CN111963506A - Multi-way valve of double-valve-core crane capable of accurately controlling micro flow - Google Patents
Multi-way valve of double-valve-core crane capable of accurately controlling micro flow Download PDFInfo
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- CN111963506A CN111963506A CN202010785843.2A CN202010785843A CN111963506A CN 111963506 A CN111963506 A CN 111963506A CN 202010785843 A CN202010785843 A CN 202010785843A CN 111963506 A CN111963506 A CN 111963506A
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- valve core
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- valve
- flow
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/021—Valves for interconnecting the fluid chambers of an actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/82—Luffing gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Servomotors (AREA)
- Magnetically Actuated Valves (AREA)
Abstract
A multi-way valve of a double-spool crane for accurately controlling micro flow belongs to the field of machinery and comprises a large-diameter spool, wherein a pilot control port P is connected to the left end of the large-diameter spoolaLeft displacement sensor of port and large-diameter valve core, PbA port and a large-diameter valve core right displacement sensor, wherein the right end of the large-diameter valve core is connected with PbThe port, the displacement sensor on the right side of the large-diameter valve core, the small-diameter valve core connected in parallel on the working oil path and the oil return path of the large-diameter valve core, and the oil inlet paths of the large valve core and the small valve core are independent. The invention uses the valve core pair with small drift diameter in the inching process to improve the resolution ratio of the systemAnd the positioning accuracy of the actuator; the large valve core is used at high speed and large flow, so that low pressure loss at high speed and large flow can be realized; the energy consumption is low.
Description
Technical Field
The invention relates to the technical field of crane manufacturing, in particular to a multi-way valve of a double-valve-core crane, which is used for accurately controlling micro flow and is convenient for carrying out systematic micro flow control.
Background
The automobile crane is an engineering machine widely applied to engineering construction places such as buildings, roads, mines and the like, and is the most common and main machine type in the engineering cranes. The hydraulic system of the automobile crane mainly comprises an upper hydraulic system and a lower hydraulic system, wherein the upper hydraulic system consists of a rotary system, a lifting system, a variable amplitude system and a telescopic system. The crane hydraulic system is characterized in that: the system is required to provide large flow and low energy consumption during rapid movement; in fine operation, the system is required to have high flow control precision, high resolution and high precision positioning requirements.
At present, the crane has the flow control problem during quick movement and fine operation, which is mainly shown in the following steps: 1. when the valve moves rapidly, large flow is supplied, the throttling loss of the valve port is large 2, and when the valve operates at small flow and in fine mode, the flow control precision is low, the resolution ratio is low, and the quality stability is poor. At present, the traditional anti-flow saturated load sensitive system is generally adopted in the field of engineering machinery, particularly a hydraulic system of a crane, and has higher requirements on positioning accuracy, control stability, micro-motion characteristics, safety and low energy consumption of the crane.
Disclosure of Invention
The invention aims to solve the problem that the micro-flow control is inaccurate due to the fact that the opening of a valve port of the existing multi-way valve for the crane is almost zero when the flow is small, and provides the multi-way valve for the double-valve-core crane, which can accurately control the micro-flow. The multi-way valve has the functions and characteristics of a valve core with one large drift diameter and one small drift diameter, micro flow control, electronic pressure compensation and the like.
The technical scheme of the invention is as follows: a multi-way valve with small flow and accurate control for a double-spool crane comprises a large-diameter spool, wherein two ends of the spool are connected with a pilot control port PaMouth and PbThe mouth, its characterized in that: a working oil way and an oil return way of the large-diameter valve core are connected in parallel with a small-diameter valve core, and oil inlet ways of the large valve core and the small valve core are independent; displacement sensor and proportional electromagnet are arranged at two ends of valve coreIron.
The small-bore valve core is controlled by a proportional electromagnet; the large-diameter valve core is controlled by a pilot type proportional pressure reducing valve at PaMouth and PbThe opening is provided with a pressure sensor, and displacement sensors are added on the two valve cores.
The large-diameter valve core and the small-diameter valve core are connected in parallel, the working oil circuit and the oil return circuit of the large-diameter valve core and the small-diameter valve core share one oil circuit, and the oil inlet circuit is independent. The two valve cores and the valve hole are matched with each other through the shaft hole, and machining precision is guaranteed.
The two valve cores can act simultaneously or separately, the problem which cannot be solved by a traditional single valve system can be well solved through different combinations of control modes of the two valve cores, and meanwhile, the problems of micro flow control during micro motion, control during large flow and switching between the micro flow control and the large flow control can be easily realized.
The invention has the following beneficial effects:
1. when in inching, the valve core with small drift diameter is used for improving the resolution of the system and the positioning precision of the actuating element;
2. the large valve core is used at high speed and large flow, so that low pressure loss at high speed and large flow can be realized;
3. the electronic pressure compensation is adopted to replace a traditional flow saturation resistant load sensitive system, and compared with the traditional flow saturation resistant load sensitive hydraulic system, the pressure and flow composite control hydraulic system has no throttling loss of a pressure compensator, so that the energy consumption is further reduced;
4. when the multiple execution elements move in a combined mode, pressure overrun occurs, the valve core with the small drift diameter is opened to a fixed larger opening degree or is fully opened, the valve port of the valve core with the large drift diameter is closed, and a certain area of a through-flow section is guaranteed;
5. compared with the traditional anti-flow saturation load sensitive hydraulic system, the double-spool pump valve and pressure flow combined control hydraulic system has no throttling loss of a pressure compensator, and can further reduce energy consumption;
6. the large valve core and the small valve core are connected in parallel, so that the space is saved.
Drawings
FIG. 1 is a block diagram of the present invention.
FIG. 2 is a schematic diagram of a dual valve parallel control system of the present invention.
In the figure, 1, an oil inlet P of a large-diameter valve core, 2, an oil return cavity, 3, a large-diameter valve core and 4, a pilot control oil port P b5, an end cover and a spring, 6, a large-diameter valve core left side displacement sensor, 7, a left side proportion electromagnet, 8, a small-diameter valve core left side displacement sensor, 9, a small-diameter valve core, 10, a pressure sensor, 11, a working oil port A, 12, a small-diameter valve core oil inlet, 13, a working oil port B, 14, a small-diameter valve core right side displacement sensor, 15, a right side proportion electromagnet, 16, a large-diameter valve core right side displacement sensor, 17, a pilot control oil port Pa。
Detailed Description
As shown in figure 1, the double-spool crane multi-way valve capable of accurately controlling micro flow comprises a large-drift-diameter spool 3 and a small-drift-diameter spool 9, wherein two ends of the large-drift-diameter spool are controlled by a pilot type proportional pressure reducing valve, the large-drift-diameter spool is provided with an end cover, a spring 5, a large-drift-diameter spool left side displacement sensor 6 and a large-drift-diameter spool right side displacement sensor 16, and two ends of the large-drift-diameter spool are provided with a pilot control oilaAnd Pb。
The small-diameter valve core is controlled by a proportional electromagnet and is provided with a left proportional electromagnet 7, a right proportional electromagnet 15, a small-diameter valve core left side displacement sensor 8 and a small-diameter valve core right side displacement sensor 14.
In order to realize the new requirements of precise control of micro flow, electronic pressure compensation, solving of pressure overrun of composite motion of multiple execution elements and space saving, the two valve cores adopted by the invention have one large drift diameter and one small drift diameter. The small-bore valve core is controlled by a proportional electromagnet; the large-diameter valve core is controlled by a pilot type proportional pressure reducing valve.
The control principle of the invention is as follows:
when the pilot pressure is zero and the control signal of the small-bore valve core is closed, the two valve cores are both in the middle position, the working oil way is closed, at the moment, hydraulic oil from the hydraulic pump cannot enter the main valve and the small valve from the oil inlet, and the working oil ways A and B are also in the closed state.
When the actuator needs to move quickly, the operating speed and the energy efficiency characteristic are mainly considered, the large-drift-diameter valve core is fully opened, and the flow entering the actuator is controlled by controlling the displacement of the large-drift-diameter valve core. And meanwhile, the computer controls the proportional electromagnet to enable the small valve core to be in a closed state.
When the actuator is about to reach a target position and needs micro-positioning, the small-flow servo valve is used for accurately controlling the speed, the control precision is mainly considered, and the flow entering the actuator is controlled by controlling the opening degree of a valve port of the small-diameter valve core. Simultaneous pilot oil path PaAnd PbThe valve core with large drift diameter is controlled to be in a closed state, so that the flow during micro motion is only controlled by the displacement of the small valve core.
Meanwhile, in order to realize closed-loop control of the small-drift-diameter valve core and realize accurate control of the position and the speed of the oil cylinder by combining a speed feedforward and position feedback composite control method, the speed feedforward and position feedback composite control method based on the double-valve-core parallel multi-way valve is provided, namely, on the basis of position feedback, speed feedforward control is added, and a control signal corresponding to an expected speed is superposed on a servo valve control signal. The method comprises the following specific steps: in the dynamic operation process, the speed feedforward plays a main role in controlling the operation speed of the oil cylinder to enable the oil cylinder to follow an expected speed curve, and in the process, the position closed loop plays an auxiliary role in compensating position following errors; near the expected position, the position closed loop plays a main role, the position control precision is guaranteed, and external disturbance is restrained. Therefore, the small-drift-diameter valve core is opened and closed more accurately, and accurate control of small flow can be achieved.
When the composite motion of the executing element occurs, the pressure is over-limited, the computer collects the displacement information of the displacement sensor core on the large-diameter valve core and the information of the pressure sensor at the working oil port A, B, after the software calculates, the small-diameter valve core is opened by a fixed large opening degree or fully opened by controlling the proportional electromagnet, the valve port of the large-diameter valve core is closed, a certain area of the through-flow section is ensured, and the problem that the flow does not pass due to the small opening degree of the large-diameter valve core when the original pressure is over-limited is solved.
Through install pressure sensor additional in working oil mouth department to and install displacement sensor additional on big, little latus rectum case for valve internal pressure and case displacement are calculated by the computer in real time, realize accurate control, reaction rate and the stability of flow, can realize electron pressure compensation.
Claims (7)
1. A multi-way valve of a double-spool crane capable of accurately controlling micro flow comprises a large-diameter spool (3), wherein a first pilot control port P is connected to the left end of the large-diameter spool (3)aA port (4), a large-diameter valve core left side displacement sensor (6) and a second pilot control port PbA port (17), a large-diameter valve core right displacement sensor (16), and a second pilot control port P connected with the right end of the large-diameter valve core (3)bMouth (17), big latus rectum case right side displacement sensor (16), its characterized in that: a small-bore valve core (9) is connected in parallel on a working oil way and an oil return way of the large-bore valve core (3), and oil inlet ways of the large valve core and the small valve core are independent; the left end of the small-diameter valve core (9) is provided with a small-diameter valve core left displacement sensor (8) and a left proportional electromagnet (7) respectively, and the right end of the small-diameter valve core (9) is provided with a small-diameter valve core right displacement sensor (14) and a right proportional electromagnet (15) respectively.
2. The multiple-way valve of the double-spool crane with the small flow rate and the accurate control function as claimed in claim 1, wherein: the large-diameter valve core (3) and the small-diameter valve core (9) are connected in parallel, the two ends of the large-diameter valve core are controlled by a pilot type proportional pressure reducing valve, and the two ends of the small-diameter valve core are controlled by proportional electromagnets.
3. The multiple-way valve of the double-spool crane with the small flow rate and the accurate control function as claimed in claim 1, wherein: the working oil circuit and the oil return circuit of the large-diameter valve core and the small-diameter valve core share one oil circuit, and the oil inlet circuit is independent.
4. The multiple-way valve of the double-spool crane with the small flow rate and the accurate control function as claimed in claim 1, wherein: and a pressure sensor is added at the position of the working oil way, and displacement sensors are added on the two valve cores and used for calculating flow to perform electronic pressure compensation.
5. The multiple-way valve of the double-spool crane with the small flow rate and the accurate control function as claimed in claim 1, wherein: when the pilot pressure is zero and the control signal of the small-bore valve core is closed, the two valve cores are both in the middle position, the working oil way is closed, at the moment, hydraulic oil from the hydraulic pump cannot enter the main valve and the small valve from the oil inlet, and the working oil ways A and B are both in a closed state;
when the actuator needs to move quickly, the operating speed and the energy efficiency characteristic are mainly considered, the large-drift-diameter valve core is fully opened, and the flow entering the actuator is controlled by controlling the displacement of the large-drift-diameter valve core; meanwhile, the computer controls the proportional electromagnet to enable the small valve core to be in a closed state; when the actuator is about to reach a target position and needs micro-positioning, a small-flow servo valve is used for accurately controlling the speed, the control precision is mainly considered, and the flow entering the actuator is controlled by controlling the opening degree of a valve port of a small-diameter valve core; simultaneous pilot oil path PaAnd PbThe valve core with large drift diameter is controlled to be in a closed state, so that the flow during micro motion is only controlled by the displacement of the small valve core.
6. The multiple-way valve of the double-spool crane with the small flow rate and the accurate control function as claimed in claim 1, wherein: on the basis of position feedback, speed feedforward control is added, and a control signal corresponding to the expected speed is superposed on a servo valve control signal.
7. The multiple-way valve of the micro-flow precise control double-spool crane as claimed in claim 6, wherein: in the dynamic operation process, the speed feedforward plays a main role in controlling the operation speed of the oil cylinder to enable the oil cylinder to follow an expected speed curve, and in the process, the position closed loop plays an auxiliary role in compensating position following errors; near the expected position, the position closed loop plays a main role, the position control precision is ensured, and external disturbance is inhibited; therefore, the small-drift-diameter valve core is opened and closed more accurately, and the accurate control on the micro flow can be realized; when the composite motion of the executing element occurs, the pressure is over-limited, the computer collects the displacement information of the displacement sensor core on the large-diameter valve core and the information of the pressure sensor at the working oil port A, B, after the software calculation, the small-diameter valve core is opened by a fixed larger opening or is fully opened by controlling the proportional electromagnet, and the valve port of the large-diameter valve core is closed, so that a certain area of the through-flow section is ensured, and the problem that the flow does not pass because the opening of the large-diameter valve core is too small when the original pressure is over-limited is solved; through install pressure sensor additional in working oil mouth department to and install displacement sensor additional on big, little latus rectum case for valve internal pressure and case displacement are calculated by the computer in real time, realize accurate control, reaction rate and the stability of flow, can realize electron pressure compensation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010785843.2A CN111963506B (en) | 2020-08-07 | 2020-08-07 | Multi-way valve of double-valve-core crane capable of accurately controlling micro flow |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010785843.2A CN111963506B (en) | 2020-08-07 | 2020-08-07 | Multi-way valve of double-valve-core crane capable of accurately controlling micro flow |
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| CN111963506A true CN111963506A (en) | 2020-11-20 |
| CN111963506B CN111963506B (en) | 2022-05-17 |
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| CN202010785843.2A Active CN111963506B (en) | 2020-08-07 | 2020-08-07 | Multi-way valve of double-valve-core crane capable of accurately controlling micro flow |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114111922A (en) * | 2021-11-22 | 2022-03-01 | 黑龙江农业工程职业学院 | Micro-flow detector and detection method |
| CN114248148A (en) * | 2021-12-21 | 2022-03-29 | 燕山大学 | Optimization method for flow area of V-shaped valve port of multi-way valve |
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| CN114248148A (en) * | 2021-12-21 | 2022-03-29 | 燕山大学 | Optimization method for flow area of V-shaped valve port of multi-way valve |
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| Publication number | Publication date |
|---|---|
| CN111963506B (en) | 2022-05-17 |
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