Swing brake system, work machine, and swing brake method

Abstract

The present application relates to the technical field of working machine, disclose a rotary braking system, working machine and rotary braking method, rotary braking system, including: rotary motor;Main oil pump, including pump body and first control valve, pump body is driven connection with rotary motor through hydraulic oil circuit, rotary motor and main oil pump form drive circuit;Control assembly, including control and controller, control is controlled connection with first control valve through controller;Brake, with controller control connection.The rotary braking system of the present application, the controller can switch the first control valve from the first control state to the second control state after receiving the brake signal, the output flow of the pump body is reduced at the same time will also make the hydraulic oil pressure in the drive circuit drop, the rotary motor speed will drop with the rotary speed of the superstructure assembly synchronously, at this moment, the controller controls the brake and the rotary motor to brake cooperation, can quickly complete the brake action, at the same time, can also significantly reduce the impact in the drive circuit.

Description

Technical Field

[0001] This invention relates to the field of work machinery technology, specifically to a slewing braking system, work machinery, and a slewing braking method. Background Technology

[0002] Closed slewing systems are widely used in construction machinery. They are mainly used to provide slewing functionality for construction machinery, ensuring that the machinery can complete slewing actions. For some construction machinery that frequently performs slewing actions and requires accurate positioning and smooth stopping, such as cranes, slewing brakes are particularly important.

[0003] Currently, most existing closed-loop braking systems use electromagnetic switching valves to control rotary brakes. This involves de-energizing the electromagnetic switching valve by returning the operating handle to its original position, causing the brake to close instantaneously. While this method is simple in structure and low in cost, the braking process relies entirely on the operator's experience to judge the deceleration timing. If the handle returns too quickly, the brake may suddenly lock up while the motor is rotating at high speed, generating significant hydraulic and mechanical shocks that can easily damage transmission components and result in poor braking smoothness. Summary of the Invention

[0004] In view of this, the present invention provides a slewing braking system, a working machine, and a slewing braking method to solve the problem of poor braking stability in existing closed slewing systems.

[0005] In a first aspect, the present invention provides a slewing braking system applied to lifting equipment, as shown in the figure, the lifting equipment includes an upper carriage assembly and an lower carriage assembly, wherein the upper carriage assembly can rotate relative to the lower carriage assembly via a slewing bearing; wherein the slewing braking system is used to control the braking of the upper carriage assembly relative to the lower carriage assembly, and the slewing braking system includes: The rotary motor is directly or indirectly coupled with the rotary gear transmission of the upper assembly; The main oil pump includes a pump body and a first control valve. The pump body is connected to the rotary motor drive through a hydraulic oil circuit. The rotary motor and the main oil pump form a drive circuit. The first control valve has a first control state that enables the pump body to drive the rotary motor to operate, and a second control state that reduces the output power of the pump body. The control component includes a control element and a controller. The control element is connected to the first control valve via the controller. The control element is adapted to switch the first control valve from a first control state to a second control state via the controller. The brake is used in conjunction with the rotary motor for braking, and the brake is connected to the controller for control.

[0006] Beneficial effects: The control unit is connected to the first control valve of the main oil pump via the controller. When slewing braking is required, the operator can use the control unit to send a braking signal. After receiving the braking signal, the controller can immediately switch the first control valve from the first control state to the second control state. The output flow of the pump body decreases rapidly, and the hydraulic oil pressure in the drive circuit also decreases rapidly. As the power of the slewing motor decreases rapidly, the speed of the slewing motor will decrease synchronously with the slewing speed of the upper assembly under the action of friction. At this time, when the controller controls the brake to cooperate with the slewing motor for braking, it can quickly complete the braking action and significantly reduce the impact in the drive circuit, effectively solving the problem of poor braking stability in the existing closed slewing system.

[0007] In one optional embodiment, a second control valve is further included. The second control valve is disposed in the drive circuit and connected in parallel with the rotary motor. The control element is connected to the second control valve via a controller. The second control valve has a cut-off state and a conduction state.

[0008] Beneficial effects: While the controller reduces the pump output flow through the first control valve, it can simultaneously reduce the amount of hydraulic oil flowing into the rotary motor through the second control valve. This reduces the hydraulic oil pressure in the drive circuit and acts as a throttling mechanism, thereby quickly reducing the pressure difference between the inlet and outlet of the rotary motor. This further reduces the impact when the brake is applied, allowing the brake to be activated earlier.

[0009] In an alternative embodiment, a pressure sensing element is also included, which is connected to the controller and is used to detect the pressure of hydraulic oil in the drive circuit.

[0010] Beneficial effects: By setting pressure detection components, the hydraulic oil pressure in the drive circuit can be effectively monitored. When the measured pressure value reaches the preset pressure value, the brake can be controlled to brake, so as to ensure that each braking process is carried out under the condition of small impact force, thereby improving the stability and reliability of braking impact reduction.

[0011] In one alternative implementation, the control element is a brake pedal, and the control assembly further includes a swing sensor for detecting the swing amplitude of the brake pedal. The first control valve is a proportional control valve, and the second control valve is a proportional flow control valve.

[0012] Beneficial effects: This type of control component, first control valve, and second control valve can adjust the switching speed of the proportional control valve and the opening of the proportional flow control valve according to the swing amplitude of the control component. The operator can flexibly select according to the current braking speed. When the operator controls the control component to swing at a large amplitude, the controller controls the first control valve to switch to the second control state in a shorter time and makes the opening of the second control valve after switching to the conduction state larger. This can more effectively match various braking scenarios and improve the flexibility of the slewing braking system.

[0013] Secondly, the present invention also provides a working machine, comprising: The fuselage has a rotatable upper assembly; The aforementioned slewing braking system is installed on the machine body, and the slewing motor of the slewing braking system is connected to the upper vehicle assembly for drive.

[0014] Thirdly, the present invention also provides a slewing braking method, which applies the above-described slewing braking system and includes: Obtain the braking signal from the control unit; The first control valve is switched from a first control state to a second control state. The control brake works in conjunction with the rotary motor brake.

[0015] Beneficial effects: Before the brake is applied, the first control valve is switched to the second control state to reduce the hydraulic oil pressure at the rotary motor. This not only reduces the impact inside the hydraulic system during subsequent braking, but also reduces the wear on the brake itself and the rotary components. In addition, it can improve the accuracy of the stopping position during braking.

[0016] In one alternative implementation, the method further includes the following step before controlling the brake to engage with the rotary motor: The second control valve is switched from the off state to the on state.

[0017] Beneficial effect: It can further increase the rate at which the hydraulic oil pressure at the rotary motor decreases.

[0018] In one alternative implementation, the second control valve is a proportional flow control valve; After acquiring the braking signal from the control unit, the process also includes: Obtain the swing amplitude of the control component; When controlling the first control valve to switch from the first control state to the second control state, the first control valve in the first control state is switched to the second control state after a corresponding switching time according to the swing amplitude of the control component. When the second control valve is switched from the off state to the on state, the second control valve is adjusted to the corresponding opening degree according to the swing amplitude of the control component; Specifically, when the swing amplitude increases, the adjustment time of the first control state decreases, and the opening of the second control valve increases.

[0019] Beneficial effects: The braking speed can be changed according to the different operating ranges of the operator, which can effectively improve braking flexibility.

[0020] In one optional implementation, the step of controlling the brake to cooperate with the rotary motor braking includes: Obtain the hydraulic oil pressure value in the braking circuit; When the hydraulic oil pressure reaches the preset pressure value, the control brake and the rotary motor brake in coordination.

[0021] Beneficial effects: By adding a pressure monitoring system, the brake is only controlled to perform braking operations when the hydraulic oil pressure drops to a certain level, which can improve the reliability of reducing braking shock.

[0022] In one optional implementation, the step of controlling the brake to cooperate with the rotary motor braking includes: Obtain the hydraulic oil pressure in the braking circuit; Obtain the current value of the first control valve; When the hydraulic oil pressure reaches the preset pressure value and the current value reaches the preset current value, the control brake and the rotary motor brake together.

[0023] Beneficial effects: By using this rotary braking method, while monitoring the hydraulic oil pressure, the current value at the first control valve can be further monitored, which can further improve the braking safety of the brake. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a simplified hydraulic principle diagram of a rotary braking system according to an embodiment of the present invention; Figure 2 for Figure 1 A more detailed hydraulic schematic diagram of the slewing braking system is shown below; Figure 3 This is a schematic diagram of a working machine according to an embodiment of the present invention; Figure 4 for Figure 3 A partial structural diagram of the upper assembly of the operating machinery shown.

[0026] Explanation of reference numerals in the attached figures: 1. Rotary motor; 2. Main oil pump; 201. Pump body; 202. First control valve; 3. Control components; 301. Control element; 302. Controller; 303. Oscillation sensor; 4. Brake; 5. Second control valve; 6. Pressure detection element; 7. Upper assembly; 701. Slewing gear; 8. Lower assembly; 9. Slewing bearing; 10. Reducer; Detailed Implementation To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] The following is combined with Figures 1 to 4 The following describes embodiments of the present invention.

[0028] According to an embodiment of the present invention, a slewing braking system is provided. This slewing braking system is applied to lifting equipment, such as... Figure 3 As shown, the lifting equipment includes an upper carriage assembly 7 and an lower carriage assembly 8, wherein the upper carriage assembly 7 can rotate relative to the lower carriage assembly 8 via a slewing bearing 9; wherein, the slewing braking system is used to control the braking of the upper carriage assembly 7 relative to the lower carriage assembly 8.

[0029] The slewing braking system includes: a slewing motor 1, a main oil pump 2, a control component 3, and a brake 4.

[0030] The rotary motor 1 is directly or indirectly driven by the rotary gear 701 of the upper assembly 7; the main oil pump 2 includes a pump body 201 and a first control valve 202. The pump body 201 is connected to the rotary motor 1 via a hydraulic oil circuit. The rotary motor 1 and the main oil pump 2 form a drive circuit. The first control valve 202 has a first control state that causes the pump body 201 to drive the rotary motor 1 to operate, and a second control state that reduces the output power of the pump body 201. The control component 3 includes a control element 301 and a controller 302. The control element 301 is connected to the first control valve 202 via the controller 302. The control element 301 is adapted to switch the first control valve 202 from a first control state to a second control state via the controller 302. Brake 4 is used to brake in conjunction with rotary motor 1, and brake 4 is connected to controller 302 for control.

[0031] The transmission method between the rotary motor 1 and the rotary gear 701 is not limited. For example, the rotary motor 1 can directly transmit power to the rotary gear 701. Another example is... Figure 4 As shown, a reducer 10 is provided between the rotary motor 1 and the rotary gear 701 of the upper assembly 7. The rotary motor 1 and the reducer 10 are in a transmission cooperation, and the reducer 10 is in a transmission cooperation with the rotary gear 701 of the upper assembly 7.

[0032] In the slewing braking system of this embodiment, the control unit 301 is connected to the first control valve 202 of the main oil pump 2 via the controller 302. When slewing braking is required, the operator can use the control unit 301 to issue a braking signal. After receiving the braking signal, the controller 302 can immediately switch the first control valve 202 from the first control state to the second control state. The output power of the pump body 201 will decrease rapidly, and the hydraulic oil pressure in the drive circuit will also decrease rapidly. As the power of the slewing motor 1 decreases rapidly, the rotation speed of the slewing motor 1 will decrease synchronously with the slewing speed of the upper assembly 7 under the action of friction. At this time, when the controller 302 controls the brake 4 to cooperate with the slewing motor 1 for braking, it can quickly complete the braking action and significantly reduce the impact in the drive circuit, effectively solving the problem of poor braking stability in the existing closed slewing system.

[0033] In one possible implementation, the slewing braking system further includes a second control valve 5, which is located in the drive circuit and connected in parallel with the slewing motor 1. The control unit 301 is connected to the second control valve 5 via the controller 302. The second control valve 5 has a cut-off state and a conduction state. While the controller 302 reduces the output power of the pump body 201 through the first control valve 202, it can simultaneously reduce the amount of hydraulic oil flowing into the slewing motor 1 through the second control valve 5. This reduces the hydraulic oil pressure in the drive circuit and acts as a throttling device, thereby quickly reducing the pressure difference between the inlet and outlet of the slewing motor 1. This further reduces the impact when the brake 4 applies the brake, allowing the brake 4 to be activated earlier.

[0034] The type of the second control valve 5 is not limited; it can be a shut-off valve or a proportional control valve, as long as it has both a shut-off state and a conduction state.

[0035] In related technologies, when braking is performed by instantaneously closing the brake, the upper assembly typically has a large rotational inertia. Therefore, the upper assembly usually cannot stop rotating quickly and will continue to rotate for a certain braking time. This not only results in a longer braking time and greater impact on the hydraulic system, but also causes continuous friction between the brake and rotating components, reducing the brake's lifespan. Furthermore, due to the rotational inertia of the upper assembly, this braking method usually cannot stop the upper assembly accurately at the preset position; it often exceeds the preset position due to inertia. Subsequent operations require operators to repeatedly adjust the position of the upper assembly, increasing operational steps and reducing the working efficiency of the machinery.

[0036] The rotary braking system of this embodiment can reduce the flow rate of the pump body 201 before the brake 4 performs contact braking. The process of the first control valve 202 switching from the first control state to the second control state is rapid, which can quickly reduce the flow rate of the pump body 201. The second control valve 5 can further accelerate the reduction of the pressure difference between the inlet and outlet of the rotary motor 1. When braking is performed by the brake 4 at this time, not only can the required braking time be reduced, but the stopping position after braking is also more accurate. Compared with the braking methods in related technologies, the total braking time of the rotary braking system of this embodiment can be reduced by 30% to 50%, and the steps of adjusting the vehicle position after braking can be significantly reduced, improving work efficiency and reducing work burden.

[0037] In one possible implementation, the slewing braking system further includes a pressure detection element 6, which is connected to the controller 302. The pressure detection element 6 is used to detect the hydraulic oil pressure in the drive circuit. By setting the pressure detection element 6, the hydraulic oil pressure in the drive circuit can be effectively monitored. When the measured pressure value reaches the preset pressure value, the brake 4 can be controlled to brake, ensuring that each braking process is carried out with minimal impact force, thereby improving the stability and reliability of braking impact reduction.

[0038] In one possible implementation, the control element 301 is a brake pedal, and the control assembly 3 further includes a swing sensor 303 for detecting the swing amplitude of the brake pedal. The first control valve 202 is a proportional control valve, and the second control valve 5 is a proportional flow control valve.

[0039] This type of control component 3, first control valve 202, and second control valve 5 can adjust the switching speed of the proportional control valve and the opening of the proportional flow control valve according to the swing amplitude of the control component 3. The operator can flexibly select according to the current braking speed. When the operator controls the control component 301 to swing at a large amplitude, the controller 302 controls the first control valve 202 to switch to the second control state in a shorter time, and makes the opening of the second control valve 5 after switching to the conduction state larger, which can more effectively match various braking scenarios and improve the flexibility of the slewing braking system.

[0040] Specifically, since the second control valve 5 is a proportional flow control valve, when the second control valve 5 is switched to the conducting state, the rotary motor 1 can rotate freely, which allows the upper part of the working machinery to drift. That is, when there is an angle between the line connecting the center of gravity of the upper part of the working machinery and the center of rotation and the direction of gravity, the upper part of the working machinery does not need to be powered by the main oil pump 2 and can rotate under the action of its own weight. Under some working conditions, this can not only reduce the possibility of the working machinery overturning, but also reduce the power consumption of the working machinery.

[0041] Furthermore, since the second control valve 5 is a proportional flow control valve, its opening can gradually increase during the switching to the specified opening state. Compared with the conventional fully open valve body, it can reduce the impact generated when the opening state changes abruptly, making the braking process smoother. At the same time, it can also gradually reduce the pressure difference of the rotary motor 1, which can effectively control the speed of the upper assembly 7 of the working machinery when it is drifting, and avoid the back pressure at the rotary motor 1 dropping too quickly, causing the upper assembly to rotate too fast, which can effectively improve the working safety of the working machinery.

[0042] In addition, such as Figure 1 As shown, the slewing braking system of this embodiment has a simple and reliable overall structure. It only requires the addition of a second control valve 5 and a corresponding pressure detection element 6. By using the corresponding braking control method, the impact of the braking process can be effectively reduced and the braking stability of the working machinery can be improved. There is no need to change the structure of the brake 4 and the slewing motor 1. The technical effect of the slewing braking system of this application can be directly achieved by simply modifying the existing braking system of the working machinery, and the application cost is lower.

[0043] According to an embodiment of the present invention, in another aspect, a working machine is provided, comprising: a machine body and the aforementioned slewing braking system; the machine body has a rotatable upper carriage assembly 7, the slewing braking system is disposed on the machine body, and the slewing motor 1 of the slewing braking system is drivenly connected to the upper carriage assembly 7.

[0044] In this embodiment, the operating machinery includes excavators, cranes, etc., as long as it has a rotatable upper assembly 7.

[0045] In this embodiment, as Figure 3 As shown, the working machinery is a lifting device, which includes an upper carriage assembly 7 and a lower carriage assembly 8. The upper carriage assembly 7 can rotate relative to the lower carriage assembly 8 via a slewing bearing 9. The slewing braking system is used to control the braking of the upper carriage assembly 7 relative to the lower carriage assembly 8. The slewing motor 1 is driven by the slewing gear 701 of the upper carriage assembly 7 through a reducer 10.

[0046] According to an embodiment of the present invention, in another aspect, a slewing braking method is provided, wherein the aforementioned slewing braking system comprises: Obtain the braking signal from control unit 301; The first control valve 202 is switched from the first control state to the second control state. The control brake 4 is coordinated with the rotary motor 1 for braking.

[0047] Applying the slewing braking method of this embodiment, before the brake 4 applies the brake, the first control valve 202 is switched to the second control state to reduce the hydraulic oil pressure at the slewing motor 1. This not only reduces the impact inside the hydraulic system when the brake 4 brakes subsequently, but also reduces the wear between the brake 4 and the slewing components. In addition, it also improves the accuracy of the stopping position during braking.

[0048] In one possible implementation, the step of controlling the brake 4 to engage with the rotary motor 1 for braking includes: The second control valve 5 is switched from the off state to the on state.

[0049] This can further increase the rate at which the hydraulic oil pressure at rotary motor 1 decreases.

[0050] In one possible implementation, the second control valve 5 is a proportional flow control valve; After acquiring the braking signal from control unit 301, the following is also included: Obtain the swing amplitude of the control component 301; When the first control valve 202 is switched from the first control state to the second control state, the first control valve 202 in the first control state is switched to the second control state after a corresponding switching time according to the swing amplitude of the control component 301. When the second control valve 5 is switched from the cut-off state to the on state, the second control valve 5 is adjusted to the corresponding opening degree according to the swing amplitude of the control component 301. Specifically, when the swing amplitude increases, the adjustment time of the first control state decreases, and the opening degree of the second control valve 5 increases.

[0051] The braking speed can be changed according to the different operating ranges of the operator, which can effectively improve braking flexibility.

[0052] In one possible implementation, the steps of controlling the brake 4 to engage with the rotary motor 1 include: Obtain the hydraulic oil pressure value in the braking circuit; When the hydraulic oil pressure reaches the preset pressure value, the control brake 4 and the rotary motor 1 are engaged in braking.

[0053] By adding a pressure monitoring device, the brake 4 is controlled to perform braking operation only when the hydraulic oil pressure drops to a certain level, which can improve the reliability of reducing braking impact.

[0054] In one possible implementation, the steps of controlling the brake 4 to engage with the rotary motor 1 include: Obtain the hydraulic oil pressure in the braking circuit; Obtain the current value of the first control valve 202; When the hydraulic oil pressure reaches the preset pressure value and the current value reaches the preset current value, the control brake 4 and the rotary motor 1 are engaged in braking.

[0055] Using this rotary braking method, while monitoring the hydraulic oil pressure, the current value at the first control valve 202 can be further monitored, which can further improve the braking safety of the brake 4.

[0056] Since the hydraulic oil pressure at the rotary motor 1 is affected by both the first control valve 202 and the second control valve 5, when the working matching between the first control valve 202 and the second control valve 5 is poor, and the first control valve 202 has not yet fully switched to the second control state, the driving force of the main oil pump 2 has not dropped to the specified value. If the second control valve 5 may already be in a large opening state, the hydraulic oil pressure in the braking circuit may have already reached the preset value. If the brake 4 is directly applied and the second control valve 5 is switched to the off state after braking, the driving force of the main oil pump 2 will still be large, which will rapidly increase the pressure value of the hydraulic oil in the braking circuit, thereby impacting the rotary motor 1. Therefore, while monitoring the hydraulic oil pressure, the current value of the first control valve 202 is monitored simultaneously. Only when both meet the requirements is the brake 4 applied. This can effectively prevent the hydraulic oil from impacting the rotary motor 1 after braking and prevent the working machinery from shaking after braking.

[0057] It should be noted that, for example Figure 1 As shown in the figure, the first control valve 202 is in the first control state when it is in the left or right position, and in the second control state when it is in the middle position. When this type of first control valve 202 switches from the first control state to the second control state, the current value of the first control valve 202 will gradually decrease.

[0058] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A slewing braking system applied to lifting equipment, the lifting equipment comprising an upper carriage assembly (7) and an lower carriage assembly (8), wherein the upper carriage assembly (7) can rotate relative to the lower carriage assembly (8) via a slewing bearing (9); wherein, The slewing braking system is used to control the braking of the upper vehicle assembly (7) relative to the lower vehicle assembly (8), characterized in that it includes: The rotary motor (1) is directly or indirectly connected to the rotary gear (701) of the upper assembly (7); The main oil pump (2) includes a pump body (201) and a first control valve (202). The pump body (201) is connected to the rotary motor (1) via a hydraulic oil circuit. The rotary motor (1) and the main oil pump (2) form a drive circuit. The first control valve (202) has a first control state that causes the pump body (201) to drive the rotary motor (1) to operate, and a second control state that reduces the output flow of the pump body (201). The control component (3) includes a control element (301) and a controller (302). The control element (301) is connected to the first control valve (202) via the controller (302). The control element (301) is adapted to switch the first control valve (202) from the first control state to the second control state via the controller (302). A brake (4) is used to engage with the rotary motor (1) for braking, and the brake (4) is connected to the controller (302) for control.

2. The slewing braking system according to claim 1, characterized in that, It also includes a second control valve (5), which is located in the drive circuit and connected in parallel with the rotary motor (1). The control unit (301) is connected to the second control valve (5) through the controller (302). The second control valve (5) has a cut-off state and a conduction state.

3. The slewing braking system according to claim 2, characterized in that, It also includes a pressure detection element (6), which is connected to the controller (302) and is used to detect the pressure of hydraulic oil in the drive circuit.

4. The slewing braking system according to claim 2, characterized in that, The control element (301) is a brake pedal, and the control component (3) also includes a swing sensor (303) for detecting the swing amplitude of the brake pedal. The first control valve (202) is a proportional control valve, and the second control valve (5) is a proportional flow control valve.

5. A type of operating machinery, characterized in that, include: The fuselage has a rotatable upper assembly (7). ； The slewing braking system according to any one of claims 1 to 4 is disposed on the machine body, and the slewing motor (1) of the slewing braking system is drivenly connected to the upper vehicle assembly (7).

6. A method for slewing braking, using the slewing braking system according to any one of claims 1 to 4, characterized in that, include: Obtain the braking signal from the control unit (301); Control the first control valve (202) to switch from the first control state to the second control state; The control brake (4) is coordinated with the rotary motor (1) for braking.

7. The slewing braking method according to claim 6, characterized in that, Before the step of controlling the braking coordination between the brake (4) and the rotary motor (1), the following steps are also included: Control the second control valve (5) to switch from the cut-off state to the on state.

8. The slewing braking method according to claim 7, characterized in that, The second control valve (5) is a proportional flow control valve; After acquiring the braking signal from the control unit (301), the following steps are also included: Obtain the swing amplitude of the control element (301); When controlling the first control valve (202) to switch from the first control state to the second control state, the first control valve (202) in the first control state is switched to the second control state after a corresponding switching time according to the swing amplitude of the control element (301); When the second control valve (5) is switched from the cut-off state to the on state, the second control valve (5) is adjusted to the corresponding opening degree according to the swing amplitude of the control element (301); When the swing amplitude increases, the adjustment time of the first control state decreases and the opening degree of the second control valve (5) increases.

9. The slewing braking method according to claim 7 or 8, characterized in that, The steps for controlling the braking coordination between the brake (4) and the rotary motor (1) include: Obtain the hydraulic oil pressure value in the braking circuit; When the hydraulic oil pressure reaches the preset pressure value, the control brake (4) and the rotary motor (1) are engaged in braking coordination.

10. The slewing braking method according to claim 9, characterized in that, The steps for controlling the braking coordination between the brake (4) and the rotary motor (1) include: Obtain the hydraulic oil pressure in the braking circuit; Obtain the current value of the first control valve (202); When the hydraulic oil pressure reaches the preset pressure value and the current value reaches the preset current value, the brake (4) is controlled to brake in conjunction with the rotary motor (1).

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