CN110029699B - Rotary motor control system and control method - Google Patents
Rotary motor control system and control method Download PDFInfo
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- CN110029699B CN110029699B CN201910435632.3A CN201910435632A CN110029699B CN 110029699 B CN110029699 B CN 110029699B CN 201910435632 A CN201910435632 A CN 201910435632A CN 110029699 B CN110029699 B CN 110029699B
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000008569 process Effects 0.000 claims description 18
- 230000001502 supplementing effect Effects 0.000 claims description 15
- 230000000694 effects Effects 0.000 claims description 3
- 230000002265 prevention Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 9
- 239000003921 oil Substances 0.000 description 93
- 230000009286 beneficial effect Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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Classifications
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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
-
- 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
- E02F9/2267—Valves or distributors
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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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 application relates to the technical field of engineering machinery, in particular to a rotary motor control system and a control method, wherein the control system comprises the following steps: the hydraulic control system comprises a rotary motor, a main pump, a pilot pump, an oil tank, a brake piston cylinder, a first reversing valve, a second reversing valve and an electric control handle, wherein the first reversing valve, the second reversing valve and the electric control handle are used for being connected with a controller; the electric control handle is connected with the first reversing valve and the second reversing valve to send control signals to the first reversing valve and the second reversing valve; the main pump is connected with the pilot pump, and both are connected with the first reversing valve, and the rotary motor is connected with the first reversing valve to supply oil to the rotary motor through the main pump; the second reversing valve is connected with the pilot pump and the rod cavity of the brake piston cylinder so as to supply pilot oil to the rod cavity through the pilot pump and can send the pilot oil in the rod cavity into the oil tank; the brake piston cylinder is connected with the rotary motor for braking the rotary motor. The application can avoid the problem of complexity of the mechanical structure of the existing excavator swing mechanism for realizing the braking of the swing mechanism by the electronic control technology.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a rotary motor control system and a rotary motor control method.
Background
The excavator is used as the most common engineering machinery, has larger volume and mass, and belongs to mechanical equipment with large moment of inertia. In order to prevent the excavator from self-turning due to self-gravity turning on an inclined road surface and self-turning caused by factors such as external environmental wind power and the like, and ensure stability during parking and reliability during operation, the braking of the turning mechanism must be considered. However, due to leakage of the seal of the hydraulic system, the simple hydraulic braking cannot perform the limit braking reliably for a long time, and therefore, mechanical braking must be considered.
The mechanical braking is completed by a mechanical brake, and the main components of the mechanical brake are a brake cylinder, a friction plate, a separation plate and a brake spring. The internal spline of the friction plate is sleeved on the external spline of the rotary motor cylinder body, and the teeth of the separating plate are embedded in the tooth grooves of the rotary motor shell. Under the non-working condition of the motor, the friction plate and the separation plate are overlapped, the pressing force generated by the braking spring is transmitted by the braking cylinder, so that the friction plate and the separation plate are tightly extruded together, and enough friction force is generated to overcome the rotation moment of the rotation motor, thereby playing a role of mechanical braking. In order to prevent the mechanical brake spring from braking too hard during mechanical braking and avoid impact damage to the gear ring and the gear members during braking, the mechanical braking of the excavator swing mechanism must be performed a short time (delayed by about 5 s) after the hydraulic braking.
The main delay braking method at present is hydraulic control, namely, a delay valve structure of a rotary motor is adopted, and the delay passing of pilot control oil is realized by the throttling buffer function in the delay valve, so that a braking delay process is provided. However, the hydraulic control method is complicated in mechanical structure and high in cost.
Disclosure of Invention
The application aims to provide a control system and a control method for a swing motor, which are used for avoiding the problem of complexity of the mechanical structure of the swing mechanism of the conventional excavator for realizing the braking of the swing mechanism.
In order to achieve the above purpose, the present application adopts the following technical scheme:
The present application provides a swing motor control system, comprising: the hydraulic control system comprises a rotary motor, a main pump, a pilot pump, an oil tank, a brake piston cylinder, a first reversing valve, a second reversing valve and an electric control handle, wherein the first reversing valve, the second reversing valve and the electric control handle are used for being connected with a controller;
the electric control handle is connected with the first reversing valve and the second reversing valve so as to send control signals to the first reversing valve and the second reversing valve;
The main pump is connected with the pilot pump and both are connected with the first reversing valve, and the rotary motor is connected with the first reversing valve to supply oil to the rotary motor through the main pump;
the second reversing valve is connected with the pilot pump and the rod cavity of the brake piston cylinder, so that pilot oil is supplied to the rod cavity through the pilot pump, and the pilot oil in the rod cavity can be sent to the oil tank;
the brake piston cylinder is connected with the rotary motor for braking the rotary motor.
Preferably, an anti-sway valve is included, the anti-sway valve being in parallel with the swing motor.
The beneficial effect of this technical scheme lies in: by arranging the anti-swing valve, the problem of back and forth swing of the rotary motor during braking can be prevented.
Preferably, the anti-swing valve has two mutually parallel connection.
The beneficial effect of this technical scheme lies in: the two anti-swing valves are a first anti-swing valve and a second anti-swing valve respectively; when the rotary motor rotates clockwise or anticlockwise, the two anti-swing valves are used for preventing the rotary motor from swinging back and forth in the braking process when the rotary motor rotates clockwise or anticlockwise respectively.
Preferably, a check valve for supplementing oil is included to connect the swing motor and the oil tank.
The beneficial effect of this technical scheme lies in: the oil can be sucked from the oil tank side by arranging the oil supplementing one-way valve, so that the problem of braking air suction is prevented.
Preferably, the rotary motor is provided with two oil ports, the two oil supplementing one-way valves are respectively connected with the two oil ports.
The beneficial effect of this technical scheme lies in: the two anti-swing valves are a first oil supplementing valve and a second oil supplementing valve respectively; when the rotary motor rotates clockwise or anticlockwise, the two oil supplementing valves are used for respectively sucking oil from the oil tank side when the rotary motor rotates clockwise or anticlockwise, so that the problem of brake suction is solved.
Preferably, a safety relief valve is included connecting the swing motor and the tank.
The beneficial effect of this technical scheme lies in: by arranging the safety overflow valve, overflow can be opened when the system pressure exceeds the safety setting, and the safety of the system is ensured.
Preferably, the rotary motor has two oil ports, and the two safety overflow valves are respectively connected with the two oil ports.
The beneficial effect of this technical scheme lies in: the two anti-swing valves are a first safety overflow valve and a second safety overflow valve respectively; when the rotary motor rotates clockwise or anticlockwise, two safety overflow valves are utilized to open overflow when the rotary motor rotates clockwise or anticlockwise, and the system pressure exceeds the safety setting, so that the safety of the system is ensured.
Preferably, a return spring is installed in the rodless cavity of the brake piston cylinder so as to push a piston rod of the brake piston cylinder to brake the rotary motor through the return spring.
The beneficial effect of this technical scheme lies in: the return spring can push the piston rod of the brake piston cylinder to move after the pilot oil is discharged by the rod cavity of the brake piston cylinder, and finally, the mechanical brake of the rotary motor is realized; of course, other elastic restoring elements can be used instead of the spring, or the piston rod can be moved by using the driving force generated between two magnetic elements respectively mounted on the rodless cavity and the piston rod.
Another aspect of the present application provides a swing motor control method implemented using the swing motor control system described above, the swing motor control method including:
Receiving and verifying a stop signal sent by the electric control handle and aiming at the rotary motor;
After the stop signal is successfully verified, a corresponding brake release control signal is sent to the second reversing valve, so that the pilot oil in the pilot pump enters a rod cavity of the brake piston cylinder, a brake release state of mechanical brake is realized, a corresponding oil way circulation control signal is sent to the first reversing valve, high-pressure oil in the main pump flows into the rotary motor from the first reversing valve, and after the rotary motor is pushed to rotate clockwise or anticlockwise in a brake release state of the mechanical brake, the high-pressure oil is rotated into the oil tank from the first reversing valve, and then a hydraulic braking process of the rotary motor is realized through oil way circulation;
and sending a corresponding power-off control signal to the second reversing valve so that the rod cavity of the braking piston cylinder is decompressed after the second reversing valve is powered off, and further mechanical braking of the rotary motor is realized.
Preferably, the sending a corresponding power-off control signal to the second reversing valve includes:
and carrying out time delay countdown when or after the hydraulic braking process of the rotary motor is finished, and sending a corresponding power-off control signal to the second reversing valve after the time delay countdown is finished, wherein the time of the time delay countdown is preset.
The technical scheme provided by the application can achieve the following beneficial effects:
The rotary motor control system provided by the application removes a delay valve (the structural form of the delay valve is omitted) of the rotary motor, and simultaneously fully utilizes the existing reversing valve, an electric control handle, a controller and other elements on the excavator to reconstruct the rotary motor control system; the rotary motor control system provided by the embodiment of the application further simplifies the rotary mechanism of the excavator and reduces the manufacturing cost. The embodiment of the application provides a rotary motor control system which is provided with a rotary motor, a main pump, a pilot pump, a brake piston cylinder, an oil tank, a first reversing valve, a second reversing valve and an electric control handle, wherein the first reversing valve, the second reversing valve and the electric control handle are used for being connected with a controller; the switching of the first reversing valve and the second reversing valve connected with the electric control handle is adjusted through manual control of the electric control handle, so that mechanical braking is realized in steps (delay is designed between two operation steps); firstly, controlling the pilot oil in a pilot pump to enter a rod cavity of a brake piston cylinder by using a second reversing valve, so as to realize the brake release state of mechanical brake; then, the high-pressure oil in the main pump flows into the rotary motor through the first reversing valve by utilizing the control of the first reversing valve, and after the rotary motor is pushed to rotate clockwise or anticlockwise in a mechanical brake release state, the high-pressure oil is rotated into the oil tank through the first reversing valve, so that the hydraulic braking process of the rotary motor is realized through oil circuit circulation (meanwhile, the rotary motor control method provided by the application is referred to).
The control system and the control method for the rotary motor provided by the application realize effective mechanical braking in a reasonable time.
Additional features and advantages of the application will be set forth in the description which follows, or may be learned by practice of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are used in the description of the embodiments will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are of some embodiments of the application and that other drawings may be derived from these drawings without undue effort.
Fig. 1 is a schematic structural diagram of a rotary motor control system according to an embodiment of the present application.
Reference numerals:
1-a main pump; 2-a pilot pump;
3-an oil tank; 4-a first reversing valve;
5-a first anti-sway valve; 6-a second anti-swing valve;
7-a first safety relief valve; 8-a second safety relief valve;
9-a first oil supplementing valve; 10-a second oil supplementing valve;
11-a brake piston cylinder; 12-a second reversing valve;
13-CPU; 14-an electric control handle;
15-a swing motor assembly; 16-rotary motor.
Detailed Description
The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, one aspect of the present application provides a swing motor control system including: a swing motor 16, a main pump 1, a pilot pump 2, an oil tank 3 and a brake piston cylinder 11, a first reversing valve 4, a second reversing valve 12 and an electric control handle 14 for connection with a controller;
the electric control handle 14 is connected with the first reversing valve 4 and the second reversing valve 12 to send control signals to the first reversing valve 4 and the second reversing valve 12;
the main pump 1 is connected to the pilot pump 2 and both are connected to the first directional valve 4, and the swing motor 16 is connected to the first directional valve 4 to supply oil to the swing motor 16 through the main pump 1;
The second reversing valve 12 is connected to the pilot pump 2 and the rod chamber of the brake piston cylinder 11, and is configured to supply pilot oil to the rod chamber via the pilot pump 2 and to be able to send the pilot oil in the rod chamber to the oil tank 3;
the brake piston cylinder 11 is connected to the swing motor 16 for braking the swing motor 16.
The control system of the rotary motor provided by the embodiment of the application removes a delay valve of the rotary motor, fully utilizes the functions of the reversing valve, the electric control handle, the controller and other elements on the excavator, realizes effective mechanical braking in a reasonable time, further simplifies the rotary mechanism of the excavator, reduces the manufacturing cost and improves the control precision of the braking of the rotary mechanism.
Preferably, the swing motor control system provided by the embodiment of the application comprises an anti-swing valve connected in parallel with the swing motor 16. By providing an anti-sway valve, the problem of swaying back and forth of the swing motor 16 during braking can be prevented.
Preferably, the anti-sway valve has two mutually parallel. The two anti-swing valves are a first anti-swing valve 5 and a second anti-swing valve 6 respectively; since the rotation motor 16 can rotate clockwise or counterclockwise when it is operated, the swing motor 16 is prevented from swinging back and forth during braking by the two swing prevention valves when the rotation motor 16 rotates clockwise or counterclockwise, respectively.
Preferably, the rotary motor control system provided by the embodiment of the application comprises an oil supplementing one-way valve for connecting the rotary motor 16 and the oil tank 3. The oil can be sucked from the side of the oil tank 3 by arranging the oil supplementing one-way valve, so that the problem of braking air suction is prevented.
Preferably, the rotary motor 16 has two oil ports, and two oil supplementing check valves are respectively connected with the two oil ports. The two anti-swing valves are a first oil supplementing valve 9 and a second oil supplementing valve 10 respectively; since the rotation motor 16 is rotated clockwise or counterclockwise, the brake suction problem is prevented by sucking the oil from the oil tank 3 side when the rotation motor 16 is rotated clockwise or counterclockwise, respectively, by the two oil replenishment valves.
Preferably, the rotary motor control system provided by the embodiment of the application comprises a safety relief valve connecting the rotary motor 16 and the oil tank 3. By arranging the safety overflow valve, overflow can be opened when the system pressure exceeds the safety setting, and the safety of the system is ensured.
Preferably, the swing motor 16 has two oil ports, and two safety relief valves are respectively connected with the two oil ports. The two anti-swing valves are a first safety relief valve 7 and a second safety relief valve 8 respectively; since the rotary motor 16 can rotate clockwise or counterclockwise when running, two safety overflow valves are utilized to open overflow when the system pressure exceeds the safety setting when the rotary motor 16 rotates clockwise or counterclockwise, so as to ensure the safety of the system.
Preferably, a return spring is mounted in the rodless chamber of the brake piston cylinder 11 to effect braking of the swing motor 16 by pushing the piston rod of the brake piston cylinder 11 by the return spring. By the return spring, the rod cavity of the brake piston cylinder 11 discharges the pilot oil and then pushes the piston rod of the brake piston cylinder 11 to move, and finally, the mechanical brake of the rotary motor 16 is realized; of course, other elastic restoring elements can be used instead of the spring, or the piston rod can be moved by using the driving force generated between two magnetic elements respectively mounted on the rodless cavity and the piston rod.
Another aspect of the present application provides a method for controlling a rotary motor, which is implemented by applying the rotary motor control system provided by the embodiment of the present application described in the claims, and the method for controlling a rotary motor includes:
receiving and verifying a stop signal for the rotary motor 16 sent by the electric control handle 14;
after the check signal is successfully verified, a corresponding brake release control signal is sent to the second reversing valve 12, so that the pilot oil in the pilot pump 2 enters a rod cavity of the brake piston cylinder 11, a brake release state of mechanical braking is realized, a corresponding oil way circulation control signal is sent to the first reversing valve 4, so that high-pressure oil in the main pump 1 flows into the rotary motor 16 from the first reversing valve 4, and after the rotary motor 16 is pushed to rotate clockwise or anticlockwise in the brake release state of mechanical braking, the high-pressure oil is rotated into the oil tank 3 from the first reversing valve 4, and a hydraulic braking process of the rotary motor 16 is realized through oil way circulation;
And a corresponding power-off control signal is sent to the second reversing valve 12, so that the rod cavity of the brake piston cylinder 11 is decompressed after the second reversing valve 12 is powered off, and the mechanical braking of the rotary motor 16 is realized.
The rotary motor control system provided by the embodiment of the application can be used for canceling the braking control of the rotary motor control system of the delay valve, has high control precision and improves the electric control integration and the automation degree of the excavator.
Preferably, sending a corresponding power-off control signal to said second reversing valve 12 comprises:
the time-delay countdown is performed at the end of or after the hydraulic braking process of the swing motor 16, and a corresponding power-off control signal is sent to the second reversing valve 12 after the time-delay countdown is completed, wherein the time of the time-delay countdown is preset.
In one or more embodiments of the present application, the swing motor control method is implemented by using a swing motor control system, and when implemented, the swing motor control system can implement mechanical brake control on the swing motor 16 according to a preset logic rule, and the specific control process is as follows:
S11: the electric control handle 14 sends stop signals for the rotary motor 16 to the first reversing valve 4 and the second reversing valve 12 respectively.
S12: after receiving the stopping signal, the second reversing valve 12 confirms the stopping signal as a brake release control signal according to a corresponding preset rule, and performs a corresponding brake release operation according to the stopping signal, so that the pilot oil in the pilot pump 2 enters the rod cavity of the brake piston cylinder 11, and the brake release state of the mechanical brake is realized.
S13: after receiving the stop signal, the first reversing valve 4 confirms the stop signal as an oil circuit circulation control signal according to a corresponding preset rule, and performs corresponding oil circuit circulation operation according to the stop signal, so that high-pressure oil in the main pump 1 flows into the rotary motor 16 from the first reversing valve 4, and after the rotary motor 16 is pushed to rotate clockwise or anticlockwise in a mechanical brake release state, the high-pressure oil is rotated into the oil tank 3 from the first reversing valve 4, and then a hydraulic braking process of the rotary motor 16 is realized through oil circuit circulation.
S14: then, after a preset time, the second reversing valve 12 is powered off, so that the rod cavity of the brake piston cylinder 11 is decompressed after the second reversing valve 12 is powered off, and mechanical braking of the rotary motor 16 is achieved.
It will be appreciated that the above-mentioned preset time is set according to a plurality of implementations in advance, for example, if it is known from the plurality of implementations that the time required for the second reversing valve 12 to complete the opening operation and the first reversing valve 4 to complete the oil circulation operation is t1, the preset time needs to be set to a time t2 greater than t1, and in order to implement the delayed braking, the difference between t1 and t2 may be equal to the preset delay time Δt, that is: t 2＝t1 + Δt.
The specific process of the brake release operation is as follows: the signal is transmitted to the position of the 3SY electromagnetic valve of the second reversing valve 12, and the second reversing valve 12 is shifted, so that the pilot hydraulic oil sent by the pilot pump 2 enters the rod cavity of the brake piston cylinder 11, and the mechanical brake is released.
The specific process of the oil circuit circulation is exemplified as follows: the signal is transmitted to a 1SY electromagnetic valve of the first reversing valve 4, the second pilot pressure generated by the electromagnetic proportional pressure reducing valve pushes the first reversing valve 4 to work to the left, the high-pressure oil provided by the main pump 1 is transmitted to an A oil port of the rotary motor assembly 15 from the left of the first reversing valve 4, and the rotary motor 16 is pushed to rotate clockwise in a mechanical brake release state; the return oil returns to the oil tank 3 from the oil port B to the left channel of the first reversing valve 4, and the oil circuit circulation is completed. Due to the symmetry of the hydraulic system of the swing motor 16, when the swing motor 16 rotates anticlockwise, the oil circuit circulation is completed at the 2SY solenoid valve transmitted to the first reversing valve 4.
Specific procedures of the power-off operation are exemplified as follows: the second reversing valve 12 is powered off, so that the second reversing valve 12 works in the left position, the rod cavity of the motor braking piston cylinder 11 is decompressed, mechanical brake is implemented, and mechanical braking of the rotary motor 16 is completed.
In the embodiment of the present application, the controller is connected with the electric control handle 14 and the first reversing valve 4 and the second reversing valve 12, and may specifically be connected with the first reversing valve 4, the second reversing valve 12 and the electric control handle 14 in the rotary motor control system in a wireless or wired communication manner, where the controller controls the rotary motor control system to implement automatic mechanical braking control on the rotary motor 16, and the specific control process is as follows:
S21: the controller receives and verifies a stop signal for the swing motor 16 from the electronically controlled handle 14.
S22: after the controller successfully verifies the stopping signal, a corresponding brake release control signal is sent to the second reversing valve 12, so that the pilot oil in the pilot pump 2 enters a rod cavity of the brake piston cylinder 11, and a brake release state of mechanical brake is realized.
S23: the controller sends a corresponding oil circuit circulation control signal to the first reversing valve 4, so that high-pressure oil in the main pump 1 flows into the rotary motor 16 through the first reversing valve 4, and after the rotary motor 16 is pushed to rotate clockwise or anticlockwise in a mechanical brake release state, the high-pressure oil is rotated into the oil tank 3 through the first reversing valve 4, and then a hydraulic braking process of the rotary motor 16 is realized through oil circuit circulation.
S24: the controller sends a corresponding power-off control signal to the second reversing valve 12, so that the rod cavity of the brake piston cylinder 11 is decompressed after the second reversing valve 12 is powered off, and the mechanical braking of the rotary motor 16 is realized.
In order to further improve the accuracy of the braking delay on the basis of the braking delay, the step S24 may specifically include the following steps:
the controller starts to perform time-delay countdown when knowing that the hydraulic braking process of the swing motor 16 is finished, and sends a corresponding power-off control signal to the second reversing valve 12 after the time-delay countdown is finished, wherein the time of the time-delay countdown is preset.
It will be appreciated that the controller may be specifically referred to as the excavator on-board controller CPU13.
In addition, based on the embodiment of the controller controlling the rotary motor control system to realize the automatic mechanical braking control on the rotary motor 16 in terms of software, the application also provides a controller for realizing all or part of the control method of the rotary motor, wherein the controller specifically comprises the following contents:
the stop signal receiving module is used for receiving and verifying the stop signal sent by the electric control handle 14 and aiming at the rotary motor 16.
And the brake release control module is used for sending a corresponding brake release control signal to the second reversing valve 12 after the stop signal is successfully verified, so that the pilot oil in the pilot pump 2 enters the rod cavity of the brake piston cylinder 11, and the brake release state of the mechanical brake is realized.
The hydraulic braking control module is used for sending a corresponding oil way circulation control signal to the first reversing valve 4 so that high-pressure oil in the main pump 1 flows into the rotary motor 16 through the first reversing valve 4, and after the rotary motor 16 is pushed to rotate clockwise in a mechanical braking release state, the high-pressure oil is rotated into the oil tank 3 through the first reversing valve 4, and then a hydraulic braking process of the rotary motor 16 is realized through oil way circulation.
And the mechanical braking control module is used for sending a corresponding power-off control signal to the second reversing valve 12 so as to ensure that the rod cavity of the braking piston cylinder 11 is decompressed after the second reversing valve 12 is powered off, thereby realizing the mechanical braking of the rotary motor 16.
In order to further improve the accuracy of the braking delay on the basis of realizing the braking delay, the mechanical braking control module specifically may include the following:
And the delay unit is used for starting to delay the countdown when knowing that the hydraulic braking process of the rotary motor 16 is finished, and sending a corresponding power-off control signal to the second reversing valve 12 after the delay countdown is finished, wherein the time of the delay countdown is preset.
The above-described embodiments of the method of the present application for controlling a swing motor control system to effect automatic mechanical brake control of a swing motor 16 may be implemented in a client device, a server device, a computer cluster, or similar computing device. Taking the example of running on a server, the server device may include one or more processors (which may include, but are not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA), memory for storing data, and a transmission module for communication functions. It will be appreciated by those of ordinary skill in the art that the foregoing structural descriptions are merely exemplary and are not intended to limit the structure of the electronic device described above.
The memory may be used to store software programs and modules of application software, such as program instructions/modules corresponding to the swing motor control method in the embodiment of the present application, and the processor executes the software programs and modules stored in the memory, thereby executing various functional applications and data processing, that is, implementing the swing motor control method of the application program. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, the remote memory being connectable to the server device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission module is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server device. In one example, the transmission module includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the transmission module may be a Radio Frequency (RF) module, which is used to communicate with the internet wirelessly.
In terms of hardware, based on the content that the controller controls the swing motor control system to realize automatic mechanical braking control on the swing motor 16, the embodiment of the application also provides an electronic device, which comprises a display screen, a processor and a memory for storing instructions executable by the processor. The display screen of (c) may include a touch screen, a liquid crystal display, a projection device, etc. for displaying information content. The electronic device types of (a) may include a mobile terminal, a special car insurance device, a car-machine interaction device, a personal computer, etc. The processor, when executing instructions, may implement all or part of the method by which the controller controls the swing motor control system to implement automatic mechanical brake control of the swing motor 16.
Based on the foregoing content that the controller controls the swing motor control system to implement automatic mechanical brake control of the swing motor, embodiments of the present application also provide a computer-readable storage medium capable of implementing all or part of the steps in the method embodiment in which the controller controls the swing motor control system to implement automatic mechanical brake control of the swing motor, and the computer-readable storage medium stores thereon a computer program that, when executed by a processor, implements all of the swing motor control methods in the foregoing embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Furthermore, those skilled in the art will appreciate that while some of the embodiments described above include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the claims below, any of the claimed embodiments may be used in any combination. Furthermore, the information disclosed in this background section is only for enhancement of understanding of the general background of the application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Claims (7)
1. The rotary motor control method is characterized in that the rotary motor control method is realized by a rotary motor control system, and the rotary motor control system comprises: the hydraulic control system comprises a rotary motor (16), a main pump (1), a pilot pump (2), an oil tank (3), an anti-swing valve, a brake piston cylinder (11), a first reversing valve (4), a second reversing valve (12) and an electric control handle (14) which are used for being connected with a controller;
The main pump (1) is connected with the pilot pump (2) and both are connected with the first reversing valve (4), the swing motor (16) is connected with the first reversing valve (4) to supply oil to the swing motor (16) through the main pump (1), and the swing prevention valve is connected with the swing motor (16) in parallel;
The second reversing valve (12) is connected with the pilot pump (2) and the rod cavity of the brake piston cylinder (11) so as to supply pilot oil to the rod cavity through the pilot pump (2) and can send the pilot oil in the rod cavity into the oil tank (3);
The brake piston cylinder (11) is connected to the rotary motor (16) for braking the rotary motor (16);
The swing motor control method includes:
The controller receives and verifies a stop signal sent by the electric control handle (14) and aiming at the rotary motor (16);
After the stopping signal is verified successfully, the controller sends a corresponding brake release control signal to the second reversing valve (12) so that the pilot oil in the pilot pump (2) enters a rod cavity of the brake piston cylinder (11) to realize a brake release state of mechanical brake, and sends a corresponding oil way circulation control signal to the first reversing valve (4) so that high-pressure oil in the main pump (1) flows into the rotary motor (16) from the first reversing valve (4) and rotates clockwise or anticlockwise under the brake release state of the mechanical brake, and then the high-pressure oil is rotated into the oil tank (3) from the first reversing valve (4) to realize a hydraulic braking process of the rotary motor (16) through oil way circulation;
The controller sends a corresponding power-off control signal to the second reversing valve (12) so that the rod cavity of the brake piston cylinder (11) is decompressed after the second reversing valve (12) is powered off, and mechanical braking of the rotary motor (16) is achieved;
the controller sends a corresponding power-off control signal to the second reversing valve (12), and the power-off control signal comprises:
And (3) carrying out time delay countdown when or after the hydraulic braking process of the rotary motor (16) is finished, and sending a corresponding power-off control signal to the second reversing valve (12) after the time delay countdown is finished, wherein the time of the time delay countdown is preset.
2. The swing motor control method according to claim 1, wherein said anti-swing valve has two connected in parallel with each other.
3. The swing motor control method according to claim 1, comprising a refill one-way valve connecting the swing motor (16) and the tank (3).
4. A rotary motor control method according to claim 3, characterized in that the rotary motor (16) has two oil ports, the oil supplementing one-way valves have two, and the two oil supplementing one-way valves are respectively connected to the two oil ports.
5. The swing motor control method according to claim 1, comprising a safety relief valve connecting the swing motor (16) and the tank (3).
6. The swing motor control method according to claim 5, wherein the swing motor (16) has two oil ports, and the relief valve has two relief valves, and the two relief valves are connected to the two oil ports, respectively.
7. The swing motor control method according to any one of claims 1-6, characterized in that a return spring is installed in the rodless chamber of the brake piston cylinder (11) to effect braking of the swing motor (16) by pushing the piston rod of the brake piston cylinder (11) by the return spring.
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| WO2015165344A1 (en) * | 2014-04-29 | 2015-11-05 | 三一汽车制造有限公司 | Rotary hydraulic system and concrete conveying pump apparatus |
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| WO2015165344A1 (en) * | 2014-04-29 | 2015-11-05 | 三一汽车制造有限公司 | Rotary hydraulic system and concrete conveying pump apparatus |
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