, A3 is equal to A1-A2, and i is equal to 1. Whether A3 is greater than or equal to 0 is judged; if yes, the opening current value is equal to current value G, A2 is set to the current handle swing angle; if no, the opening current value is equal to current value H, and A2 is set to the current handle swing angle.

[0125] If the current swing angle of the rotation handle is not greater than 0, whether i is greater than 0 is judged.

[0126] If i is not greater than 0, the opening current value is equal to current value G, A1 is equal to 0, A2 is equal to 0, and A3 is equal to 0.

[0127] If i is greater than 0, the value of i is updated to i+1; whether i is less than T is judged; if yes, the opening current value is equal to current value H, A1 is equal to 0, A2 is equal to 0, and A3 is equal to 0; if no, the opening current value is equal to current value G, A1 is equal to 0, A2 is equal to 0, A3 is equal to 0, and i is equal to 0.

[0128] After the above operation is performed, the determined opening current value, and the values of A1, A2, A3 and i can be output.

[0129] The strong mode control principle is as follows: to open the strong mode, the inner safety valve of the rotary motor is set to the maximum opening pressure, or the inner safety valve of the rotary motor is directly cancelled.

[0130] In the strong mode, the opening current value of the flow extraction device is set as follows:

[0131] In the rotary starting process, the opening current value of the flow extraction device is current value D, and the flow extraction device is opened when the inlet pressure of the flow extraction device reaches the pressure corresponding to the current value D; in the rotary braking process, the opening current value of the flow extraction device is current value E, and the flow extraction device is opened when the inlet pressure of the flow extraction device reaches the pressure corresponding to the current value E.

[0132] In the scheme, the pressure corresponding to the current value D should be higher than the pressure corresponding to the current value G and lower than the pressure set by the inner safety valve of the rotary motor; the pressure corresponding to the current value E should be higher than the pressure corresponding to the current value H and lower than the pressure set by the inner safety valve of the rotary motor.

[0133] Please refer to Figure 8 , Figure 8 The setting principle of the opening current value in the strong mode provided in the embodiment of the application is as follows: if the pilot switch is opened and the rotary handle signal is triggered, the handle swing angle increases and then the handle swing angle continuously increases, the opening current value is set to current value D; if the pilot switch is opened and the rotary handle signal is triggered, the handle swing angle increases and then the handle swing angle decreases, the opening current value is set to current value E, and the opening current value is set to current value D when a specific condition is reached; if the pilot switch is opened and the rotary handle signal is triggered, the handle swing angle decreases and then the handle swing angle increases, the opening current value is set to current value D; if the pilot switch is opened and the rotary handle signal is triggered, the handle swing angle decreases and then the handle swing angle continuously decreases, the opening current value is set to current value E, and the opening current value is set to current value D when a specific condition is reached; if the pilot switch is opened and the rotary handle signal is not triggered, the opening current value is set to current value D; if the pilot switch is closed, the opening current value is set to current value F.

[0134] When the pilot switch is closed, i.e., the excavator is stopped or on standby and no action is needed, the opening current value of the flow extraction device is set to current value F, the flow recovery valve is closed, and no flow is allowed to pass through.

[0135] When the pilot switch is opened, i.e., the excavator has a tendency to move, but the rotary handle signal is not triggered, it is considered that the rotary movement has not been performed, but the rotary movement may be performed in the future, and the opening current value of the flow extraction device is set to current value E.

[0136] When the pilot switch is opened, i.e., the excavator has a tendency to move, and the rotary handle signal is triggered, it is considered that the rotary movement is performed, and the opening current of the flow extraction device has the following four situations:

[0137] If the handle swing angle continues to increase, it is considered that the rotation continues to run, at this time the opening current value of the flow extraction device is set to current value D, preparing to recover the starting flow.

[0138] If the handle swing angle first increases and then decreases, it is considered that the rotation runs for a period of time and then has a tendency to stop, at this time the opening current value of the flow extraction device is set to current value E, preparing to recover the braking flow. After a preset time , the opening current value of the flow extraction device is set to current value D, preparing to recover the starting flow of the next rotation.

[0139] If the handle first decreases and then increases, it is considered that the rotation speed decreases and then recovers, and will not stop, at this time the opening current value of the flow extraction device is set to current value D.

[0140] If the handle continues to decrease, it is considered that the rotation stops, at this time the opening current value of the flow extraction device is set to current value E, preparing to recover the braking flow, and after a preset time , the opening current of the flow extraction device is set to current value D, preparing to recover the starting flow of the next rotation.

[0141] Please refer to Figure 9 , Figure 9 A setting flow chart of the opening current value in a strong mode provided for the embodiment of the present application, wherein A1 represents the handle swing angle detected by the program in the current scanning period, A2 represents the handle angle detected by the program in the last scanning period, A3 represents the difference between A2 and A1, i represents a cumulative variable, and T represents a target time length, which is determined by the scanning period and , T= / scanning period. The pilot switch opening and closing signal and the rotation handle swing angle signal need to be collected in real time.

[0142] The setting flow of the opening current value is as follows:

[0143] The current handle swing angle, A1, A2, A3 and i are input; and it is judged whether there is a pilot signal.

[0144] If there is no pilot signal, the opening current value is controlled to be equal to current value F, A1=0, A2=0, A3=0, and i=0.

[0145] If there is a pilot signal, it is judged whether the current rotation handle swing angle is greater than 0.

[0146] If the current rotation handle swing angle is greater than 0, A1 is set to the current handle swing angle, A3=A1-A2, and i=1. It is judged whether A3 is greater than or equal to 0; if yes, the opening current value is equal to current value D, and A2 is set to the current handle swing angle; if no, the opening current value is equal to current value E, and A2 is set to the current handle swing angle.

[0147] If the current swing angle of the swing handle is not greater than 0, it is determined whether i is greater than 0.

[0148] If i is not greater than 0, the opening current value is equal to the current value D, A1=0, A2=0, A3=0, and i=0.

[0149] If i is greater than 0, the value of i is updated to i+1; it is determined whether i is less than T; if yes, the opening current value is equal to the current value E, A1=0, A2=0, A3=0; if no, the opening current value is equal to the current value D, A1=0, A2=0, A3=0, and i=0.

[0150] After the above operation is performed, the determined opening current value, and the values of A1, A2, A3 and i can be output.

[0151] In the strong mode, the pressure corresponding to the current value D is higher than the pressure corresponding to the current value G, and the swing motor obtains a greater starting torque; the pressure corresponding to the current value E is higher than the pressure corresponding to the current value H, and the swing motor obtains a greater braking torque.

[0152] The excavator includes a main pump, a swing motor, a flow extraction device and a flow storage device, the main pump is used to deliver hydraulic oil to the swing motor, an oil outlet of the swing motor is connected with the flow extraction device, the flow extraction device is connected with the flow storage device, and the excavator swing energy-saving control system comprises:

[0153] A swing control module is configured to, if a swing control instruction of an operating handle is received, perform a swing operation according to a handle swing angle of the operating handle.

[0154] A swing angle change detection module is configured to determine a handle swing angle change trend of the operating handle.

[0155] A first processing module is configured to, if the handle swing angle change trend is an increasing trend, set an opening current value of the flow extraction device as a first current value; wherein an opening pressure value of the flow extraction device is determined according to the opening current value; if the pressure of the hydraulic oil is greater than or equal to the opening pressure value, the flow extraction device is in an opening state; if the pressure of the hydraulic oil is less than the opening pressure value, the flow extraction device is in a closing state; in the opening state, the flow extraction device allows the hydraulic oil in the swing motor to be delivered to the flow storage device; in the closing state, the flow extraction device does not allow the hydraulic oil in the swing motor to be delivered to the flow storage device; and the first current value is determined according to an expected swing acceleration.

[0156] The second processing module is configured to set the opening current value of the flow extraction device to a second current value if the handle swing angle change trend is a decreasing trend, wherein the second current value is determined according to an expected braking distance.

[0157] The third processing module is configured to set the opening current value of the flow extraction device to the first current value after a delay of a preset time length if the handle swing angle of the operating handle decreases to 0.

[0158] The excavator applied in the embodiment comprises a main pump, a swing motor, a flow extraction device and a flow storage device. An oil outlet of the swing motor is connected with the flow extraction device. When the flow extraction device is in an open state, the swing motor is allowed to deliver internal hydraulic oil to the flow storage device. When the flow extraction device is in a closed state, the hydraulic oil in the swing motor is not allowed to be delivered to the flow storage device. After receiving a swing control instruction, a swing operation is performed according to a handle swing angle of an operating handle. In the process of performing the swing operation, the opening current value of the flow extraction device is set according to a handle swing angle change trend. The opening pressure value of the flow extraction device is determined according to the opening current value. The flow extraction device is in the open state when the pressure of the hydraulic oil is greater than or equal to the opening pressure value. The flow extraction device is in the closed state when the pressure of the hydraulic oil is less than the opening pressure value. The above scheme can store the hydraulic oil in the swing motor to the flow storage device when the hydraulic oil pressure is large, thereby reducing the energy loss during overflow and braking. Therefore, the embodiment can effectively recover the energy during the swing process of the excavator, thereby reducing the energy consumption of the excavator.

[0159] Further, the method further comprises:

[0160] The fourth processing module is configured to determine whether a pilot switch of the excavator is closed. If yes, the opening current value is set to a maximum value, so that the flow extraction device remains in the closed state. If no, it is determined whether the swing control instruction of the operating handle is received. The fifth processing module is further configured to set the opening current value of the flow extraction device to the first current value if the swing control instruction of the operating handle is not received.

[0161] Further, the method further comprises:

[0162] The fifth processing module is configured to determine a working mode of the excavator before determining the handle swing angle change trend of the operating handle. If the working mode of the excavator is a normal mode, the opening current value is set to a maximum value, so that the flow extraction device remains in the closed state. If the working mode of the excavator is an energy-saving mode or a powerful mode, the step of determining the handle swing angle change trend of the operating handle is entered.

[0163] Further, the method further comprises:

[0164] The first current value setting module is configured to, before setting the opening current value of the flow extraction device as a first current value, select a first alternative value as the first current value if the working mode of the excavator is an energy-saving mode, and select a second alternative value as the first current value if the working mode of the excavator is a powerful mode, wherein the first alternative value is less than the second alternative value, and the opening pressure value is positively correlated with the first current value.

[0165] Correspondingly, the excavator further comprises:

[0166] The second current value setting module is configured to, before setting the opening current value of the flow extraction device as a second current value, select a third alternative value as the second current value if the working mode of the excavator is an energy-saving mode, and select a fourth alternative value as the second current value if the working mode of the excavator is a powerful mode, wherein the third alternative value is less than the fourth alternative value, and the opening pressure value is positively correlated with the second current value.

[0167] Further, the excavator further comprises a main valve swivel joint and a flow locking device, and the main pump delivers hydraulic oil to the swivel motor through the main valve swivel joint and the flow locking device.

[0168] Correspondingly, the swivel control module is further configured to set a control current of the main valve swivel joint according to the swivel control instruction, wherein the control current is used to control the operation position and the valve port opening degree of the main valve swivel joint, and set the displacement of the main pump according to the swivel control instruction.

[0169] Further, the excavator further comprises:

[0170] The sixth processing module is configured to, after determining the handle swing angle change trend of the operation handle, control the flow extraction device to keep the opening current value set last time if the handle swing angle change trend is constant.

[0171] Further, the excavator further comprises:

[0172] The time length setting module is configured to determine the preset time length according to the braking time length of the excavator in a preset state, wherein the preset time length is greater than the braking time length, and the preset state is a state in which the swivel speed and / or the displacement of the main pump of the excavator are at maximum values during braking.

[0173] Since the embodiments of the system part correspond to the embodiments of the method part, the embodiments of the system part are described in the description of the embodiments of the method part, and will not be described here.

[0174] The application further provides a storage medium, which has a computer program stored thereon, and the computer program can implement the steps provided by the above-mentioned embodiments when executed. The storage medium can include a U disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0175] The application further provides an electronic device, which can include a memory and a processor, the memory has a computer program stored therein, and the processor can implement the steps provided by the above-mentioned embodiments when calling the computer program in the memory. Of course, the electronic device can further include various network interfaces, power supplies and other components.

[0176] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the system disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part. It should be pointed out that, for those skilled in the art, without departing from the principles of the application, some improvements and modifications can be made to the application, and these improvements and modifications also fall within the protection scope of the application.

[0177] It should be further noted that, in the specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

Claims

1. A slewing energy-saving control method of a shovel, characterized by comprising: The excavator comprises a main pump, a swing motor, a flow extraction device and a flow storage device, the main pump is used for delivering hydraulic oil to the swing motor, an oil outlet of the swing motor is connected with the flow extraction device, the flow extraction device is connected with the flow storage device, and the swing energy-saving control method of the excavator comprises the following steps: If a swing control instruction of the operating handle is received, a swing operation is performed according to a handle swing angle of the operating handle; A handle swing angle change trend of the operating handle is determined; If the handle swing angle change trend is an increasing trend, an opening current value of the flow extraction device is set as a first current value; wherein an opening pressure value of the flow extraction device is determined according to the opening current value; if the pressure of the hydraulic oil is greater than or equal to the opening pressure value, the flow extraction device is in an opening state; if the pressure of the hydraulic oil is less than the opening pressure value, the flow extraction device is in a closing state; in the opening state, the flow extraction device allows the hydraulic oil in the swing motor to be delivered to the flow storage device; in the closing state, the flow extraction device does not allow the hydraulic oil in the swing motor to be delivered to the flow storage device; the first current value is determined according to an expected swing acceleration; If the handle swing angle change trend is a decreasing trend, the opening current value of the flow extraction device is set as a second current value; wherein the second current value is determined according to an expected braking distance; If the handle swing angle of the operating handle decreases to 0, the opening current value of the flow extraction device is set as the first current value after a delay of a preset time length.

2. The slewing energy-saving control method of the excavator according to claim 1, characterized by Further comprising: It is judged whether a pilot switch of the excavator is closed; If yes, the opening current value is set as a maximum value, so that the flow extraction device remains in the closing state; If no, it is judged whether the swing control instruction of the operating handle is received; If the swing control instruction is not received, the opening current value of the flow extraction device is controlled to be set as a first current value.

3. The slewing energy-saving control method of the excavator according to claim 1, characterized by Before determining the handle swing angle change trend of the operating handle, further comprising: A working mode of the excavator is determined; If the working mode of the excavator is a normal mode, the opening current value is set as a maximum value, so that the flow extraction device remains in the closing state; If the working mode of the excavator is an energy-saving mode or a powerful mode, the step of determining the handle swing angle change trend of the operating handle is entered.

4. The slewing energy-saving control method of the excavator according to claim 3, characterized by Before setting the opening current value of the flow extraction device as the first current value, further comprising: If the working mode of the excavator is the energy-saving mode, a first alternative value is selected as the first current value; If the working mode of the excavator is the powerful mode, a second alternative value is selected as the first current value; wherein the first alternative value is less than the second alternative value, and the opening pressure value is positively correlated with the first current value; Correspondingly, before setting the opening current value of the flow extraction device as the second current value, further comprising: If the working mode of the excavator is the energy-saving mode, a third alternative value is selected as the second current value; If the working mode of the excavator is a strong mode, a fourth alternative value is selected as the second current value; wherein the third alternative value is less than the fourth alternative value, and the opening pressure value is positively correlated with the second current value.

5. The slewing energy-saving control method of the excavator according to claim 1, characterized by The excavator further comprises a main valve swivel joint and a flow locking device, and the main pump delivers hydraulic oil to the swivel motor through the main valve swivel joint and the flow locking device; Correspondingly, further comprising: A control current of the main valve swivel joint is set according to the swivel control instruction; wherein the control current is used to control the operation position and the valve port opening degree of the main valve swivel joint; The displacement of the main pump is set according to the swivel control instruction.

6. The slewing energy-saving control method of the excavator according to claim 1, characterized by After determining the handle swing angle change trend of the operation handle, further comprising: If the handle swing angle change trend is unchanged, the opening current value set last time is maintained by the flow extraction device.

7. The slewing energy-saving control method of the excavator according to claim 1, characterized by Further comprising: The preset time length is determined according to the braking time length of the excavator in a preset state; wherein the preset time length is greater than the braking time length, and the preset state is a state in which the swivel speed and / or the main pump displacement of the excavator are at maximum values when braking.

8. A slewing energy-saving control system of a shovel, characterized by comprising: The excavator comprises a main pump, a swivel motor, a flow extraction device and a flow storage device, the main pump is used to deliver hydraulic oil to the swivel motor, the oil outlet of the swivel motor is connected with the flow extraction device, the flow extraction device is connected with the flow storage device, and the swivel energy-saving control system of the excavator comprises: A swivel control module is used to execute a swivel operation according to the handle swing angle of the operation handle if a swivel control instruction of the operation handle is received; A swing angle change detection module is used to determine the handle swing angle change trend of the operation handle; A first processing module is used to set the opening current value of the flow extraction device as a first current value if the handle swing angle change trend is an increasing trend; wherein the opening pressure value of the flow extraction device is determined according to the opening current value; if the pressure of the hydraulic oil is greater than or equal to the opening pressure value, the flow extraction device is in an opening state; if the pressure of the hydraulic oil is less than the opening pressure value, the flow extraction device is in a closing state; in the opening state, the flow extraction device allows the hydraulic oil in the swivel motor to be delivered to the flow storage device; in the closing state, the flow extraction device does not allow the hydraulic oil in the swivel motor to be delivered to the flow storage device; and the first current value is determined according to an expected swivel acceleration; A second processing module is used to set the opening current value of the flow extraction device as a second current value if the handle swing angle change trend is a decreasing trend; wherein the second current value is determined according to an expected braking distance; A third processing module is used to set the opening current value of the flow extraction device as the first current value after a delay preset time length if the handle swing angle of the operation handle decreases to 0.

9. An electronic device, comprising: The excavator comprises a memory and a processor, the memory stores a computer program, and the processor realizes the steps of the energy-saving control method of the excavator's slewing according to the computer program in the memory.

10. A storage medium, characterized by The storage medium stores computer executable instructions, and the computer executable instructions are loaded and executed by the processor to realize the steps of the energy-saving control method of the excavator's slewing.

Images