CN105604121B - A kind of control loop of engineer operation armament-related work device - Google Patents
A kind of control loop of engineer operation armament-related work device Download PDFInfo
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- CN105604121B CN105604121B CN201511003769.XA CN201511003769A CN105604121B CN 105604121 B CN105604121 B CN 105604121B CN 201511003769 A CN201511003769 A CN 201511003769A CN 105604121 B CN105604121 B CN 105604121B
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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
A kind of control loop of engineer operation armament-related work device, the boom cylinder control equipped for engineer operation, it includes：Oilhydraulic engineering working equipment equipment, boom cylinder, hydraulic cylinder liquid gas energy storage balanced loop, Driven by Hydraulic Cylinder loop, joystick；Boom cylinder connects oilhydraulic engineering working equipment equipment, the boom cylinder is the hydraulic cylinder with three cavity volumes, hydraulic cylinder liquid gas energy storage balanced loop connects an actuator port of boom cylinder, Driven by Hydraulic Cylinder loop connects the another two actuator port of boom cylinder, joystick connection liquid cylinder pressure driving circuit.When oilhydraulic engineering working equipment equipment rises, flow needed for hydraulic cylinder reduces, therefore can improve the rate of climb of equipment, so as to improve operating efficiency；When equipment declines, the heating that throttled at hydraulic valve is reduced, the temperature rise of hydraulic system is reduced, improves stability, extend the service life of Hydraulic Elements.
Description
Technical field
The present invention relates to a kind of hydraulic circuit for being used to control oilhydraulic engineering working equipment equipment, it is especially useful in hydraulic pressure
Engineer operation equipment moved arm lifting mechanism, reduces the control loop of its operating power consumption.
Background technology
Engineer operation equipment, loading machine and it is other by Driven by Hydraulic Cylinder, it is necessary to which equipment is frequently up and down reciprocatingly transported
In dynamic mechanical device, it is larger to be typically due to equipment own wt, during its rising of Driven by Hydraulic Cylinder, and hydraulic system needs gram
Its gravity workmanship is taken, when equipment declines, the potential energy of equipment is converted to thermal energy consumption through hydraulic valve throttling and fallen, not only unrestrained
Take the energy, and Hydraulic System Oil temperature rise can be made, increase system fault probability, influence the service life of hydraulic system.
If the potential energy that can have such equipment is recycled, it will is had considerable energy-saving effect, and can be extended liquid
Press system lifetim.In order to utilize this portion of energy, German Liebherr company has applied using energy recovery cylinder balancing work
Device gravity, reduces the patent of invention of this part energy consumption（CN 102561442 A）, China Yang Shuan come also applied engineering make
Industry is equipped on the basis of original double hydraulic cylinder driving equipment, and the invention for setting up gas-liquid loaded cylinder balancing work installation weight is special
Profit（CN 102518606 A）.But this method needs to increase the 3rd hydraulic cylinder on the basis of original double hydraulic cylinder, can change
Become the structure of original mechanical device, apply and arrange also more difficult on engineer operation equipment.
The content of the invention
The present invention can not change original equipment for of the prior art not enough there is provided one kind is simple in construction
Structure, a kind of control loop of engineer operation armament-related work device that is recyclable and recycling equipment potential energy.
Compact conformation of the present invention, integrated level is high, original hydraulic system of mechanical device is not influenceed, it is adaptable to a variety of hydraulic pressure systems
System, there is multiple combinations solution.
A kind of control loop of engineer operation armament-related work device, the boom cylinder control equipped for engineer operation,
It includes：Oilhydraulic engineering working equipment equipment, boom cylinder, hydraulic cylinder liquid-gas energy storage balanced loop, hydraulic cylinder drive
Dynamic loop, joystick；Boom cylinder connects oilhydraulic engineering working equipment equipment, and the boom cylinder is that have three
The hydraulic cylinder of individual cavity volume, hydraulic cylinder liquid-gas energy storage balanced loop connects an actuator port of boom cylinder, Driven by Hydraulic Cylinder
Loop connects the another two actuator port of boom cylinder, joystick connection liquid cylinder pressure driving circuit..
The hydraulic cylinder liquid-gas energy storage balanced loop includes high pressure accumulator, low pressure accumulator, the first stop valve, second
Stop valve, the 3rd stop valve, prime mover, hydraulic pump motor, pressure sensor, second controller, safety valve, check valve, fuel tank,
Displacement transducer.
Boom cylinder actuator port PA（PBOr PC）It is connected by the first stop valve with high pressure accumulator.Hydraulic pump motor
One actuator port is connected by the second stop valve with high pressure accumulator, and another actuator port passes through the 3rd stop valve and low pressure
Accumulator is connected.Safety valve and check valve, wherein safety valve high-voltage side connection accumulation of energy are all connected with the oil port of each accumulator
Device, low-pressure side connection fuel tank.Check valve connects accumulator and fuel tank, it is allowed to fluid flow direction be from fuel tank to accumulator.
Pressure sensor is mounted in the oil port of two accumulators, and pressure signal is gathered to second controller.Prime mover and liquid
Press pump motor is connected by shaft coupling, for driving hydraulic pump motor.Displacement transducer is housed on hydraulic cylinder, hydraulic cylinder is stretched
The displacement signal acquisition gone out is to second controller.By second controller using suitable control method control three stop valves and
Prime mover.
In use, low pressure accumulator is pre-charged with the gas or non-insufflation gas of lower pressure, and high pressure accumulator needs
Certain gases at high pressure are pre-charged with, and pass through the first stop valve and a hydraulic fluid port of boom cylinder（PAAnd PCIn one）
Connection, usual first stop valve is in open mode, and the second stop valve and the 3rd stop valve are closed.Now with high pressure
The connected chamber of accumulator has the pressure as high pressure accumulator, by the pressure for setting up preliminary filling, you can make to store with high pressure
The connected chamber of energy device has the weight that enough equilibrant force carry out balancing work device.When Driven by Hydraulic Cylinder loop drives swing arm liquid
When cylinder pressure is retracted, equipment declines, and the chamber volume being connected with high pressure accumulator reduces, and the chamber fluid enters high-voltage energy-storage
Device, the potential energy of equipment is changed and is stored in high pressure accumulator, it is to avoid because throttling action is lost at the hydraulic pressure valve port.
When Driven by Hydraulic Cylinder loop driving boom cylinder stretches out, equipment rises, and the chamber volume being connected with high pressure accumulator increases
Greatly, the fluid in high pressure accumulator enters the chamber, and the energy dress being stored in high pressure accumulator is changed to the potential energy of equipment,
Hydraulic pressure energy output by pump is reduced, with preferable energy-saving effect.
Because accumulator inner fluid pressure can change with the change of volume, therefore low pressure accumulator and related member are set
Pressure of the part to adjust high pressure accumulator.Second controller has three kinds of mode of operations：
（1）Quiescent operation dot pattern
In this mode, provided with three pressure threshold p in second controller1, p2And p3, and p1>p2>p3.Wherein p1For height
Press the maximum working pressure of accumulator, p3For the minimum operating pressure of high pressure accumulator, p2For the default work pressure of high pressure accumulator
Power.Second controller monitors the pressure p of high pressure accumulator by pressure sensor in real time.
Work as p>p1When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump horse
Low pressure accumulator is transferred to up to by the fluid in high pressure accumulator, until p<p2When stop prime mover, simultaneously close off the second cut-off
Valve and the 3rd stop valve, so as to reduce the pressure of high pressure accumulator, and tend to default operating pressure p2.During being somebody's turn to do, if second
When controller exceedes safety threshold value by pressure sensor monitoring to low pressure accumulator pressure, equally stop prime mover, simultaneously
Close the second stop valve and the 3rd stop valve.
Work as p<p3When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump horse
High pressure accumulator is transferred to up to by the fluid in low pressure accumulator, until p>p2When stop prime mover, simultaneously close off the second cut-off
Valve and the 3rd stop valve, so as to improve the pressure of high pressure accumulator, and tend to default operating pressure p2。
Two safety valves prevent energy storage pressure from exceeding safety value, and two check valves prevent that accumulator is emptied.
（2）Dynamic working point-preset pressure curve model
By the preset pressure in second controller and displacement relation curve, pass through the collection displacement in real time of displacement transducer 33
Signal, contrasts pre-programmed curve, draws real-time desired pressure value p0。
If p>p0When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump horse
Low pressure accumulator is transferred to up to by the fluid in high pressure accumulator, until p=p0When stop prime mover, simultaneously close off the second cut-off
Valve and the 3rd stop valve, so as to reduce the pressure of high pressure accumulator to p0.During being somebody's turn to do, if second controller passes through pressure sensing
When device monitors that low pressure accumulator pressure exceedes safety threshold value, equally stop prime mover, simultaneously close off the second stop valve and the
Three stop valves.
If p<p0When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump horse
High pressure accumulator is transferred to up to by the fluid in low pressure accumulator, until p=p0When stop prime mover, simultaneously close off the second cut-off
Valve and the 3rd stop valve, so as to improve the pressure of high pressure accumulator to p0。
（3）Dynamic working point-pressure match pattern
First controller can be with real-time Communication for Power with second controller.First controller is gathered dynamic in real time by pressure sensor
Each cavity pressure value of arm hydraulic cylinder, calculates the pressure needed for high pressure accumulator, and in real time regulation high pressure accumulator oil liquid pressure to
Ideal value.
The hydraulic cylinder liquid-gas energy storage balanced loop can be reduced to only include high pressure accumulator, safety valve and list as needed
To the simple circuit of valve, boom cylinder actuator port PA（Or PC）It is connected with high pressure accumulator hydraulic fluid port, while high pressure accumulator
Hydraulic fluid port connection safety valve and check valve.Wherein safety valve high-voltage side connects accumulator, low-pressure side connection fuel tank.Check valve connection stores
Can device and fuel tank, it is allowed to fluid flow direction be from fuel tank to accumulator.Equally there is good energy-saving effect.
The high pressure accumulator is that a high pressure accumulator or multiple high pressure accumulators are composed in parallel.
The low pressure accumulator is that a high pressure accumulator or multiple low pressure accumulators are composed in parallel.
Driven by Hydraulic Cylinder loop has diversified forms：Open circuit, closed circuit etc..
The hydraulic open type loop is included：Control crank, the first controller, hydraulic pump, prime mover, reversal valve, fuel tank, peace
Full valve, pressure sensor, flow regeneration valve.
The loop is in driving hydraulic cylinder, and the first controller is according to the signal of control crank, and control reversal valve is in different
Position so that realize hydraulic cylinder stretch out with retract.Pressure sensor gathers two actuator port pressure signals, and real-time Transmission is extremely
First controller.The maximum pressure of load is detected, and feeds back to hydraulic pump.The variable control mechanism of hydraulic pump is according to the pressure of feedback
Power control hydraulic pump unloads disk pivot angle, the hydraulic pressure pump output pressure is consistently higher than load pressure certain value.Regenerated when needing flow
When, the first controller driving flow regeneration valve is converted to open position, realizes that flow regenerates, reduces the flow of pump output.This time
Road can realize pump output flow, pressure and the Auto-matching of load, reduce spill losses.
The open circuit is included：Control crank, the first controller, hydraulic pump, 2/2-way proportioning valve, fuel tank,
Prime mover, safety valve, pressure sensor, flow regeneration valve.
The loop in driving hydraulic cylinder, the first controller according to the signal of control crank, pressure needed for calculating and
Flow, coordinates four 2/2-way proportioning valves of control and hydraulic pump, and appropriate pressure and flow is exported from actuator port P1 and P2,
Control the stretching and retraction of hydraulic cylinder.The pressure signal gathered by pressure sensor passes the first controller back in real time, it is possible to achieve
Accurate closed-loop control.When needing flow to regenerate, the first controller driving flow regeneration valve is converted to open position, realizes stream
Amount regeneration, reduces the flow of pump output.The loop can realize pump valve complex controll, easily individually control the work of each hydraulic fluid port
Make state, realize the accurate matching of pressure flow, can at utmost reduce the pressure loss on hydraulic valve.
The closed model pump control Driven by Hydraulic Cylinder loop is included：Control crank, the first controller, hydraulic pump motor, prime mover,
Fuel tank, safety valve, check valve, pressure sensor.
The loop is used for driving hydraulic cylinder, and the first controller is according to the signal according to control crank, and control prime mover is just
Reversion control hydraulic cylinder is stretched out with retracting, and hydraulic cylinder speed is controlled to hydraulic pump motor input variable signal.Pressure sensing
Device collection pressure signal is sent to the first controller in real time to be used to increase control accuracy.The loop is almost without restriction loss, tool
There is preferable energy-saving effect.
Described liquid-gas energy storage balanced loop and Driven by Hydraulic Cylinder loop, can be adapted to various applied fields in any combination
Close.
The technique effect of the present invention is as follows：
（1）The potential energy of repetition rise and fall equipment can effectively be reclaimed and the energy of storage is discharged during its rising
Amount, saves the energy.
（2）The pressure in high pressure accumulator can be adjusted in real time, so as to adjust the equilibrant force of whole system, be adapted to a variety of
Operating mode.
（3）Using the invention, when equipment rises, flow needed for hydraulic cylinder reduces, therefore can improve work clothes
The rate of climb put, so as to improve operating efficiency.
（4）When equipment declines, the heating that throttled at hydraulic valve is reduced, the temperature rise of hydraulic system is reduced, improves
Stability, extends the service life of Hydraulic Elements.
（5）The hydraulic cylinder with three cavity volumes has been used, equipment can not only be driven, energy regenerating work(is also integrated with
Can, integrated level is high, compact conformation.
（6）During for machine adaptation, without changing original mechanical structure, and suitable for a variety of hydraulic systems.
Brief description of the drawings
Fig. 1 is engineer operation armament-related work apparatus structure schematic diagram；
Fig. 2 is the boom cylinder structural representation with three cavity volumes；
Fig. 3 is present hydraulic cylinder liquid-gas energy storage balanced loop；
Fig. 4 is a kind of open hydraulic cylinder driving circuit schematic diagram；
Fig. 5 is another open hydraulic cylinder driving circuit schematic diagram；
Fig. 6 is Closed Hydraulic cylinder driving circuit schematic diagram；
Fig. 7 is the first embodiment of the present invention, and complete liquid-gas energy storage balanced loop and Closed Hydraulic cylinder drives back
Road；
Fig. 8 is second embodiment of the present invention, simplified liquid-gas energy storage balanced loop and a kind of driving of open hydraulic cylinder
Loop；
In figure, 1- boom cylinders, 2- flow regeneration valves, 3- high pressure accumulators, 4- low pressure accumulators, 7- prime mover, 8-
Hydraulic pump motor, 9- engineer operation armament-related work devices, 18- control cranks, the controllers of 19- first, 20- second controllers, 21-
Hydraulic pump, 22- fuel tanks, 23- 2/2-way proportioning valves, 24- safety valves, 25- check valves, 27- pressure sensors, 29- commutations
Valve, the stop valves of 30- first, the stop valves of 31- second, the stop valves of 32- the 3rd, 33- displacement transducers.
Embodiment
Technical scheme is described further below in conjunction with the accompanying drawings.
Embodiment one：
As shown in fig. 7, in this embodiment, equipment 9 is done by the driving of boom cylinder 1 and frequently up and down reciprocatingly moved
Make.Boom cylinder hydraulic fluid port PAIt is connected by the first stop valve 30 with high pressure accumulator 3.One working oil of hydraulic pump motor 8
Mouth is connected by the second stop valve 31 with high pressure accumulator, and another actuator port passes through the 3rd stop valve 32 and low pressure accumulator
4 are connected.Safety valve 24 and check valve 25, wherein safety valve high-voltage side connection accumulation of energy are all connected with the oil port of each accumulator
Device, low-pressure side connection fuel tank 22, check valve connection accumulator and fuel tank, it is allowed to fluid flow direction be from fuel tank to accumulation of energy
Device.Hydraulic pump motor is driven by prime mover 7.Pressure sensor is mounted in the oil port of accumulator, and pressure signal is gathered
To second controller 20.First stop valve 30 is in normally open, and the second stop valve 31 and the 3rd stop valve 32, which are in, closes
State.Low pressure accumulator is without precharge of gas, and the advance gases at high pressure of high pressure accumulator for balancing work device, and reclaim it
Potential energy.
Driven by Hydraulic Cylinder loop is closed circuit.When control crank 18 produces signal, the first controller 19 receives the letter
Number, computing simultaneously controls the prime mover 7 and hydraulic pump motor 8 in Driven by Hydraulic Cylinder loop to enter corresponding working condition.When control letter
Number it is that Driven by Hydraulic Cylinder loop driving boom cylinder is retracted when declining equipment.Because equipment weight is big, therefore
High pressure accumulator can be entered by its decline of equipment deadweight driving, a part of fluid, the potential energy of equipment is changed and stored up
Exist among high pressure accumulator, it is to avoid because throttling action is lost at the hydraulic pressure valve port.When control signal is to make equipment
During rising, Closed Hydraulic cylinder driving circuit driving boom cylinder stretches out, and equipment rises, and the fluid in high pressure accumulator enters
Enter hydraulic cylinder, the energy dress being stored in high pressure accumulator is changed to the potential energy of equipment, driving circuit need to only export less energy
Amount, with preferable energy-saving effect.
When second controller by pressure sensor monitoring to high pressure accumulator pressure p more than high pressure limit value p1When, the
Two controllers open the second stop valve and the 3rd stop valve, and start prime mover of liquid-gas energy storage balanced loop, drive hydraulic pump
Fluid in high pressure accumulator is transferred to low pressure accumulator by motor, until its pressure p is less than the default work of high pressure accumulator
Pressure p2When, stop prime mover, the second stop valve and the 3rd stop valve are simultaneously closed off, so as to reduce fluid in high pressure accumulator
Pressure simultaneously tends to default operating pressure.During being somebody's turn to do, if second controller passes through pressure sensor monitoring to low pressure accumulator oil
When hydraulic coupling exceedes limit value, equally stop prime mover, simultaneously close off the second stop valve and the 3rd stop valve.Work as second controller
Low pressure limit value p is less than by pressure sensor monitoring to high pressure accumulator pressure p3When, second controller is opened second and ended
Valve and the 3rd stop valve, and start liquid-gas energy storage balanced loop prime mover, prime mover driven hydraulic pump motor is by low pressure accumulator
In fluid be transferred to high pressure accumulator, until p>During p2, stop prime mover, simultaneously close off the second stop valve and the 3rd cut-off
Valve.So as to lift in high pressure accumulator the pressure of fluid and tend to default operating pressure.
Embodiment two：
As shown in figure 8, in this embodiment, liquid-gas energy storage balanced loop is connected to the hydraulic fluid port P of boom cylinder 1C；Institute
Stating liquid-gas energy storage balanced loop includes high pressure accumulator 3, safety valve 24 and check valve 25, the connection safety valve of high pressure accumulator 3
24, the connection fuel tank 22 of safety valve 24, two hydraulic fluid ports of safety valve 24 are connected with check valve 25.High pressure accumulator pours high pressure in advance
Gas, for balancing work device, and reclaims its potential energy.Driven by Hydraulic Cylinder loop uses open circuit.
When control signal is to decline equipment 9, the first controller coordinate controls four bi-bit bi-pass proportioning valves 23
With the driving boom cylinder retraction of hydraulic pump 21.When the small cavity pressure of boom cylinder is relatively low, flow regeneration valve 2 is opened, big chamber
Part fluid enters small chamber, reduces hydraulic pressure pump output flow.A part of fluid of boom cylinder enters in high pressure accumulator, work
A part of potential energy of device is stored in accumulator by fluid；When controlling equipment to rise, flow regeneration valve is closed, and is driven
Dynamic loop driving boom cylinder stretches out, and control equipment rises.Now, the fluid in high pressure accumulator enters swing arm hydraulic pressure
Cylinder, auxiliary lifting equipment, the energy being stored in accumulator is released, and is converted into the kinetic energy and gesture of equipment
Energy.In whole working cycles, when equipment declines, by one part kinetic energy and potential energy storage in accumulator, reduce
The waste of equipment potential energy；When equipment rises, the energy being stored in accumulator discharges and is converted into work clothes
The potential energy put, reduces the energy of pump output.Flow regeneration function reduces pump output flow when equipment declines simultaneously.
Shown in Fig. 3, hydraulic cylinder liquid-gas energy storage balanced loop includes high pressure accumulator 3, low pressure accumulator 4, the first stop valve
30, the second stop valve 31, the 3rd stop valve 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 connects displacement transducer 33, the connection second controller 20 of displacement transducer 33；Second controller 20 is distinguished
Pressure sensor 27, prime mover 7, the second stop valve 31, the 3rd stop valve 32 are connected, the hydraulic fluid port of low pressure accumulator 4 installs pressure
Sensor 27, safety valve 24 and check valve 25, the hydraulic fluid port of high pressure accumulator 3 install pressure sensor 27, safety valve 24 and unidirectional
Valve 25, safety valve 24 and check valve 25 are all connected with fuel tank 22；The high-pressure side connection accumulator of safety valve 24, the low pressure of safety valve 24
Side connects fuel tank 22；Hydraulic pump motor 8 connects the 3rd stop valve 32, the second stop valve 31 and prime mover 7 respectively.
Shown in Fig. 4, one of which Driven by Hydraulic Cylinder loop of the present invention is by control crank 18, the first controller 19, hydraulic pump
21, fuel tank 22, safety valve 24, pressure sensor 27, reversal valve 29, flow regeneration valve 2, prime mover 7 is constituted；
Control crank 18 connect the first controller 19, the first controller 19 connect respectively pressure sensor 27, hydraulic pump 21,
Reversal valve 29 and flow regeneration valve 2；Hydraulic pump 21 connects fuel tank 22, prime mover 7, safety valve 24 and reversal valve 29 respectively；Commutation
The difference of valve 29 connection safety valve 24, fuel tank 22, pressure sensor 27 and flow regeneration valve 2.
Shown in Fig. 5, second of Driven by Hydraulic Cylinder loop of the invention is by control crank 18, the first controller 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 is constituted.Manipulate
Handle 18 connects the first controller 19, and the first controller 19 connects pressure sensor 27, hydraulic pump 21,2/2-way ratio respectively
Valve 23 and flow regeneration valve 2；Hydraulic pump 21 connects fuel tank 22, prime mover 7, safety valve 24 and 2/2-way proportioning valve 23 respectively；
The difference of 2/2-way proportioning valve 23 connection safety valve 24, fuel tank 22, pressure sensor 27 and flow regeneration valve 2.
Shown in Fig. 6, the third Driven by Hydraulic Cylinder loop of the invention is by control crank 18, the first controller 19, hydraulic pump horse
Up to 8, prime mover 7, fuel tank 22, safety valve 24, check valve 25, pressure sensor 27 is constituted.
Control crank 18 connects the first controller 19, and the first controller 19 connects pressure sensor 27, hydraulic pump horse respectively
Up to 8, prime mover 7, the connection prime mover 7 of hydraulic pump motor 8, the connection safety valve 24 of hydraulic pump motor 8, check valve 25, safety valve 24
Fuel tank 22 is all connected with check valve 25.
The first controller of the present invention uses BODAS RC 12-18/20 controllers, and second controller uses BODAS RC
6-9/20 controllers.
The above-mentioned preferable feasible embodiment of the only present invention, the non-therefore limitation scope of the present invention, according to above-described embodiment
Made various modifications are applied mechanically within this technical scheme protection domain.
Oilhydraulic engineering working equipment of the present invention includes hydraulic crawler excavator, loading machine, forklift, hoisting machine, snow breaker.
Claims (8)
1. a kind of control loop of engineer operation armament-related work device, for the boom cylinder for controlling engineer operation to equip, bag
Include：Oilhydraulic engineering working equipment equipment, boom cylinder, hydraulic cylinder liquid-gas energy storage balanced loop, Driven by Hydraulic Cylinder are returned
Road, joystick；Boom cylinder connects oilhydraulic engineering working equipment equipment, and the boom cylinder is that have three appearances
The hydraulic cylinder of chamber, hydraulic cylinder liquid-gas energy storage balanced loop connects an actuator port of boom cylinder, Driven by Hydraulic Cylinder loop
Connect the another two actuator port of boom cylinder, joystick connection liquid cylinder pressure driving circuit；It is characterized in that：The hydraulic cylinder
Liquid-gas energy storage balanced loop, by high pressure accumulator, low pressure accumulator, the first stop valve, the second stop valve, the 3rd stop valve,
Prime mover, hydraulic pump motor, pressure sensor, second controller, safety valve, check valve, fuel tank, displacement transducer composition；
Boom cylinder actuator port is connected by the first stop valve with high pressure accumulator；One actuator port of hydraulic pump motor leads to
Cross the second stop valve with high pressure accumulator to be connected, another actuator port is connected by the 3rd stop valve with low pressure accumulator；It is low
Press pressure of the accumulator to adjust high pressure accumulator；Pressure is all connected with the oil port of high pressure accumulator and low pressure accumulator to pass
Sensor, safety valve and check valve, safety valve and check valve are all connected with fuel tank, it is allowed to fluid flow direction be from fuel tank to high pressure
Accumulator and low pressure accumulator；The fuel injection pressure signal that pressure sensor is collected is sent to second controller；Prime mover and hydraulic pump
Motor is connected by shaft coupling, for driving hydraulic pump motor；Displacement transducer is housed on hydraulic cylinder, displacement transducer will be adopted
The displacement signal that the hydraulic cylinder collected stretches out is sent to second controller, controls three stop valves and original to move by second controller
Machine.
2. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：Described
Two controllers have following three kinds of mode of operations：
（1）Provided with three pressure threshold p in quiescent operation dot pattern, i.e. 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 ＞ p1When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump motor will
Fluid in high pressure accumulator is transferred to low pressure accumulator, until p ＜ p2When stop prime mover, simultaneously close off the second stop valve
With the 3rd stop valve, so as to reduce the pressure of high pressure accumulator, and tend to default operating pressure p2；During being somebody's turn to do, if controller
When exceeding safety threshold value by pressure sensor monitoring to low pressure accumulator pressure, stop prime mover, simultaneously close off second section
Only valve and the 3rd stop valve；
As p ＜ p3When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump motor will
Fluid in low pressure accumulator is transferred to high pressure accumulator, until p ＞ p2When stop prime mover, simultaneously close off the second stop valve
With the 3rd stop valve, so as to improve the pressure of high pressure accumulator, and tend to default operating pressure p2；
Two safety valves prevent high and low pressure energy storage pressure from exceeding safety value, and two check valves prevent that high and low pressure accumulator from being inhaled
It is empty；
（2）Dynamic working point-preset pressure curve model, i.e., it is bent by the preset pressure in second controller and displacement relation
Line, gathers displacement signal, contrast preset pressure and displacement relation curve by displacement transducer, draws real-time desired pressure in real time
Value p0；
If p ＞ p0When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump motor will
Fluid in high pressure accumulator is transferred to low pressure accumulator, until p=p0When stop prime mover, simultaneously close off the second stop valve and
3rd stop valve, so as to reduce the pressure of high pressure accumulator to p0；During being somebody's turn to do, if second controller is supervised by pressure sensor
When measuring low pressure accumulator pressure more than safety threshold value, stop prime mover, simultaneously close off the second stop valve and the 3rd stop valve；
If p ＜ p0When, the second stop valve and the 3rd stop valve are opened, and start prime mover, prime mover driven hydraulic pump motor will
Fluid in low pressure accumulator is transferred to high pressure accumulator, until p=p0When stop prime mover, simultaneously close off the second stop valve and
3rd stop valve, so as to improve the pressure of high pressure accumulator to p0；
（3）Dynamic working point-pressure match pattern, i.e. the first controller can be with real-time Communication for Power with second controller；First control
Device gathers each cavity pressure value of hydraulic cylinder by pressure sensor in real time, calculates the pressure needed for high pressure accumulator, and adjust in real time
High pressure accumulator oil liquid pressure is saved to ideal value.
3. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：It is described
Hydraulic cylinder liquid-gas energy storage balanced loop be made up of high pressure accumulator, safety valve, check valve, fuel tank；Boom cylinder working oil
Mouth 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 energy
Device, safety valve low-pressure side connection fuel tank；Check valve connects accumulator and fuel tank, it is allowed to fluid flow direction be from fuel tank to storage
Can device.
4. a kind of control loop of engineer operation armament-related work device according to any one in claim 1 ~ 3, it is special
Levy is that the high pressure accumulator is that a high pressure accumulator or multiple high pressure accumulators are composed in parallel.
5. a kind of control loop of engineer operation armament-related work device according to any one in claim 1 ~ 3, it is special
Levy is that the low pressure accumulator is that a high pressure accumulator or multiple low pressure accumulators are composed in parallel.
6. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：The liquid
Cylinder pressure driving circuit is by control crank, the first controller, hydraulic pump, prime mover, reversal valve, fuel tank, safety valve, pressure sensing
Device, flow regeneration valve composition；During driving hydraulic cylinder, the first controller is according to the signal of control crank, and control reversal valve is not in
Same position, so as to realize that hydraulic cylinder is stretched out with retracting；Pressure sensor gathers two actuator port pressure signals of hydraulic cylinder,
Real-time Transmission detects the maximum pressure of load to the first controller, and feeds back to hydraulic pump；The variable control mechanism root of hydraulic pump
Disk pivot angle is unloaded according to the force control hydraulic pressure pump of feedback, the hydraulic pressure pump output pressure is consistently higher than load pressure certain value；When need
When wanting flow regeneration, the first controller driving flow regeneration valve is converted to open position, realizes that flow regenerates, and reduces pump output
Flow；So as to realize pump output flow, pressure and the Auto-matching of load, spill losses is reduced.
7. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：The liquid
Cylinder pressure driving circuit is by control crank, the first controller, hydraulic pump, 2/2-way proportioning valve, fuel tank, prime mover, safety valve, pressure
Force snesor, flow regeneration valve composition；During driving hydraulic cylinder, the first controller calculates hydraulic pressure according to the signal of control crank
Pressure and flow needed for cylinder, coordinate four 2/2-way proportioning valves of control and hydraulic pump, from two actuator port P1And P2Output
Pressure and flow, control the stretching and retraction of hydraulic cylinder；The hydraulic oil pressure force signal collected by pressure sensor is passed back in real time
First controller, realizes accurate closed-loop control；When needing flow to regenerate, the first controller driving flow regeneration valve is converted to
Open position, realizes that flow regenerates, reduces the flow of pump output；Pump valve complex controll is realized, so as to realize the essence of pressure flow
Really matching, reduces the pressure loss on hydraulic valve.
8. a kind of control loop of engineer operation armament-related work device according to described by claim 1, it is characterized in that：The liquid
Cylinder pressure driving circuit is passed by control crank, the first controller, hydraulic pump motor, prime mover, fuel tank, safety valve, check valve, pressure
Sensor is constituted；During driving hydraulic cylinder, the first controller is according to the signal of control crank, the rotating control hydraulic pressure of control prime mover
Cylinder is stretched out with retracting, and hydraulic cylinder speed is controlled to hydraulic pump motor input variable signal；Pressure sensor gathers hydraulic oil
Pressure signal is simultaneously sent to the first controller in real time.
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| JP6564739B2 (en) * | 2016-06-30 | 2019-08-21 | 日立建機株式会社 | Work machine |
| CN106966340A (en) * | 2017-05-10 | 2017-07-21 | 安徽宇锋仓储设备有限公司 | A kind of forklift-walking hydraulic control method |
| CN107757927A (en) * | 2017-09-15 | 2018-03-06 | 太原理工大学 | Airplane auxiliary power drive system |
| KR102597305B1 (en) * | 2018-03-12 | 2023-11-02 | 에이치디현대인프라코어 주식회사 | Electro-hydraulic control apparatus and method for construction machinery |
| 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 |
| CN113529843B (en) * | 2020-04-22 | 2023-07-04 | 山河智能装备股份有限公司 | Pressure coupling hydraulic hybrid power driving circuit, control method thereof and excavator |
| CN113323072B (en) * | 2021-06-16 | 2022-09-23 | 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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