Hydraulic control method, hydraulic control system, control device therefor, and working machine

Abstract

The application belongs to the technical field of hydraulic pressure, and particularly relates to a hydraulic control method, a hydraulic control system, a control device thereof and a working machine. The hydraulic control system comprises a main valve assembly, an auxiliary valve assembly, a hydraulic pump group and a plurality of actuators. The main valve assembly comprises a plurality of main valve modules connected in series. The main valve module comprises a first main oil path, a second main oil path and a main reversing valve. An oil inlet of the main reversing valve is provided with a pre-valve confluence valve. The pre-valve confluence valve is used for controlling the flow direction of pressure oil of the first main oil path and / or the second main oil path to the oil inlet of the main reversing valve. The auxiliary valve assembly comprises a third main oil path and a plurality of auxiliary valves connected in series on the third main oil path. The hydraulic pump group comprises three pumps for supplying oil to the three main oil paths one by one. Each actuator is hydraulically connected to a corresponding main reversing valve in the main valve assembly and / or a corresponding auxiliary valve in the auxiliary valve assembly. By using the above-mentioned hydraulic control system, the hydraulic oil flowing into each actuator can be individually regulated when multiple actuators are in action.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic technology, specifically relating to a hydraulic control system, a hydraulic control method, a control device for the hydraulic control system, a working machine, and a storage medium. Background Technology

[0002] Heavy machinery, such as large mining excavators, is core equipment in mining operations. Their main actuators, such as the boom, stick, and bucket, require high-intensity, complex movements, placing extremely high demands on driving force and flow rate. The three-pump hydraulic system, a classic solution, is widely used in this class of excavators. It typically consists of three main pumps, a main valve assembly, and a secondary valve assembly. By supplying oil to multiple pumps individually or in combination, it enables complex movements of multiple actuators, provides ultra-high flow rates, meets the demands of heavy-duty operations, and offers a degree of power distribution flexibility.

[0003] The three-pump hydraulic system is essentially a traditional valve-controlled throttling system. It requires the main control valve to throttle and distribute the flow, resulting in significant throttling losses and high oil consumption. When multiple actuators perform compound actions with large load differences, excess oil in the high-pressure circuit needs to overflow and be throttled to reduce pressure and balance the pressure, causing a sudden rise in oil temperature. This not only results in significant energy waste but also affects the service life of hydraulic components. Summary of the Invention

[0004] The purpose of this invention is to provide a hydraulic control system, a hydraulic control method, a control device for the hydraulic control system, a working machine, and a storage medium, so as to achieve precise control of the hydraulic oil flow rate input to each actuator when multiple actuators in a three-pump two-valve hydraulic system are in operation.

[0005] To achieve the above objectives, the present invention provides a hydraulic control system, which includes: The main valve assembly includes several main valve modules connected in series. Each main valve module includes a first main oil circuit, a second main oil circuit, and a main directional valve. A pre-valve confluence valve is provided before the oil inlet of the main directional valve. The pre-valve confluence valve is used to control the flow of pressurized oil from the first main oil circuit and / or the second main oil circuit to the oil inlet of the main directional valve. The first and second main oil circuits in adjacent main valve modules are connected to each other. The auxiliary valve assembly includes a third main oil passage and multiple auxiliary valves connected in series on the third main oil passage; The hydraulic pump unit includes a first pump and a second pump that supply oil to the two main oil circuits in the main valve assembly in a one-to-one correspondence, and a third pump that supplies oil to the third main oil circuit. Multiple actuators, each hydraulically connected to the working port of the corresponding main directional valve in the main valve assembly, and / or the working port of the corresponding auxiliary valve in the auxiliary valve assembly.

[0006] In some implementations, the secondary valve is an O-type spool valve that is open in the neutral position.

[0007] In some embodiments, the main valve assembly includes a first main valve module with a first main directional valve, a second main valve module with a second main directional valve, a third main valve module with a third main directional valve, a fourth main valve module with a fourth main directional valve, and a fifth main valve module with a fifth main directional valve; the auxiliary valve assembly includes a first auxiliary valve, a second auxiliary valve, a third auxiliary valve, and a fourth auxiliary valve. The actuator includes: The first oil cylinder is hydraulically connected to the working oil port of the first main directional valve and the working oil port of the first auxiliary valve. The second cylinder is hydraulically connected to the working port of the second main directional valve and the working port of the second auxiliary valve. The third cylinder is hydraulically connected to the working port of the third main directional valve and the working port of the third auxiliary valve. The first motor is hydraulically connected to the working port of the fourth main directional valve and the working port of the fifth main directional valve. The second motor is hydraulically connected to the working port of the fourth auxiliary valve.

[0008] A second aspect of the present invention provides a hydraulic control method for use in the aforementioned hydraulic control system, the hydraulic control method comprising: Upon receiving a multi-actuator action signal, determine that the multiple actuators included in the multi-actuator action signal are multiple first target actuators; Control the inlet valves and / or the auxiliary valves in each main valve module so that multiple first target actuators are supplied with oil by at least one pump in the hydraulic pump group.

[0009] In some embodiments, the pre-valve confluence valve includes two pre-valve cartridge valves respectively disposed on the first main oil circuit and the second main oil circuit. Controlling the pre-valve confluence valves and / or the auxiliary valves in each main valve module, so that multiple first target actuators are supplied with oil one-to-one by at least multiple pumps in the hydraulic pump group, includes: matching at least one main oil circuit for each first target actuator; determining the target main valve module or auxiliary valve corresponding to each first target actuator according to the main oil circuit corresponding to each first target actuator; controlling one or two pre-valve cartridge valves in the target main valve module to open and / or the auxiliary valve to switch direction, so that each main oil circuit flows into one of the first target actuators.

[0010] In some embodiments, the hydraulic control method further includes: determining the target flow rate corresponding to each first target actuator; controlling the output flow rate of each pump corresponding to each first target actuator according to the target flow rate; or adjusting the opening degree of the valve inlet and / or the opening degree of the auxiliary valve corresponding to each first target actuator according to the target flow rate.

[0011] In some implementations, controlling the pre-valve confluence valves and / or the auxiliary valves in each main valve module so that the multiple first target actuators are supplied with oil by at least one pump in the hydraulic pump group in a one-to-one correspondence further includes: determining the target flow demand corresponding to each first target actuator; determining that the number of first target actuators is less than the number of pumps in the hydraulic pump group, and determining that the pumps not connected to the first target actuators are redundant pumps; controlling the pre-valve confluence valves and / or the auxiliary valves so that the redundant pumps supply oil to the first target actuator with the largest target flow demand, and that each pump other than the redundant pumps supplies oil to the multiple first target actuators in a one-to-one correspondence.

[0012] In some embodiments, the hydraulic control method further includes: determining the target demand flow rate corresponding to each first target actuator; determining that the largest target demand flow rate is greater than a preset flow rate threshold; identifying the first target actuator with the largest target demand flow rate as the second target actuator; and controlling the valve inlet confluence valve in the main valve module connected to the second target actuator, so that the first main oil circuit and the second main oil circuit jointly supply oil to the second target actuator.

[0013] A third aspect of the present invention provides a control device for a hydraulic control system, comprising: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and to implement the aforementioned hydraulic control method when executing the instructions.

[0014] A fourth aspect of the present invention provides a working machine, which includes: the above-described hydraulic control system and the control device of the above-described hydraulic control system.

[0015] A fifth aspect of the present invention provides a machine-readable storage medium storing instructions for causing a machine to perform the hydraulic control method described above.

[0016] The above-described technical solution provides a hydraulic control system, which includes a main valve assembly, a secondary valve assembly, a hydraulic pump group, and multiple actuators. The main valve assembly includes several main valve modules connected in series. Each main valve module includes a main directional valve and a pre-valve confluence valve. By controlling each pre-valve confluence valve, the hydraulic oil in the first and second main oil circuits can be diverted to flow into the inlets of different main directional valves, and then into different actuators. The secondary valve assembly includes multiple secondary valves connected in series. By controlling these secondary valves, the flow of the third main oil circuit into different actuators can be controlled. Therefore, the hydraulic control system provided by this invention can control the hydraulic oil output from the first, second, and third pumps to flow into three different actuators by controlling multiple pre-valve confluence valves and multiple secondary valves. This allows for hydraulic control based on the flow rate required by the actuators. Alternatively, the hydraulic oil from two or three pumps can be confluent into one actuator to accelerate its movement speed.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 A hydraulic schematic diagram of a hydraulic control system provided according to an embodiment of the present invention; Figure 2 A flowchart of a hydraulic control method provided according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures 1 First Pump 2 Second pump 3 Third pump 4. Main valve assembly 5. Left-hand driving module 6. Sub-valve assembly 7 Left-hand drive component 8 rotary motors 9. Pre-valve cartridge valve 10. Flow valve upstream of valve 11 Main directional valve 12 Bucket Modules 13. Stick Module 14 Boom Module 15 Right-hand drive module 16 Right-hand drive components 17 First oil cylinder 18 Second oil cylinder 19 Third oil cylinder 20 Second auxiliary valve 21 Third auxiliary valve 22 Fourth auxiliary valve 23 First auxiliary valve Detailed Implementation The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0020] The hydraulic control system, hydraulic control method, control device of the hydraulic control system, working machinery, and storage medium according to the present invention are described below with reference to the accompanying drawings. Figure 1The diagram shown is a hydraulic schematic of a hydraulic control system according to an embodiment of the present invention. The hydraulic control system includes: The main valve assembly 4 includes several main valve modules connected in series. Each main valve module includes a first main oil circuit, a second main oil circuit, and a main directional valve 11. A pre-valve confluence valve is provided before the oil inlet of the main directional valve 11. The pre-valve confluence valve is used to control the flow of pressurized oil from the first main oil circuit and / or the second main oil circuit to the oil inlet of the main directional valve 11. The first main oil circuit and the second main oil circuit in adjacent main valve modules are connected to each other. The auxiliary valve assembly 6 includes a third main oil passage and multiple auxiliary valves connected in series on the third main oil passage; The hydraulic pump unit includes a first pump 1 and a second pump 2 that supply oil to the two main oil circuits in the main valve assembly 4 in a one-to-one correspondence, and a third pump 3 that supplies oil to the third main oil circuit. Multiple actuators, each of which is hydraulically connected to the working port of the corresponding main directional valve 11 in the main valve assembly 4, and / or the working port of the corresponding auxiliary valve in the auxiliary valve assembly 6.

[0021] The present invention aims to provide a hydraulic control system that can deliver hydraulic oil to actuators according to their actual flow requirements, reduce the throttling loss of hydraulic oil in the hydraulic valve group, and prevent hydraulic oil overflow from the hydraulic valve, which would cause the oil temperature to rise and affect the life of hydraulic components.

[0022] The hydraulic control system provided in this embodiment of the invention includes a main valve assembly 4, a secondary valve assembly 6, a hydraulic pump group, and multiple actuators. The hydraulic pump group in the hydraulic control system includes a first pump 1, a second pump 2, and a third pump 3. These three pumps can supply oil to the first, second, and third main oil circuits, respectively. Each main oil circuit can transmit hydraulic oil to each actuator through a main valve module or a secondary valve. In actual operation, the controller of the working machinery can respond to the flow demand of each actuator, controlling one or more main oil circuits to supply oil to the actuator performing the action. By adjusting the pump's output flow, it is possible to output hydraulic oil with a flow rate slightly larger than the actuator's demand. This reduces throttling losses of the hydraulic oil during the flow of the hydraulic valve group while ensuring the actuator can operate normally.

[0023] Specifically, the first pump 1 and the second pump 2 supply oil to the first and second main oil circuits in the main valve assembly 4, respectively, while the third pump 3 supplies oil to the third main oil circuit. By controlling the confluence valves and auxiliary valves before each valve, the three pumps can supply oil to three different actuators. The output flow of the three pumps does not interfere with each other. By controlling the output flow of the pumps, the overflow of hydraulic oil during the flow of the valve group is significantly reduced, improving the efficiency of the hydraulic control system and preventing the hydraulic oil from overheating and affecting the life of hydraulic components.

[0024] Among them, such as Figure 1As shown, the multiple secondary valves in the secondary valve assembly 6 are all O-type spool valves with a neutral position. The secondary valves adopt a three-position six-way structure with an O-type neutral position function. The neutral position inlet and outlet of each secondary valve are connected in series. In the neutral position, all working ports are closed, enabling bidirectional locking and positioning of the actuator. When multiple actuators need to operate, one of the secondary valves can be switched to direct the hydraulic oil from the third pump 3 to one of the actuators. The hydraulic oil for the other actuators is supplied by the first pump 1 and the second pump 2. When any secondary valve switches, it directs the third main oil circuit to the actuator connected to it and cuts off the neutral position inlet and outlet of the secondary valve to prevent simultaneous operation of multiple actuators from causing "flow competition" and resulting in excessive hydraulic oil pressure loss.

[0025] Specifically, the auxiliary valve assembly 6 includes a first auxiliary valve 23, a second auxiliary valve 20, a third auxiliary valve 21, and a fourth auxiliary valve 22. When all four auxiliary valves are in their normal operating positions, the third main oil circuit flows sequentially through the four auxiliary valves and then into the hydraulic oil tank. The auxiliary valve assembly 6 also includes a bypass oil circuit, which is connected to the third main oil circuit and the inlet of each auxiliary valve. When the auxiliary valves switch directions, the neutral inlet and outlet of the auxiliary valves are cut off, and the hydraulic oil from the third main oil circuit flows into the auxiliary valves along the bypass oil circuit and further into the working chamber of the actuator.

[0026] The main valve assembly 4 includes a first main valve module with a first main directional valve, a second main valve module with a second main directional valve, a third main valve module with a third main directional valve, a fourth main valve module with a fourth main directional valve, and a fifth main valve module with a fifth main directional valve. Each main directional valve 11 is connected to an actuator to control its rotation or extension. The opening and closing of the pre-valve confluence valves of each main valve module can control the connection and closing of the oil passages between the first main oil passage, the second main oil passage, and the inlet of each main directional valve 11. In actual operation, by controlling the pre-valve confluence valves, the hydraulic oil from the first and second main oil passages can flow into different main directional valves 11, allowing the first pump 1 and the second pump 2 to connect to two different actuators, thus enabling more precise control of the movement of each actuator.

[0027] The actuator includes a first cylinder 17, a second cylinder 18, a third cylinder 19, a first motor, and a second motor. The first cylinder 17 is hydraulically connected to the working port of the first main directional valve and the working port of the first auxiliary valve 23. The second cylinder 18 is hydraulically connected to the working port of the second main directional valve and the working port of the second auxiliary valve 20. The third cylinder 19 is hydraulically connected to the working port of the third main directional valve and the working port of the third auxiliary valve 21. The first motor is hydraulically connected to the working ports of the fourth main directional valve and the fifth main directional valve. The second motor is hydraulically connected to the working port of the fourth auxiliary valve 22.

[0028] Specifically, the first cylinder 17 is the boom cylinder, and the first main valve module is the boom module 14; the second cylinder 18 is the stick cylinder, and the second main valve module is the stick module 13; the third cylinder 19 is the bucket cylinder, and the third main valve module is the bucket module 12; the first motor is the travel motor, the second motor is the swing motor 8, the fourth main valve module is the right travel module 15, and the fifth main valve module is the left travel module 5. The first motor may include a left travel component 7 and a right travel component 16, which are respectively connected to the working ports of the fourth and fifth main directional valves.

[0029] For example, when the excavator is traveling, it sometimes needs to rotate while traveling. The controller can control the corresponding inlet valve and the auxiliary valve to switch the direction, so that the hydraulic oil of the first pump 1, the second pump 2 and the third pump 3 are connected to the swing motor 8, the left travel component 7 and the right travel component 16 respectively, so as to drive the excavator to travel and rotate.

[0030] The hydraulic control system described above can adjust the auxiliary valves and the confluence valves before each valve according to the required flow of each actuator, so that the hydraulic oil in the first main oil circuit, the second main oil circuit and the third main oil circuit flows into different actuators respectively. By adjusting the output flow of the first pump 1, the second pump 2 and the third pump 3 to respond to the required flow of each actuator, the system can achieve precise adjustment according to demand, thereby improving the operability of the hydraulic control system, reducing the energy consumption of the hydraulic control system and extending the service life of hydraulic components.

[0031] In one embodiment, such as Figure 2 The diagram shows a flowchart of a hydraulic control method provided according to an embodiment of the present invention. The hydraulic control method is used in the aforementioned hydraulic control system and includes: S101, upon receiving a multi-actuator action signal, determine that the multiple actuators included in the multi-actuator action signal are multiple first target actuators; S102 controls the valve inlet confluence valve and / or each auxiliary valve in each main valve module, so that multiple first target actuators are supplied with oil by at least one pump in the hydraulic pump group.

[0032] The hydraulic control system can be controlled by a controller. When the controller receives multiple actuator action signals, it can identify several actuators included in the signals as multiple first target actuators, each with a required flow rate. The controller can control the pre-valve confluence valves and / or the auxiliary valves in each main valve module to ensure that each first target actuator has at least one corresponding pump supplying oil. For example, if there are three first target actuators, the controller can activate two pre-valve confluence valves and one auxiliary valve, allowing the hydraulic oil from the three pumps to flow to three different first target actuators. Using this hydraulic control method, the output flow of each pump can be adjusted according to the actual flow rate required by each actuator to optimize the flow distribution mechanism and improve the overall system efficiency.

[0033] Upon receiving a multi-actuator action signal, the controller can match at least one main hydraulic circuit to each first target actuator. Based on the main hydraulic circuit corresponding to each first target actuator, the controller determines the target main valve module or auxiliary valve corresponding to each first target actuator. The controller controls one or two pre-valve cartridge valves 9 in the target main valve module to open, and / or controls the auxiliary valve to switch, so that the hydraulic oil from each main hydraulic circuit flows into the corresponding first target actuator. Specifically, when there are three first target actuators, the controller matches one main hydraulic circuit to each first target actuator, so that the three pumps independently supply oil to the three first target actuators. Using the above control method, the pre-valve cartridge valves 9 and / or auxiliary valves can be controlled according to preset logic, avoiding mutual interference of hydraulic oil between actuators and improving their operational performance.

[0034] The hydraulic oil output from a single pump is supplied to only one actuator, avoiding the situation where the hydraulic pump needs to output a large flow rate of hydraulic oil to meet the needs of multiple actuators due to flow sharing among them. If the hydraulic oil output from a single pump is shared among multiple actuators, the different flow and pressure requirements among the actuators will inevitably lead to a significant amount of hydraulic oil overflow, resulting in low energy utilization efficiency. In the hydraulic control method provided by this invention, after determining the target flow rate requirement of each first target actuator, one or more pumps corresponding to each target actuator can be determined. The controller can control the output flow rate of each pump to adjust the flow output according to the needs of the actuator. Using the above method, the power of each pump can be effectively reduced, thereby reducing energy consumption. In addition, it can also prevent excessive hydraulic oil overflow in the main valve module, which would cause the hydraulic oil temperature to rise. For example, when the required flow rate of the boom cylinder is determined to be 100L / min, the controller can control the hydraulic oil output flow rate of the pump corresponding to the boom cylinder to be 120L / min. The hydraulic oil output by the pump is slightly greater than the required flow rate of the actuator in order to prevent insufficient hydraulic oil flow into the actuator, which would cause the actuator to move slowly. Some hydraulic oil can overflow at the relief valve in the main valve assembly 4 to reduce the actual hydraulic oil flow rate into the actuator.

[0035] The flow rate of hydraulic oil into the actuator is not only limited by the pump's output flow rate, but can also be adjusted through throttling and overflow of the hydraulic valves. In this embodiment of the invention, the main valve module or auxiliary valve corresponding to each first target actuator can be determined according to the target flow rate requirements. By adjusting the opening degree of the auxiliary valve and / or the opening degree of the upstream confluence valve, the flow rate of hydraulic oil into each actuator can be precisely matched with the target flow rate requirements. In a specific embodiment, the pump output flow rate can be controlled to be slightly greater than the target flow rate requirements to ensure that the actuator can perform operations stably. The flow rate of hydraulic oil into each actuator can be precisely controlled by adjusting the upstream confluence valve, auxiliary valve, and overflow valve, so that each actuator can operate at the speed corresponding to the command it receives.

[0036] In one specific embodiment, the pre-valve confluence valve includes a first cartridge valve unit disposed between the oil inlet of the main directional valve 11 and the first main oil circuit, and a second cartridge valve unit disposed between the oil inlet of the main directional valve 11 and the second main oil circuit. Both the first and second cartridge valve units include a pre-valve cartridge valve 9 and a pre-valve flow valve 10. The oil inlet of the pre-valve cartridge valve 9 is hydraulically connected to the first or second main oil circuit, and the oil outlet of the pre-valve cartridge valve 9 is connected to the main directional valve 11. The valve core of the pre-valve cartridge valve 9 is provided with an internal connecting oil passage connecting the oil inlet of the cartridge valve and the control chamber of the cartridge valve. An internal check valve and a damping orifice are connected in series in the internal connecting oil passage. The pre-valve flow valve 10 is used to control the outflow of the cartridge valve control chamber. The controller is electrically connected to the pre-valve flow valve 10. The flow between the inlet and outlet of the pre-valve cartridge valve 9 can be adjusted by controlling the opening of the pre-valve flow valve 10, thereby controlling the flow of hydraulic oil flowing into each actuator. Among them, the upstream flow valve 10 can be an electro-proportional flow valve.

[0037] When the number of primary target actuators is determined to be less than three, the hydraulic pumps not connected to the primary target actuators can be identified as redundant pumps. Subsequently, by controlling the pre-flow valves or auxiliary valves of each actuator, the redundant pumps can supply oil to the primary target actuator with the highest flow demand. Additionally, each pump other than the redundant pump can supply oil to multiple primary target actuators in a one-to-one correspondence. This prevents the actuator from operating at low speeds due to insufficient oil supply from a single hydraulic pump under high flow conditions. For example, when the boom needs to operate at high speeds, the hydraulic oil supplied by a single hydraulic pump may be insufficient to meet the boom's operational requirements. In this case, the auxiliary valves or pre-flow valves can be controlled to allow the hydraulic oil output from the redundant pumps to flow into the boom cylinders, increasing the boom cylinder's movement speed.

[0038] Furthermore, when the maximum target flow demand is determined to be greater than a preset flow threshold, the first target actuator with the largest target flow demand can be designated as the second target actuator. A target flow demand exceeding the preset flow threshold indicates that one pump cannot meet its flow demand, requiring two pumps to jointly supply oil to the second target actuator. The controller can control the pre-valve confluence valve in the main valve module connected to the second target actuator, so that the first and second main oil circuits connected to the pre-valve confluence valve jointly supply oil to the second target actuator. Using the above control strategy, the high-speed movement requirements of some actuators can be met. When an actuator requires high-speed movement, by controlling the pre-valve confluence valve, the first pump 1 and the second pump 2 jointly supply oil to the second target actuator. Other actuators with flow demand can be supplied oil by the third pump 3.

[0039] In one embodiment, a control device for a hydraulic control system is provided, comprising: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the hydraulic control method described above.

[0040] In one embodiment, a working machine is provided, comprising: the aforementioned hydraulic control system and the aforementioned control device of the hydraulic control system.

[0041] In one embodiment, a machine-readable storage medium is provided, on which instructions are stored for causing a machine to perform the hydraulic control method described above.

[0042] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A hydraulic control system, characterized in that, The hydraulic control system includes: The main valve assembly (4) includes several main valve modules connected in series. The main valve module includes a first main oil circuit, a second main oil circuit, and a main directional valve (11). A valve inlet confluence valve is provided before the oil inlet of the main directional valve (11). The valve inlet confluence valve is used to control the pressure oil flow of the first main oil circuit and / or the second main oil circuit to the oil inlet of the main directional valve (11). The first main oil circuit and the second main oil circuit in adjacent main valve modules are connected in a docking manner. The auxiliary valve assembly (6) includes a third main oil passage and a plurality of auxiliary valves connected in series on the third main oil passage; The hydraulic pump assembly includes a first pump (1) and a second pump (2) that supply oil to the two main oil circuits in the main valve assembly (4) in a one-to-one correspondence, and a third pump (3) that supplies oil to the third main oil circuit. Multiple actuators, each of which is hydraulically connected to the working port of the corresponding main directional valve (11) in the main valve assembly (4), and / or the working port of the corresponding auxiliary valve in the auxiliary valve assembly (6).

2. The hydraulic control system according to claim 1, characterized in that, The secondary valve is an O-type slide valve that is in the neutral position.

3. The hydraulic control system according to claim 1, characterized in that, The main valve assembly (4) includes a first main valve module with a first main directional valve, a second main valve module with a second main directional valve, a third main valve module with a third main directional valve, a fourth main valve module with a fourth main directional valve, and a fifth main valve module with a fifth main directional valve; the auxiliary valve assembly (6) includes a first auxiliary valve (23), a second auxiliary valve (20), a third auxiliary valve (21), and a fourth auxiliary valve (22). The actuator includes: The first oil cylinder (17) is hydraulically connected to the working oil port of the first main directional valve and the working oil port of the first auxiliary valve (23); The second oil cylinder (18) is hydraulically connected to the working oil port of the second main directional valve and the working oil port of the second auxiliary valve (20); The third oil cylinder (19) is hydraulically connected to the working oil port of the third main directional valve and the working oil port of the third auxiliary valve (21); The first motor is hydraulically connected to the working port of the fourth main directional valve and the working port of the fifth main directional valve; The second motor is hydraulically connected to the working port of the fourth auxiliary valve (22).

4. A hydraulic control method, characterized in that, The hydraulic control system according to any one of claims 1 to 3, the hydraulic control method comprising: Upon receiving a multi-actuator action signal, the multiple actuators included in the multi-actuator action signal are determined to be multiple first target actuators; Control the inlet confluence valve and / or each auxiliary valve in each of the main valve modules, so that the plurality of first target actuators are supplied with oil by at least one pump in the hydraulic pump group.

5. The hydraulic control method according to claim 4, characterized in that, The valve pre-flow confluence valve includes two pre-flow cartridge valves (9) respectively disposed on the first main oil circuit and the second main oil circuit. The control of the valve pre-flow confluence valve and / or each auxiliary valve in each of the main valve modules, so that the plurality of first target actuators are supplied with oil by at least one corresponding pump in the hydraulic pump group, includes: Match at least one main oil circuit to each of the first target actuators; Based on the main oil circuit corresponding to each first target actuator, determine the target main valve module or auxiliary valve corresponding to each first target actuator; Control one or two valve pre-valve insert valves (9) of the target main valve module to open and / or the auxiliary valve to reverse, so that each main oil line flows into one of the first target actuators.

6. The hydraulic control method according to claim 4, characterized in that, The hydraulic control method further includes: Determine the target demand flow corresponding to each of the first target actuators; Based on the respective target flow requirements, control the output flow of each pump corresponding to each of the first target actuators; or... Based on the target flow demand, adjust the opening of the upstream confluence valve and / or the opening of the auxiliary valve corresponding to each of the first target actuators.

7. The hydraulic control method according to claim 4, characterized in that, The control of the upstream confluence valves and / or the respective auxiliary valves in each of the main valve modules, such that the plurality of first target actuators are supplied with oil by at least one corresponding pump in the hydraulic pump group, further includes: Determine the target demand flow corresponding to each of the first target actuators; It is determined that the number of the first target actuators is less than the number of pumps in the hydraulic pump group, and the pumps not connected to the first target actuators are determined to be redundant pumps; Control each of the aforementioned valve pre-flow confluence valves and / or each of the aforementioned auxiliary valves, so that the redundant pump supplies oil to the first target actuator with the largest target flow demand, and each pump other than the redundant pump supplies oil to multiple first target actuators in a one-to-one correspondence.

8. The hydraulic control method according to claim 4, characterized in that, The hydraulic control method further includes: Determine the target demand flow corresponding to each of the first target actuators; The maximum target demand flow is determined to be greater than a preset flow threshold; The first target actuator with the largest target demand flow is identified as the second target actuator; Control the inlet valve of the main valve module connected to the second target actuator so that the first main oil circuit and the second main oil circuit jointly supply oil to the second target actuator.

9. A control device for a hydraulic control system, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the hydraulic control method according to any one of claims 4 to 8.

10. A type of operating machinery, characterized in that, include: The hydraulic control system according to any one of claims 1 to 3; The control device for the hydraulic control system according to claim 9.

11. A machine-readable storage medium storing instructions thereon, characterized in that, This instruction is used to cause the machine to perform the hydraulic control method according to any one of claims 4 to 8.

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