CN105604121A - Control loop of working device of engineering operation equipment - Google Patents
Control loop of working device of engineering operation equipment Download PDFInfo
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- CN105604121A CN105604121A CN201511003769.XA CN201511003769A CN105604121A CN 105604121 A CN105604121 A CN 105604121A CN 201511003769 A CN201511003769 A CN 201511003769A CN 105604121 A CN105604121 A CN 105604121A
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- hydraulic cylinder
- hydraulic
- pressure accumulator
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a control loop of a working device of engineering operation equipment. The control loop is used for controlling a movable arm hydraulic cylinder of the engineering operation equipment and comprises a hydraulic engineering operation equipment working device body, the movable arm hydraulic cylinder, a hydraulic cylinder liquid-gas energy storage balance loop, a hydraulic cylinder driving loop and a control handle, wherein the movable arm hydraulic cylinder is connected with the hydraulic engineering operation equipment working device body and is a hydraulic cylinder with three accommodating cavities; the hydraulic cylinder liquid-gas energy storage balance loop is connected with a working oil opening of the movable arm hydraulic cylinder; the hydraulic cylinder driving loop is connected with the other two working oil openings of the movable arm hydraulic arm; the control handle is connected with the hydraulic cylinder driving loop. When the hydraulic engineering operation equipment working device body rises, flow for the hydraulic cylinder is reduced, so that the rising speed of the working device body can be accelerated to improve the working efficiency; when the working device body falls down, throttling heat at a hydraulic valve is reduced, temperature increase of a hydraulic system is reduced, the stability is improved, and the service life of a hydraulic element is prolonged.
Description
Technical field
The present invention relates to a kind ofly for controlling the hydraulic circuit of oilhydraulic engineering working equipment equipment, be used in particular for hydraulic pressureMoved arm lifting mechanism is equipped in engineer operation, reduces the control loop of its work energy consumption.
Background technology
At engineer operation equipment, loading machine and other be by Driven by Hydraulic Cylinder, needs frequently fortune up and down reciprocatingly of equipmentIn moving mechanical device, conventionally because equipment own wt is larger, when its rising of Driven by Hydraulic Cylinder, hydraulic system needs gramTake its gravity and do manual work, when equipment declines, the potential energy of equipment is converted to thermal energy consumption through hydraulic valve throttling and falls, not only waveTake the energy, and can make Hydraulic System Oil temperature rise, increase system fault probability, affect the service life of hydraulic system.
If the potential energy that this type of equipment can be had is recycled, will have considerable energy-saving effect, and can extend liquidThe life-span of pressing system. In order to utilize this part energy, German Liebherr company has applied for that use energy reclaims the work of cylinder balanceInstall gravity, reduce the patent of invention (CN102561442A) of this part energy consumption, China Yang Shuan has also applied for doing in engineeringIndustry is equipped on the basis of original double hydraulic cylinder driving equipment, and the invention of setting up gas-liquid loaded cylinder balance equipment weight is specialProfit (CN102518606A). But this method need to increase the 3rd hydraulic cylinder on the basis of original double hydraulic cylinder, can changeBecome the structure of original mechanical device, be applied in the upper comparatively difficulty of arranging also of engineer operation equipment.
Summary of the invention
The present invention is directed to deficiency of the prior art, provide a kind of simple in structure, can not change original equipmentStructure, recyclable and recycle the control loop of a kind of engineer operation armament-related work device of equipment potential energy.
Compact conformation of the present invention, integrated level is high, does not affect original hydraulic system of mechanical device, is applicable to multiple hydraulic pressure systemSystem, has multiple combination solution.
A control loop for engineer operation armament-related work device, for the swing arm hydraulic cylinder control of engineer operation equipment,It includes: oilhydraulic engineering working equipment equipment, swing arm hydraulic cylinder, hydraulic cylinder liquid-gas energy storage balanced loop, hydraulic cylinder driveMoving loop, joystick; Swing arm hydraulic cylinder connects hydraulic pressure engineer operation armament-related work device, and described swing arm hydraulic cylinder is to have threeThe hydraulic cylinder of individual cavity volume, hydraulic cylinder liquid-gas energy storage balanced loop connects an actuator port of swing arm hydraulic cylinder, Driven by Hydraulic CylinderLoop connects another two actuator ports of swing arm hydraulic cylinder, and joystick connects Driven by Hydraulic Cylinder loop. .
Described hydraulic cylinder liquid-gas energy storage balanced loop comprises high pressure accumulator, low pressure accumulator, the first stop valve, secondStop valve, the 3rd stop valve, prime mover, hydraulic pump motor, pressure sensor, second controller, safety valve, check valve, fuel tank,Displacement transducer.
Swing arm hydraulic cylinder works hydraulic fluid port PA（PBOr PC) be connected with high pressure accumulator by the first stop valve. Hydraulic pump motorAn actuator port is connected with high pressure accumulator by the second stop valve, and another actuator port is by the 3rd stop valve and low pressureAccumulator is connected. At the equal connection safety valve of oil port and the check valve of each accumulator, wherein safety valve high-voltage side connects accumulation of energyDevice, low-pressure side connects fuel tank. Check valve connects accumulator and fuel tank, and the fluid flow direction of permission is from fuel tank to accumulator.Oil port at two accumulators is all provided with pressure sensor, and pressure signal gathers to second controller. Prime mover and liquidPress pump motor connects by shaft coupling, for driving hydraulic pump motor. Displacement transducer is housed on hydraulic cylinder, hydraulic cylinder is stretchedThe displacement signal going out gathers to second controller. By second controller adopt three stop valves of suitable control method control andPrime mover.
When use, low pressure accumulator is filled with in advance the gas of lower pressure or is not filled with gas, and high pressure accumulator needsBe filled with in advance certain gases at high pressure, and by a hydraulic fluid port (P of the first stop valve and swing arm hydraulic cylinderAAnd PCIn one)Connect, common the first stop valve is in open mode, and the second stop valve and the 3rd stop valve are in closed condition. Now with high pressureThe connected chamber of accumulator has the pressure the same with high pressure accumulator, by setting up the pressure of preliminary filling, can make to hold with high pressureCan device connected chamber there is enough equilibrant force and come the weight of balance equipment. When Driven by Hydraulic Cylinder drive circuit swing arm liquidWhen cylinder pressure is retracted, equipment declines, and the chamber volume being connected with high pressure accumulator reduces, and this chamber fluid enters high-voltage energy-storageDevice, the potential energy converting and energy of equipment is also stored in high pressure accumulator, has avoided at hydraulic pressure valve port place because throttling action is lost.When Driven by Hydraulic Cylinder drive circuit swing arm hydraulic cylinder stretches out, equipment rises, and the chamber volume being connected with high pressure accumulator increasesGreatly, the fluid in high pressure accumulator enters this chamber, and the energy being stored in high pressure accumulator fills the potential energy that is changed to equipment,Reduce hydraulic pump output energy, there is good energy-saving effect.
Because accumulator inner fluid pressure can change along with the variation of volume, therefore low pressure accumulator and relevant unit are setPart is in order to regulate the pressure of high pressure accumulator. Second controller has three kinds of mode of operations:
(1) quiescent operation dot pattern
Under this pattern, in second controller, be provided with three pressure threshold p1，p2And p3, and p1>p2>p3. Wherein p1For high pressure holdsThe maximum working pressure of energy device, p3For the minimum operating pressure of high pressure accumulator, p2For the default operating pressure of high pressure accumulator.Second controller is by the pressure p of pressure sensor Real-Time Monitoring high pressure accumulator.
Work as p > p1Time, open the second stop valve and the 3rd stop valve, and start prime mover, prime mover driven hydraulic pump horseReach the fluid in high pressure accumulator is transferred to low pressure accumulator, until p < p2Time stop prime mover, close the second cut-off simultaneouslyValve and the 3rd stop valve, thereby the pressure of reduction high pressure accumulator, and be tending towards default operating pressure p2. In this process, if secondWhen controller exceedes safe limit value by pressure sensor monitoring to low pressure accumulator pressure, stop equally prime mover, simultaneouslyClose the second stop valve and the 3rd stop valve.
As p < p3Time, open the second stop valve and the 3rd stop valve, and start prime mover, prime mover driven hydraulic pump horseReach the fluid in low pressure accumulator is transferred to high pressure accumulator, until p p2Time stop prime mover, close the second cut-off simultaneouslyValve and the 3rd stop valve, thereby the pressure of raising high pressure accumulator, and be tending towards default operating pressure p2。
Two safety valves prevent that energy storage pressure from exceeding safety value, and two check valves prevent that accumulator from being inhaled sky.
(2) dynamic working point-preset pressure curve model
By preset pressure in second controller and displacement relation curve, by displacement transducer 33 Real-time Collection displacement lettersNumber, the default curve of contrast, draws real-time desired pressure value p0。
If p > p0Time, open the second stop valve and the 3rd stop valve, and start prime mover, prime mover driven hydraulic pump horseReach the fluid in high pressure accumulator is transferred to low pressure accumulator, until p=p0Time stop prime mover, close the second cut-off simultaneouslyValve and the 3rd stop valve, thus the pressure that reduces high pressure accumulator is to p0. In this process, if second controller passes through pressure sensingWhen device monitors low pressure accumulator pressure and exceedes safe limit value, stop equally prime mover, close the second stop valve and simultaneouslyThree stop valves.
If p < p0Time, open the second stop valve and the 3rd stop valve, and start prime mover, prime mover driven hydraulic pump horseReach the fluid in low pressure accumulator is transferred to high pressure accumulator, until p=p0Time stop prime mover, close the second cut-off simultaneouslyValve and the 3rd stop valve, thus the pressure that improves high pressure accumulator is to p0。
(3) dynamic working point-pressure match pattern
The first controller and second controller can real-time Communication for Power. The first controller is by pressure sensor Real-time Collection swing arm liquidThe each cavity pressure value of cylinder pressure, calculates the required pressure of high pressure accumulator, and regulates in real time high pressure accumulator oil liquid pressure to desirableValue.
This hydraulic cylinder liquid-gas energy storage balanced loop can be reduced to as required and only comprise high pressure accumulator, safety valve and listTo the simple circuit of valve, swing arm hydraulic cylinder works hydraulic fluid port PA(or PC) be connected high pressure accumulator simultaneously with high pressure accumulator hydraulic fluid portHydraulic fluid port connection safety valve and check valve. Wherein safety valve high-voltage side connects accumulator, and low-pressure side connects fuel tank. Check valve connection is heldEnergy device and fuel tank, the fluid flow direction of permission is from fuel tank to accumulator. There is equally good energy-saving effect.
Described high pressure accumulator is a high pressure accumulator or multiple high pressure accumulator composes in parallel.
Described low pressure accumulator is a high pressure accumulator or multiple low pressure accumulator composes in parallel.
Driven by Hydraulic Cylinder loop has various ways: open circuit, closed circuit etc.
Described hydraulic open type loop comprises: control crank, the first controller, hydraulic pump, prime mover, reversal valve, fuel tank, peaceFull valve, pressure sensor, flow regeneration valve.
This loop is in the time driving hydraulic cylinder, and the first controller, according to the signal of control crank, is controlled reversal valve in differencePosition, stretch out and retraction thereby realize hydraulic cylinder. Pressure sensor gathers two actuator port pressure signals, and real-time Transmission extremelyThe first controller. Detect the maximum pressure of load, and feed back to hydraulic pump. The variable control mechanism of hydraulic pump is according to the pressure of feedbackPower control hydraulic pump unload dish pivot angle, make hydraulic pump output pressure all the time higher than load pressure certain value. When the regeneration of needs flowTime, the first controller drives flow regeneration valve to be converted to through-flow state, realizes flow regeneration, reduces the flow of pump output. This timeThe Auto-matching of POF, pressure and load can be realized in road, reduces spill losses.
Described open circuit comprises: control crank, and the first controller, hydraulic pump, 2/2-way proportioning valve, fuel tank,Prime mover, safety valve, pressure sensor, flow regeneration valve.
This loop is driving when hydraulic cylinder, and the first controller is according to the signal of control crank, calculate required pressure andFlow, coordinates to control four 2/2-way proportioning valves and hydraulic pump, exports suitable pressure and flow from actuator port P1 and P2,Control stretching out and retraction of hydraulic cylinder. The pressure signal being gathered by pressure sensor is passed the first controller in real time back, can realizeAccurate closed-loop control. In the time that needs flow is regenerated, the first controller drives flow regeneration valve to be converted to through-flow state, realizes streamAmount regeneration, reduces the flow that pump is exported. The compound control of pump valve can be realized in this loop, controls separately easily the work of each hydraulic fluid portMake state, realize the exact matching of pressure flow, can at utmost reduce the pressure loss on hydraulic valve.
Described closed model pump control Driven by Hydraulic Cylinder loop comprises: control crank, and the first controller, hydraulic pump motor, prime mover,Fuel tank, safety valve, check valve, pressure sensor.
This loop is used for driving hydraulic cylinder, and the first controller, according to according to the signal of control crank, is just being controlled prime moverReversion is controlled hydraulic cylinder and is stretched out and retraction, gives hydraulic pump motor input variable signal controlling hydraulic cylinder speed. Pressure sensingDevice gathers pressure signal and is sent in real time the first controller for increasing control accuracy. This loop does not almost have restriction loss, toolThere is good energy-saving effect.
Described liquid-gas energy storage balanced loop and Driven by Hydraulic Cylinder loop, can be combined, and is applicable to various applied fieldClose.
Technique effect of the present invention is as follows:
(1) can effectively reclaim the potential energy of repetition rise and fall equipment and rise the energy that discharges storage in process thereon,Save the energy.
(2) can regulate in real time the pressure in high pressure accumulator, thereby regulate the equilibrant force of whole system, be adapted to multipleOperating mode.
(3) use this invention, in the time that equipment rises, the required flow of hydraulic cylinder reduces, and therefore can improve work clothesThe rate of climb of putting, thus operating efficiency improved.
(4) when equipment declines, reduced the throttling heating of hydraulic valve place, reduced the temperature rise of hydraulic system, improvedStability, has extended service life of Hydraulic Elements.
(5) used the hydraulic cylinder with three cavity volumes, not only can drive equipment, also integrated energy reclaims meritCan, integrated level is high, compact conformation.
(6), during for machine adaptation, without changing original frame for movement, and be applicable to many kinds of liquid pressing system.
Brief description of the drawings
Fig. 1 is engineer operation armament-related work apparatus structure schematic diagram;
Fig. 2 is the swing arm hydraulic cylinder structure schematic diagram with three cavity volumes;
Fig. 3 is hydraulic cylinder liquid-gas energy storage of the present invention balanced loop;
Fig. 4 is that a kind of open hydraulic cylinder drives loop schematic diagram;
Fig. 5 is that another kind of open hydraulic cylinder drives loop schematic diagram;
Fig. 6 is that Closed Hydraulic cylinder drives loop schematic diagram;
Fig. 7 is the first embodiment of the present invention, and complete liquid-gas energy storage balanced loop and Closed Hydraulic cylinder drive loop;
Fig. 8 is the second embodiment of the present invention, and liquid-gas energy storage balanced loop of simplification and a kind of open hydraulic cylinder drive backRoad;
In figure, 1-swing arm hydraulic cylinder, 2-flow regeneration valve, 3-high pressure accumulator, 4-low pressure accumulator, 7-prime mover, 8-hydraulic pressurePump motor, 9-engineer operation armament-related work device, 18-control crank, 19-the first controller, 20-second controller, 21-hydraulic pressurePump, 22-fuel tank, 23-2/2-way proportioning valve, 24-safety valve, 25-check valve, 27-pressure sensor, 29-reversal valve, 30-The first stop valve, 31-the second stop valve, 32-the 3rd stop valve, 33-displacement transducer.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described further.
Embodiment mono-:
As shown in Figure 7, in this embodiment, equipment 9 is driven and is done frequently up and down reciprocatingly action by swing arm hydraulic cylinder 1. MovingArm hydraulic cylinder hydraulic fluid port PABe connected with high pressure accumulator 3 by the first stop valve 30. An actuator port of hydraulic pump motor 8 passes throughThe second stop valve 31 is connected with high pressure accumulator, and another actuator port is connected with low pressure accumulator 4 by the 3rd stop valve 32.At the equal connection safety valve 24 of oil port and the check valve 25 of each accumulator, wherein safety valve high-voltage side connects accumulator, low pressureSide connects fuel tank 22, and check valve connects accumulator and fuel tank, and the fluid flow direction of permission is from fuel tank to accumulator. Hydraulic pumpMotor is driven by prime mover 7. Oil port at accumulator is all provided with pressure sensor, and pressure signal collection to the second controlDevice 20. The first stop valve 30 is in normally open, and the second stop valve 31 and the 3rd stop valve 32 are in closed condition. Low pressure is heldEnergy device is without pre-inflatable body, and high pressure accumulator is gases at high pressure in advance, for balance equipment, and reclaim its potential energy.
Driven by Hydraulic Cylinder loop is closed circuit. In the time that control crank 18 produces signal, the first controller 19 receives this letterNumber, computing prime mover 7 and the hydraulic pump motor 8 of controlling Driven by Hydraulic Cylinder loop enter corresponding duty. When controlling letterNumber be that when equipment is declined, Driven by Hydraulic Cylinder drive circuit swing arm hydraulic cylinder is retracted. Because equipment weight is large, thereforeCan rely on equipment deadweight to drive it to decline, a part of fluid enters high pressure accumulator, the potential energy converting and energy of equipment storageExist in the middle of high pressure accumulator, avoided at hydraulic pressure valve port place because throttling action is lost. When control signal is to make equipmentWhen rising, Closed Hydraulic cylinder drives drive circuit swing arm hydraulic cylinder to stretch out, and equipment rises, and the fluid in high pressure accumulator entersEnter hydraulic cylinder, the energy being stored in high pressure accumulator fills the potential energy that is changed to equipment, drives loop only need export less energyAmount, has good energy-saving effect.
When second controller exceedes high pressure limit definite value p by pressure sensor monitoring to high pressure accumulator pressure p1Time, theTwo controller opens the second stop valves and the 3rd stop valve, and prime mover of primer fluid-gas energy storage balanced loop, drive hydraulic pumpThe fluid in high pressure accumulator is transferred to low pressure accumulator by motor, until its pressure p is lower than the default work of high pressure accumulatorPressure p2Time, stop prime mover, close the second stop valve and the 3rd stop valve simultaneously, thereby reduce fluid in high pressure accumulatorPressure is also tending towards default operating pressure. In this process, if second controller arrives low pressure accumulator oil by pressure sensor monitoringWhen hydraulic coupling exceedes limit value, stop equally prime mover, close the second stop valve and the 3rd stop valve simultaneously. Work as second controllerArrive high pressure accumulator pressure p lower than low voltage limit definite value p by pressure sensor monitoring3Time, second controller is opened the second cut-offValve and the 3rd stop valve, and primer fluid-gas energy storage balanced loop prime mover, prime mover driven hydraulic pump motor is by low pressure accumulatorIn fluid be transferred to high pressure accumulator, until p > when p2, stop prime mover, close the second stop valve and the 3rd cut-off simultaneouslyValve. Thereby the pressure of fluid be tending towards default operating pressure in lifting high pressure accumulator.
Embodiment bis-:
As shown in Figure 8, in this embodiment, liquid-gas energy storage balanced loop is connected to the hydraulic fluid port P of swing arm hydraulic cylinder 1C; Described liquid-Gas energy storage balanced loop comprises high pressure accumulator 3, safety valve 24 and check valve 25, high pressure accumulator 3 connection safety valves 24, safetyValve 24 connects fuel tank 22, and two hydraulic fluid ports of safety valve 24 are connected with check valve 25. High pressure accumulator pours gases at high pressure in advance, usesIn balance equipment, and reclaim its potential energy. Driven by Hydraulic Cylinder loop adopts open circuit.
When control signal is when equipment 9 is declined, the first four of controller coordinate controls bi-bit bi-pass proportioning valve 23Drive swing arm hydraulic cylinder retraction with hydraulic pump 21. In the time that the little cavity pressure of swing arm hydraulic cylinder is lower, flow regeneration valve 2 is opened, large chamberPart fluid enters loculus, reduces hydraulic pump output flow. Swing arm hydraulic cylinder part fluid enters in high pressure accumulator, workA part of potential energy of device is stored in accumulator by fluid; In the time controlling equipment rising, flow regeneration valve is closed, and drivesMoving drive circuit swing arm hydraulic cylinder stretches out, and controls equipment and rises. Now, the fluid in high pressure accumulator enters swing arm hydraulic pressureCylinder, auxiliary lifting equipment, the energy being stored in accumulator is released, and is converted into kinetic energy and the gesture of equipmentEnergy. In whole working cycles, when equipment declines, its a part of kinetic energy and potential energy are stored in accumulator, reduceThe waste of equipment potential energy; When equipment rises, the energy being stored in accumulator discharges and is converted into work clothesThe potential energy of putting, has reduced the energy that pump is exported. Flow regeneration function has reduced POF when equipment declines simultaneously.
Shown in Fig. 3, hydraulic cylinder liquid-gas energy storage balanced loop comprises high pressure accumulator 3, low pressure accumulator 4, the first stop valves30, the second stop valve 31, the three stop valves 32, prime mover 7, hydraulic pump motor 8, pressure sensor 27, second controller 20,Safety valve 24, check valve 25, fuel tank 22, displacement transducer 33.
Hydraulic cylinder connection bit displacement sensor 33, displacement transducer 33 connects second controller 20; Second controller 20 respectivelyBonding pressure sensor 27, prime mover 7, the second stop valve 31, the 3rd stop valve 32, the hydraulic fluid port setting pressure of low pressure accumulator 4Sensor 27, safety valve 24 and check valve 25, the hydraulic fluid port setting pressure sensor 27 of high pressure accumulator 3, safety valve 24 and unidirectionalValve 25, safety valve 24 is all connected fuel tank 22 with check valve 25; The high-pressure side of safety valve 24 connects accumulator, the low pressure of safety valve 24Side connects fuel tank 22; Hydraulic pump motor 8 connects respectively the 3rd stop valve 32, the second stop valve 31 and prime mover 7.
Shown in Fig. 4, the present invention wherein a kind of Driven by Hydraulic Cylinder loop by control crank 18, the first controllers 19, hydraulic pump21, fuel tank 22, safety valve 24, pressure sensor 27, reversal valve 29, flow regeneration valve 2, prime mover 7 forms;
Control crank 18 connects the first controller 19, the first controllers 19 Bonding pressure sensor 27, hydraulic pump 21, commutation respectivelyValve 29 and flow regeneration valve 2; Hydraulic pump 21 connects respectively fuel tank 22, prime mover 7, safety valve 24 and reversal valve 29; Reversal valve 29Connection safety valve 24, fuel tank 22, pressure sensor 27 and flow regeneration valve 2 respectively.
Shown in Fig. 5, the second Driven by Hydraulic Cylinder of the present invention loop is by control crank 18, the first controllers 19, hydraulic pump 21,4 2/2-way proportioning valves 23, fuel tank 22, prime mover 7, safety valve 24, pressure sensor 27, flow regeneration valve 2 forms. HandleHandle 18 connects the first controller 19, the first controllers 19 Bonding pressure sensor 27, hydraulic pump 21,2/2-way ratio respectivelyValve 23 and flow regeneration valve 2; Hydraulic pump 21 connects respectively fuel tank 22, prime mover 7, safety valve 24 and 2/2-way proportioning valve 23;2/2-way proportioning valve 23 connection safety valve 24, fuel tank 22, pressure sensor 27 and flow regeneration valve 2 respectively.
Shown in Fig. 6, the third Driven by Hydraulic Cylinder loop of the present invention is by control crank 18, the first controllers 19, hydraulic pump horseReach 8, prime mover 7, fuel tank 22, safety valve 24, check valve 25, pressure sensor 27 forms.
Control crank 18 connects the first controller 19, the first controller 19 Bonding pressure sensor 27, hydraulic pump horses respectivelyReach 8, prime mover 7, hydraulic pump motor 8 connects prime mover 7, hydraulic pump motor 8 connection safety valves 24, check valve 25, safety valve 24All be connected fuel tank 22 with check valve 25.
The first controller of the present invention adopts BODASRC12-18/20 controller, and second controller adopts BODASRC6-9/20 controller.
Therefore the better feasible embodiment of above-mentioned only the present invention, non-ly limit to protection domain of the present invention, according to above-described embodimentInstitute's various distortion of doing or apply mechanically all within this technical scheme protection domain.
Oilhydraulic engineering working equipment of the present invention comprises hydraulic crawler excavator, loading machine, forklift, hoisting machine, snow breaker.
Claims (9)
1. a control loop for engineer operation armament-related work device, for the swing arm hydraulic cylinder of Control Engineering working equipment, itsFeature is to include: oilhydraulic engineering working equipment equipment, swing arm hydraulic cylinder, hydraulic cylinder liquid-gas energy storage balanced loop, hydraulic pressureCylinder drives loop, joystick; Swing arm hydraulic cylinder connects hydraulic pressure engineer operation armament-related work device, and described swing arm hydraulic cylinder is toolHave the hydraulic cylinder of three cavity volumes, hydraulic cylinder liquid-gas energy storage balanced loop connects an actuator port of swing arm hydraulic cylinder, hydraulic cylinderDrive loop to connect another two actuator ports of swing arm hydraulic cylinder, joystick connects Driven by Hydraulic Cylinder loop.
2. according to the control loop of the described a kind of engineer operation armament-related work device of claim 1, it is characterized in that: described liquidCylinder pressure liquid-gas energy storage balanced loop, by high pressure accumulator, low pressure accumulator, the first stop valve, the second stop valve, the 3rd cut-offValve, prime mover, hydraulic pump motor, pressure sensor, second controller, safety valve, check valve, fuel tank, displacement transducer composition;
Swing arm hydraulic cylinder works hydraulic fluid port is connected with high pressure accumulator by the first stop valve; Actuator port of hydraulic pump motor is logicalCross the second stop valve and be connected with high pressure accumulator, another actuator port is connected with low pressure accumulator by the 3rd stop valve; LowPress accumulator in order to regulate the pressure of high pressure accumulator; The equal Bonding pressure of oil port at high pressure accumulator and low pressure accumulator passesSensor, safety valve and check valve, safety valve is all connected fuel tank with check valve, and the fluid flow direction of permission is from fuel tank to high pressureAccumulator and low pressure accumulator; The fuel injection pressure signal that pressure sensor collects is sent to second controller; Prime mover and hydraulic pumpMotor connects by shaft coupling, for driving hydraulic pump motor; Displacement transducer is housed on hydraulic cylinder, and displacement transducer will be adoptedCollection to the displacement signal that stretches out of hydraulic cylinder be sent to second controller, by three stop valves of second controller control and former movingMachine.
3. according to the control loop of the described a kind of engineer operation armament-related work device of claim 2, it is characterized in that: describedTwo controllers have following three kinds of mode of operations:
(1) quiescent operation dot pattern, is provided with three pressure threshold p in second controller1，p2And p3, and p1＞p2＞p3；
Wherein p1For the maximum working pressure of high pressure accumulator,
p3For the minimum operating pressure of high pressure accumulator,
p2For the default operating pressure of high pressure accumulator,
P is the monitoring pressure in real time of high pressure accumulator;
As p > p1Time, to open the second stop valve and the 3rd stop valve, and start prime mover, prime mover driven hydraulic pump motor willFluid in high pressure accumulator is transferred to low pressure accumulator, until p < p2Time stop prime mover, close the second stop valve simultaneouslyWith the 3rd stop valve, thus the pressure of reduction high pressure accumulator, and be tending towards default operating pressure p2; In this process, if controllerWhile exceeding safe limit value by pressure sensor monitoring to low pressure accumulator pressure, stop prime mover, close second section simultaneouslyOnly valve and the 3rd stop valve;
As p < p3Time, to open the second stop valve and the 3rd stop valve, and start prime mover, prime mover driven hydraulic pump motor willFluid in low pressure accumulator is transferred to high pressure accumulator, until p > p2Time stop prime mover, close the second stop valve simultaneouslyWith the 3rd stop valve, thus the pressure of raising high pressure accumulator, and be tending towards default operating pressure p2；
Two safety valves prevent that high and low pressure energy storage pressure from exceeding safety value, and two check valves prevent that high and low pressure accumulator from being inhaledEmpty;
(2) dynamic working point-preset pressure curve model, by preset pressure and displacement relation song in second controllerLine, by displacement transducer Real-time Collection displacement signal, contrast preset pressure and displacement relation curve, draw real-time desired pressureValue p0；
If p > is p0Time, to open the second stop valve and the 3rd stop valve, and start prime mover, prime mover driven hydraulic pump motor willFluid in high pressure accumulator is transferred to low pressure accumulator, until p=p0Time stop prime mover, close simultaneously the second stop valve andThe 3rd stop valve, thus the pressure that reduces high pressure accumulator is to p0; In this process, if second controller is supervised by pressure sensorWhen measuring low pressure accumulator pressure and exceeding safe limit value, stop prime mover, close the second stop valve and the 3rd stop valve simultaneously;
If p < is p0Time, to open the second stop valve and the 3rd stop valve, and start prime mover, prime mover driven hydraulic pump motor willFluid in low pressure accumulator is transferred to high pressure accumulator, until p=p0Time stop prime mover, close simultaneously the second stop valve andThe 3rd stop valve, thus the pressure that improves high pressure accumulator is to p0；
(3) dynamic working point-pressure match pattern, the first controller and second controller can real-time Communication for Power; First controlsDevice, by the each cavity pressure value of pressure sensor Real-time Collection hydraulic cylinder, calculates the required pressure of high pressure accumulator, and adjusts in real timeJoint high pressure accumulator oil liquid pressure is to ideal value.
4. according to the control loop of the described a kind of engineer operation armament-related work device of claim 1, it is characterized in that: institute is describedHydraulic cylinder liquid-gas energy storage balanced loop formed by high pressure accumulator, safety valve, check valve, fuel tank; Swing arm hydraulic cylinder works oilMouth is connected with high pressure accumulator hydraulic fluid port, high pressure accumulator hydraulic fluid port connection safety valve and check valve; Safety valve high-voltage side connects accumulation of energyDevice, safety valve low-pressure side connects fuel tank; Check valve connects accumulator and fuel tank, and the fluid flow direction of permission is from fuel tank to holdingCan device.
5. according to the control loop of a kind of engineer operation armament-related work device described in any one in claim 2 ~ 4, its spyLevy is that described high pressure accumulator is a high pressure accumulator or multiple high pressure accumulator composes in parallel.
6. according to the control loop of a kind of engineer operation armament-related work device described in any one in claim 2 ~ 4, its spyLevy is that described low pressure accumulator is a high pressure accumulator or multiple low pressure accumulator composes in parallel.
7. according to the control loop of the described a kind of engineer operation armament-related work device of claim 1, it is characterized in that: described liquidCylinder pressure drives loop by control crank, the first controller, hydraulic pump, prime mover, reversal valve, fuel tank, safety valve, pressure sensingDevice, flow regeneration valve composition; Drive when hydraulic cylinder, the first controller is according to the signal of control crank, controls reversal valve in notSame position, stretches out and retraction thereby realize hydraulic cylinder; Pressure sensor gathers two actuator port pressure signals of hydraulic cylinder,Real-time Transmission to the first controller, detects the maximum pressure of load, and feeds back to hydraulic pump; The variable control mechanism root of hydraulic pumpAccording to the pressure control hydraulic pump of feedback unload dish pivot angle, make hydraulic pump output pressure all the time higher than load pressure certain value; Work as needWhile wanting flow regeneration, the first controller drives flow regeneration valve to be converted to through-flow state, realizes flow regeneration, the output of minimizing pumpFlow; Thereby realize the Auto-matching of POF, pressure and load, reduce spill losses.
8. according to the control loop of the described a kind of engineer operation armament-related work device of claim 1, it is characterized in that: described liquidCylinder pressure drives loop by control crank, the first controller, hydraulic pump, 2/2-way proportioning valve, fuel tank, prime mover, safety valve, pressurePower sensor, flow regeneration valve composition; While driving hydraulic cylinder, the first controller, according to the signal of control crank, calculates hydraulic pressureThe pressure that cylinder is required and flow, coordinate to control four 2/2-way proportioning valves and hydraulic pump, from two actuator port P1And P2OutputPressure and flow, control stretching out and retraction of hydraulic cylinder; The hydraulic oil pressure force signal being collected by pressure sensor is passed back in real timeThe first controller, realizes accurate closed-loop control; In the time that needs flow is regenerated, the first controller drives flow regeneration valve to be converted toThrough-flow state, realizes flow regeneration, reduces the flow of pump output; Realize the compound control of pump valve, thereby realize the essence of pressure flowReally coupling, reduces the pressure loss on hydraulic valve.
9. according to the control loop of the described a kind of engineer operation armament-related work device of claim 1, it is characterized in that: described liquidCylinder pressure drives loop to be passed by control crank, the first controller, hydraulic pump motor, prime mover, fuel tank, safety valve, check valve, pressureSensor composition; While driving hydraulic cylinder, the first controller, according to the signal of control crank, is controlled the rotating control hydraulic pressure of prime moverCylinder stretches out and retraction, gives hydraulic pump motor input variable signal controlling hydraulic cylinder speed; Pressure sensor gathers hydraulic oilPressure signal is also sent to the first controller in real time.
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| CN109960194A (en) * | 2018-11-29 | 2019-07-02 | 深圳市元征科技股份有限公司 | A kind of work state monitoring method and device of lifting machine |
| CN111836935A (en) * | 2018-03-12 | 2020-10-27 | 斗山英维高株式会社 | Electronic hydraulic control device and method for construction machinery |
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| CN113323072A (en) * | 2021-06-16 | 2021-08-31 | 徐州阿马凯液压技术有限公司 | Self-control multifunctional reversing valve group and hydraulic excavator carrying same |
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