CN102808433A - Hydraulic circuit and method for controlling compound actions of excavator movable arm - Google Patents
Hydraulic circuit and method for controlling compound actions of excavator movable arm Download PDFInfo
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- CN102808433A CN102808433A CN2012102863707A CN201210286370A CN102808433A CN 102808433 A CN102808433 A CN 102808433A CN 2012102863707 A CN2012102863707 A CN 2012102863707A CN 201210286370 A CN201210286370 A CN 201210286370A CN 102808433 A CN102808433 A CN 102808433A
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Abstract
The invention discloses a hydraulic circuit and a method for controlling compound actions of an excavator movable arm. The hydraulic circuit comprises a hydraulic pump, a master control valve and an auxiliary control valve of a hydraulic actuator, and a motor flow valve and a movable arm flow valve. The motor flow valve and the movable arm flow valve are used to distribute flow. The movable arm flow valve is disposed between a first hydraulic pump and a hydraulic oil circuit of the auxiliary movable arm control valve. The movable arm flow valve is controlled by control signals from two ends, and the control signals from the two ends are generated by the oil circuit from the movable arm flow valve to the auxiliary movable arm control valve and the pressure difference between the motor flow valve and a rotation control valve oil circuit. The motor flow valve is disposed between the first hydraulic pump and the hydraulic oil circuit of a rotation control valve and controlled by control signals from two ends, and the control signals from the two ends are generated by the oil circuit from the movable arm flow valve to the auxiliary movable arm control valve and the pressure difference between the motor flow valve and the rotation control valve oil circuit. The two valves adjust distribution proportion of the flow from the first hydraulic pump to the hydraulic motor and the movable arm cylinder in real time according to the control pressure of the two ends, and the requirements for coordinative control and energy conservation of compound actions of the movable arm, namely lifting and rotating, are met.
Description
Technical field
The present invention relates to a kind of variable pump control loop, particularly relate to a kind of hydraulic circuit that is used to control the excavator swing arm composite move, the invention still further relates to the control method that this is used to control the hydraulic circuit of excavator swing arm composite move.
Background technology
The entrucking operating mode is the modal operating mode of excavator; Moved arm lifting and revolution are links of entrucking do action in excavator entrucking process; Because boom cylinder is by the double pump fuel feeding in medium-sized excavator; Promptly there is a pump while fuel feeding to give boom cylinder and hydraulic motor; Assignment of traffic through two hydraulic actuators of regular meeting's appearance is unreasonable like this; Thereby cause often occurring in moved arm lifting and the turning course exercise not harmony of boom cylinder and hydraulic motor, inharmonious on time or space of this boom cylinder and hydraulic motor caused that maneuverability is poor, energy loss big, influence operating efficiency, and it is more obvious particularly to be directed against under the situation of position of different loads, different entruckings this bad phenomenon.
The hydraulic circuit of existing swing arm composite move is as shown in Figure 1; Comprise the first hydraulic pump P1 and the second hydraulic pump P2; The first hydraulic pump P1 gives hydraulic motor 1 and boom cylinder 2 through oil circuit 13 and 12 while of oil circuit fuel feeding; The second hydraulic pump P2 gives boom cylinder 2 through oil circuit 17 independent fuel feeding; Swing arm control main valve 6a and swing arm are controlled secondary valve 6b and are controlled direction, flow size and the break-make of the second hydraulic pump P2 to boom cylinder 2 and first hydraulic pump to boom cylinder 2 fluid respectively, the stretching out, withdraw or stop to move of realization boom cylinder 2.Swing arm control main valve 6a controls secondary valve 6b with swing arm and is connected with boom cylinder 2 with oil circuit 16b through oil circuit 16a respectively; Rotary control valve 5 controls first hydraulic pump is realized the positive and negative direction revolution of hydraulic motor 1 or is stopped action to direction, flow size and the break-make of hydraulic motor 1 fluid.
Flow pressure-gradient control valve 20 is the 2/2-way valve; Be provided with throttle orifice 20a in the valve of position, a left side, throttle orifice is not established in right position, and moved arm lifting ON control signal control flow pressure-gradient control valve 20 is when position, a left side; 20 pairs of oil circuit 13 throttlings of flow pressure-gradient control valve, the flow priority allocation of the first hydraulic pump P1 is given boom cylinder 2; This flow pressure-gradient control valve 20 of cancellation moved arm lifting ON signal returns to initial position, and this position and flow pressure-gradient control valve 20 is not to oil circuit 13 throttlings.
Therefore, moved arm lifting is following with the course of work of revolution composite move:
When moved arm lifting and revolution composite move; Revolution L or revolution R signal and moved arm lifting ON signal are imported simultaneously, and revolution L or revolution R make rotary control valve 5 actions, and moved arm lifting ON signal makes swing arm control main valve 6a and swing arm control secondary valve 6b action; Moved arm lifting ON signal makes 20 actions of flow pressure-gradient control valve simultaneously; Flow pressure-gradient control valve 20 is in position, a left side and to oil circuit 13 throttlings, flows to the fluid flow minimizing of hydraulic motor 1 at this moment, and the first hydraulic pump P1 flow passes through oil circuit 12 priority allocation to boom cylinder 2.
Because when boom cylinder 2 and hydraulic motor 1 move simultaneously; This hydraulic pressure that surges arm oil cylinder 2 and hydraulic motor 1 changes and changes stage by stage; If flow pressure-gradient control valve 20 remains on position, a left side when moved arm lifting and revolution composite move always; Then flow pressure-gradient control valve 20 keeps the throttling to oil circuit 13 always; Cause like this that the underfed and the pressure loss that has increased oil circuit 13 can appear in hydraulic motor 1 in whole moved arm lifting and revolution composite move process, caused very big energy loss, caused moved arm lifting also poor with revolution composite move operability variation, controllability and harmony.
Summary of the invention
Technical problem to be solved by this invention provides a kind of the realization and satisfies the swing arm lifting and turn round the harmony of composite move and the hydraulic circuit and the control method thereof that are used to control the excavator swing arm composite move of energy-conservation requirement with the variation real-time regulated pump of the operating pressure size assignment of traffic ratio to boom cylinder and rotary motor.。
For reaching the object of the invention, adopt a kind of hydraulic circuit that is used to control the excavator swing arm composite move, comprise first hydraulic pump and second hydraulic pump; Hydraulic motor, this hydraulic motor is connected with first hydraulic pump through oil circuit; Rotary control valve, this rotary control valve are installed between the hydraulic circuit of the described hydraulic motor and first hydraulic pump, boom cylinder, and this boom cylinder is connected with second hydraulic pump with described first hydraulic pump through oil circuit; Swing arm control main valve; This swing arm control main valve is connected with described second hydraulic pump; Swing arm is controlled secondary valve, and this swing arm is controlled secondary valve and is connected with described first hydraulic pump, also comprises the swing arm flow valve; Said swing arm flow valve is installed in described first hydraulic pump and swing arm is controlled between the hydraulic circuit of secondary valve; Said swing arm flow valve is by the control of the control signal at two ends, and the control signal at two ends comes from the robot arm flow valve and controls pressure and hydraulic motor flow between the secondary valve oil road to the pressure between the rotary control valve oil circuit to swing arm, and said swing arm flow valve has the function that limits the said swing arm flow valve fluid flow of flowing through;
The motor flow valve; This motor flow valve is installed between the hydraulic circuit of described first hydraulic pump and rotary control valve; Said motor flow valve is by the control signal control at two ends; The control signal at two ends comes the robot arm flow valve to control pressure and hydraulic motor flow between the secondary valve oil road to the pressure between the rotary control valve oil circuit to swing arm, and said motor flow valve has the flow through function of said motor flow valve fluid flow of restriction.
The throttle orifice of said delay function is installed on the oil circuit of described swing arm flow valve control signal end.
Said swing arm flow valve and said motor flow valve can be sliding valve structure.
Said swing arm flow valve and said motor flow valve can be electromagnetic proportional valve.
Pressure, motor flow valve that said swing arm flow valve is controlled between the secondary valve oil road to swing arm can convert the signal of telecommunication to the pressure between the rotary control valve oil circuit, and this signal of telecommunication can be used for the control signal of swing arm flow valve and motor flow valve.
A kind of hydraulic circuit that is used to control the excavator swing arm composite move comprises first hydraulic pump and second hydraulic pump; Hydraulic motor, this hydraulic motor is connected with first hydraulic pump through oil circuit; Rotary control valve, this rotary control valve are installed between the hydraulic circuit of the described hydraulic motor and first hydraulic pump, boom cylinder, and this boom cylinder is connected with second hydraulic pump with described first hydraulic pump through oil circuit; Swing arm control main valve, this swing arm control main valve is connected with described second hydraulic pump, and swing arm is controlled secondary valve; This swing arm is controlled secondary valve and is connected with described first hydraulic pump; Also comprise the automatic priority valve, said automatic priority valve is a sliding valve structure, be in first hydraulic pump between the rotary control valve and first hydraulic pump control between the secondary valve to swing arm; Said automatic priority valve carries out assignment of traffic to first hydraulic pump to the fluid of boom cylinder and hydraulic motor; The automatic priority valve is by the switching of this valve of control signal control between position, a left side, meta, right position, and the ratio of assignment of traffic area is 1 during meta, and said automatic priority valve is from meta during to right; Be restricted to hydraulic motor fluid gradually, fluid is preferentially supplied with boom cylinder; Said automatic priority valve is from meta to a when position left side; Be restricted to boom cylinder gradually; Fluid is preferentially supplied with hydraulic motor; Said automatic priority valve is by the control signal at two ends, and the control signal at two ends comes from the automatic priority valve and controls pressure and hydraulic motor flow between the secondary valve oil road to the pressure between the rotary control valve oil circuit to swing arm.
Comprise throttle orifice, said throttle orifice is installed on the control signal oil circuit of said automatic priority valve, plays delay function.
Described automatic priority valve is an electromagnetic proportional valve, judges the displacement of this automatic priority valve according to the control signal size at two ends.
Described automatic priority valve is a guiding valve, judges the displacement of this automatic priority valve according to the size of two ends control signal.
A kind of control method that is used to control the excavator swing arm composite move comprises that step is following:
Input moved arm lifting ON control signal control swing arm control main valve, swing arm are controlled secondary valve events, and rotary control valve control signal R or L are imported in boom cylinder action subsequently simultaneously, move with rear hydraulic motor;
Obtain the motor flow valve and control the pressure P s2 between the secondary valve oil road to swing arm to pressure P s1 between the rotary control valve oil circuit and swing arm flow valve; Along with the operation that swing arm promotes and revolution is moved; The pressure of this control signal Ps1 and Ps2 is along with action changes, and have three kinds of situation to regulate this moment:
(1) if Ps1＞Ps2; And pressure difference value satisfies Ps1-Ps2＞Pd, the force value of Pd for being provided with, and swing arm flow valve and motor flow valve produce certain displacement through the control signal size at two ends; The flow of the boom cylinder that swing arm flow valve restrictive pump arrives; The motor flow valve does not limit the flow of first pump to hydraulic motor, and fluid is preferentially supplied with hydraulic motor, and limit amount is determined by the Ps1-Ps2 pressure difference value.
(2) if Ps1 approximately equal Ps2; And pressure difference value satisfies | Ps1-Ps2|≤Pd, and the force value of Pd for being provided with is through comparison, computing and judgement; The swing arm flow valve does not limit the flow of the boom cylinder that first pump arrives; The motor flow valve limits the flow of first pump to hydraulic motor, and the assignment of traffic approximately equal is specifically by the size decision of | Ps1-Ps2| pressure difference value.
(3) if Ps2＞Ps1; And pressure difference value satisfies Ps2-Ps1＞Pd, the force value of Pd for being provided with, and swing arm flow valve and motor flow valve produce certain displacement through the control signal size at two ends; The motor flow valve limits the flow of first pump to hydraulic motor; The swing arm flow valve does not limit the flow of the boom cylinder that first pump arrives, and limit amount is by the decision of Ps2-Ps1 pressure difference value, and the fluid priority of supply is given boom cylinder.
Described Pd value scope is between 0～5MPa and comprise 0Mpa and 5Mpa.
Because the technique scheme utilization, the present invention compared with prior art has advantage:
Since the pressure that adopted working oil path as control signal, the assignment of traffic ratio of hydraulic motor and boom cylinder can be in real time according to the ratio of the difference decision assignment of traffic of oil circuit pressure size, can control the ratio of fluid distribution real-time.
2. in swing arm lifting and rotating composite move,, take limited flow to distribute the Different control stage, realize under the different pressures situation that different limited flow functions reduces the pressure loss, saves energy according to the pressure changing in the oil circuit.
Description of drawings
Fig. 1 is the hydraulic circuit diagram of prior art
Wherein: 20, flow pressure-gradient control valve;
Fig. 2 is the hydraulic circuit diagram of the embodiment of the invention one
Wherein: 1, hydraulic motor; 2, boom cylinder; 3, motor flow valve; 4 swing arm flow valves; 5 rotary control valves; 6a, swing arm control main valve; 6b, swing arm are controlled secondary valve; 7, throttle orifice; P1, first hydraulic pump; P2, second hydraulic pump
Fig. 3 is the hydraulic circuit diagram of the embodiment of the invention two
Wherein: 8, automatic priority valve
Fig. 4 is a control method flow chart of the present invention
The specific embodiment
Below in conjunction with Figure of description the present invention is done further detailed explanation.
Embodiment one
Existing the preferred embodiment one that is used to control the hydraulic circuit of excavator swing arm composite move of the present invention is described in detail with reference to Fig. 2.
Fig. 2 is the sketch map of first embodiment of the hydraulic circuit that is used to control the excavator swing arm composite move of the present invention; As shown in Figure 2, hydraulic circuit of the present invention has the first hydraulic pump P1 and the second hydraulic pump P2, produces hydraulic oil liquid separately and supplies with hydraulic circuit; The first hydraulic pump P1 produces hydraulic oil liquid through oil circuit 12; And supply with for oil circuit 13 and oil circuit 14 by oil circuit 12 shunting, and oil circuit 13 fuel feeding are given hydraulic motor 1, and oil circuit 17 is given boom cylinder 2 with oil circuit 14 associating fuel feeding.13 places are provided with motor flow valve 3 at oil circuit; Motor flow valve 3 is the fluid limited flow to this motor flow valve 3 of flowing through in right position; Cancellation limited flow when position, a left side; And switch to from left side position the process of right position and to be the process of limited flow gradually, utilize the limited flow effect of motor flow valve 3 to change the size of these motor flow valve 3 fluid flows of flowing through.Swing arm flow valve 4 is set on oil circuit 14, and said swing arm flow valve 4 is the fluid limited flow to the said swing arm flow valve 4 of flowing through in a when position left side, cancellation limited flow during right position, and switch to the process of right position to cancelling the process of limited flow gradually from position, a left side; Swing arm flow valve 4 is used for the size of the fluid flow of control oil channel 14, utilizes the limited flow effect of swing arm flow valve 4 to change the size of these swing arm flow valve 4 fluid flows of flowing through.The control signal at motor flow valve 3 two ends is made up of oil circuit 13a pressure P s1 and oil circuit 15b pressure P s2, and oil circuit 13a is connected with oil circuit 13, and oil circuit 15b is connected with oil circuit 14.The control signal at swing arm flow valve 4 two ends is made up of oil circuit 13b pressure P s1 and oil circuit 15a pressure P s2; Oil circuit 13b is connected with oil circuit 13; Oil circuit 15a is connected with oil circuit 14, on oil circuit 15a oil circuit, throttle orifice 7 is set, and throttle orifice 7 is used to control the deferred action of swing arm flow valve 4; Even flow valve 4 time-delays switch to right position, this delay time can be between 0.1～1s.
Swing arm is controlled secondary valve 6b and is connected through oil circuit 14 with swing arm flow valve 4; Swing arm is controlled the displacement of secondary valve 6b by external control signal moved arm lifting ON signal controlling; Swing arm control main valve 6a is connected through oil circuit 17 with the second hydraulic pump P2; The displacement of swing arm control main valve 6a is by external control signal moved arm lifting ON signal controlling or swing arm decline DW signal controlling; Swing arm control main valve 6a controls secondary valve 6b through oil circuit 16a and swing arm and gives boom cylinder 2 through oil circuit 16b fuel feeding, and swing arm is controlled secondary valve 6b and swing arm control main valve 6a and controlled the first hydraulic pump P1 and the second hydraulic pump P2 stretching out, withdrawing and keep static to boom cylinder 2 jointly.
Therefore if when carrying out moved arm lifting and the operation of rotating swing arm composite move; Swing arm main control valve 6a and swing arm sub-control valve 6b action are stretched out boom cylinder 2; Revolution L signal or revolution R signal make hydraulic motor 1 revolution; This moment, swing arm flow valve 4 formed direction of action and the displacement that control signal is controlled motor flow valve 3 and swing arm flow valve 4 jointly with motor flow valve 3 according to the pressure P s2 of oil circuit 13 pressure P s1, oil circuit 14, and the fluid flow of oil circuit 12 is distributed.
If Ps1＞Ps2; Pressure difference value satisfies Ps1-Ps2＞Pd, and swing arm flow valve 4 is in position, a left side with motor flow valve 3,4 pairs of oil circuit 14 limited flows of swing arm flow valve this moment; Fluid priority of supply hydraulic motor 1; The ratio of assignment of traffic is by swing arm flow valve 4 decision, and motor flow valve 3 is in not limited flow state, according to the displacement of the size decision swing arm flow valve 4 of pressure difference value Pd and the displacement of motor flow valve 3.
If the value of Ps1 and Ps2 is close; Pressure difference value satisfies | Ps1-Ps2|≤Pd; This moment motor flow valve 3 not to oil circuit 13 limited flows and swing arm flow valve 4 not to oil circuit 14 limited flows; The crushing of motor flow valve 3 and swing arm flow valve 4 of flowing through is very little, has saved energy, according to the displacement of the size decision swing arm flow valve 4 of pressure difference value Pd and the displacement of motor flow valve 3.
If Ps2＞Ps1, pressure difference value satisfies Ps2-Ps1＞Pd, and swing arm flow valve 4 is in right position with motor flow valve 3; 3 pairs of oil circuit 13 limited flows of motor flow valve this moment; Fluid priority of supply boom cylinder 2, the ratio of assignment of traffic is by 3 decisions of motor flow valve, and swing arm flow valve 4 is in not limited flow state; The crushing of swing arm flow valve 4 of flowing through is very little, according to the displacement of the size decision swing arm flow valve 4 of pressure difference value Pd and the displacement of motor flow valve 3.
Pd value scope can and comprise 0Mpa and 5Mpa between 0～5MPa, can different Pd values be set separately to motor flow valve 3 and swing arm flow valve 4 simultaneously, to satisfy the requirement of actual condition.
Embodiment two
Fig. 3 is the sketch map of second embodiment of the hydraulic circuit that is used to control the excavator swing arm composite move of the present invention; As shown in Figure 3, hydraulic circuit of the present invention has the first hydraulic pump P1 and the second hydraulic pump P2, produces hydraulic oil liquid separately and supplies with hydraulic circuit; The first hydraulic pump P1 produces hydraulic oil liquid through oil circuit 12; And give oil circuit 13 and oil circuit 14 by oil circuit 12 shunting, and oil circuit 13 fuel feeding are given hydraulic motor 1, and oil circuit 17 is given boom cylinder 2 with oil circuit 14 associating fuel feeding.12 places are provided with automatic priority valve 8 at oil circuit; Automatic priority valve 8 has and can work three positions, and the fluid to oil circuit 12 is diverted to oil circuit 13 and oil circuit 14 in valve, and position, a left side is to oil circuit 13 limited flows; Preferential fuel feeding is given oil circuit 14; Right position is to oil circuit 14 limited flows, and preferential fuel feeding is given oil circuit 13, when being in meta not to oil circuit 13 and oil circuit 14 limited flows.The control signal of automatic priority valve 8 is taken from the pressure P s2 of pressure P s1 and oil circuit 15a of oil circuit 13a as control signal, and oil circuit 13a connects oil circuit 13, and oil circuit 15a is connected with oil circuit 14, is provided with throttle orifice 9 at oil circuit 13a place, 9 delay functions of throttle orifice.
The motion of this automatic priority valve 8 is moved according to moved arm lifting and the operation of rotating composite move; If carry out the operation of moved arm lifting and rotating composite move; Swing arm main control valve 6a and swing arm sub-control valve 6b action are stretched out boom cylinder 2; Revolution L signal or revolution R signal make hydraulic motor 1 revolution; Automatic priority valve 8 is according to the oil liquid pressure size adjustment displacement of oil circuit 13, oil circuit 14 at this moment, and the pressure P s1 of oil circuit 13a forms the control signal of automatic priority valve, and the pressure P s2 of oil circuit 15a forms the control signal of automatic priority valve 8.
Control signal Ps1 and Ps2 determine the displacement of automatic priority valve 8 jointly, change the ratio of the fluid of oil circuit 12 to the assignment of traffic of oil circuit 13 and oil circuit 14, and it is controlled as follows:
If Ps1＞Ps2, pressure difference value satisfies Ps1-Ps2＞Pd, 8 pairs of oil circuit 14 limited flows of automatic priority valve this moment, and fluid priority of supply hydraulic motor 1, the ratio of assignment of traffic is determined by automatic priority valve 8 displacements.
If the value of Ps1 and Ps2 is close, pressure difference value satisfies | Ps1-Ps2|≤Pd, this moment automatic priority valve 8 to oil circuit 13 and oil circuit 14 limited flows, perhaps the limited flow amount is very not little, makes through the pressure loss of automatic priority valve 8 very for a short time, has saved energy.
If Ps2＞Ps1, pressure difference value satisfies Ps2-Ps1＞Pd, 8 pairs of oil circuit 13 limited flows of automatic priority valve this moment, and fluid priority of supply boom cylinder 2, the ratio of assignment of traffic is by 3 decisions of automatic priority valve 8 displacements.
Pd value scope can and comprise 0Mpa and 5Mpa between 0～5MPa.
A kind of control method that is used to control the hydraulic circuit of excavator swing arm composite move, the flow process of its control method is as shown in Figure 4, and the step of its control is following:
Input moved arm lifting ON control signal, control swing arm control main valve, swing arm are controlled secondary valve events, and boom cylinder action is subsequently imported rotary control valve control signal revolution L or revolution R signal, simultaneously with rear hydraulic motor 1 action;
The swing arm flow valve is controlled pressure P s2 and motor flow valve between the secondary valve oil road to the control signal of the pressure P s1 between the rotary control valve oil circuit as motor flow valve and swing arm flow valve to swing arm.
Along with the operation that swing arm promotes and revolution is moved, the pressure of this control signal Ps1 and Ps2 is along with action changes, and have three kinds of situation to regulate this moment:
If Ps1＞Ps2; Pressure difference value satisfies Ps1-Ps2＞Pd; The force value of Pd for being provided with; This moment, the swing arm flow valve was in position, a left side and to swing arm flow restriction flow, the motor flow valve is in position, a left side not to hydraulic motor flow restriction flow, and the displacement size of swing arm flow valve and motor flow valve is determined by the size of Ps1-Ps2 pressure difference value.
If the value of Ps1 and Ps2 is close; Pressure difference value satisfies | Ps1-Ps2|≤Pd; The force value of Pd for being provided with; This moment, the swing arm flow valve was in right position not to swing arm flow restriction flow, and the motor flow valve is in position, a left side not to hydraulic motor flow restriction flow, the displacement size of swing arm flow valve and motor flow valve by | the size of Ps1-Ps2| pressure difference value determines.
If Ps2＞Ps1; Pressure difference value satisfies Ps2-Ps1＞Pd; The force value of Pd for being provided with; This moment, the swing arm flow valve was in right position not to swing arm flow restriction flow, and the motor flow valve is in right position and to hydraulic motor flow restriction flow, the displacement size of swing arm flow valve and motor flow valve is by the size decision of Ps2-Ps1 pressure difference value.
Pd value scope can and comprise 0Mpa and 5Mpa between 0～5MPa, can different Pd values be set separately to swing arm flow valve and motor flow valve simultaneously, to satisfy the requirement of actual condition.
Claims (10)
1. a hydraulic circuit that is used to control the excavator swing arm composite move comprises first hydraulic pump (P1) and second hydraulic pump (P2); Hydraulic motor (1), this hydraulic motor (1) is connected with first hydraulic pump (P1) through oil circuit; Rotary control valve (5); This rotary control valve (5) is installed between the hydraulic circuit of described hydraulic motor (1) and first hydraulic pump (P1); Boom cylinder (2), this boom cylinder (2) is connected with second hydraulic pump (P2) with described first hydraulic pump (P1) through oil circuit; Swing arm control main valve (6a); This swing arm control main valve (6a) is connected with described second hydraulic pump (P2); Swing arm is controlled secondary valve (6b); This swing arm is controlled secondary valve (6b) and is connected with described first hydraulic pump (P1); It is characterized in that: also comprise swing arm flow valve (4), said swing arm flow valve (4) is installed in described first hydraulic pump (P1) and swing arm is controlled between the hydraulic circuit of secondary valve (6b), and said swing arm flow valve (4) is by the control signal control at two ends; The control signal at two ends comes robot arm flow valve (4) to control pressure and hydraulic motor (1) flow between secondary valve (6b) oil circuit to the pressure between rotary control valve (5) oil circuit to swing arm, and said swing arm flow valve (4) has the flow through function of said swing arm flow valve (4) fluid flow of restriction;
Motor flow valve (3); This motor flow valve (3) is installed between the hydraulic circuit of described first hydraulic pump (P1) and rotary control valve (5); Said motor flow valve (3) is by the control signal control at two ends; The control signal at two ends comes robot arm flow valve (4) to control pressure and hydraulic motor (1) flow between secondary valve (6b) oil circuit to the pressure between rotary control valve (5) oil circuit to swing arm, and said motor flow valve (3) has the flow through function of said motor flow valve (3) fluid flow of restriction.
2. the hydraulic circuit that is used to control the excavator swing arm composite move according to claim 1 is characterized in that: the throttle orifice of said delay function (7) is installed on the oil circuit of described swing arm flow valve (4) control signal end.
3. the hydraulic circuit that is used to control the excavator swing arm composite move according to claim 2 is characterized in that: said swing arm flow valve and said motor flow valve can be electro-hydraulic proportional valve or electromagnetic proportional valve.
4. the hydraulic circuit that is used to control the excavator swing arm composite move according to claim 1; It is characterized in that: pressure, motor flow valve that said swing arm flow valve is controlled between the secondary valve oil road to swing arm can convert the signal of telecommunication to the pressure between the rotary control valve oil circuit, and this signal of telecommunication can be used for the control signal of swing arm flow valve and motor flow valve.
5. a hydraulic circuit that is used to control the excavator swing arm composite move comprises first hydraulic pump (P1) and second hydraulic pump (P2); Hydraulic motor (1), this hydraulic motor (1) is connected with first hydraulic pump (P1) through oil circuit; Rotary control valve (5); This rotary control valve (5) is installed between the hydraulic circuit of described hydraulic motor (1) and first hydraulic pump (P1); Boom cylinder (2), this boom cylinder (2) is connected with second hydraulic pump (P2) with described first hydraulic pump (P1) through oil circuit; Swing arm control main valve (6a); This swing arm control main valve (6a) is connected with described second hydraulic pump (P2); Swing arm is controlled secondary valve (6b), and this swing arm is controlled secondary valve (6b) and is connected with described first hydraulic pump (P1), it is characterized in that: also comprise automatic priority valve (8); Said automatic priority valve (8) is a sliding valve structure; Be in first hydraulic pump (P1) between the rotary control valve (5) and first hydraulic pump (P1) control between the secondary valve (6b) to swing arm, said automatic priority valve (8) carries out assignment of traffic to first hydraulic pump (P1) to the fluid of boom cylinder (2) and hydraulic motor (1), automatic priority valve (8) by this valve of control signal control in position, a left side, meta, switching between right; The ratio of assignment of traffic area is 1 during meta; Said automatic priority valve (8) is restricted to hydraulic motor (1) fluid during from meta to right position gradually, and fluid is preferentially supplied with boom cylinder (2); Said automatic priority valve (8) is from meta to a when position left side; Be restricted to boom cylinder (2) gradually; Fluid is preferentially supplied with hydraulic motor (1); Said automatic priority valve (8) is by the control signal at two ends, and the control signal at two ends comes from automatic priority valve (8) and controls pressure and hydraulic motor (1) flow between secondary valve (6b) oil circuit to the pressure between rotary control valve (5) oil circuit to swing arm.
6. according to the said hydraulic circuit that is used to control the excavator swing arm composite move of claim 5, it is characterized in that: comprise throttle orifice (9), said throttle orifice (9) is installed on the control signal oil circuit of said automatic priority valve (8), plays delay function.
7. the hydraulic circuit that is used to control the excavator swing arm composite move according to claim 6 is characterized in that: described automatic priority valve (8) is an electro-hydraulic proportional valve, judges the displacement of this automatic priority valve according to the control signal size at two ends.
8. the hydraulic circuit that is used to control the excavator swing arm composite move according to claim 6 is characterized in that: described automatic priority valve (8) is a sliding valve structure, judges the displacement of this automatic priority valve according to the size of two ends control signal.
9. a control method that is used to control the excavator swing arm composite move is utilized the described hydraulic circuit of claim 1 to 4, it is characterized in that: comprise that step is following:
Input moved arm lifting ON control signal control swing arm control main valve, swing arm are controlled secondary valve events, and rotary control valve control signal R or L are imported in boom cylinder action subsequently simultaneously, move with rear hydraulic motor;
Obtain the motor flow valve and control the pressure P s2 between the secondary valve oil road to swing arm to pressure P s1 between the rotary control valve oil circuit and swing arm flow valve; Along with the operation that swing arm promotes and revolution is moved; The pressure of this control signal Ps1 and Ps2 is along with action changes, and have three kinds of situation to regulate this moment:
(1) if Ps1＞Ps2; And pressure difference value satisfies Ps1-Ps2＞Pd, the force value of Pd for being provided with, and swing arm flow valve and motor flow valve produce certain displacement through the control signal size at two ends; The flow of the boom cylinder that swing arm flow valve restrictive pump arrives; The motor flow valve does not limit the flow of first pump to hydraulic motor, and fluid is preferentially supplied with hydraulic motor, and limit amount is determined by the Ps1-Ps2 pressure difference value.
(2) if Ps1 approximately equal Ps2; And pressure difference value satisfies | Ps1-Ps2|≤Pd, and the force value of Pd for being provided with is through comparison, computing and judgement; The swing arm flow valve does not limit the flow of the boom cylinder that first pump arrives; The motor flow valve limits the flow of first pump to hydraulic motor, and the assignment of traffic approximately equal is specifically by the size decision of | Ps1-Ps2| pressure difference value.
(3) if Ps2＞Ps1; And pressure difference value satisfies Ps2-Ps1＞Pd, the force value of Pd for being provided with, and swing arm flow valve and motor flow valve produce certain displacement through the control signal size at two ends; The motor flow valve limits the flow of first pump to hydraulic motor; The swing arm flow valve does not limit the flow of the boom cylinder that first pump arrives, and limit amount is by the decision of Ps2-Ps1 pressure difference value, and the fluid priority of supply is given boom cylinder.
10. according to the said control method of claim 9, it is characterized in that: described Pd value scope is between 0～5MPa and comprise 0Mpa and 5Mpa.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210286370.7A CN102808433B (en) | 2012-08-13 | 2012-08-13 | Hydraulic circuit and method for controlling compound actions of excavator movable arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210286370.7A CN102808433B (en) | 2012-08-13 | 2012-08-13 | Hydraulic circuit and method for controlling compound actions of excavator movable arm |
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| Publication Number | Publication Date |
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| CN102808433A true CN102808433A (en) | 2012-12-05 |
| CN102808433B CN102808433B (en) | 2014-07-16 |
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| CN201210286370.7A Active CN102808433B (en) | 2012-08-13 | 2012-08-13 | Hydraulic circuit and method for controlling compound actions of excavator movable arm |
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| CN (1) | CN102808433B (en) |
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| CN104495626A (en) * | 2014-12-30 | 2015-04-08 | 中联重科股份有限公司 | Crane control method, device and system and crane |
| CN103437389B (en) * | 2013-09-12 | 2016-11-30 | 上海三一重机有限公司 | A kind of composite move energy regeneration structure, method and excavator |
| CN106884455A (en) * | 2017-03-08 | 2017-06-23 | 青岛雷沃挖掘机有限公司 | Operating mode self-adaptive hydraulic loop and excavator |
| CN111587306A (en) * | 2018-01-22 | 2020-08-25 | 神钢建机株式会社 | Rotary hydraulic engineering machinery |
| CN112681419A (en) * | 2020-12-17 | 2021-04-20 | 徐州徐工挖掘机械有限公司 | System for improving slewing speed during loading of excavator and control method |
| CN114506799A (en) * | 2022-04-20 | 2022-05-17 | 杭叉集团股份有限公司 | Forklift gantry joint action control method and control system |
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| CN114506799A (en) * | 2022-04-20 | 2022-05-17 | 杭叉集团股份有限公司 | Forklift gantry joint action control method and control system |
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