Electrically driven hydraulic system, working machine and control method thereof

Abstract

This disclosure provides an electro-hydraulic system, engineering machinery, and a control method thereof. The electro-hydraulic system includes: a plurality of actuators, including a first actuator and a second actuator; a motor and a hydraulic pump, the motor being configured to provide power and the hydraulic pump being configured to receive power and supply energy to the first actuator; a first valve assembly connected between the electro-drive component and the first actuator, controlling the on / off state of the pipeline between the electro-drive component and the first actuator according to an operating mode; an accumulator for recovering energy from at least a portion of the first actuator connected to the accumulator and supplying energy to at least one first actuator and to a second actuator; and a second valve assembly connected between the accumulator and at least a portion of the actuators, controlling the on / off state of the pipeline between the accumulator and the actuators connected to the accumulator according to an operating mode; wherein the operating modes include a normal operating mode, an extreme operating mode, and an emergency operating mode.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery technology, and in particular to an electro-hydraulic system, engineering machinery and its control method. Background Technology

[0002] In new energy construction machinery, some electric drive hydraulic systems adopt a "single motor + multi-pump" power supply form. Taking electric loaders as an example, the motor achieves several operational functions through the multi-pump, including three aspects: 1. Driving the boom cylinder and bucket cylinder to complete the loading operation; 2. Driving the steering cylinder to achieve vehicle steering; 3. Driving the braking system to perform mechanical braking.

[0003] However, to cover all operating scenarios (including extreme conditions), the motor needs to be matched with a large power, which results in it being "overpowered" in most normal operating conditions. Specific problems include three points: First, the motor operates in an inefficient range for extended periods, resulting in low energy utilization; second, the duration and power requirements for vehicle steering and mechanical braking are relatively small, causing the oil pump to run idle and overflow for extended periods, resulting in additional energy loss; third, high-power motors are larger and more expensive, increasing the power requirements of the supporting thermal management system. Summary of the Invention

[0004] The purpose of this disclosure is to provide an electro-hydraulic system, engineering machinery and control method thereof, which aims to avoid the problem of low energy utilization caused by the long-term operation of electro-hydraulic systems driven by a single motor in order to cover all working conditions.

[0005] The first aspect of this disclosure provides an electro-hydraulic system, comprising:

[0006] Multiple actuators, including a first actuator and a second actuator;

[0007] An electric drive component includes a motor and a hydraulic pump, the motor being configured to provide power and the hydraulic pump being configured to receive the power and supply power to the first actuator;

[0008] A first valve assembly, connected between the electric drive component and the first actuator, is configured to control the opening and closing of the pipeline between the electric drive component and the first actuator according to the operating mode of the electric drive hydraulic system.

[0009] An energy storage device is configured to recover energy from at least a portion of the first actuator connected to the energy storage device and to supply energy to the second actuator and at least one of the first actuators; and

[0010] A second valve assembly, connected between the accumulator and at least a portion of the actuator, is configured to control the on / off state of the pipeline between the accumulator and the actuator connected to the accumulator according to the operating mode;

[0011] The operation modes include normal operation mode, extreme operation mode and emergency operation mode.

[0012] In some embodiments, the first actuating element includes a lifting cylinder, which is connected to both the hydraulic pump and the accumulator; wherein...

[0013] In the normal operating mode, when the lifting cylinder is in the lifting state and the power of the motor is less than the maximum power, the motor is in the working state, the first valve assembly is configured to connect the pipeline between the lifting cylinder and the motor, and the second valve assembly is in the disconnected state;

[0014] In the normal operating mode, when the lifting cylinder is in the lowered state and the motor's power is less than its maximum power (the motor is in a non-operating state), the first valve assembly is in the open state, and the second valve assembly is configured to connect the pipeline between the lifting cylinder and the accumulator; and / or

[0015] In the extreme operating mode, with the lifting cylinder in the lifting state and the motor power equal to the maximum power, the motor is in the working state. The first valve assembly is configured to connect the pipeline between the lifting cylinder and the motor, and the second valve assembly is configured to connect the pipeline between the lifting cylinder and the accumulator.

[0016] In some embodiments, the second actuating element includes a steering cylinder connected only to the accumulator; wherein...

[0017] In the normal operating mode, and when the steering cylinder is in a steering state, the second valve assembly is configured to connect the pipeline between the steering cylinder and the accumulator; and / or

[0018] In the emergency operation mode, and when the steering cylinder is in a steering state, the second valve assembly is configured to connect the pipeline between the steering cylinder and the accumulator.

[0019] In some embodiments, the first actuating element includes a brake connected to both the hydraulic pump and the accumulator; wherein...

[0020] In the normal operating mode, with the brake in a braking state and the motor in an operating state, the first valve assembly is configured to connect the pipeline between the brake and the motor, and the second valve assembly is in a disconnected state; and / or

[0021] In the emergency operation mode, with the brake in a braking state, the motor in a non-operating state, the first valve assembly in a disconnected state, and the second valve assembly configured to connect the pipeline between the brake and the accumulator.

[0022] In some embodiments, the first actuating element includes a bucket cylinder, which is connected only to the hydraulic pump; wherein...

[0023] In the normal operating mode, with the bucket cylinder in an actuated state and the motor in a working state, the first valve assembly is configured to connect the pipeline between the bucket cylinder and the motor.

[0024] In some embodiments, it also includes:

[0025] A pressure sensor is configured to detect the pressure within the accumulator; and

[0026] An electronic pump, connected to the accumulator, is configured to supply energy to the accumulator when the pressure within the accumulator is lower than a preset pressure value.

[0027] A second aspect of this disclosure provides an engineering machine, comprising:

[0028] The electro-hydraulic system described in the above embodiments;

[0029] An operating mechanism is configured to generate operating signals to control the action of the actuator; and

[0030] The controller, which is signal-connected to the operating mechanism, the motor, the first valve assembly, and the second valve assembly, is configured to control the operating state of the motor, the first valve assembly, and the second valve assembly based on the operating signal and the operating state of the electro-hydraulic system.

[0031] A third aspect of this disclosure provides a control method for engineering machinery based on the above embodiments, comprising:

[0032] Obtain the operation signal;

[0033] Obtain the operating mode of the electro-hydraulic system;

[0034] The operating states of the motor, the first valve assembly, and the second valve assembly are controlled according to the operation signal and the operating mode of the electro-hydraulic system.

[0035] In some embodiments, the construction machinery further includes a first detector and a second detector, the first detector being configured to detect whether the electro-hydraulic system is malfunctioning, and the second detector being configured to detect the power of the motor;

[0036] Obtaining the operating mode of the electro-hydraulic system includes:

[0037] Obtain the detection results of the first detector and the second detector;

[0038] In response to the detection result that the electro-hydraulic system is not faulty and the power is less than the maximum power, it is determined that the electro-hydraulic system is in the normal operating mode;

[0039] In response to the detection result that the electro-hydraulic system is not faulty and the power is equal to the maximum power, it is determined that the electro-hydraulic system is in the extreme operating mode; and / or

[0040] In response to the detection result of the fault in the electro-hydraulic system, it is determined that the electro-hydraulic system is in the emergency operation mode.

[0041] In some embodiments, the first actuating element includes a lifting cylinder connected to the hydraulic pump and the accumulator, the operating signal includes a lifting signal and a lowering signal, and the lifting cylinder is configured to be in a lifting state in response to the lifting signal and in a lowering state in response to the lowering signal.

[0042] Controlling the operating states of the motor, the first valve assembly, and the second valve assembly according to the operation signal and the operating mode of the electro-hydraulic system includes:

[0043] In the normal operating mode, and when the lifting cylinder is in the lifting state, the motor is controlled to be in the working state, the first valve assembly connects the pipeline between the lifting cylinder and the motor, and the second valve assembly is in the disconnected state;

[0044] In the normal operating mode, and with the lifting cylinder in the lowered state, the motor is controlled to be in a non-operating state, the first valve assembly is in a disconnected state, and the second valve assembly connects the pipeline between the lifting cylinder and the accumulator; and / or

[0045] In the extreme operation mode, and with the lifting cylinder in the lifting state, the motor is controlled to be in the working state, the first valve assembly connects the pipeline between the lifting cylinder and the motor, and the second valve assembly connects the pipeline between the lifting cylinder and the accumulator.

[0046] In some embodiments, the second actuating element includes a steering cylinder connected to the accumulator, the operating signal includes a steering signal, and the steering cylinder is configured to be in a steering state according to the steering signal;

[0047] Controlling the operating states of the motor, the first valve assembly, and the second valve assembly according to the operation signal and the operating mode of the electro-hydraulic system includes:

[0048] In the normal operating mode and / or emergency operating mode, and when the steering cylinder is in the steering state, the second valve assembly is controlled to connect the pipeline between the steering cylinder and the accumulator.

[0049] In some embodiments, the first actuating element includes a brake connected to the hydraulic pump and the accumulator, the operating signal includes a braking signal, and the brake is in a braking state according to the braking signal;

[0050] Controlling the operating states of the motor, the first valve assembly, and the second valve assembly according to the operation signal and the operating mode of the electro-hydraulic system includes:

[0051] In the normal operating mode, with the brake in a braking state and the motor in an operating state, the first valve assembly connects the pipeline between the brake and the motor, and the second valve assembly is in a disconnected state; and / or

[0052] In the emergency operation mode, with the brake in a braking state, the motor is controlled to be in a non-operating state, the first valve assembly is in a disconnected state, and the second valve assembly connects the pipeline between the brake and the accumulator.

[0053] In some embodiments, the first actuating element includes a bucket cylinder connected to the hydraulic pump, and the bucket cylinder is in an actuated state according to the operation signal;

[0054] Controlling the operating states of the motor, the first valve assembly, and the second valve assembly according to the operation signal and the operating mode of the electro-hydraulic system includes:

[0055] In the normal operating mode, when the bucket cylinder is in an actuated state, the motor is controlled to be in a working state, and the first valve assembly connects the pipeline between the bucket cylinder and the motor.

[0056] In some embodiments, the electro-hydraulic system further includes an electronic pump connected to the accumulator;

[0057] The control method further includes:

[0058] Obtain the pressure value inside the accumulator;

[0059] When the pressure value is less than the preset pressure value, the electronic pump is controlled to supply energy to the accumulator.

[0060] Based on the electro-hydraulic system provided in this disclosure, an accumulator and an electric drive component including a motor and a hydraulic pump form a "dual-source drive mechanism." To meet the different needs of normal operation, extreme operation, and emergency operation modes, the coordinated control of the first and second valve assemblies allows for flexible selection of whether to use the electric drive component or the accumulator to power the first and second actuators. This facilitates the electro-hydraulic system's adaptation to the operational requirements of different operating modes. The first valve assembly and the electric drive component can supply power only to the actuators required for the current operation, eliminating the need for a high-power motor to cover the functions of all actuators. This reduces the inefficient operating time of the motor and improves its energy utilization efficiency. Furthermore, the cooperation between the accumulator and the second valve assembly allows for the recovery of some energy from the actuators, which can be replenished through the accumulator when needed. This avoids the continuous use of the motor for power, preventing the hydraulic pump from running idle and overflowing, thus reducing energy loss and further lowering the energy consumption of the electro-hydraulic system.

[0061] The engineering machinery disclosed herein includes the electro-hydraulic system of this disclosure, thereby possessing the advantages of the electro-hydraulic system of this disclosure. Furthermore, through the signal connection between the operating mechanism and the controller, the operator can directly output work commands through the operating mechanism. The controller can receive this operating signal in real time and, in conjunction with the real-time operating status of the electro-hydraulic system, precisely control the start and stop of the motor, the on / off state of the first valve assembly, and the on / off state of the second valve assembly, which helps to improve the work response speed and control accuracy.

[0062] The control method disclosed herein is based on the engineering machinery disclosed herein. This control method is based on the coordinated control of the motor, the first valve assembly, and the second valve assembly by operating signals and operating modes. It is beneficial to realize the formation of a "dual-source drive mechanism" by using an energy accumulator and electric drive components. Furthermore, in response to different needs of normal operating modes, extreme operating modes, and emergency operating modes, the coordinated control of the first valve assembly and the second valve assembly improves the adaptability of the control method to each operating mode, which is beneficial to reducing the inefficient running time of the motor and improving the energy utilization efficiency of the motor.

[0063] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0064] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings:

[0065] Figure 1 This is a structural block diagram of an engineering machine according to some embodiments of the present disclosure.

[0066] Figure 2 This is a block diagram illustrating the power transmission relationship of an electro-hydraulic system under normal operating conditions in some embodiments of this disclosure.

[0067] Figure 3 This is a block diagram illustrating the power transfer relationship of an electro-hydraulic system under extreme operating conditions in some embodiments of this disclosure.

[0068] Figure 4 This is a block diagram illustrating the power transmission relationship of an electro-hydraulic system under emergency operation mode in some embodiments of this disclosure.

[0069] Figure 5 This is a block diagram illustrating the power transmission relationship of an electro-hydraulic system under emergency operation mode in some embodiments of this disclosure.

[0070] Figure 6 This is a flowchart of a control method according to some embodiments of the present disclosure.

[0071] Figure 7 This is a flowchart of a control method according to some embodiments of the present disclosure.

[0072] Figure 8 This is a flowchart of a control method according to some embodiments of the present disclosure.

[0073] Figure 9 This is a flowchart of a control method according to some embodiments of the present disclosure.

[0074] Figure 10 This is a flowchart of a control method according to some embodiments of the present disclosure.

[0075] Figure 11 This is a flowchart of a control method according to some embodiments of the present disclosure.

[0076] Figure 12 This is a flowchart of a control method according to some embodiments of the present disclosure.

[0077] Figure 13 This is a flowchart of a control method according to some embodiments of the present disclosure.

[0078] Explanation of reference numerals in the attached figures:

[0079] 1. Motor; 2. Accumulator; 3. Hydraulic pump; 4. Lifting cylinder; 5. Bucket cylinder; 6. Brake; 7. Steering cylinder; 9. Controller; 10. First valve assembly; 13. Electronic pump; 14. Motor controller; 15. Reducer; 17. Pressure sensor; 20. Second valve assembly; 81. Operating handle; 82. Accelerator pedal; 83. Steering wheel; 84. Brake pedal; 100. Power battery; 200. DC-DC converter. Detailed Implementation

[0080] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0081] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0082] In the description of this disclosure, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this disclosure.

[0083] In the description of this disclosure, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are generally based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this disclosure; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0084] Figure 1 In the diagram, solid lines represent mechanical connections, dashed lines represent low-voltage electrical connections, double-dotted lines represent high-voltage electrical connections, and single-dotted lines represent hydraulic connections.

[0085] like Figures 1 to 5 As shown, this disclosure provides an electro-hydraulic system. The electro-hydraulic system includes:

[0086] Multiple actuators, including a first actuator and a second actuator;

[0087] The electric drive component includes a motor 1 and a hydraulic pump 3, wherein the motor 1 is configured to provide power and the hydraulic pump 3 is configured to receive power and supply energy to the first actuator;

[0088] The first valve assembly 10 is connected between the electric drive component and the first actuator and is configured to control the opening and closing of the pipeline between the electric drive component and the first actuator according to the operating mode of the electric drive hydraulic system.

[0089] Energy accumulator 2 is configured to recover energy from at least a portion of the first actuator connected to energy accumulator 2 and to supply energy to the second actuator and at least one of the first actuators; and

[0090] The second valve assembly 20, connected between the accumulator 2 and at least part of the actuator, is configured to control the opening and closing of the pipeline between the accumulator 2 and the actuator connected to the accumulator 2 according to the operating mode;

[0091] The operating modes include normal operating mode, extreme operating mode and emergency operating mode.

[0092] For example, the first valve assembly 10 and the second valve assembly 20 may include a solenoid valve or an electric valve.

[0093] The electro-hydraulic system may include, for example, a first detector and a second detector. The first detector is configured to detect whether the electro-hydraulic system is malfunctioning, and the second detector is configured to detect the power of the motor 1. The first detector may be, for example, a pressure detector located at the outlet of the hydraulic pump 3. The second detector may be, for example, a current-voltage sensor located in the power supply circuit of the motor 1, or, more specifically, a power sensor located at the output terminal of the motor 1.

[0094] The pressure value detected by the first detector is within the preset pressure range, and the detection result of the second detector shows that the power of motor 1 is less than the maximum power, indicating that the electro-hydraulic system is in normal operation mode. The pressure value detected by the first detector exceeds the preset pressure range, indicating that the electro-hydraulic system is in emergency operation mode. The detection result of the second detector shows that the power of motor 1 is equal to the maximum power, indicating that the electro-hydraulic system is in extreme operation mode.

[0095] For example, such as Figure 1 As shown, the electro-hydraulic system may also include a DC-DC converter 200 and a power battery 100. The DC-DC converter reduces the high voltage output from the power battery 100 to the voltage level required by the electronic pump 13 through an internal conversion circuit. After receiving the stable low-voltage DC power output from the DC-DC converter, the electronic pump 13 converts the electrical energy into mechanical energy to replenish the energy storage device 2.

[0096] For example, such as Figure 1 As shown, the electro-hydraulic system may also include a reducer 15, which is mechanically connected between the motor 1 and the hydraulic pump 3. After receiving power from the motor 1, the reducer 15 uses an internal gear mechanism to achieve "speed reduction and torque increase", reducing the high speed of the motor 1 to the rated speed required by the hydraulic pump 3.

[0097] The first actuators are all connected to the electric drive component and can be powered by the electric drive component. At least one of the first actuators is also connected to the energy storage unit 2 to supply energy through the energy storage unit 2. The second actuators are all connected only to the energy storage unit 2 and not to the electric drive component to supply energy through the energy storage unit 2.

[0098] Based on the electro-hydraulic system provided in this disclosure, an accumulator 2 and an electric drive component including a motor 1 and a hydraulic pump 3 form a "dual-source drive mechanism." To meet the different needs of normal operation, extreme operation, and emergency operation modes, the coordinated control of the first valve assembly 10 and the second valve assembly 20 allows for flexible selection of whether to use the electric drive component or the accumulator 2 to power the first and second actuators. This facilitates the electro-hydraulic system's adaptation to the operational requirements of different operating modes. The first valve assembly 10 and the electric drive component can supply power only to the actuators required for the current operation, eliminating the need for a high-power motor to cover all actuator functions. This reduces the inefficient operating time of the motor 1 and improves its energy utilization efficiency. Furthermore, the cooperation between the accumulator 2 and the second valve assembly 20 allows for the recovery of some energy from the actuators, which can then be replenished by the accumulator 2 when needed. This avoids the continuous use of the motor 1 for power, preventing the hydraulic pump 3 from running idle and overflowing, thus further reducing the energy consumption of the electro-hydraulic system.

[0099] Furthermore, in related technologies, after the accumulator recovers the gravitational potential energy of the robotic arm during its descent, it needs to drive a generator via a bidirectional pump to generate electricity and store the energy in a power battery. The power battery then drives the steering cylinder, lifting cylinder, and other actuators, resulting in a long power transmission chain, significant efficiency loss, and low energy utilization. The electro-hydraulic system provided in this disclosure utilizes the coordinated control of the first valve assembly 10 and the second valve assembly 20, which facilitates direct power supply to at least one actuator via the accumulator 2. This shortens the power transmission chain, reduces energy loss, and improves energy utilization.

[0100] like Figures 1 to 5 As shown, in some embodiments, the first actuating element includes a lifting cylinder 4, which is connected to both the hydraulic pump 3 and the accumulator 2; wherein,

[0101] In normal operating mode, with the lifting cylinder 4 in the lifting state and the power of the motor 1 less than the maximum power, the motor 1 is in the working state, the first valve assembly 10 is configured to connect the pipeline between the lifting cylinder 4 and the motor 1, and the second valve assembly 20 is in the disconnected state.

[0102] In normal operating mode, with the lifting cylinder 4 in the lowered state and the power of motor 1 less than its maximum power (motor 1 is in a non-operating state), the first valve assembly 10 is in the open state, and the second valve assembly 20 is configured to connect the pipeline between the lifting cylinder 4 and the accumulator 2; and / or

[0103] In extreme operation mode, with the lifting cylinder 4 in the lifting state and the power of the motor 1 equal to the maximum power, the motor 1 is in the working state. The first valve assembly 10 is configured to connect the pipeline between the lifting cylinder 4 and the motor 1, and the second valve assembly 20 is configured to connect the pipeline between the lifting cylinder 4 and the accumulator 2.

[0104] For example, the first valve assembly 10 may include a first valve that connects the pipeline between the motor 1 and the lifting cylinder 4. For example, the second valve assembly 20 may include a second valve that connects the pipeline between the accumulator 2 and the lifting cylinder 4.

[0105] In normal operating mode, only motor 1 supplies power to lifting cylinder 4 to keep it in the lifting state. This allows for precise matching of the power requirements of lifting cylinder 4 under normal loads, improving energy utilization. In extreme operating mode, both motor 1 and accumulator 2 supply power to lifting cylinder 4, quickly meeting its high power demands under heavy loads and other extreme conditions. This eliminates the need for a separate high-power motor to ensure operational capability, reducing hardware costs and mitigating the risk of instantaneous overload on motor 1 through a "dual-source drive mechanism." Furthermore, this improves the reliability and response speed of the electro-hydraulic system and enhances its adaptability to different operating scenarios.

[0106] like Figures 1 to 5 As shown, in some embodiments, the second actuating element includes a steering cylinder 7, which is connected only to the accumulator 2; wherein,

[0107] In normal operating mode, and with steering cylinder 7 in the steering state, the second valve assembly 20 is configured to connect the pipeline between steering cylinder 7 and accumulator 2; and / or

[0108] In emergency operation mode, and with steering cylinder 7 in steering position, the second valve assembly 20 is configured to connect the pipeline between steering cylinder 7 and accumulator 2.

[0109] For example, the second valve assembly 20 may include a third valve, which may connect the pipeline between the accumulator 2 and the steering cylinder 7.

[0110] The steering cylinder 7 is powered by the accumulator 2. This configuration eliminates the need for the motor to power the steering cylinder 7, allowing the motor 1 to be used solely for driving the first actuator. This avoids the motor 1 frequently adjusting its output power to power the second actuator, reducing inefficient operation of the motor 1 and improving energy utilization. Using the accumulator 2 to power the steering cylinder 7 facilitates rapid response to steering maneuvers and avoids the lag caused by power distribution delays when powered by the motor 1. Furthermore, in emergency operation mode, the second valve assembly 20 maintains the connection between the steering cylinder 7 and the accumulator 2. Even if the motor 1 fails, the accumulator 2 can independently power the steering cylinder 7, ensuring the steering function remains functional in emergency situations (such as motor failure or system power outage), and improving the operational safety and reliability of the electro-hydraulic system under unforeseen circumstances.

[0111] like Figures 1 to 5 As shown, in some embodiments, the first actuating element includes a brake 6, which is connected to both the hydraulic pump 3 and the accumulator 2; wherein,

[0112] In normal operating mode, with brake 6 in braking state and motor 1 in operating state, the first valve assembly 10 is configured to connect the pipeline between brake 6 and motor 1, and the second valve assembly 20 is in the off state; and / or

[0113] In emergency operation mode, with brake 6 in braking state, motor 1 in non-working state, first valve assembly 10 in open state, and second valve assembly 20 configured to connect the pipeline between brake 6 and accumulator 2.

[0114] For example, the first valve assembly 10 may include valve four, which can connect the pipeline between the motor 1 and the brake 6. For example, the second valve assembly 20 may include valve five, which can connect the pipeline between the accumulator 2 and the brake 6.

[0115] In normal operating mode, the first valve assembly 10 and the second valve assembly work together to control the motor 1 to supply power to the brake 6. This setup allows for precise matching of the motor 1's power supply to the braking demand in normal operating mode, eliminating the need for additional power supply components for the brake 6. This simplifies the structure of the electro-hydraulic system and improves energy utilization. In emergency operating mode, even if the motor 1 fails, the energy stored in the accumulator 2 can still power the brake 6. This helps avoid the risk of loss of control of the electro-hydraulic system due to brake 6 failure, thus improving the operational safety and reliability of the electro-hydraulic system. Furthermore, using the motor 1 instead of the accumulator 2 to power the brake 6 in normal operating mode reduces the energy consumption of the accumulator 2, allowing it to fully store the energy required for emergency operating mode.

[0116] like Figures 1 to 5 As shown, in some embodiments, the first actuating element includes a bucket cylinder 5, which is connected only to the hydraulic pump 3; wherein,

[0117] In normal operating mode, with bucket cylinder 5 in action and motor 1 in operation, the first valve assembly 10 is configured to connect the pipeline between bucket cylinder 5 and motor 1.

[0118] For example, the first valve assembly 10 may include valve six, which may connect the pipeline between the motor 1 and the brake 6.

[0119] The pipeline connecting the motor 1 and the bucket cylinder 5 is connected by the first valve assembly 10, enabling the motor 1 to power the bucket cylinder 5 independently. This configuration helps to meet the power supply stability requirements of the bucket cylinder 5 during loading, unloading, and other operations.

[0120] like Figure 1 and Figure 5 As shown, in some embodiments, the electro-hydraulic system further includes:

[0121] Pressure sensor 17 is configured to detect the pressure within accumulator 2; and

[0122] An electronic pump 13 is connected to an energy storage device 2 and is configured to supply energy to the energy storage device 2 when the pressure inside the energy storage device 2 is lower than a preset pressure value.

[0123] Setting up a pressure sensor 17 is beneficial for real-time monitoring of the pressure inside the accumulator 2. When the pressure inside the accumulator 2 is lower than the preset pressure value, the electric pump 13 can supply energy to the accumulator 2 in a timely manner. This helps to avoid situations where some actuators cannot work properly due to insufficient energy stored in the accumulator 2, thereby improving the working stability of the electro-hydraulic system.

[0124] like Figure 1 As shown, another aspect of this disclosure provides an engineering machine, which includes:

[0125] The electro-hydraulic system provided in the embodiments of this disclosure;

[0126] The operating mechanism is configured to generate operating signals to control the action of the actuator; and

[0127] The controller 9 is connected to the operating mechanism, motor 1, first valve assembly 10 and second valve assembly 20 by signal, and is configured to control the operating state of motor 1, first valve assembly 10 and second valve assembly 20 according to the operating signal and the operating state of the electro-hydraulic system.

[0128] The controller 9 may be implemented as a general-purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or any suitable combination thereof for performing the functions described in this disclosure.

[0129] For example, such as Figure 1 As shown, the controller 9 can control the motor 1 through the motor controller 14 to adjust the motor 1 to be in a working state or a non-working state.

[0130] For example, such as Figure 1 As shown, the operating mechanism may include an operating handle 81, a steering wheel 83, and a brake pedal 84. The operating signals that the operating handle 81 can send include lifting signals, lowering signals, and bucket signals. The operating signals that the steering wheel 83 can send include steering signals. The operating signals that the brake pedal 84 can send include braking signals.

[0131] In normal operation mode, when the controller 9 receives a lifting signal from the operating handle 81, it controls the first valve assembly 10 and the second valve assembly 20 to supply power from the motor 1 to the lifting cylinder 4; when the controller 9 receives a bucket signal from the operating handle 81, it controls the first valve assembly 10 and the second valve assembly 20 to supply power from the motor 1 to the bucket cylinder 5; when the controller 9 receives a lowering signal from the operating handle 81, it controls the first valve assembly 10 and the second valve assembly 20 to allow the accumulator 2 to store energy through the lifting cylinder 4.

[0132] In normal or emergency operation mode, when the controller 9 receives the steering signal from the steering wheel 83, it controls the first valve assembly 10 and the second valve assembly 20 to supply energy from the accumulator 2 to the steering cylinder 7.

[0133] In normal operation mode, when the controller 9 receives the braking signal from the brake pedal 84, it controls the first valve assembly 10 and the second valve assembly 20 to supply energy from the motor 1 to the brake 6; in emergency operation mode, when the controller 9 receives the braking signal from the brake pedal 84, it controls the first valve assembly 10 and the second valve assembly 20 to supply energy from the accumulator 2 to the brake 6.

[0134] For example, construction machinery can include, but is not limited to, electric excavators, electric loaders, and aerial work platforms.

[0135] The engineering machinery of this disclosure embodiment has the advantages of the electro-hydraulic system of this disclosure embodiment. In addition, through the signal connection between the operating mechanism and the controller 9, the operator can directly output work commands through the operating mechanism. The controller 9 can receive the operation signal in real time and, in combination with the real-time working status of the electro-hydraulic system, accurately control the start and stop of the motor 1, the on / off state of the first valve assembly 10 and the second valve assembly 20, which is beneficial to improving the work response speed and control accuracy.

[0136] Furthermore, in related technologies, some construction machinery is equipped with two sets of electro-hydraulic systems. These two systems operate independently, controlling steering and other functions separately. However, the electro-hydraulic system controlling steering needs to operate continuously to maintain its working pressure, leading to energy waste. Moreover, construction machinery using two sets of electro-hydraulic systems is large and has high manufacturing and maintenance costs. The construction machinery provided in this disclosure only requires a single electro-hydraulic system to cover all operating conditions, which helps improve the integration of the construction machinery, reduce equipment size, and decrease manufacturing and maintenance costs.

[0137] like Figure 1 As shown, in some embodiments, the operating mechanism may further include an accelerator pedal 82. The controller 9 is configured to control the output power of the motor 1 according to the acceleration signal emitted by the accelerator pedal 82.

[0138] like Figure 6 As shown, another aspect of this disclosure provides a control method for engineering machinery, the control method comprising:

[0139] Step 100: Obtain the operation signal;

[0140] Step 200: Obtain the operating mode of the electro-hydraulic system;

[0141] Step 300: Control the working state of motor 1, first valve assembly 10 and second valve assembly 20 according to the operation signal and the working mode of the electro-hydraulic system.

[0142] This control method, based on the engineering machinery disclosed herein, coordinates the control of motor 1, first valve assembly 10, and second valve assembly 20 based on operation signals and operating modes. This facilitates the formation of a "dual-source drive mechanism" using accumulator 2 and electric drive components including motor 1 and hydraulic pump 3. Furthermore, by coordinating the control of first valve assembly 10 and second valve assembly 20 to meet the different needs of normal operating modes, extreme operating modes, and emergency operating modes, the method improves its adaptability to various operating modes, reduces the inefficient operating time of motor 1, and enhances the energy utilization efficiency of motor 1.

[0143] like Figure 7 As shown, in some embodiments, obtaining the operating mode of the electro-hydraulic system includes:

[0144] Step 201: Obtain the detection results of the first detector and the second detector;

[0145] Step 202: In response to the detection result that the electro-hydraulic system is not faulty and the power is less than the maximum power, it is determined that the electro-hydraulic system is in normal operation mode.

[0146] Step 203: In response to the detection result that the electro-hydraulic system is not faulty and the power is equal to the maximum power, determine that the electro-hydraulic system is in the extreme operation mode; and / or

[0147] Step 204: In response to the detection result of the fault in the electro-hydraulic system, determine that the electro-hydraulic system is in emergency operation mode.

[0148] This control method facilitates precise and automatic determination of operating modes, providing a reliable basis for the power supply process of the electro-hydraulic system. When the electro-hydraulic system switches from a "no fault + low power" operating state to a "no fault + full power" state, it can be immediately identified as an extreme operating mode, which facilitates the rapid triggering of motor 1 and accumulator 2 to supply power in coordination. When a fault occurs in the electro-hydraulic system, it can be immediately identified as an emergency operating mode, and accumulator 2 will be activated for emergency power supply.

[0149] like Figure 8 As shown, in some embodiments, the lifting cylinder 4 is configured to be in a lifting state in response to a lifting signal and in a lowering state in response to a lowering signal;

[0150] The operating states of motor 1, first valve assembly 10, and second valve assembly 20 are controlled according to the operation signals and the operating mode of the electro-hydraulic system, including:

[0151] Step 301: In normal operation mode, with the lifting cylinder 4 in the lifting state and the control motor 1 in the working state, the first valve assembly 10 connects the pipeline between the lifting cylinder 4 and the motor 1, and the second valve assembly 20 is in the disconnected state.

[0152] Step 302: In normal operating mode, with the lifting cylinder 4 in the lowered state, the control motor 1 is in a non-operating state, the first valve assembly 10 is in the open state, and the second valve assembly 20 connects the pipeline between the lifting cylinder 4 and the accumulator 2; and / or

[0153] Step 303: In extreme operation mode, with the lifting cylinder 4 in the lifting state and the control motor 1 in the working state, the first valve assembly 10 connects the pipeline between the lifting cylinder 4 and the motor 1, and the second valve assembly 20 connects the pipeline between the lifting cylinder 4 and the accumulator 2.

[0154] In normal operating mode, when the electro-hydraulic system needs to drive the lifting cylinder 4 in the first actuator to perform a lifting action, the pipeline between the motor 1 and the lifting cylinder 4 is connected through the first valve assembly 10, and the pipeline between the accumulator 2 and the lifting cylinder 4 is disconnected through the second valve assembly 20, allowing the motor 1 to supply power to the lifting cylinder 4 independently. This setting facilitates precise matching of the power requirements of the lifting cylinder 4 under normal operating conditions, eliminating the need to activate the accumulator 2 or other redundant power supply components, thus avoiding energy loss.

[0155] In extreme operation mode, when motor 1 reaches its maximum power, the pipeline between lifting cylinder 4 and motor 1 is connected via the first valve assembly 10, and the pipeline between lifting cylinder 4 and accumulator 2 is connected via the second valve assembly 20. This allows motor 1 and accumulator 2 to jointly power lifting cylinder 4. This coordinated power supply method can quickly meet the high power requirements of lifting cylinder 4 under extreme operations (such as heavy-load lifting, rapid action, etc.). At the same time, the power complementarity between motor 1 and accumulator 2 helps reduce the wear and tear of a single power supply component under high load, and helps extend the service life of motor 1 and accumulator 2.

[0156] like Figure 9 As shown, in some embodiments, the steering cylinder 7 is configured to be in a steering state according to a steering signal;

[0157] The operating states of motor 1, first valve assembly 10, and second valve assembly 20 are controlled according to the operation signals and the operating mode of the electro-hydraulic system, including:

[0158] Step 304: In normal operation mode and / or emergency operation mode, and with steering cylinder 7 in steering state, control the second valve assembly 20 to connect the pipeline between steering cylinder 7 and accumulator 2.

[0159] In normal operating mode, when steering cylinder 7 needs to drive steering, the control second valve assembly 20 connects the pipeline between steering cylinder 7 and accumulator 2, allowing accumulator 2 to supply power. Compared to relying on motor 1 for power, accumulator 2 helps to share the power demand of steering cylinder 7, avoids steering lag caused by motor power distribution delay, and prevents motor 1 from operating in an inefficient range to supply power to steering cylinder 7, thereby improving energy utilization and enhancing the working efficiency of the electro-hydraulic system.

[0160] In emergency operation mode, even if motor 1 cannot supply power, step 304 can still maintain the connection between steering cylinder 7 and accumulator 2 through the second valve assembly 20. Accumulator 2 can independently provide energy to steering cylinder 7, which helps ensure that the steering function does not fail in emergency operation mode, helps avoid the danger of engineering machinery slipping or colliding due to inability to steer, and helps improve the safety of electro-hydraulic systems.

[0161] like Figure 10 As shown, in some embodiments, the brake 6 is in a braking state according to a braking signal;

[0162] The operating states of motor 1, first valve assembly 10, and second valve assembly 20 are controlled according to the operation signals and the operating mode of the electro-hydraulic system, including:

[0163] Step 305: In normal operating mode, with brake 6 in braking state and control motor 1 in working state, first valve assembly 10 connects the pipeline between brake 6 and motor 1, and second valve assembly 20 is in the off state; and / or

[0164] Step 306: In emergency operation mode, with brake 6 in braking state, control motor 1 in non-working state, first valve assembly 10 in open state, and second valve assembly 20 connecting the pipeline between brake 6 and accumulator 2.

[0165] Step 305 is beneficial in two ways: firstly, it helps to maintain the braking state of the brake 6 by the motor 1 in the normal operation mode, ensuring operational safety in normal operation; secondly, by disconnecting the second valve assembly 20, it prevents the energy in the accumulator 2 from being consumed by the braking function in the normal operation mode, which helps the accumulator 2 to store energy and reduce energy consumption.

[0166] Step 306 facilitates the disconnection of the power supply to the motor 1 when the brake 6 brakes in emergency operation mode, and the connection between the accumulator 2 and the brake 6 via the second valve assembly 20. Even if the motor 1 fails to operate due to a malfunction, the accumulator 2 can independently drive the brake 6 to complete the braking process using its pre-stored energy. This helps avoid the danger of loss of control of construction machinery due to brake failure in emergency operation mode and improves the reliability of the power supply function of the electro-hydraulic system.

[0167] like Figure 11 As shown, in some embodiments, the bucket cylinder 5 is connected to the hydraulic pump 3, and the bucket cylinder 5 is in an operating state according to the operation signal;

[0168] The operating states of motor 1, first valve assembly 10, and second valve assembly 20 are controlled according to the operation signals and the operating mode of the electro-hydraulic system, including:

[0169] Step 307: In normal operation mode, with bucket cylinder 5 in action and control motor 1 in operation, the first valve assembly 10 connects the pipeline between bucket cylinder 5 and motor 1.

[0170] Step 307 facilitates the operation of the bucket cylinder 5 under normal working conditions. By controlling the motor 1 to work and connecting the pipeline between the motor 1 and the first valve assembly 10 and the bucket cylinder 5, the energy demand of the bucket cylinder 5 during loading, unloading and other actions is met. At the same time, step 307 facilitates the supply of energy to the bucket cylinder 5 solely through the motor 1, without occupying the energy of the accumulator 2. This helps reduce ineffective energy consumption, achieves a reasonable allocation of energy supply, and helps ensure the efficiency of bucket operation and the energy efficiency of the electro-hydraulic system.

[0171] like Figure 12 As shown, in some embodiments, the control method further includes:

[0172] Step 400: Obtain the pressure value inside accumulator 2;

[0173] Step 500: When the pressure value is less than the preset pressure value, control the electronic pump 13 to supply energy to the accumulator 2.

[0174] Steps 400 and 500 facilitate the real-time acquisition of the pressure value within the accumulator 2 and the control of the electronic pump 13 to replenish energy when the pressure falls below a preset value. This ensures that the accumulator 2 is always maintained within the pressure range that meets the energy supply requirements, preventing it from failing to function effectively due to insufficient energy and thus ensuring the operational reliability of the electro-hydraulic system. Furthermore, activating the electronic pump 13 only when the pressure is insufficient helps avoid energy waste caused by continuous operation of the electronic pump 13.

[0175] Taking a loader as an example of construction machinery, the following is based on Figure 13 A detailed description of the loader and its control methods is provided.

[0176] After the loader is started, the pressure sensor 17 is activated to detect the pressure of the accumulator 2. If the pressure does not reach the preset pressure value, the electronic pump 13 is turned on to replenish the energy of the accumulator 2 until the pressure sensor 17 detects that the pressure of the accumulator 2 has reached the preset pressure value.

[0177] The first detector checks for faults in the electro-hydraulic system:

[0178] (1) The detection result of the first detector is "no".

[0179] The operating handle 81 sends a lifting signal, the controller 9 receives the lifting signal and controls the motor 1 to be in working state, controls the first valve assembly 10 to connect the pipeline between the motor 1 and the lifting cylinder 4, the lifting cylinder 4 is in the lifting state and drives the robotic arm to perform the lifting action; when the lifting signal is disconnected, the controller 9 determines that the robotic arm has completed the lifting action and controls the motor 1 to be in non-working state, and controls the first valve assembly 10 to be disconnected.

[0180] When the operating handle 81 sends a falling signal, the controller 9 receives the falling signal and controls the motor 1 to be in a non-working state, controls the first valve assembly 10 to be disconnected, and controls the second valve assembly 20 to connect the pipeline between the accumulator 2 and the lifting cylinder 4. The lifting cylinder 4 is in a falling state and the accumulator 2 stores the gravitational potential energy generated during the falling of the robotic arm. When the falling signal is disconnected, the controller determines that the robotic arm has completed the falling action and controls the second valve assembly 20 to be disconnected.

[0181] When the brake pedal 84 sends a braking signal, the controller 9 receives the braking signal and controls the motor 1 to be in working state, controls the first valve assembly 10 to connect the pipeline between the motor 1 and the brake 6, and the brake 6 is in braking state; when the braking signal is disconnected, the controller 9 determines that braking is completed and controls the motor 1 to be in non-working state, and controls the first valve assembly 10 to be disconnected.

[0182] The steering wheel 83 sends a steering signal. The controller 9 receives the steering signal and the detection result of the pressure sensor 17 and determines whether to turn on the electronic pump 13 to replenish the energy of the accumulator 2. When the pressure of the accumulator 2 reaches the preset pressure value, the controller 9 controls the motor 1 to be in a non-working state, controls the first valve assembly 10 to be disconnected, and controls the second valve assembly 20 to connect the pipeline between the accumulator 2 and the steering cylinder 7, so that the steering cylinder is in a steering state. When the steering signal is disconnected, the controller 9 determines that the steering action is completed and controls the second valve assembly 20 to be disconnected.

[0183] (2) The detection result of the first detector is "yes".

[0184] The brake pedal 84 sends a braking signal. The controller 9 receives the braking signal and the detection result of the pressure sensor 17 and determines whether to turn on the electronic pump 13 to replenish the energy accumulator 2. When the pressure of the accumulator 2 reaches the preset pressure value, the controller 9 controls the motor 1 to be in a non-working state, controls the first valve assembly 10 to be disconnected, and controls the second valve assembly 20 to connect the pipeline between the accumulator 2 and the brake 6, so that the brake 6 is in a braking state. When the braking signal is disconnected, the controller 9 determines that the braking is completed and controls the second valve assembly 20 to be disconnected.

[0185] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit them; although this disclosure has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this disclosure or equivalent substitutions can be made to some technical features, all of which should be covered within the scope of the technical solutions claimed in this disclosure.

Claims

1. An electro-hydraulic system, comprising: Multiple actuators, including a first actuator and a second actuator, wherein the first actuator includes a lifting cylinder (4) and the second actuator includes a steering cylinder (7); The electric drive component includes a motor (1) and a hydraulic pump (3), the motor (1) being configured to provide power and the hydraulic pump (3) being configured to receive the power and supply energy to the first actuator; A first valve assembly (10) is connected between the electric drive component and the first actuator and is configured to control the opening and closing of the pipeline between the electric drive component and the first actuator according to the operating mode of the electric drive hydraulic system. The energy storage device (2) is configured to recover energy from at least a portion of the first actuator connected to the energy storage device (2) and to supply energy to the second actuator and at least one of the first actuators; and A second valve assembly (20), connected between the accumulator (2) and at least part of the actuator, is configured to control the opening and closing of the pipeline between the accumulator (2) and the actuator connected to the accumulator (2) according to the operating mode; The lifting cylinder (4) is connected to both the hydraulic pump (3) and the accumulator (2), while the steering cylinder (7) is connected only to the accumulator (2). The operation modes include normal operation mode, extreme operation mode and emergency operation mode; In the normal operating mode, when the lifting cylinder (4) is in the lifting state and the power of the motor (1) is less than the maximum power, the motor (1) is in the working state, the first valve assembly (10) is configured to connect the pipeline between the lifting cylinder (4) and the motor (1), and the second valve assembly (20) is in the disconnected state; and / or In the normal operating mode, and with the lifting cylinder (4) in a lowered state and the power of the motor (1) less than its maximum power, the motor (1) is in a non-operating state, the first valve assembly (10) is in a disconnected state, and the second valve assembly (20) is configured to connect the pipeline between the lifting cylinder (4) and the accumulator (2); and / or In the extreme operating mode, with the lifting cylinder (4) in the lifting state and the power of the motor (1) equal to its maximum power, the motor (1) is in the working state, the first valve assembly (10) is configured to connect the pipeline between the lifting cylinder (4) and the motor (1), and the second valve assembly (20) is configured to connect the pipeline between the lifting cylinder (4) and the accumulator (2); and / or In the normal operating mode, and with the steering cylinder (7) in a steering state, the second valve assembly (20) is configured to connect the pipeline between the steering cylinder (7) and the accumulator (2); and / or In the emergency operation mode, and when the steering cylinder (7) is in a steering state, the second valve assembly (20) is configured to connect the pipeline between the steering cylinder (7) and the accumulator (2).

2. The electro-hydraulic system according to claim 1, wherein the first actuating element includes a brake (6), the brake (6) being connected to both the hydraulic pump (3) and the accumulator (2); wherein, In the normal operating mode, with the brake (6) in a braking state and the motor (1) in an operating state, the first valve assembly (10) is configured to connect the pipeline between the brake (6) and the motor (1), and the second valve assembly (20) is in a disconnected state; and / or In the emergency operation mode, the brake (6) is in a braking state, the motor (1) is in a non-working state, the first valve assembly (10) is in a disconnected state, and the second valve assembly (20) is configured to connect the pipeline between the brake (6) and the accumulator (2).

3. The electro-hydraulic system according to claim 1, wherein the first actuating element includes a bucket cylinder (5), the bucket cylinder (5) being connected only to the hydraulic pump (3); wherein, In the normal operating mode, and with the bucket cylinder (5) in an active state and the motor (1) in a working state, the first valve assembly (10) is configured to connect the pipeline between the bucket cylinder (5) and the motor (1).

4. The electro-hydraulic system according to any one of claims 1-3, further comprising: A pressure sensor (17) is configured to detect the pressure inside the accumulator (2); and An electronic pump (13) is connected to the energy storage device (2) and is configured to supply energy to the energy storage device (2) when the pressure in the energy storage device (2) is lower than a preset pressure value.

5. An engineering machinery, comprising: The electro-hydraulic system according to any one of claims 1 to 4; An operating mechanism is configured to generate operating signals to control the action of the actuator; and The controller (9), which is signal-connected to the operating mechanism, the motor (1), the first valve assembly (10) and the second valve assembly (20), is configured to control the operating state of the motor (1), the first valve assembly (10) and the second valve assembly (20) according to the operating signal and the operating state of the electro-hydraulic system.

6. A control method for engineering machinery based on claim 5, comprising: Obtain the operation signal; Obtain the operating mode of the electro-hydraulic system; The operating status of the motor (1), the first valve assembly (10), and the second valve assembly (20) is controlled according to the operation signal and the operating mode of the electro-hydraulic system.

7. The control method according to claim 6, wherein the engineering machinery further includes a first detector and a second detector, the first detector being configured to detect whether the electro-hydraulic system is faulty, and the second detector being configured to detect the power of the motor (1); The operating modes of the electro-hydraulic system include: Obtain the detection results of the first detector and the second detector; In response to the detection result that the electro-hydraulic system is not faulty and the power is less than the maximum power, it is determined that the electro-hydraulic system is in the normal operating mode; In response to the detection result that the electro-hydraulic system is not faulty and the power is equal to the maximum power, it is determined that the electro-hydraulic system is in the extreme operating mode; and / or In response to the detection result of the fault in the electro-hydraulic system, it is determined that the electro-hydraulic system is in the emergency operation mode.

8. The control method according to claim 6, wherein the first actuating element includes a lifting cylinder (4), and the lifting cylinder (4) is connected to the hydraulic pump (3) and the accumulator (2), the operating signal includes a lifting signal and a lowering signal, and the lifting cylinder (4) is configured to be in a lifting state in response to the lifting signal and in a lowering state in response to the lowering signal; Controlling the working states of the motor (1), the first valve assembly (10), and the second valve assembly (20) according to the operation signal and the working mode of the electro-hydraulic system includes: In the normal operating mode, and when the lifting cylinder (4) is in the lifting state, the motor (1) is controlled to be in the working state, the first valve assembly (10) connects the pipeline between the lifting cylinder (4) and the motor (1), and the second valve assembly (20) is in the disconnected state. In the normal operating mode, and with the lifting cylinder (4) in the lowering state, the motor (1) is controlled to be in a non-operating state, the first valve assembly (10) is in a disconnected state, and the second valve assembly (20) connects the pipeline between the lifting cylinder (4) and the accumulator (2); and / or In the extreme operation mode, and when the lifting cylinder (4) is in the lifting state, the motor (1) is controlled to be in the working state, the first valve assembly (10) connects the pipeline between the lifting cylinder (4) and the motor (1), and the second valve assembly (20) connects the pipeline between the lifting cylinder (4) and the accumulator (2).

9. The control method according to claim 6, wherein the second actuating element includes a steering cylinder (7) and the steering cylinder (7) is connected to the accumulator (2), the operating signal includes a steering signal, and the steering cylinder (7) is configured to be in a steering state according to the steering signal; Controlling the working states of the motor (1), the first valve assembly (10), and the second valve assembly (20) according to the operation signal and the working mode of the electro-hydraulic system includes: In the normal operation mode and / or emergency operation mode, and when the steering cylinder (7) is in the steering state, the second valve assembly (20) is controlled to connect the pipeline between the steering cylinder (7) and the accumulator (2).

10. The control method according to claim 6, wherein the first actuating element includes a brake (6), the brake (6) is connected to the hydraulic pump (3) and the accumulator (2), the operating signal includes a braking signal, and the brake (6) is in a braking state according to the braking signal; Controlling the working states of the motor (1), the first valve assembly (10), and the second valve assembly (20) according to the operation signal and the working mode of the electro-hydraulic system includes: In the normal operating mode, with the brake (6) in a braking state and the motor (1) in a working state, the first valve assembly (10) connects the pipeline between the brake (6) and the motor (1), and the second valve assembly (20) is in a disconnected state; and / or In the emergency operation mode, and with the brake (6) in a braking state, the motor (1) is controlled to be in a non-working state, the first valve assembly (10) is in a disconnected state, and the second valve assembly (20) connects the pipeline between the brake (6) and the accumulator (2).

11. The control method according to claim 6, wherein the first actuator includes a bucket cylinder (5), the bucket cylinder (5) is connected to the hydraulic pump (3), and the bucket cylinder (5) is in an operating state according to the operation signal; Controlling the working states of the motor (1), the first valve assembly (10), and the second valve assembly (20) according to the operation signal and the working mode of the electro-hydraulic system includes: In the normal operating mode, when the bucket cylinder (5) is in the operating state, the motor (1) is controlled to be in the working state, and the first valve assembly (10) connects the pipeline between the bucket cylinder (5) and the motor (1).

12. The control method according to any one of claims 6-11, wherein the electro-hydraulic system further comprises an electronic pump (13) connected to the accumulator (2); The control method further includes: Obtain the pressure value inside the accumulator (2); When the pressure value is less than the preset pressure value, the electronic pump (13) is controlled to supply energy to the accumulator (2).

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